Matthias Grob
8bb20db7da
GotoControl: Save flash
2023-11-30 17:16:02 +01:00
Matthias Grob
5a2efc1cb2
GotoControl: remove dependency on PositionControl
...
It was there only to have the empty trajectory setpoint defined.
I rather redefine it for the single use.
2023-11-30 17:16:02 +01:00
Matthias Grob
c853acc2ff
GotoControl: also provide maximum velocity to position smoother
2023-11-30 17:16:02 +01:00
Matthias Grob
d1e8bdbd16
GotoControl: rename yaw rate acceleration parameter
...
such that not only one letter differs to MPC_YAWRAUTO_MAX
2023-11-30 17:16:02 +01:00
Matthias Grob
3de6fee07f
GotoControl: make interface over uORB
2023-11-30 17:16:02 +01:00
Matthias Grob
96a81c22e3
GotoControl: simplify configuration wrapping
2023-11-30 17:16:02 +01:00
Matthias Grob
439d6c61e0
Revise GotoControl
2023-11-30 17:16:02 +01:00
Thomas Stastny
4b920a6628
GotoControl: add go-to control interface to mc position controller
...
goto control class handles smoothing of goto setpoints, outputs trajectory setpoint for mc pos control
some minor encapsulation done in mc pos control for readability
new param MPC_YAWAAUTO_MAX limiting heading accelerations in heading smoother
2023-11-30 17:16:02 +01:00
Matthias Grob