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FW Position Controller rework

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- split up old module into two, one handling setpoint generation, one control
- add lateral and longitudinal control setpoints topics that can also be
injected from companion computer
- add configuration topics that (optionally) configure the controller
with limits and momentary settings

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2025-01-08 15:34:43 +03:00
committed by Silvan Fuhrer
parent 52f0ef927d
commit 779a55c6dc
107 changed files with 3268 additions and 2920 deletions
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msg/LongitudinalControlConfiguration.msg
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uint64 timestamp
float32 pitch_min # [rad]
float32 pitch_max # [rad]
float32 throttle_min # [0,1]
float32 throttle_max # [0,1]
float32 climb_rate_target # [m/s] target climbrate used to change altitude
float32 sink_rate_target # [m/s] target sinkrate used to change altitude
float32 speed_weight # [0,2], 0=pitch controls altitude only, 2=pitch controls airspeed only
bool enforce_low_height_condition # if true, total energy controller will use lower altitude control time constant
bool disable_underspeed_protection # if true, underspeed handling is disabled in the total energy controller