This moves the remaining handling of the manual control stuff out
of commander. All communication between manual control now goes through
vehicle commands, and the landing gear topic.
- 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
- parameter updates can be quite expensive because they trigger nearly all modules to reload all of their parameters immediately
- limit modules from updating faster than once per second
- split out switches from manual_control_setpoint into new message manual_control_switches
- manual_control_switches published at minimal rate (~ 1 Hz) or immediately on change
- simple switch debounce in rc_update (2 consecutive identical decodes required)
- manual_control_switches logged at full rate rather than sampled at (5-10% of messages logged)
- manual_control_setpoint publish at minimal rate unless changing
- commander handle landing gear switch for manual modes
- processing of mode_slot and mode_switch is now split so we only do one or the other (not both)
- a future step will be to finally drop mode_switch and accompanying switches entirely
Co-authored-by: Matthias Grob <maetugr@gmail.com>
Julian Oes