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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-07-17 09:11:57 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-07-17 09:12:45 +0200 |
| commit | f4608707389dbc30eb25db524d6e008c8033d052 (patch) | |
| tree | 2ee38354ab23387334166ee8720693a65511d8f1 /src/modules/uORB | |
| parent | 9527cc8293749b9ccdec015f587afef9698be1e6 (diff) | |
| download | px4-firmware-f4608707389dbc30eb25db524d6e008c8033d052.tar.gz px4-firmware-f4608707389dbc30eb25db524d6e008c8033d052.tar.bz2 px4-firmware-f4608707389dbc30eb25db524d6e008c8033d052.zip | |
support force setpoints
Diffstat (limited to 'src/modules/uORB')
| -rw-r--r-- | src/modules/uORB/topics/offboard_control_setpoint.h | 7 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_control_mode.h | 1 |
2 files changed, 5 insertions, 3 deletions
diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h index 809a2ace4..19f11ba92 100644 --- a/src/modules/uORB/topics/offboard_control_setpoint.h +++ b/src/modules/uORB/topics/offboard_control_setpoint.h @@ -58,9 +58,10 @@ enum OFFBOARD_CONTROL_MODE { OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED = 5, OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED = 6, OFFBOARD_CONTROL_MODE_DIRECT_GLOBAL = 7, - OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 8, - OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 9, - OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 10, /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */ + OFFBOARD_CONTROL_MODE_DIRECT_FORCE = 8, + OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 9, + OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 10, + OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 11, /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */ }; enum OFFBOARD_CONTROL_FRAME { diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h index 49e2ba4b5..ca7705456 100644 --- a/src/modules/uORB/topics/vehicle_control_mode.h +++ b/src/modules/uORB/topics/vehicle_control_mode.h @@ -77,6 +77,7 @@ struct vehicle_control_mode_s { bool flag_control_offboard_enabled; /**< true if offboard control should be used */ bool flag_control_rates_enabled; /**< true if rates are stabilized */ bool flag_control_attitude_enabled; /**< true if attitude stabilization is mixed in */ + bool flag_control_force_enabled; /**< true if force control is mixed in */ bool flag_control_velocity_enabled; /**< true if horizontal velocity (implies direction) is controlled */ bool flag_control_position_enabled; /**< true if position is controlled */ bool flag_control_altitude_enabled; /**< true if altitude is controlled */ |