FixedWingAttControl: Add a reference attitude mode.

2026-11-09 10:21:36 +08:00 · 2024-06-26 08:34:49 +02:00
parent c330aba875
commit 2f200d13e0
12 changed files with 467 additions and 22 deletions
@@ -5,6 +5,8 @@ float32 roll		# [rad/s] roll rate setpoint
 float32 pitch		# [rad/s] pitch rate setpoint
 float32 yaw		# [rad/s] yaw rate setpoint

+float32[3] accel_feedforward # [rad/s²] angular acceleration feedforward
+
 # For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand.
 # For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
 float32[3] thrust_body	# Normalized thrust command in body NED frame [-1,1]