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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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src/modules/logger/logged_topics.cpp
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@@ -154,6 +154,7 @@ void LoggedTopics::add_default_topics()
add_topic("lateral_control_configuration");
add_optional_topic("fixed_wing_lateral_guidance_status", 100);
add_optional_topic("fixed_wing_lateral_status", 100);
add_optional_topic("fixed_wing_runway_control", 100);
// multi topics
add_optional_topic_multi("actuator_outputs", 100, 3);