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ethz-asl / terrain-navigation

Repository for Safe Low Altitude Navigation in steep terrain for fixed-wing Aerial Vehicles
https://ieeexplore.ieee.org/abstract/document/10443502
BSD 3-Clause "New" or "Revised" License
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ros2: set bit mask in global position setpoint #54

Closed srmainwaring closed 6 months ago

srmainwaring commented 7 months ago

Set the POSITION_TARGET_TYPEMASK field in the global position setpoint. This is required by the flight controller to select the appropriate control behaviour.

For example in ArduPilot Plane there is a separate handler to respond to an off-board change altitude request.

For path following we mark lat_int, lon_int, alt, vx, vy, vz, ax, ay, az as not ignored.

Jaeyoung-Lim commented 6 months ago

@srmainwaring Are there any updates regarding this?

srmainwaring commented 6 months ago

Are there any updates regarding this?

Sorry @Jaeyoung-Lim, got sidetracked with getting DDS integration to work for AP (it now is). Your suggestion is the right way to do this. I'll make the corresponding changes in ArduPilot, where some additional work is required in any case.