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OFFBOARD mode architecture overhaul (#16739)

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- handle SET_POSITION_TARGET_LOCAL_NED and SET_POSITION_TARGET_GLOBAL_INT with ORB_ID(trajectory_setpoint)
 - FlightTaskOffboard not needed at all
 - bypass position_setpoint_triplet entirely (start removing extraneous fields)
 - simplify offboard_control_mode to map to supported control modes
This commit is contained in:
Daniel Agar
2021-03-05 09:39:46 -05:00
committed by GitHub
parent 5233737a86
commit d0c9a5fc93
25 changed files with 392 additions and 1074 deletions
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src/modules/mc_rate_control/MulticopterRateControl.cpp
+3 -3
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@@ -212,9 +212,9 @@ MulticopterRateControl::Run()
vehicle_rates_setpoint_s v_rates_sp;
if (_v_rates_sp_sub.update(&v_rates_sp)) {
_rates_sp(0) = v_rates_sp.roll;
_rates_sp(1) = v_rates_sp.pitch;
_rates_sp(2) = v_rates_sp.yaw;
_rates_sp(0) = PX4_ISFINITE(v_rates_sp.roll) ? v_rates_sp.roll : rates(0);
_rates_sp(1) = PX4_ISFINITE(v_rates_sp.pitch) ? v_rates_sp.pitch : rates(1);
_rates_sp(2) = PX4_ISFINITE(v_rates_sp.yaw) ? v_rates_sp.yaw : rates(2);
_thrust_sp = -v_rates_sp.thrust_body[2];
}
}