To separate accuracy requirements for VTOL hover and cruise.
- global_position_relaxed refers to having a valid horizontal velocity aid source
in the estimator and a set global reference position, but poses no requirements
on the accuracy of the provided position estimate.
- Auto flight modes Mission, Loiter and RTL, while in fixed-wing mode,
only require the relaxed global position going forward
- COM_POS_FS_EPH is thus no longer used on fixed-wing vehicles (resp. VTOL in FW)
- rename failsafe_flags.local_position_accuracy_low to failsafe_flags.position_accuracy_low
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Signed-off-by: RomanBapst <bapstroman@gmail.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan <silvan@auterion.com>
add RunwayControl messge to pass wheel steering controls to wheel controller
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Runway takeoff: specify that RWTO_TKOFF is directly applied during takeoff
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
msg/RateCtrlStatus: remove unused wheel_rate_integ field
The wheel rate controller is not run in the moduels that are now
running the MC/FW rate controllers, so thsi field canot be filled.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
wheel rate controller: use speed scaler quadratically on integrator
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
wheel yaw controller: use a time constant of 0.1
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
FW Attitude Controller: lock heading setpoint for wheels to initial heading
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Params that are used by FW Mode Manager
- FW NPFG: NPFG params, should be renamed to FW Lateral Control once moved to the lat/lon controller
- FW Auto Takeoff
- FW Auto Landing
Params used by Fw Lat/Long Controller:
- FW Lateral Control
- FW Longitudinal Control
Params used by both:
- FW General
Params used by Performance model:
- FW Performance (could be moerged with FW General?)
Signed-off-by: Silvan <silvan@auterion.com>
- split up old module into two, one handling setpoint generation, one control
- add lateral and longitudinal control setpoints topics that can also be
injected from companion computer
- add configuration topics that (optionally) configure the controller
with limits and momentary settings
Signed-off-by: RomanBapst <bapstroman@gmail.com>
To make sure QGC also shows a box and reads out for "low battery"
and make events and mavlink_log reports consistent.
Low - Critical
Critical - Critical
Emergency - Emergency
* gz: print version number in init, remove gst plugin spam, rename function
* fix 0 timestamp issue by waiting for clock callback before subscribing to other topics. Refactor to cleanup topic subscriptions
* format
* change gzerr to gzwarn
- only use data from airspeed_validated topic if source is SENSOR
- add 1s timeout (set to NAN if older)
- use FW_USE_AIRSPD consitently (treat the same as CAS=NAN)
Signed-off-by: Silvan <silvan@auterion.com>
chfriedrich98