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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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src/modules/fw_mode_manager/FixedWingModeManager.cpp
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@@ -1170,6 +1170,7 @@ FixedWingModeManager::control_auto_takeoff(const hrt_abstime &now, const float c
fixed_wing_runway_control_s fw_runway_control{};
fw_runway_control.timestamp = now;
fw_runway_control.runway_takeoff_state = _runway_takeoff.getState();
fw_runway_control.wheel_steering_enabled = true;
fw_runway_control.wheel_steering_nudging_rate = _param_rwto_nudge.get() ? _sticks.getYaw() : 0.f;
@@ -1343,6 +1344,7 @@ FixedWingModeManager::control_auto_takeoff_no_nav(const hrt_abstime &now, const
fixed_wing_runway_control_s fw_runway_control{};
fw_runway_control.timestamp = now;
fw_runway_control.runway_takeoff_state = _runway_takeoff.getState();
fw_runway_control.wheel_steering_enabled = true;
fw_runway_control.wheel_steering_nudging_rate = _param_rwto_nudge.get() ? _sticks.getYaw() : 0.f;
@@ -1591,6 +1593,7 @@ FixedWingModeManager::control_auto_landing_straight(const hrt_abstime &now, cons
fixed_wing_runway_control_s fw_runway_control{};
fw_runway_control.timestamp = now;
fw_runway_control.runway_takeoff_state = fixed_wing_runway_control_s::STATE_FLYING; // not in takeoff, use FLYING as default
fw_runway_control.wheel_steering_enabled = true;
fw_runway_control.wheel_steering_nudging_rate = _param_fw_lnd_nudge.get() > LandingNudgingOption::kNudgingDisabled ?
_sticks.getYaw() : 0.f;
@@ -1761,6 +1764,7 @@ FixedWingModeManager::control_auto_landing_circular(const hrt_abstime &now, cons
fixed_wing_runway_control_s fw_runway_control{};
fw_runway_control.timestamp = now;
fw_runway_control.runway_takeoff_state = fixed_wing_runway_control_s::STATE_FLYING; // not in takeoff, use FLYING as default
fw_runway_control.wheel_steering_enabled = true;
fw_runway_control.wheel_steering_nudging_rate = _param_fw_lnd_nudge.get() > LandingNudgingOption::kNudgingDisabled ?
_sticks.getYaw() : 0.f;