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support force setpoints

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This commit is contained in:
Thomas Gubler
2014-07-17 09:12:45 +02:00
parent 9527cc8293
commit f460870738
5 changed files with 39 additions and 4 deletions
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src/modules/uORB/topics/offboard_control_setpoint.h
+4 -3
View File
@@ -58,9 +58,10 @@ enum OFFBOARD_CONTROL_MODE {
OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED = 5,
OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED = 6,
OFFBOARD_CONTROL_MODE_DIRECT_GLOBAL = 7,
OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 8,
OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 9,
OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 10, /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
OFFBOARD_CONTROL_MODE_DIRECT_FORCE = 8,
OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 9,
OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 10,
OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 11, /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
};
enum OFFBOARD_CONTROL_FRAME {
src/modules/uORB/topics/vehicle_control_mode.h
+1
View File
@@ -77,6 +77,7 @@ struct vehicle_control_mode_s {
bool flag_control_offboard_enabled; /**< true if offboard control should be used */
bool flag_control_rates_enabled; /**< true if rates are stabilized */
bool flag_control_attitude_enabled; /**< true if attitude stabilization is mixed in */
bool flag_control_force_enabled; /**< true if force control is mixed in */
bool flag_control_velocity_enabled; /**< true if horizontal velocity (implies direction) is controlled */
bool flag_control_position_enabled; /**< true if position is controlled */
bool flag_control_altitude_enabled; /**< true if altitude is controlled */