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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_rate_control/FixedwingRateControl.cpp
+11 -1
View File
@@ -287,8 +287,18 @@ void FixedwingRateControl::Run()
_rate_control.resetIntegral();
}
launch_detection_status_s launch_detection_status{};
_launch_detection_status_sub.copy(&launch_detection_status);
bool control_surfaces_locked = false;
if (hrt_elapsed_time(&launch_detection_status.timestamp) < 100_ms
&& launch_detection_status.selected_control_surface_disarmed) {
control_surfaces_locked = true;
}
// Reset integrators if the aircraft is on ground or not in a state where the fw attitude controller is run
if (_landed || !_in_fw_or_transition_wo_tailsitter_transition) {
if (_landed || !_in_fw_or_transition_wo_tailsitter_transition || control_surfaces_locked) {
_gain_compression.reset();
_rate_control.resetIntegral();
src/modules/fw_rate_control/FixedwingRateControl.hpp
+2
View File
@@ -70,6 +70,7 @@
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_thrust_setpoint.h>
#include <uORB/topics/vehicle_torque_setpoint.h>
#include <uORB/topics/launch_detection_status.h>
using matrix::Eulerf;
using matrix::Quatf;
@@ -110,6 +111,7 @@ private:
uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::Subscription _vehicle_rates_sub{ORB_ID(vehicle_angular_velocity)};
uORB::Subscription _launch_detection_status_sub{ORB_ID(launch_detection_status)};
uORB::SubscriptionMultiArray<control_allocator_status_s, 2> _control_allocator_status_subs{ORB_ID::control_allocator_status};