support new yaw and yawrate fields in mavlnk position_target message

2 files changed, 23 insertions, 1 deletions

diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h
index 6e37896af..72a28e501 100644
--- a/src/modules/uORB/topics/offboard_control_setpoint.h
+++ b/src/modules/uORB/topics/offboard_control_setpoint.h
@@ -86,7 +86,9 @@ enum {OFB_IGN_BIT_POS_X,
 	OFB_IGN_BIT_BODYRATE_Y,
 	OFB_IGN_BIT_BODYRATE_Z,
 	OFB_IGN_BIT_ATT,
-	OFB_IGN_BIT_THRUST
+	OFB_IGN_BIT_THRUST,
+	OFB_IGN_BIT_YAW,
+	OFB_IGN_BIT_YAWRATE,
 };
 
 /**
@@ -105,6 +107,10 @@ struct offboard_control_setpoint_s {
 	float attitude[4];	/**< attitude of vehicle (quaternion) */
 	float attitude_rate[3];	/**< body angular rates (x, y, z) */
 	float thrust;	/**< thrust */
+	float yaw;	/**< yaw: this is the yaw from the position_target message
+			  (not from the full attitude_target message) */
+	float yaw_rate;	/**< yaw rate: this is the yaw from the position_target message
+			  (not from the full attitude_target message) */
 
 	uint16_t ignore; /**< if field i is set to true, the value should be ignored, see definition at top of file
 			   for mapping */
@@ -249,6 +255,20 @@ inline bool offboard_control_sp_ignore_thrust(const struct offboard_control_setp
 	return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_THRUST));
 }
 
+/**
+ * Returns true if the yaw setpoint should be ignored
+ */
+inline bool offboard_control_sp_ignore_yaw(const struct offboard_control_setpoint_s &offboard_control_sp) {
+	return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_YAW));
+}
+
+/**
+ * Returns true if the yaw rate setpoint should be ignored
+ */
+inline bool offboard_control_sp_ignore_yawrate(const struct offboard_control_setpoint_s &offboard_control_sp) {
+	return (bool)(offboard_control_sp.ignore & (1 << OFB_IGN_BIT_YAWRATE));
+}
+
 
 /* register this as object request broker structure */
 ORB_DECLARE(offboard_control_setpoint);
diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h
index 3ea3f671e..cb2262534 100644
--- a/src/modules/uORB/topics/position_setpoint_triplet.h
+++ b/src/modules/uORB/topics/position_setpoint_triplet.h
@@ -79,7 +79,9 @@ struct position_setpoint_s
 	double lon;			/**< longitude, in deg */
 	float alt;			/**< altitude AMSL, in m */
 	float yaw;			/**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */
+	bool yaw_valid;			/**< true if yaw setpoint valid */
 	float yawspeed;			/**< yawspeed (only for multirotors, in rad/s) */
+	bool yawspeed_valid;		/**< true if yawspeed setpoint valid */
 	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 */