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fw pos/att ctrl: pass manual nose wheel increments during takeoff ground roll

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This commit is contained in:
Thomas Stastny
2022-05-11 12:53:36 +02:00
committed by Daniel Agar
parent fcee314646
commit 721131a135
4 changed files with 21 additions and 1 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+8
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@@ -1424,6 +1424,11 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
// yaw control is disabled once in "taking off" state
_att_sp.fw_control_yaw = _runway_takeoff.controlYaw();
// XXX: hacky way to pass through manual nose-wheel incrementing. need to clean this interface.
if (_param_rwto_nudge.get()) {
_att_sp.yaw_sp_move_rate = _manual_control_setpoint.r;
}
// tune up the lateral position control guidance when on the ground
if (_att_sp.fw_control_yaw) {
_npfg.setPeriod(_param_rwto_l1_period.get());
@@ -2359,6 +2364,9 @@ FixedwingPositionControl::Run()
// by default we don't want yaw to be contoller directly with rudder
_att_sp.fw_control_yaw = false;
// default to zero - is used (IN A HACKY WAY) to pass direct nose wheel steering via yaw stick to the actuators during auto takeoff
_att_sp.yaw_sp_move_rate = 0.0f;
if (_control_mode_current != FW_POSCTRL_MODE_AUTO_LANDING) {
reset_landing_state();
}