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RunwayTakeoff: add the RunwayTakeoffState to the FixedWingRunwayControl.msg

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mahima-yoga
2026-01-09 16:55:57 +01:00
committed by Mahima Yoga
parent e371c4edd9
commit 6de6abfb64
4 changed files with 18 additions and 7 deletions
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msg/FixedWingRunwayControl.msg
+8 -1
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@@ -1,8 +1,15 @@
# Auxiliary control fields for fixed-wing runway takeoff/landing
# Passes information from the FixedWingModeManager to the FixedWingAttitudeController
# Passes information from the FixedWingModeManager to the FixedWingAttitudeController (wheel control) and FixedWingLandDetector (takeoff state)
uint64 timestamp # [us] time since system start
uint8 STATE_THROTTLE_RAMP = 0 # ramping up throttle
uint8 STATE_CLAMPED_TO_RUNWAY = 1 # clamped to runway, controlling yaw directly (wheel or rudder)
uint8 STATE_CLIMBOUT = 2 # climbout to safe height before navigation
uint8 STATE_FLYING = 3 # navigate freely
uint8 runway_takeoff_state # Current state of runway takeoff state machine
bool wheel_steering_enabled # Flag that enables the wheel steering.
float32 wheel_steering_nudging_rate # [norm] [@range -1, 1] [FRD] Manual wheel nudging, added to controller output. NAN is interpreted as 0.