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1c8f31f339
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>
12 lines
205 B
Plaintext
12 lines
205 B
Plaintext
# Off-board control mode
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uint64 timestamp # time since system start (microseconds)
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bool position
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bool velocity
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bool acceleration
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bool attitude
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bool body_rate
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bool thrust_and_torque
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bool direct_actuator
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