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29 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Silvan Fuhrer
|
ce7b9d2035 | ||
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Silvan Fuhrer
|
cb2c711e58 | ||
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Silvan Fuhrer
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23a4854e82 | ||
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Silvan Fuhrer
|
5b7d78d54f | ||
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Silvan Fuhrer
|
c1a85d37e8 | ||
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Silvan Fuhrer
|
ad4067e235 | ||
|
Silvan Fuhrer
|
37b8ed88c4 | ||
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Silvan Fuhrer
|
22fdbacdbe | ||
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Silvan Fuhrer
|
01cddd3c67 | ||
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Silvan Fuhrer
|
9182e4bce7 | ||
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Silvan Fuhrer
|
1e13cf9cb7 | ||
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Mahima Yoga
|
d47c270834 | ||
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Silvan
|
8c5878bc90 | ||
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Roman Bapst
|
911d75e578 | ||
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RomanBapst
|
2d43e6caf2 | ||
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RomanBapst
|
ab15ba8701 | ||
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Silvan
|
30aeba4cca | ||
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mahima-yoga
|
a8a354d04a | ||
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mahima-yoga
|
1a6b16c8ce | ||
|
Silvan
|
c9a3d9e7f2 | ||
|
Silvan Fuhrer
|
225a783146 | ||
|
Silvan Fuhrer
|
4ef34f4991 | ||
|
Silvan
|
46480b7dfb | ||
|
Silvan Fuhrer
|
54ec8f9d2e | ||
|
mahima-yoga
|
84a0331856 | ||
|
Silvan
|
e3d5ab51fb | ||
|
Silvan
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96a3c3a37b | ||
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Silvan
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a137db9f53 | ||
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RomanBapst
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a2ba0e0c7a |
@@ -15,7 +15,8 @@ control_allocator start
|
||||
#
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||||
fw_rate_control start
|
||||
fw_att_control start
|
||||
fw_pos_control start
|
||||
fw_mode_manager start
|
||||
fw_lat_lon_control start
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||||
airspeed_selector start
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||||
|
||||
#
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||||
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||||
@@ -27,7 +27,8 @@ fi
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||||
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||||
fw_rate_control start vtol
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||||
fw_att_control start vtol
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||||
fw_pos_control start vtol
|
||||
fw_mode_manager start
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||||
fw_lat_lon_control start vtol
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||||
fw_autotune_attitude_control start vtol
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||||
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||||
# Start Land Detector
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||||
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||||
@@ -41,7 +41,8 @@ CONFIG_MODULES_EVENTS=y
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||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
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||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
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||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
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||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -46,7 +46,8 @@ CONFIG_MODULES_EVENTS=y
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||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
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||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
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||||
CONFIG_MODULES_FW_RATE_CONTROL=y
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||||
CONFIG_MODULES_GIMBAL=y
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||||
CONFIG_MODULES_GYRO_CALIBRATION=y
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||||
|
||||
@@ -56,7 +56,8 @@ CONFIG_MODULES_EVENTS=y
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||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
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||||
CONFIG_MODULES_FW_ATT_CONTROL=y
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||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
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||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
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||||
CONFIG_MODULES_FW_RATE_CONTROL=y
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||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
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||||
|
||||
@@ -37,7 +37,8 @@ CONFIG_MODULES_EVENTS=y
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||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
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||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
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||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
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||||
CONFIG_MODULES_FW_RATE_CONTROL=y
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||||
CONFIG_MODULES_GIMBAL=y
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||||
CONFIG_MODULES_GYRO_CALIBRATION=y
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||||
|
||||
@@ -37,7 +37,8 @@ CONFIG_MODULES_EVENTS=y
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||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
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||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
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||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
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||||
CONFIG_FIGURE_OF_EIGHT=y
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||||
CONFIG_MODULES_FW_RATE_CONTROL=y
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||||
CONFIG_MODULES_GIMBAL=y
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||||
|
||||
@@ -3,7 +3,8 @@ CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=n
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||||
CONFIG_MODULES_AIRSPEED_SELECTOR=n
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||||
CONFIG_MODULES_FW_ATT_CONTROL=n
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_FW_POS_CONTROL=n
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
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||||
CONFIG_MODULES_FW_RATE_CONTROL=n
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||||
CONFIG_MODULES_VTOL_ATT_CONTROL=n
|
||||
CONFIG_COMMON_RC=y
|
||||
|
||||
@@ -2,7 +2,8 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
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||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=n
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_FW_POS_CONTROL=n
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=n
