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added documentation to control topics

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
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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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msg/FwLateralControlSetpoint.msg
+6 -5
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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