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FW Attitude Controller: Wheel controller rework

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add RunwayControl messge to pass wheel steering controls to wheel controller

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

Runway takeoff: specify that RWTO_TKOFF is directly applied during takeoff

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

msg/RateCtrlStatus: remove unused wheel_rate_integ field

The wheel rate controller is not run in the moduels that are now
running the MC/FW rate controllers, so thsi field canot be filled.

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

wheel rate controller: use speed scaler quadratically on integrator

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

wheel yaw controller: use a time constant of 0.1

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

FW Attitude Controller: lock heading setpoint for wheels to initial heading

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2025-05-26 14:47:38 +02:00
parent a849ab9de5
commit 2600946172
10 changed files with 89 additions and 71 deletions
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msg/FixedWingRunwayControl.msg
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# Auxiliary control fields for fixed-wing runway takeoff/landing
# Passes information from the FixedWingModeManager to the FixedWingAttitudeController
uint64 timestamp # [us] time since system start
bool wheel_steering_enabled # Flag that enables the wheel steering.
float32 wheel_steering_nudging_rate # [norm] [-1, 1] [FRD] Manual wheel nudging, added to controller output. NAN is interpreted as 0.