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=n
|
||||
|
||||
@@ -42,7 +42,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -30,7 +30,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -49,7 +49,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
|
||||
CONFIG_MODULES_UUV_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_MANUAL_CONTROL=y
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=y
|
||||
|
||||
@@ -38,7 +38,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -42,7 +42,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -50,7 +50,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -50,7 +50,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -49,7 +49,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -50,7 +50,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -46,7 +46,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -32,7 +32,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -39,7 +39,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -41,7 +41,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -44,7 +44,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -37,7 +37,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -45,7 +45,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -45,7 +45,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -45,7 +45,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -50,7 +50,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -30,7 +30,8 @@ CONFIG_MODULES_EKF2=y
|
||||
CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -33,7 +33,8 @@ CONFIG_MODULES_EKF2=y
|
||||
CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -32,7 +32,8 @@ CONFIG_MODULES_EKF2=y
|
||||
CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -39,7 +39,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -40,7 +40,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -38,7 +38,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -49,7 +49,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -40,7 +40,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -46,7 +46,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -44,7 +44,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -44,7 +44,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -42,7 +42,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -43,7 +43,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -43,7 +43,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -45,7 +45,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -46,7 +46,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -47,7 +47,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -48,7 +48,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -33,7 +33,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -20,7 +20,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -24,7 +24,8 @@ CONFIG_MODULES_ESC_BATTERY=y
|
||||
CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
|
||||
@@ -47,7 +47,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -8,5 +8,6 @@ CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
|
||||
CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
|
||||
@@ -51,7 +51,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -52,7 +52,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -47,7 +47,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -55,7 +55,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -17,7 +17,8 @@ CONFIG_MODULES_CAMERA_FEEDBACK=n
|
||||
CONFIG_MODULES_ESC_BATTERY=n
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=n
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_FW_POS_CONTROL=n
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=n
|
||||
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
|
||||
|
||||
@@ -4,7 +4,8 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=n
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_FW_POS_CONTROL=n
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=n
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=n
|
||||
|
||||
@@ -29,7 +29,8 @@ CONFIG_MODULES_ESC_BATTERY=n
|
||||
CONFIG_MODULES_EVENTS=n
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=n
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_FW_POS_CONTROL=n
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=n
|
||||
CONFIG_MODULES_GIMBAL=n
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=n
|
||||
|
||||
@@ -59,7 +59,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -3,7 +3,8 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=n
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_FW_POS_CONTROL=n
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=n
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=n
|
||||
|
||||
@@ -47,7 +47,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -2,7 +2,8 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=n
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_FW_POS_CONTROL=n
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=n
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=n
|
||||
|
||||
@@ -47,7 +47,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -2,7 +2,8 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=n
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_FW_POS_CONTROL=n
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=n
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=n
|
||||
|
||||
@@ -57,7 +57,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -3,7 +3,8 @@ CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=n
|
||||
CONFIG_MODULES_AIRSPEED_SELECTOR=n
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=n
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_FW_POS_CONTROL=n
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=n
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=n
|
||||
CONFIG_COMMON_RC=y
|
||||
|
||||
@@ -2,7 +2,8 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=n
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_FW_POS_CONTROL=n
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=n
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=n
|
||||
|
||||
@@ -57,7 +57,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -3,7 +3,8 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=n
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_FW_POS_CONTROL=n
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=n
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
|
||||
|
||||
@@ -30,7 +30,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -19,7 +19,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_FIGURE_OF_EIGHT=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
|
||||
@@ -2,7 +2,8 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=n
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
|
||||
CONFIG_MODULES_FW_POS_CONTROL=n
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=n
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=n
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
|
||||
CONFIG_MODULES_MC_ATT_CONTROL=n
|
||||
|
||||
@@ -32,7 +32,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -38,7 +38,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -46,7 +46,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -44,7 +44,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -44,7 +44,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -40,7 +40,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -47,7 +47,8 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL=y
|
||||
CONFIG_MODULES_FW_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -45,6 +45,7 @@ Land mode behaviour can be configured using the parameters below.
