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VTOL rate control architecture improvements (#10819)

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* attitude and rate setpoint message: use 3D array for thrust demand
* FixedWingAttitudeControl: rework airspeed scaling
  * move airspeed and scaling calculation into separate method
  * if vtol in hover and airspeed disabled use minimum airspeed instead of trim airspeed
This commit is contained in:
Roman Bapst
2018-11-21 20:32:40 -05:00
committed by Daniel Agar
parent 75c1396ed7
commit 90bfdb6f0a
28 changed files with 387 additions and 414 deletions
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msg/vehicle_rates_setpoint.msg
+3 -2
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@@ -3,6 +3,7 @@ uint64 timestamp # time since system start (microseconds)
float32 roll # body angular rates in NED frame
float32 pitch # body angular rates in NED frame
float32 yaw # body angular rates in NED frame
float32 thrust # thrust normalized to 0..1
# TOPICS vehicle_rates_setpoint mc_virtual_rates_setpoint fw_virtual_rates_setpoint
# For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand.
# For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
float32[3] thrust_body # Normalized thrust command in body NED frame [-1,1]