Commit Graph

4 Commits

Author SHA1 Message Date
Silvan Fuhrer 1e56d9c219 Rework flaps/spoilers logic
- 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>
2023-03-06 22:43:41 +01:00
Silvan Fuhrer 6c611a7e8b VehicleAttitudeSetpoint: rename fw_control_yaw to fw_control_yaw_wheel to make usage clearer
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-11-22 13:46:25 -05:00
JaeyoungLim a90857f651
FW separate reset integrals for messages (#20502)
This commit separates integral resets for attitude and rate control setpoints
2022-11-01 06:06:27 +01:00
Daniel Agar cea185268e
msg ROS2 compatibility, microdds_client improvements (timesync, reduced code size, added topics, etc), fastrtps purge
- 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)
2022-10-19 19:36:47 -04:00