|
||||
| <a id="NAV_LOITER_RAD"></a>[NAV_LOITER_RAD](../advanced_config/parameter_reference.md#NAV_LOITER_RAD) | The loiter radius that the controller tracks for the whole landing sequence. |
|
||||
| <a id="FW_LND_ANG"></a>[FW_LND_ANG](../advanced_config/parameter_reference.md#FW_LND_ANG) | The flight path angle setpoint. |
|
||||
| <a id="FW_LND_AIRSPD"></a>[FW_LND_AIRSPD](../advanced_config/parameter_reference.md#FW_LND_AIRSPD) | The airspeed setpoint. |
|
||||
| <a id="FW_AIRSPD_FLP_SC"></a>[FW_AIRSPD_FLP_SC](../advanced_config/parameter_reference.md#FW_AIRSPD_FLP_SC) | Factor applied to the minimum airspeed when flaps are fully deployed. Necessary if FW_LND_AIRSPD is below FW_AIRSPD_MIN.
|
||||
|
||||
## See Also
|
||||
|
||||
|
||||
@@ -50,6 +50,7 @@ Parameters that affect both catapult/hand-launch and runway takeoffs:
|
||||
| <a id="FW_TKO_PITCH_MIN"></a>[FW_TKO_PITCH_MIN](../advanced_config/parameter_reference.md#FW_TKO_PITCH_MIN) | This is the minimum pitch angle setpoint during the climbout phase |
|
||||
| <a id="FW_T_CLMB_MAX"></a>[FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX) | Maximum climb rate. |
|
||||
| <a id="FW_FLAPS_TO_SCL"></a>[FW_FLAPS_TO_SCL](../advanced_config/parameter_reference.md#FW_FLAPS_TO_SCL) | Flaps setpoint during takeoff |
|
||||
| <a id="FW_AIRSPD_FLP_SC"></a>[FW_AIRSPD_FLP_SC](../advanced_config/parameter_reference.md#FW_AIRSPD_FLP_SC) | Factor applied to the minimum airspeed when flaps are fully deployed. Necessary if FW_TKO_AIRSPD is below FW_AIRSPD_MIN. |
|
||||
|
||||
::: info
|
||||
The vehicle always respects normal FW max/min throttle settings during takeoff ([FW_THR_MIN](../advanced_config/parameter_reference.md#FW_THR_MIN), [FW_THR_MAX](../advanced_config/parameter_reference.md#FW_THR_MAX)).
|
||||
@@ -101,7 +102,7 @@ The _runway takeoff mode_ has the following phases:
|
||||
|
||||
::: info
|
||||
For a smooth takeoff, the runway wheel controller possibly needs to be tuned.
|
||||
It consists of a rate controller (P-I-FF-controller with the parameters [FW_WR_P](../advanced_config/parameter_reference.md#FW_WR_P), [FW_WR_I](../advanced_config/parameter_reference.md#FW_WR_I), [FW_WR_FF](../advanced_config/parameter_reference.md#FW_WR_FF)) and an outer loop that calculates heading setpoints from course errors and can be tuned via [RWTO_NPFG_PERIOD](#RWTO_NPFG_PERIOD).
|
||||
It consists of a rate controller (P-I-FF-controller with the parameters [FW_WR_P](../advanced_config/parameter_reference.md#FW_WR_P), [FW_WR_I](../advanced_config/parameter_reference.md#FW_WR_I), [FW_WR_FF](../advanced_config/parameter_reference.md#FW_WR_FF)).
