msg/vehicle_constraints.msg

# Local setpoint constraints in NED frame
# setting something to NaN means that no limit is provided

uint64 timestamp # time since system start (microseconds)

float32 speed_xy # in meters/sec
float32 speed_up # in meters/sec
float32 speed_down # in meters/sec

bool want_takeoff # tell the controller to initiate takeoff when idling (ignored during flight)
msg: first draft of vehicle_constraints message 2018-04-25 17:28:02 +02:00			`# Local setpoint constraints in NED frame`
			`# setting something to NaN means that no limit is provided`

mc_pos_control/FlightTasks: trigger takeoff based on task The initial idea of the flight task architecture was that a task can freely set it's setpoints and doesn't have to worry about takeoff and landing. It would just takeoff when it's landed and there's a setpoint to go up and land when it puts a setpoint that pushes into the ground. With the takeoff logic there are some significant interface problems depending on the way a task is implemented: From the setpoint is not high enough to trigger to an unexpected takeoff because of some estimator fluctuation affecting the setpoint. It's easiest to solve this by allowing the task to determine when a takeoff is triggered. If no condition is implemented by default a task is not allowing a takeoff and cannot be used to get the vehicle off the ground. 2019-05-13 21:07:05 +02:00			`uint64 timestamp # time since system start (microseconds)`
add timestamp field to uORB msgs; sync timestamp whenever possible 2018-08-07 01:30:05 +01:00
mc_pos_control/FlightTasks: trigger takeoff based on task The initial idea of the flight task architecture was that a task can freely set it's setpoints and doesn't have to worry about takeoff and landing. It would just takeoff when it's landed and there's a setpoint to go up and land when it puts a setpoint that pushes into the ground. With the takeoff logic there are some significant interface problems depending on the way a task is implemented: From the setpoint is not high enough to trigger to an unexpected takeoff because of some estimator fluctuation affecting the setpoint. It's easiest to solve this by allowing the task to determine when a takeoff is triggered. If no condition is implemented by default a task is not allowing a takeoff and cannot be used to get the vehicle off the ground. 2019-05-13 21:07:05 +02:00			`float32 speed_xy # in meters/sec`
			`float32 speed_up # in meters/sec`
			`float32 speed_down # in meters/sec`
Temporary logging addition to debug CI 2020-10-25 10:04:28 +01:00
move takeoff state machine flight_mode_manager -> mc_pos_control 2021-02-16 12:26:14 -05:00			`bool want_takeoff # tell the controller to initiate takeoff when idling (ignored during flight)`