FW Position Controller rework

- 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>
2026-07-12 19:20:35 +08:00 · 2025-01-08 15:34:43 +03:00
parent e50d5d8567
commit a2ba0e0c7a
105 changed files with 3240 additions and 2921 deletions
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+uint64 timestamp
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+float32 lateral_accel_max # [m/s^2] maps 1:1 to a maximum roll angle, accel_max = tan(roll_max) * GRAVITY