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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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src/modules/mavlink/mavlink_receiver.cpp
+5 -2
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@@ -1447,8 +1447,11 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
att_sp.yaw_sp_move_rate = 0.0f;
}
// TODO: We assume offboard is only used for multicopters which produce thrust along the
// body z axis. If we want to support fixed wing as well we need to handle it differently here, e.g.
// in that case we should assign att_sp.thrust_body[0]
if (!_offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid
att_sp.thrust = set_attitude_target.thrust;
att_sp.thrust_body[2] = -set_attitude_target.thrust;
}
if (_att_sp_pub == nullptr) {
@@ -1472,7 +1475,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
}
if (!_offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid
rates_sp.thrust = set_attitude_target.thrust;
rates_sp.thrust_body[2] = -set_attitude_target.thrust;
}
if (_rates_sp_pub == nullptr) {