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OFFBOARD mode architecture overhaul (#16739)

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- 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
This commit is contained in:
Daniel Agar
2021-03-05 09:39:46 -05:00
committed by GitHub
parent 5233737a86
commit d0c9a5fc93
25 changed files with 392 additions and 1074 deletions
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14
msg/offboard_control_mode.msg
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@@ -2,12 +2,8 @@
uint64 timestamp # time since system start (microseconds)
bool ignore_thrust
bool ignore_attitude
bool ignore_bodyrate_x
bool ignore_bodyrate_y
bool ignore_bodyrate_z
bool ignore_position
bool ignore_velocity
bool ignore_acceleration_force
bool ignore_alt_hold
bool position
bool velocity
bool acceleration
bool attitude
bool body_rate