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FixedWingPositionControl: do not pass trim throttle via position setpoint triplet

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- trim throttle is handled entirely by the position controller
- navigator should use speed setpoints
- added flag gliding_enabled in position setpoint to stills support gliding

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2022-07-12 09:07:20 +02:00
committed by Martina Rivizzigno
parent cae7e1b88b
commit c05e0f076b
4 changed files with 11 additions and 51 deletions
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msg/position_setpoint.msg
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@@ -40,6 +40,7 @@ int8 loiter_direction # loiter direction: 1 = CW, -1 = CCW
float32 acceptance_radius # navigation acceptance_radius if we're doing waypoint navigation
float32 cruising_speed # the generally desired cruising speed (not a hard constraint)
bool gliding_enabled # commands the vehicle to glide if the capability is available (fixed wing only)
float32 cruising_throttle # the generally desired cruising throttle (not a hard constraint)
bool disable_weather_vane # VTOL: disable (in auto mode) the weather vane feature that turns the nose into the wind