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VTOL: remove virtual actuator_controls and instead use virtual torque/thrust topics

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MC/FW rate controller and auto tuner: remove actuator_controls

AirshipAttControl: remove actuator_controls

MulticopterLandDetector: remove actuator_controls

mavlink streams vfr_hud and high_latency2: remove actuator_controls

RoverPositionController: remove actuator_controls

UUVAttitudeController: remove actuator_controls

battery: use length of thrust_setpoint for throttle compensation

VehicleMagnetometer: use length of thrust_setpoint for throttle compensation

Signed-off-by: Silvan Fuhrer
This commit is contained in:
Silvan Fuhrer
2023-03-16 11:55:45 +01:00
committed by Beat Küng
parent bcd6e7adee
commit b16f16598b
47 changed files with 332 additions and 549 deletions
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src/lib/system_identification/test_data.h
+2 -2
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@@ -40,9 +40,9 @@
*
* Sampling frequency: ~285Hz, y_data is aligned with the closest next u_data
*
* u_data: actuator_controls_0.control[0] (roll control signal, used as the input)
* u_data: vehicle_torque_setpoint[0] (roll control signal, used as the input)
* y_data: vehicle_angular_velocity.xyz[0] (filtered roll angular rate, used as the output)
* t_data: actuator_controls_0.timestamp
* t_data: vehicle_torque_setpoint.timestamp
*/
#pragma once