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Add support for offboard velocity setpoints for fixedwing vehicles

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This commit adds a velocity controller which the setpoint can be passed using offboard setpoints
This commit is contained in:
Jaeyoung-Lim
2022-01-03 10:52:34 +01:00
committed by JaeyoungLim
parent 75bb2f8dd2
commit e66e82228f
2 changed files with 86 additions and 0 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+2
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@@ -329,6 +329,8 @@ private:
const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr);
void control_auto_loiter(const hrt_abstime &now, const Vector2d &curr_pos, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr, const position_setpoint_s &pos_sp_next);
void control_auto_velocity(const hrt_abstime &now, const Vector2d &curr_pos, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr);
void control_auto_takeoff(const hrt_abstime &now, const float dt, const Vector2d &curr_pos,
const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev,