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FwLateralSetpoint: remove ff of airspeed_direction

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2025-05-20 13:23:50 +02:00
parent c1a85d37e8
commit 5b7d78d54f
2 changed files with 2 additions and 3 deletions
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2
msg/versioned/FixedWingLateralSetpoint.msg
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@ -7,5 +7,5 @@ uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
float32 course # [rad] [-pi, pi] Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly.
float32 airspeed_direction # [rad] [-pi, pi] Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, used as feedforward if course setpoint is finite.
float32 airspeed_direction # [rad] [-pi, pi] Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite.
float32 lateral_acceleration # [m/s^2] [FRD] Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite.

3
src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp
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@ -256,8 +256,7 @@ void FwLateralLongitudinalControl::Run()
}
if (PX4_ISFINITE(_lat_control_sp.airspeed_direction)) {
airspeed_direction_sp = PX4_ISFINITE(airspeed_direction_sp) ? airspeed_direction_sp +
_lat_control_sp.airspeed_direction : _lat_control_sp.airspeed_direction;
airspeed_direction_sp = _lat_control_sp.airspeed_direction;
}
if (PX4_ISFINITE(airspeed_direction_sp)) {