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15 Commits

Author SHA1 Message Date
mahima-yoga
817b0191e7 NPFG: add unit tests and add back feasible bearing check back 2025-05-26 14:47:38 +02:00
Silvan
0ea109ff5d perfromance model: add FW_AIRSPD_FLP_SC to reduce with flaps 
Signed-off-by: Silvan <silvan@auterion.com>
 2025-05-26 14:47:38 +02:00
RomanBapst
779a55c6dc FW Position Controller rework 
- 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>
 2025-05-26 14:47:38 +02:00
Silvan Fuhrer
123c06f2e6 NPFG: specify in comments that airspeed reference is for true airspeed 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-21 11:34:28 +01:00
Konrad
d1b8a2e8d5 fxedwingPositionControl: Add slew rate at the end for all mode instead inside each 2023-12-05 10:42:23 +01:00
Konrad
1d07697a9e NPFG: Add fallback for corner cases 2023-12-05 10:42:23 +01:00
Thomas Stastny
413f66549d npfg: update signed track error state 2023-09-08 16:08:38 +02:00
KonradRudin
c5d041a2f7
Rearrange npfg use path input (#21071) 
* [npfg]: Remove the guideToPoint function and replace with guideToPath

* [npfg]: remove unused navigateXXX functions

* [npfg]: Move navigateXXX Function into FWPoscontrol

* [FixedwingPositionControl]: Set default flaps and spoilers in attitude setpoint topic, and only change if necessary.
 2023-02-08 08:54:00 +01:00
JaeyoungLim
2586900c26
Log local position setpoint reference for fixedwings when running NPFG (#20512) 
* Log position setpoint reference of npfg

This commit logs the local position setpoint reference when using NPFG

* Address review comments

This commit address review comments from @tstastny
 2022-11-22 08:19:38 +01:00
Roman Bapst
20457c5e2e
position_setpoint: replaced loiter_direction integer by boolean (#20317) 
* position_setpoint: replaced loiter_direction integer by boolean (loiter_direction_counter_clockwise)

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-09-29 11:06:10 +02:00
Jaeyoung-Lim
71bfb9c0de Convert NPFG to local coordinates 2022-03-23 13:34:13 +01:00
Jaeyoung-Lim
b0f9611eb9 NPFG: use cross product for matrix library 
This removes the use of cross products from NPFG and takes advantage of the matrix library
 2022-02-17 09:52:47 +01:00
Jaeyoung Lim
e2741f988a Add interface for passing path tangent and closest point directly 
This commit adds an interface to pass the path tangent and closest point directly to NPFG using the offboard interface
 2022-02-02 17:16:19 +01:00
Thomas Stastny
19c98b8841 npfg: fix typo in Vector2f indexing 2022-01-19 11:17:44 -05:00
Thomas Stastny
082e320191 integrate optional NPFG library for wind-aware fixed-wing guidance 2022-01-14 22:05:53 +01:00