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fw_tecs: Support tighter altitude tracking during low-height flight (#23519)

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* fw_tecs: Support tighter altitude tracking during low-height flight. Added FW_T_THR_LOW_HGT defining low-height flight threshold

* tecs: Applied smoothed-out altitude TC transition to landings

* fw_tecs: modified tighter altitude control for low-height implementation

* addressed PR comments

* addressed PR comments

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Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Alvaro Fernandez
2024-09-19 16:24:53 +03:00
committed by GitHub
co-authored by Silvan Fuhrer
parent 4d83badba1
commit 2ecffff700
5 changed files with 143 additions and 21 deletions
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msg/TecsStatus.msg
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@@ -2,6 +2,7 @@ uint64 timestamp # time since system start (microseconds)
float32 altitude_sp # Altitude setpoint AMSL [m]
float32 altitude_reference # Altitude setpoint reference AMSL [m]
float32 altitude_time_constant # Time constant of the altitude tracker [s]
float32 height_rate_reference # Height rate setpoint reference [m/s]
float32 height_rate_direct # Direct height rate setpoint from velocity reference generator [m/s]
float32 height_rate_setpoint # Height rate setpoint [m/s]