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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/navigator/mission.cpp
-5
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@@ -1857,11 +1857,6 @@ bool Mission::position_setpoint_equal(const position_setpoint_s *p1, const posit
(p1->yawspeed_valid == p2->yawspeed_valid) &&
(fabsf(p1->loiter_radius - p2->loiter_radius) < FLT_EPSILON) &&
(p1->loiter_direction == p2->loiter_direction) &&
(fabsf(p1->a_x - p2->a_x) < FLT_EPSILON) &&
(fabsf(p1->a_y - p2->a_y) < FLT_EPSILON) &&
(fabsf(p1->a_z - p2->a_z) < FLT_EPSILON) &&
(p1->acceleration_valid == p2->acceleration_valid) &&
(p1->acceleration_is_force == p2->acceleration_is_force) &&
(fabsf(p1->acceptance_radius - p2->acceptance_radius) < FLT_EPSILON) &&
(fabsf(p1->cruising_speed - p2->cruising_speed) < FLT_EPSILON) &&
((fabsf(p1->cruising_throttle - p2->cruising_throttle) < FLT_EPSILON) || (!PX4_ISFINITE(p1->cruising_throttle)