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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-07-03 16:20:58 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-07-03 16:20:58 +0200 |
| commit | 822403e34b5e1b4adf15783b5bd701e1f52484fe (patch) | |
| tree | 67be571498c1e842f1790b34c2f796cc507a9b55 | |
| parent | cbd602c27cb081502a2f1f1d910abdd1c2d7be13 (diff) | |
| download | px4-firmware-822403e34b5e1b4adf15783b5bd701e1f52484fe.tar.gz px4-firmware-822403e34b5e1b4adf15783b5bd701e1f52484fe.tar.bz2 px4-firmware-822403e34b5e1b4adf15783b5bd701e1f52484fe.zip | |
uorb offboard control topic: add force sp flag
The flag has the same meaning as bit 10 of type_mask in
MAVLINK_MSG_ID_LOCAL_NED_POSITION_SETPOINT_EXTERNAL
| -rw-r--r-- | src/modules/uORB/topics/offboard_control_setpoint.h | 2 |
1 files changed, 2 insertions, 0 deletions
diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h index 427ccc6c8..2741f0c07 100644 --- a/src/modules/uORB/topics/offboard_control_setpoint.h +++ b/src/modules/uORB/topics/offboard_control_setpoint.h @@ -91,7 +91,9 @@ struct offboard_control_setpoint_s { float p8; /**< y acc */ float p9; /**< z acc */ + //XXX: use a bitmask with wrapper functions instead bool ignore[9]; /**< if field i is set to true, pi should be ignored */ + bool isForceSetpoint; /**< if set to true: p7 to p9 should be interpreted as force instead of acceleration */ float override_mode_switch; |