|
||||
:::
|
||||
|
||||
### Parameters (Runway Takeoff)
|
||||
@@ -120,7 +121,6 @@ Runway takeoff is affected by the following parameters:
|
||||
| <a id="RWTO_NUDGE"></a>[RWTO_NUDGE](../advanced_config/parameter_reference.md#RWTO_NUDGE) | Enable wheel controller nudging while on the runway |
|
||||
| <a id="FW_WING_SPAN"></a>[FW_WING_SPAN](../advanced_config/parameter_reference.md#FW_WING_SPAN) | The wingspan of the vehicle. Used to prevent wingstrikes. |
|
||||
| <a id="FW_WING_HEIGHT"></a>[FW_WING_HEIGHT](../advanced_config/parameter_reference.md#FW_WING_HEIGHT) | The height of the wings above ground (ground clearance). Used to prevent wingstrikes. |
|
||||
| <a id="RWTO_NPFG_PERIOD"></a>[RWTO_NPFG_PERIOD](../advanced_config/parameter_reference.md#RWTO_NPFG_PERIOD) | L1 period while steering on runway. Increase for less aggressive response to course errors. |
|
||||
|
||||
## See Also
|
||||
|
||||
|
||||
+7
-1
@@ -90,6 +90,9 @@ set(msg_files
|
||||
FollowTargetEstimator.msg
|
||||
FollowTargetStatus.msg
|
||||
FuelTankStatus.msg
|
||||
FixedWingLateralGuidanceStatus.msg
|
||||
FixedWingLateralStatus.msg
|
||||
FixedWingRunwayControl.msg
|
||||
GeneratorStatus.msg
|
||||
GeofenceResult.msg
|
||||
GeofenceStatus.msg
|
||||
@@ -137,7 +140,6 @@ set(msg_files
|
||||
NavigatorMissionItem.msg
|
||||
NavigatorStatus.msg
|
||||
NormalizedUnsignedSetpoint.msg
|
||||
NpfgStatus.msg
|
||||
ObstacleDistance.msg
|
||||
OffboardControlMode.msg
|
||||
OnboardComputerStatus.msg
|
||||
@@ -241,8 +243,12 @@ set(msg_files
|
||||
versioned/ArmingCheckRequest.msg
|
||||
versioned/BatteryStatus.msg
|
||||
versioned/ConfigOverrides.msg
|
||||
versioned/FixedWingLateralSetpoint.msg
|
||||
versioned/FixedWingLongitudinalSetpoint.msg
|
||||
versioned/GotoSetpoint.msg
|
||||
versioned/HomePosition.msg
|
||||
versioned/LateralControlConfiguration.msg
|
||||
versioned/LongitudinalControlConfiguration.msg
|
||||
versioned/ManualControlSetpoint.msg
|
||||
versioned/ModeCompleted.msg
|
||||
versioned/RegisterExtComponentReply.msg
|
||||
|
||||
@@ -0,0 +1,13 @@
|
||||
# Fixed Wing Lateral Guidance Status message
|
||||
# Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
float32 course_setpoint # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. Set by guidance law
|
||||
float32 lateral_acceleration_ff # [m/s^2] [FRD] lateral acceleration demand only for maintaining curvature
|
||||
float32 bearing_feas # [0,1] bearing feasibility
|
||||
float32 bearing_feas_on_track # [0,1] on-track bearing feasibility
|
||||
float32 signed_track_error # [m] signed track error
|
||||
float32 track_error_bound # [m] track error bound
|
||||
float32 adapted_period # [s] adapted period (if auto-tuning enabled)
|
||||
uint8 wind_est_valid # (boolean) true = wind estimate is valid and/or being used by controller (also indicates if wind estimate usage is disabled despite being valid)
|
||||
@@ -0,0 +1,7 @@
|
||||
# Fixed Wing Lateral Status message
|
||||
# Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
float32 lateral_acceleration_setpoint # [m/s^2] [FRD] resultant lateral acceleration setpoint
|
||||
float32 can_run_factor # [0, 1] estimate of certainty of the correct functionality of the npfg roll setpoint
|
||||
@@ -0,0 +1,8 @@
|
||||
# Auxiliary control fields for fixed-wing runway takeoff/landing
|
||||
|
||||
# Passes information from the FixedWingModeManager to the FixedWingAttitudeController
|
||||
|
||||
uint64 timestamp # [us] time since system start
|
||||
|
||||
bool wheel_steering_enabled # Flag that enables the wheel steering.
