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FW auto launch: Add option to lock selected surfaces before/during launch (#25799)

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* FWModeManager: add option to set flag for disabling actuators during launch

Signed-off-by: Silvan <silvan@auterion.com>

* Allocation: add option to each control surface to be locked for launch

Signed-off-by: Silvan <silvan@auterion.com>

* FW rate control: reset integral while control surfaces are locked

Signed-off-by: Silvan <silvan@auterion.com>

---------

Signed-off-by: Silvan <silvan@auterion.com>
Co-authored-by: mahima-yoga <mahima@auterion.com>
This commit is contained in:
Silvan Fuhrer
2026-02-17 09:26:38 +01:00
committed by GitHub
co-authored by mahima-yoga
parent fd4b958790
commit 11007dc893
12 changed files with 105 additions and 4 deletions
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src/modules/fw_mode_manager/fw_mode_manager_params.c
+15
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@@ -580,6 +580,21 @@ PARAM_DEFINE_INT32(FW_LND_ABORT, 3);
*/
PARAM_DEFINE_INT32(FW_LAUN_DETCN_ON, 0);
/**
* Control surface launch delay
*
* Locks control surfaces during pre-launch (armed) and until this time since launch has passed.
* Only affects control surfaces that have corresponding flag set, and not active for runway takeoff.
* Set to 0 to disable any surface locking after arming.
*
* @unit s
* @min 0.0
* @decimal 1
* @increment 0.1
* @group FW Auto Takeoff
*/
PARAM_DEFINE_FLOAT(FW_LAUN_CS_LK_DY, 0.f);
/**
* Flaps setting during take-off
*