- remove deprecated actuator_controls[INDEX_FLAPS/SPOILERS/AIRBRAKES]
- use new topic normalized_unsigned_setpoint.msg (with instances flaps_setpoint
and spoilers_setpoint) to pass into control allocation
- remove flaps/spoiler related fields from attitude_setpoint topic
- CA: add possibility to map flaps/spoilers to any control surface
- move flaps/spoiler pitch trimming to CA (previously called DTRIM_FLAPS/SPOILER)
- move manual flaps/spoiler handling from rate to attitude controller
FW Position controller: change how negative switch readings are intepreted
for flaps/spoilers (considered negative as 0).
VTOL: Rework spoiler publishing in hover
- pushlish spoiler_setpoint.msg in the VTOL module if in hover
- also set spoilers to land configuration if in Descend mode
Allocation: add slew rate limit of 0.5 to flaps/spoilers configuration change
Instead of doing the flaps/spoilers slew rate limiting in the FW Position Controller
(which then only is applied in Auto flight), do it consistently over all flight
modes, so also for manual modes.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
In review it was requested to have a different name for
manual_control_setpoint.z because of the adjusted range.
I started to investigate what naming is most intuitive and found
that most people recognize the stick axes as roll, pitch, yaw, throttle.
It comes at no surprise because other autopilots
and APIs seem to share this convention.
While changing the code I realized that even within the code base
the axes are usually assigned to a variable with that name or
have comments next to the assignment clarifying the axes
using these names.
To be consistent with all other axes of stick input and avoid future
rescaling confusion.
Note: for the MAVLink message 69 MANUAL_CONTROL it's using the full range
according to the message specs now [-1000,1000].
- update all msgs to be directly compatible with ROS2
- microdds_client improvements
- timesync
- reduced code size
- add to most default builds if we can afford it
- lots of other little changes
- purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)
Silvan Fuhrer
Matthias Grob
Daniel Agar