|
||||
float32 wheel_steering_nudging_rate # [norm] [-1, 1] [FRD] Manual wheel nudging, added to controller output. NAN is interpreted as 0.
|
||||
@@ -1,17 +0,0 @@
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint8 wind_est_valid # (boolean) true = wind estimate is valid and/or being used by controller (also indicates if wind est usage is disabled despite being valid)
|
||||
float32 lat_accel # resultant lateral acceleration reference [m/s^2]
|
||||
float32 lat_accel_ff # lateral acceleration demand only for maintaining curvature [m/s^2]
|
||||
float32 bearing_feas # bearing feasibility [0,1]
|
||||
float32 bearing_feas_on_track # on-track bearing feasibility [0,1]
|
||||
float32 signed_track_error # signed track error [m]
|
||||
float32 track_error_bound # track error bound [m]
|
||||
float32 airspeed_ref # (true) airspeed reference [m/s]
|
||||
float32 bearing # bearing angle [rad]
|
||||
float32 heading_ref # heading angle reference [rad]
|
||||
float32 min_ground_speed_ref # minimum forward ground speed reference [m/s]
|
||||
float32 adapted_period # adapted period (if auto-tuning enabled) [s]
|
||||
float32 p_gain # controller proportional gain [rad/s]
|
||||
float32 time_const # controller time constant [s]
|
||||
float32 can_run_factor # estimate of certainty of the correct functionality of the npfg roll setpoint in [0, 1]
|
||||
@@ -4,4 +4,3 @@ uint64 timestamp # time since system start (microseconds)
|
||||
float32 rollspeed_integ
|
||||
float32 pitchspeed_integ
|
||||
float32 yawspeed_integ
|
||||
float32 wheel_rate_integ # FW only and optional
|
||||
|
||||
@@ -0,0 +1,18 @@
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
float32 yaw_sp_move_rate # rad/s (commanded by user)
|
||||
|
||||
# For quaternion-based attitude control
|
||||
float32[4] q_d # Desired quaternion for quaternion control
|
||||
|
||||
# For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand.
|
||||
# For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
|
||||
float32[3] thrust_body # Normalized thrust command in body FRD frame [-1,1]
|
||||
|
||||
bool reset_integral # Reset roll/pitch/yaw integrals (navigation logic change)
|
||||
|
||||
bool fw_control_yaw_wheel # control heading with steering wheel (used for auto takeoff on runway)
|
||||
|
||||
# TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
|
||||
@@ -12,3 +12,4 @@
|
||||
|
||||
#include "translation_vehicle_status_v1.h"
|
||||
#include "translation_airspeed_validated_v1.h"
|
||||
#include "translation_vehicle_attitude_setpoint_v1.h"
|
||||
|
||||
@@ -0,0 +1,53 @@
|
||||
/****************************************************************************
|
||||
* Copyright (c) 2025 PX4 Development Team.
