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mc_pos_control: manual and offboard control reorganization and cleanup

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This commit is contained in:
Anton Babushkin
2014-08-08 00:22:57 +02:00
parent a9d3e9854f
commit faaeaeb113
2 changed files with 140 additions and 139 deletions
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src/modules/uORB/topics/position_setpoint_triplet.h
+4 -4
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@@ -60,7 +60,7 @@ enum SETPOINT_TYPE
SETPOINT_TYPE_TAKEOFF, /**< takeoff setpoint */
SETPOINT_TYPE_LAND, /**< land setpoint, altitude must be ignored, descend until landing */
SETPOINT_TYPE_IDLE, /**< do nothing, switch off motors or keep at idle speed (MC) */
SETPOINT_TYPE_OFFBOARD, /**< setpoint set by offboard */
SETPOINT_TYPE_OFFBOARD, /**< setpoint in NED frame (x, y, z, vx, vy, vz) set by offboard */
};
struct position_setpoint_s
@@ -71,9 +71,9 @@ struct position_setpoint_s
float y; /**< local position setpoint in m in NED */
float z; /**< local position setpoint in m in NED */
bool position_valid; /**< true if local position setpoint valid */
float vx; /**< local velocity setpoint in m in NED */
float vy; /**< local velocity setpoint in m in NED */
float vz; /**< local velocity setpoint in m in NED */
float vx; /**< local velocity setpoint in m/s in NED */
float vy; /**< local velocity setpoint in m/s in NED */
float vz; /**< local velocity setpoint in m/s in NED */
bool velocity_valid; /**< true if local velocity setpoint valid */
double lat; /**< latitude, in deg */
double lon; /**< longitude, in deg */