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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-13 23:19:43 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-28 15:19:15 +0100 |
| commit | 2b2f7e9407a551682fc76401462e08df9871cc98 (patch) | |
| tree | c6d97c9ea6a6435baede3db09c1b5653766edf71 /src/modules/mavlink/mavlink_receiver.h | |
| parent | 19811bc73fb87662bd4e2a2145d3c4f5bc5aa201 (diff) | |
| download | px4-firmware-2b2f7e9407a551682fc76401462e08df9871cc98.tar.gz px4-firmware-2b2f7e9407a551682fc76401462e08df9871cc98.tar.bz2 px4-firmware-2b2f7e9407a551682fc76401462e08df9871cc98.zip | |
introduce offboard control mode topic
Replace offboard_control_setpoint with offboard_control_mode
Remove all setpoint data from the topic as it's not used anymore
(setpoint data is directly routed into position/attitude setpoint topics
for some time now)
Remove mode enum and replace with ignore booleans which map better to
the mavlink message
Mavlink: Rework parsing of offboard setpoints
Commander: in offboard mode set control flags based on ignore flags
instead of enum
Diffstat (limited to 'src/modules/mavlink/mavlink_receiver.h')
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.h | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h index 699996860..15943753d 100644 --- a/src/modules/mavlink/mavlink_receiver.h +++ b/src/modules/mavlink/mavlink_receiver.h @@ -53,7 +53,7 @@ #include <uORB/topics/vehicle_land_detected.h> #include <uORB/topics/home_position.h> #include <uORB/topics/vehicle_status.h> -#include <uORB/topics/offboard_control_setpoint.h> +#include <uORB/topics/offboard_control_mode.h> #include <uORB/topics/vehicle_command.h> #include <uORB/topics/vehicle_local_position_setpoint.h> #include <uORB/topics/vehicle_global_velocity_setpoint.h> @@ -142,7 +142,7 @@ private: /** * Exponential moving average filter to smooth time offset */ - void smooth_time_offset(uint64_t offset_ns); + void smooth_time_offset(uint64_t offset_ns); mavlink_status_t status; struct vehicle_local_position_s hil_local_pos; @@ -162,7 +162,7 @@ private: orb_advert_t _cmd_pub; orb_advert_t _flow_pub; orb_advert_t _range_pub; - orb_advert_t _offboard_control_sp_pub; + orb_advert_t _offboard_control_mode_pub; orb_advert_t _global_vel_sp_pub; orb_advert_t _att_sp_pub; orb_advert_t _rates_sp_pub; |