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added trajectories & enabled closed loop soaring

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This commit is contained in:
Marvin Harms
2022-09-04 23:07:15 +02:00
parent fb0f81dea1
commit d5418dbcfb
173 changed files with 902 additions and 154 deletions
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msg/soaring_controller_wind.msg
+2
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@@ -5,5 +5,7 @@ uint64 timestamp # time since system start (microseconds)
float32[3] wind_estimate # WIND ESTIMATE IN ENU FRAME
float32[3] wind_estimate_filtered # LP-FILTERED WIND ESTIMATE IN ENU FRAME, USED BY INDI CONTROLLER
float32[3] position # position of the current estimate in the soaring frame
float32 airspeed # current airspeed
bool valid # tell, if estimate is valid for shear estimator
bool lock_params # tell, if the shear estimator shall lock shear param values for soaring
msg/soaring_estimator_shear.msg
+3 -2
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@@ -20,10 +20,11 @@ float32 coeff_0 # offset vertical wind
float32 coeff_1 # linear coeff vertical wind
float32 coeff_2 # quadratic coeff vertical wind
float32 v_max # discrete value of v_max (shear velocity)
float32 alpha # discrete value of alpha (shear strength)
float32 v_max # discrete value of v_max (shear velocity), identifier for appropriate trajectrory
float32 alpha # discrete value of alpha (shear strength), identifier for appropriate trajectrory
float32 h_ref # discrete value of h_ref (shear location)
float32 psi # discrete value of shear heading
float32 aspd # airspeed identifier for appropriate trajectrory
bool soaring_feasible # plausibility check
uint64 reset_counter # filter reset counter