|
||||
* SPDX-License-Identifier: BSD-3-Clause
|
||||
****************************************************************************/
|
||||
#pragma once
|
||||
|
||||
// Translate VehicleAttitudeSetpoint v0 <--> v1
|
||||
#include <px4_msgs_old/msg/vehicle_attitude_setpoint_v0.hpp>
|
||||
#include <px4_msgs/msg/vehicle_attitude_setpoint.hpp>
|
||||
|
||||
class VehicleAttitudeSetpointV1Translation {
|
||||
public:
|
||||
using MessageOlder = px4_msgs_old::msg::VehicleAttitudeSetpointV0;
|
||||
static_assert(MessageOlder::MESSAGE_VERSION == 0);
|
||||
|
||||
using MessageNewer = px4_msgs::msg::VehicleAttitudeSetpoint;
|
||||
static_assert(MessageNewer::MESSAGE_VERSION == 1);
|
||||
|
||||
static constexpr const char* kTopic = "fmu/in/vehicle_attitude_setpoint";
|
||||
|
||||
static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
|
||||
// Set msg_newer from msg_older
|
||||
msg_newer.timestamp = msg_older.timestamp;
|
||||
msg_newer.yaw_sp_move_rate = msg_older.yaw_sp_move_rate;
|
||||
msg_newer.q_d[0] = msg_older.q_d[0];
|
||||
msg_newer.q_d[1] = msg_older.q_d[1];
|
||||
msg_newer.q_d[2] = msg_older.q_d[2];
|
||||
msg_newer.q_d[3] = msg_older.q_d[3];
|
||||
msg_newer.thrust_body[0] = msg_older.thrust_body[0];
|
||||
msg_newer.thrust_body[1] = msg_older.thrust_body[1];
|
||||
msg_newer.thrust_body[2] = msg_older.thrust_body[2];
|
||||
|
||||
}
|
||||
|
||||
static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
|
||||
// Set msg_older from msg_newer
|
||||
msg_older.timestamp = msg_newer.timestamp;
|
||||
msg_older.yaw_sp_move_rate = msg_newer.yaw_sp_move_rate;
|
||||
msg_older.q_d[0] = msg_newer.q_d[0];
|
||||
msg_older.q_d[1] = msg_newer.q_d[1];
|
||||
msg_older.q_d[2] = msg_newer.q_d[2];
|
||||
msg_older.q_d[3] = msg_newer.q_d[3];
|
||||
msg_older.thrust_body[0] = msg_newer.thrust_body[0];
|
||||
msg_older.thrust_body[1] = msg_newer.thrust_body[1];
|
||||
msg_older.thrust_body[2] = msg_newer.thrust_body[2];
|
||||
|
||||
msg_older.reset_integral = false;
|
||||
msg_older.fw_control_yaw_wheel = false;
|
||||
|
||||
}
|
||||
};
|
||||
|
||||
REGISTER_TOPIC_TRANSLATION_DIRECT(VehicleAttitudeSetpointV1Translation);
|
||||
@@ -0,0 +1,11 @@
|
||||
# Fixed Wing Lateral Setpoint message
|
||||
# Used by the fw_lateral_longitudinal_control module
|
||||
# At least one of course, airspeed_direction, or lateral_acceleration must be finite.
|
||||
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
float32 course # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly.
|
||||
float32 airspeed_direction # [rad] [@range -pi, pi] Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite.
|
||||
float32 lateral_acceleration # [m/s^2] [FRD] Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite.
|
||||
@@ -0,0 +1,14 @@
|
||||
# Fixed Wing Longitudinal Setpoint message
|
||||
# Used by the fw_lateral_longitudinal_control module
|
||||
# If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion.
|
||||
# If both altitude and height_rate are NAN, the controller maintains the current altitude.
|
||||
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
float32 altitude # [m] Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite
|
||||
float32 height_rate # [m/s] [ENU] Scalar height rate setpoint. NAN if not controlled directly
|
||||
float32 equivalent_airspeed # [m/s] [0, inf] Scalar equivalent airspeed setpoint. NAN if system default should be used
|
||||
float32 pitch_direct # [rad] [-pi, pi] [FRD] NAN if not controlled, overrides total energy controller
|
||||
float32 throttle_direct # [0,1] NAN if not controlled, overrides total energy controller
|
||||
@@ -0,0 +1,8 @@
|
||||
# Fixed Wing Lateral Control Configuration message
|
||||
# Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
|
||||
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
float32 lateral_accel_max # [m/s^2] currently maps to a maximum roll angle, accel_max = tan(roll_max) * GRAVITY
|
||||
@@ -0,0 +1,17 @@
|
||||
# Fixed Wing Longitudinal Control Configuration message
|
||||
# Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages
|
||||
# and configure the resultant setpoints.
|
||||
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
float32 pitch_min # [rad][-pi, pi] defaults to FW_P_LIM_MIN if NAN.
|
||||
float32 pitch_max # [rad][-pi, pi] defaults to FW_P_LIM_MAX if NAN.
