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TECS: revert altitude controller to old logic

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- if the height rate input into TECS is finite, use that one to
update a velocity reference generator
- if the velocity reference generator reports position locked or
height rate input is not finite, then run altidue reference generator
- run altitude controller only if altitue is controlled

if height_rate_setpoint is set, only use that one to update altitdue trajectory

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-03-29 13:21:11 +02:00
parent dde656f4b1
commit 460956fd33
4 changed files with 83 additions and 65 deletions
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msg/TecsStatus.msg
+3 -1
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@@ -1,7 +1,9 @@
uint64 timestamp # time since system start (microseconds)
float32 altitude_sp # Altitude setpoint AMSL [m]
float32 altitude_sp_ref # Altitude setpoint reference AMSL [m]
float32 altitude_reference # Altitude setpoint reference AMSL [m]
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]
float32 height_rate # Height rate [m/s]
float32 equivalent_airspeed_sp # Equivalent airspeed setpoint [m/s]