- remove deprecated actuator_controls[INDEX_FLAPS/SPOILERS/AIRBRAKES]
- use new topic normalized_unsigned_setpoint.msg (with instances flaps_setpoint
and spoilers_setpoint) to pass into control allocation
- remove flaps/spoiler related fields from attitude_setpoint topic
- CA: add possibility to map flaps/spoilers to any control surface
- move flaps/spoiler pitch trimming to CA (previously called DTRIM_FLAPS/SPOILER)
- move manual flaps/spoiler handling from rate to attitude controller
FW Position controller: change how negative switch readings are intepreted
for flaps/spoilers (considered negative as 0).
VTOL: Rework spoiler publishing in hover
- pushlish spoiler_setpoint.msg in the VTOL module if in hover
- also set spoilers to land configuration if in Descend mode
Allocation: add slew rate limit of 0.5 to flaps/spoilers configuration change
Instead of doing the flaps/spoilers slew rate limiting in the FW Position Controller
(which then only is applied in Auto flight), do it consistently over all flight
modes, so also for manual modes.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
-always reset roll/pitch/yaw integrators at the same time
-reset them while waiting for launch or during FW Takeoff before Climbout
-reset wheel rate integrator only when disarmed
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- Avoid constantly adjusting the velocity gains with the HTE
- Make sure the hover thrust integral update doesn't break
even though its unit is acceleration and not unit thrust anymore
We need to convert the velocity gains to not contain/depend on the
hover thrust. In horizontal direction it doesn't make sense to scale
them with the hover thrust and in vertical direction the adjustments are
already done in the acceleration to collective thrust conversion.
This function updates the vertical velocity integrator with the change
in hover thrust to avoid propagating discontinuities through the
controller when changing the hover thrust.
This is also important when using the hover thrust estimator as its
estimate has unconstrained dynamics and can cause drops or kicks when
the estimate updates faster than the velocity integrator.
Removing the skip_controller and interfaceMapping
concept and replacing it with a single method checking
if the position control update was successful and
return the result in the PositionControl.update().
Silvan Fuhrer