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added documentation to control topics

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst 2025-01-09 10:33:18 +03:00
parent daa6b1aa57
commit df9bee4d9b
6 changed files with 32 additions and 29 deletions
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11
msg/FwLateralControlSetpoint.msg
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@ -1,11 +1,12 @@
uint64 timestamp
float32 course_setpoint
float32 airspeed_reference_direction # angle of desired airspeed vector [-pi, pi]
float32 lateral_acceleration_setpoint
# NOTE: At least one of course_setpoint, airspeed_reference_direction, or lateral_acceleration_setpoint must be finite
float32 course_setpoint # NAN if not controlled directly, [-pi, pi]
float32 airspeed_reference_direction # angle of desired airspeed vector, NAN if not controlled directly, used as feedforward if course setpoint is finite, [-pi, pi],
float32 lateral_acceleration_setpoint # NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_reference_direction is finite, [m/s^2]
float32 roll_sp # TODO: remove, only for testing
float32 heading_sp_runway_takeoff
bool reset_integral
float32 heading_sp_runway_takeoff # [-pi, pi] heading setpoint for runway takeoff
bool reset_integral # TODO: remove, resets rate controller integrals
# TOPICS fw_lateral_control_setpoint fw_lateral_control_status

12
msg/FwLongitudinalControlSetpoint.msg
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@ -1,9 +1,11 @@
uint64 timestamp
float32 height_rate_setpoint
float32 altitude_setpoint
float32 equivalent_airspeed_setpoint
float32 pitch_sp
float32 thrust_sp
# Note: If not both pitch_sp and throttle_sp are finite, then either altitude_setpoint or height_rate_setpoint must be finite
float32 height_rate_setpoint # NAN if not controlled directly, used as feeforward if altitude_setpoint is finite [m/s]
float32 altitude_setpoint # NAN if not controlled, MSL [m]
float32 equivalent_airspeed_setpoint # [m/s]
float32 pitch_sp # NAN if not controlled, overrides total energy controller [rad]
float32 thrust_sp # NAN if not controlled, overrides total energy controller [0,1]
# TOPICS fw_longitudinal_control_setpoint fw_longitudinal_control_status

2
msg/LateralControlLimits.msg
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@ -1,3 +1,3 @@
uint64 timestamp
float32 lateral_accel_max
float32 lateral_accel_max # maps 1:1 to a maximum roll angle, accel_max = tan(roll_max) * GRAVITY, m/s^2

20
msg/LongitudinalControlLimits.msg
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@ -1,15 +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 pitch_min # [rad]
float32 pitch_max # [rad]
float32 throttle_min # [0,1]
float32 throttle_max # [0,1]
float32 climb_rate_target # target climbrate used to change altitude, [m/s]
float32 sink_rate_target # target sinkrate used to change altitude, [m/s]
float32 equivalent_airspeed_min # [m/s]
float32 equivalent_airspeed_max # [m/s]
float32 speed_weight
float32 speed_weight # [0,2], 0=pitch controls altitude only, 2=pitch controls airspeed only
bool enforce_low_height_condition
bool enforce_low_height_condition # if true, total energy controller will use lower altitude control time constant
bool disable_underspeed_protection

4
src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp
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@ -192,8 +192,8 @@ void FwLateralLongitudinalControl::Run()
_long_control_limits_sub.get().pitch_max,
_long_control_limits_sub.get().throttle_min,
_long_control_limits_sub.get().throttle_max,
_long_control_limits_sub.get().sink_rate_max,
_long_control_limits_sub.get().climb_rate_max,
_long_control_limits_sub.get().sink_rate_target,
_long_control_limits_sub.get().climb_rate_target,
_long_control_limits_sub.get().disable_underspeed_protection,
longitudinal_sp.height_rate_setpoint
);

12
src/modules/fw_pos_control/FixedwingPositionControl.cpp
View File

@ -764,8 +764,8 @@ const
longitudinal_control_limits.pitch_max = radians(_param_fw_p_lim_max.get());
longitudinal_control_limits.throttle_min = _param_fw_thr_min.get();
longitudinal_control_limits.throttle_max = _param_fw_thr_max.get();
longitudinal_control_limits.climb_rate_max = _param_climbrate_target.get();
longitudinal_control_limits.sink_rate_max = _param_sinkrate_target.get();
longitudinal_control_limits.climb_rate_target = _param_climbrate_target.get();
longitudinal_control_limits.sink_rate_target = _param_sinkrate_target.get();
longitudinal_control_limits.disable_underspeed_protection = false;
longitudinal_control_limits.enforce_low_height_condition = false;
longitudinal_control_limits.speed_weight = _param_fw_t_spdweight.get();
@ -1406,7 +1406,7 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
longitudinal_control_limits.pitch_min = pitch_min;
longitudinal_control_limits.pitch_max = pitch_max;
longitudinal_control_limits.climb_rate_max = _performance_model.getMaximumClimbRate(_air_density);
longitudinal_control_limits.climb_rate_target = _performance_model.getMaximumClimbRate(_air_density);
longitudinal_control_limits.disable_underspeed_protection = true;
_flaps_setpoint = _param_fw_flaps_to_scl.get();
@ -1494,7 +1494,7 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
longitudinal_control_limits.pitch_min = radians(_takeoff_pitch_min.get());
longitudinal_control_limits.throttle_max = max_takeoff_throttle;
longitudinal_control_limits.climb_rate_max = _performance_model.getMaximumClimbRate(_air_density);
longitudinal_control_limits.climb_rate_target = _performance_model.getMaximumClimbRate(_air_density);
longitudinal_control_limits.disable_underspeed_protection = true;
//float yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw
@ -1745,7 +1745,7 @@ FixedwingPositionControl::control_auto_landing_straight(const hrt_abstime &now,
longitudinal_control_limits.throttle_min = _param_fw_thr_idle.get();
longitudinal_control_limits.throttle_max = _landed ? _param_fw_thr_idle.get() : _param_fw_thr_max.get();
longitudinal_control_limits.sink_rate_max = desired_max_sinkrate;
longitudinal_control_limits.sink_rate_target = desired_max_sinkrate;
// enable direct yaw control using rudder/wheel
_att_sp.fw_control_yaw_wheel = false;
@ -1938,7 +1938,7 @@ FixedwingPositionControl::control_auto_landing_circular(const hrt_abstime &now,
longitudinal_control_limits.throttle_min = _param_fw_thr_idle.get();
longitudinal_control_limits.throttle_max = _landed ? _param_fw_thr_idle.get() : _param_fw_thr_max.get();
longitudinal_control_limits.sink_rate_max = desired_max_sinkrate;
longitudinal_control_limits.sink_rate_target = desired_max_sinkrate;
_longitudinal_ctrl_limits_pub.publish(longitudinal_control_limits);
}