offboard sp: correctly map acceleration/force in combined setpoint to setpoint triple

Conflicts:
	src/modules/uORB/topics/position_setpoint_triplet.h

2 files changed, 26 insertions, 0 deletions

diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h
index 4f45ac14f..47c89f708 100644
--- a/src/modules/uORB/topics/offboard_control_setpoint.h
+++ b/src/modules/uORB/topics/offboard_control_setpoint.h
@@ -142,14 +142,35 @@ inline bool offboard_control_sp_ignore_velocity_all(const struct offboard_contro
 	return false;
 }
 
+/**
+ * Returns true if the acceleration setpoint at index should be ignored
+ */
 inline bool offboard_control_sp_ignore_acceleration(const struct offboard_control_setpoint_s &offboard_control_sp, int index) {
 	return (bool)(offboard_control_sp.ignore & (1 << (6 + index)));
 }
 
+/**
+ * Returns true if all acceleration setpoints should be ignored
+ */
+inline bool offboard_control_sp_ignore_acceleration_all(const struct offboard_control_setpoint_s &offboard_control_sp) {
+	for (int i = 0; i < 3; i++) {
+		if (offboard_control_sp_ignore_acceleration(offboard_control_sp, i))	{
+			return true;
+		}
+	}
+	return false;
+}
+
+/**
+ * Returns true if the bodyrate setpoint at index should be ignored
+ */
 inline bool offboard_control_sp_ignore_bodyrates(const struct offboard_control_setpoint_s &offboard_control_sp, int index) {
 	return (bool)(offboard_control_sp.ignore & (1 << (9 + index)));
 }
 
+/**
+ * Returns true if the attitude setpoint should be ignored
+ */
 inline bool offboard_control_sp_ignore_attitude(const struct offboard_control_setpoint_s &offboard_control_sp) {
 	return (bool)(offboard_control_sp.ignore & (1 << 10));
 }
diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h
index ec2131abd..3ea3f671e 100644
--- a/src/modules/uORB/topics/position_setpoint_triplet.h
+++ b/src/modules/uORB/topics/position_setpoint_triplet.h
@@ -83,6 +83,11 @@ struct position_setpoint_s
 	float loiter_radius;		/**< loiter radius (only for fixed wing), in m */
 	int8_t loiter_direction;	/**< loiter direction: 1 = CW, -1 = CCW */
 	float pitch_min;		/**< minimal pitch angle for fixed wing takeoff waypoints */
+	float a_x;			//**< acceleration x setpoint */
+	float a_y;			//**< acceleration y setpoint */
+	float a_z;			//**< acceleration z setpoint */
+	bool acceleration_valid;	//*< true if acceleration setpoint is valid/should be used */
+	bool acceleration_is_force;	//*< interprete acceleration as force */
 };
 
 /**