* VTOL trans: changed that now in transition for both MC and FW the corresponding (correct) attitude controller is running
* attitude setpoint for stabilized mode is generated by tailsitter.cpp
* reset yaw setpoint during transition to avoid big yaw errors after
transition back to hover
* VT_TYPE parameter: added "reboot required" metadata
- Remove unnecessary in between rate limits member vectors.
- Only switch the yaw rate limit in auto modes,
other values stay the same anyways.
- Fill gain vectors with parameters in one line.
* attitude and rate setpoint message: use 3D array for thrust demand
* FixedWingAttitudeControl: rework airspeed scaling
* move airspeed and scaling calculation into separate method
* if vtol in hover and airspeed disabled use minimum airspeed instead of trim airspeed
- better in terms of dependencies:
- the position controller code depended on position topics for yaw
- mc_pos_control does not have to be run for Stabilized mode
- the code path is much simpler, and thus less error prone. This is
especially important since Stabilized is often used as a fail-safe flight
mode.
It scales the yawspeed setpoint arbitrarily by default with 0.5.
This makes no sense because when you give a setpoint of 1rad/s then
you expect the setpoint to get executed. If you want manual yawspeed
response to be less agressive on the stick use the scaling parameter
for the stick MPC_MAN_Y_MAX.
Previously the rate controller disabled updating the integral below 20%
throttle. This is not ideal for several reasons:
- some racers already hover with 20% throttle.
- for acro it is important to always keep the integral enabled, it has a
noticeable effect on flight performance.
Roman Bapst