added messages for lateral and longitudinal control setpoints and corresponding limits

Signed-off-by: RomanBapst <bapstroman@gmail.com>

msg/CMakeLists.txt

@@ -92,6 +92,8 @@ set(msg_files
 	FollowTargetEstimator.msg
 	FollowTargetStatus.msg
 	FuelTankStatus.msg
+	FwLateralControlSetpoint.msg
+	FwLongitudinalControlSetpoint.msg
 	GeneratorStatus.msg
 	GeofenceResult.msg
 	GeofenceStatus.msg
@@ -121,10 +123,12 @@ set(msg_files
 	LandingGearWheel.msg
 	LandingTargetInnovations.msg
 	LandingTargetPose.msg
+		LateralControlLimits.msg
 	LaunchDetectionStatus.msg
 	LedControl.msg
 	LoggerStatus.msg
 	LogMessage.msg
+	LongitudinalControlLimits.msg
 	MagnetometerBiasEstimate.msg
 	MagWorkerData.msg
 	ManualControlSwitches.msg

msg/FwLateralControlSetpoint.msg

@@ -0,0 +1,11 @@
+uint64 timestamp
+
+float32 course_setpoint
+float32 airspeed_reference_direction    # angle of desired airspeed vector [-pi, pi]
+float32 lateral_acceleration_setpoint
+float32 roll_sp # TODO: remove, only for testing
+
+float32 heading_sp_runway_takeoff
+bool reset_integral
+
+# TOPICS fw_lateral_control_setpoint fw_lateral_control_status

msg/FwLongitudinalControlSetpoint.msg

@@ -0,0 +1,9 @@
+uint64 timestamp
+
+float32 height_rate_setpoint
+float32 altitude_setpoint
+float32 equivalent_airspeed_setpoint
+float32 pitch_sp
+float32 thrust_sp
+
+# TOPICS fw_longitudinal_control_setpoint fw_longitudinal_control_status

msg/LateralControlLimits.msg

@@ -0,0 +1,3 @@
+uint64 timestamp
+
+float32 lateral_accel_max

msg/LongitudinalControlLimits.msg

@@ -0,0 +1,15 @@
+uint64 timestamp
+
+float32 pitch_min
+float32 pitch_max
+float32 throttle_min
+float32 throttle_max
+float32 climb_rate_max
+float32 sink_rate_max
+float32 equivalent_airspeed_min
+float32 equivalent_airspeed_max
+
+float32 speed_weight
+
+bool enforce_low_height_condition
+bool disable_underspeed_protection

src/modules/logger/logged_topics.cpp

@@ -147,6 +147,10 @@ void LoggedTopics::add_default_topics()
 	add_topic("vehicle_status");
 	add_optional_topic("vtol_vehicle_status", 200);
 	add_topic("wind", 1000);
+	add_topic("fw_lateral_control_setpoint");
+	add_topic("fw_lateral_control_status");
+	add_topic("fw_longitudinal_control_setpoint");
+	add_topic("fw_longitudinal_control_status");
 
 	// multi topics
 	add_optional_topic_multi("actuator_outputs", 100, 3);