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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
2025-05-26 14:47:38 +02:00
committed by Silvan Fuhrer
parent 52f0ef927d
commit 779a55c6dc
107 changed files with 3268 additions and 2920 deletions
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src/modules/logger/logged_topics.cpp
+6 -1
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@@ -94,7 +94,6 @@ void LoggedTopics::add_default_topics()
add_topic("mission_result");
add_topic("navigator_mission_item");
add_topic("navigator_status");
add_topic("npfg_status", 100);
add_topic("offboard_control_mode", 100);
add_topic("onboard_computer_status", 10);
add_topic("parameter_update");
@@ -149,6 +148,12 @@ void LoggedTopics::add_default_topics()
add_topic("vehicle_status");
add_optional_topic("vtol_vehicle_status", 200);
add_topic("wind", 1000);
add_topic("fixed_wing_lateral_setpoint");
add_topic("fixed_wing_longitudinal_setpoint");
add_topic("longitudinal_control_configuration");
add_topic("lateral_control_configuration");
add_optional_topic("fixed_wing_lateral_guidance_status", 100);
add_optional_topic("fixed_wing_lateral_status", 100);
// multi topics
add_optional_topic_multi("actuator_outputs", 100, 3);