In MPC_YAW_MODE 3 (along trajectory), the flight task is asked to
produce a yaw setpoint. If the previous yaw value was NAN (e.g.: during
early takeoff), the setpoint should then be reset to the current
estimate.
to get rid of derivative spikes when navigator is
continuously updating the yaw setpoint in the
triplet for a POI but is running at a lower rate.
The proper solution is to generate that yaw setpoint
with high rate in the flight task and have the triplet
just guid to the next waypoint at low rate.
The both results of ?: should be of same type, and some compilers give error
on this:
" implicit conversion from 'float' to 'double' to match other result of conditional"
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
- 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
Thomas Debrunner