FW Attitude Controller: Wheel controller rework

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>

msg/CMakeLists.txt

@@ -94,6 +94,7 @@ set(msg_files
 	FixedWingLongitudinalSetpoint.msg
 	FixedWingLateralGuidanceStatus.msg
 	FixedWingLateralStatus.msg
+	FixedWingRunwayControl.msg
 	GeneratorStatus.msg
 	GeofenceResult.msg
 	GeofenceStatus.msg

msg/FixedWingRunwayControl.msg

@@ -0,0 +1,8 @@
+# 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.

msg/RateCtrlStatus.msg

@@ -4,4 +4,3 @@ uint64 timestamp		# time since system start (microseconds)
 float32 rollspeed_integ
 float32 pitchspeed_integ
 float32 yawspeed_integ
-float32 wheel_rate_integ	# FW only and optional