px4-firmware/msg/OffboardControlMode.msg

# Off-board control mode

uint64 timestamp		# time since system start (microseconds)

bool position
bool velocity
bool acceleration
bool attitude
bool body_rate
bool thrust_and_torque
bool direct_actuator
move offboard_control_mode topic to msg mode 2015-02-14 11:45:05 -04:00			`# Off-board control mode`

add timestamp field to uORB msgs; sync timestamp whenever possible 2018-08-06 21:30:05 -03:00			`uint64 timestamp # time since system start (microseconds)`

OFFBOARD mode architecture overhaul (#16739) - handle SET_POSITION_TARGET_LOCAL_NED and SET_POSITION_TARGET_GLOBAL_INT with ORB_ID(trajectory_setpoint) - FlightTaskOffboard not needed at all - bypass position_setpoint_triplet entirely (start removing extraneous fields) - simplify offboard_control_mode to map to supported control modes 2021-03-05 10:39:46 -04:00			`bool position`
			`bool velocity`
			`bool acceleration`
			`bool attitude`
			`bool body_rate`
[offboard] add thrust and torque control mode New thrust and torque control mode added which replaces the previous actuator mode, in this mode the rate controllers are disables, the control allocator is enabled and the used externally provices vehicle_thrust_setpoints and vehicle_torque_setpoints. New direct_actuator mode In direct_actuator mode the control allocator module does not publish actuator_motors and actuator_servos messages which must instead be provided extrernally by the user. Removed old direct mode. Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com> 2023-10-14 12:03:49 -03:00			`bool thrust_and_torque`
			`bool direct_actuator`