Fixed-wing: split out control of steering wheel into seperate message LandingGearWheel

Completely detach the steering wheel logic from the yaw controller (beside using the
same manual stick input in a manual flight mode).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

src/lib/mixer_module/functions/FunctionLandingGearWheel.hpp

@@ -0,0 +1,63 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "FunctionProviderBase.hpp"
+
+#include <uORB/topics/landing_gear_wheel.h>
+
+/**
+ * Functions: Landing_Gear_Wheel
+ */
+class FunctionLandingGearWheel : public FunctionProviderBase
+{
+public:
+	FunctionLandingGearWheel() = default;
+	static FunctionProviderBase *allocate(const Context &context) { return new FunctionLandingGearWheel(); }
+
+	void update() override
+	{
+		landing_gear_wheel_s landing_gear_wheel;
+
+		if (_topic.update(&landing_gear_wheel)) {
+			_data = landing_gear_wheel.normalized_wheel_setpoint;
+		}
+	}
+
+	float value(OutputFunction func) override { return _data; }
+
+private:
+	uORB::Subscription _topic{ORB_ID(landing_gear_wheel)};
+	float _data{0.f};
+};

src/lib/mixer_module/mixer_module.cpp

@@ -59,6 +59,7 @@ static const FunctionProvider all_function_providers[] = {
 	{OutputFunction::Servo1, OutputFunction::ServoMax, &FunctionServos::allocate},
 	{OutputFunction::Offboard_Actuator_Set1, OutputFunction::Offboard_Actuator_Set6, &FunctionActuatorSet::allocate},
 	{OutputFunction::Landing_Gear, &FunctionLandingGear::allocate},
+	{OutputFunction::Landing_Gear_Wheel, &FunctionLandingGearWheel::allocate},
 	{OutputFunction::Parachute, &FunctionParachute::allocate},
 	{OutputFunction::Gripper, &FunctionGripper::allocate},
 	{OutputFunction::RC_Roll, OutputFunction::RC_AUXMax, &FunctionManualRC::allocate},

src/lib/mixer_module/mixer_module.hpp

@@ -41,6 +41,7 @@
 #include "functions/FunctionGimbal.hpp"
 #include "functions/FunctionGripper.hpp"
 #include "functions/FunctionLandingGear.hpp"
+#include "functions/FunctionLandingGearWheel.hpp"
 #include "functions/FunctionManualRC.hpp"
 #include "functions/FunctionMotors.hpp"
 #include "functions/FunctionParachute.hpp"

src/lib/mixer_module/output_functions.yaml

@@ -36,6 +36,8 @@ functions:
 
     Gripper: 430
 
+    Landing_Gear_Wheel: 440
+
     # Add your own here:
     #MyCustomFunction: 10000