Beat Küng 343eab2f05 feat(commander): add setpoint types ...

Switches from using VehicleControlMode to a specific setpoint type message
with reply.
Reasons:
- in case a VehicleControlMode was dropped (e.g. when the mode switched
  setpoint type), no confirmation was returned, and resulting in wrong
  controller flags.
- cleaner interface separation: external modes do not need to configure
  (or know) which controller to run for a certain setpoint
- allows for external modes to check for compatibility: e.g. a mode using
  fixed-wing setpoint types can now be rejected on a multicopter.
- allows for further extensions, like a setpoint timeout

This makes it a bit more effort to add a new setpoint type. Specifically,
setpoint_types.cpp needs to be extended when adding a new setpoint message.

PX4 internal modes also make use of the setpoint types. The information
flow is:
nav_state -> setpoint type -> vehicle control mode flags

It also adds a timeout to the setpoint config, but is not implemented
yet.

This changes the interface for external modes and thus the compatibility
version is increased.

2026-07-03 12:33:03 -07:00

935 B

Raw Blame History

View Raw