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

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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>
This commit is contained in:
Silvan Fuhrer
2022-11-22 13:46:25 -05:00
committed by Daniel Agar
parent 6c611a7e8b
commit a787a326e3
10 changed files with 102 additions and 10 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.hpp
+3
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@@ -64,6 +64,7 @@
#include <uORB/topics/autotune_attitude_control_status.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/control_allocator_status.h>
#include <uORB/topics/landing_gear_wheel.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/rate_ctrl_status.h>
@@ -138,6 +139,7 @@ private:
uORB::PublicationMulti<rate_ctrl_status_s> _rate_ctrl_status_pub{ORB_ID(rate_ctrl_status)};
uORB::Publication<vehicle_thrust_setpoint_s> _vehicle_thrust_setpoint_pub{ORB_ID(vehicle_thrust_setpoint)};
uORB::Publication<vehicle_torque_setpoint_s> _vehicle_torque_setpoint_pub{ORB_ID(vehicle_torque_setpoint)};
uORB::Publication<landing_gear_wheel_s> _landing_gear_wheel_pub{ORB_ID(landing_gear_wheel)};
actuator_controls_s _actuator_controls{};
manual_control_setpoint_s _manual_control_setpoint{};
@@ -146,6 +148,7 @@ private:
vehicle_local_position_s _local_pos{};
vehicle_rates_setpoint_s _rates_sp{};
vehicle_status_s _vehicle_status{};
landing_gear_wheel_s _landing_gear_wheel{};
matrix::Dcmf _R{matrix::eye<float, 3>()};