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Rework flaps/spoilers logic

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- 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>
This commit is contained in:
Silvan Fuhrer
2023-03-06 22:43:41 +01:00
parent 16594bffa9
commit 1e56d9c219
37 changed files with 468 additions and 398 deletions
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src/modules/uuv_att_control/uuv_att_control.cpp
-16
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@@ -124,22 +124,6 @@ void UUVAttitudeControl::constrain_actuator_commands(float roll_u, float pitch_u
} else {
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = 0.0f;
}
if (PX4_ISFINITE(thrust_y)) {
thrust_y = math::constrain(thrust_y, -1.0f, 1.0f);
_actuators.control[actuator_controls_s::INDEX_FLAPS] = thrust_y;
} else {
_actuators.control[actuator_controls_s::INDEX_FLAPS] = 0.0f;
}
if (PX4_ISFINITE(thrust_z)) {
thrust_z = math::constrain(thrust_z, -1.0f, 1.0f);
_actuators.control[actuator_controls_s::INDEX_SPOILERS] = thrust_z;
} else {
_actuators.control[actuator_controls_s::INDEX_SPOILERS] = 0.0f;
}
}
void UUVAttitudeControl::control_attitude_geo(const vehicle_attitude_s &attitude,