|
||||
float32 throttle_min # [0,1] deaults to FW_THR_MIN if NAN.
|
||||
float32 throttle_max # [0,1] defaults to FW_THR_MAX if NAN.
|
||||
float32 climb_rate_target # [m/s] target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
|
||||
float32 sink_rate_target # [m/s] target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
|
||||
float32 speed_weight # [0,2], 0=pitch controls altitude only, 2=pitch controls airspeed only
|
||||
bool enforce_low_height_condition # if true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking
|
||||
bool disable_underspeed_protection # if true, underspeed handling is disabled in the altitude controller
|
||||
@@ -1,4 +1,4 @@
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
uint32 MESSAGE_VERSION = 1
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
@@ -11,8 +11,4 @@ float32[4] q_d # Desired quaternion for quaternion control
|
||||
# For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
|
||||
float32[3] thrust_body # Normalized thrust command in body FRD frame [-1,1]
|
||||
|
||||
bool reset_integral # Reset roll/pitch/yaw integrals (navigation logic change)
|
||||
|
||||
bool fw_control_yaw_wheel # control heading with steering wheel (used for auto takeoff on runway)
|
||||
|
||||
# TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
|
||||
|
||||
@@ -29,7 +29,8 @@ flight_mode_manager start
|
||||
mc_pos_control start vtol
|
||||
mc_att_control start vtol
|
||||
mc_rate_control start vtol
|
||||
fw_pos_control start vtol
|
||||
fw_mode_manager start
|
||||
fw_lat_lon_control start
|
||||
fw_att_control start vtol
|
||||
airspeed_selector start
|
||||
|
||||
@@ -59,7 +60,7 @@ flight_mode_manager status
|
||||
mc_pos_control status
|
||||
mc_att_control status
|
||||
mc_rate_control status
|
||||
fw_pos_control status
|
||||
fw_mode_manager status
|
||||
fw_att_control status
|
||||
airspeed_selector status
|
||||
dataman status
|
||||
@@ -74,7 +75,7 @@ mc_att_control stop
|
||||
fw_att_control stop
|
||||
flight_mode_manager stop
|
||||
mc_pos_control stop
|
||||
fw_pos_control stop
|
||||
fw_mode_manager stop
|
||||
navigator stop
|
||||
commander stop
|
||||
land_detector stop
|
||||
|
||||
@@ -56,7 +56,8 @@ ekf2 start
|
||||
land_detector start fixedwing
|
||||
|
||||
fw_att_control start
|
||||
fw_pos_control start
|
||||
fw_mode_manager start
|
||||
fw_lat_lon_control start
|
||||
|
||||
mavlink start -n SoftAp -x -u 14556 -r 1000000 -p
|
||||
# -n name of wifi interface: SoftAp, wlan or your custom interface,
|
||||
|
||||
@@ -63,7 +63,8 @@ airspeed_selector start
|
||||
land_detector start fixedwing
|
||||
flight_mode_manager start
|
||||
fw_att_control start
|
||||
fw_pos_control start
|
||||
fw_mode_manager start
|
||||
fw_lat_lon_control start
|
||||
|
||||
mavlink start -x -u 14556 -r 1000000 -p
|
||||
|
||||
|
||||
@@ -41,7 +41,8 @@ navigator start
|
||||
ekf2 start
|
||||
land_detector start fixedwing
|
||||
fw_att_control start
|
||||
fw_pos_control start
|
||||
fw_mode_manager start
|
||||
fw_lat_lon_control start
|
||||
|
||||
mavlink start -x -u 14556 -r 1000000 -p
|
||||
|
||||
|
||||
@@ -144,17 +144,18 @@ float PerformanceModel::getCalibratedTrimAirspeed() const
|
||||
return math::constrain(_param_fw_airspd_trim.get() * sqrtf(getWeightRatio()), _param_fw_airspd_min.get(),
|
||||
_param_fw_airspd_max.get());
|
||||
}
|
||||
float PerformanceModel::getMinimumCalibratedAirspeed(float load_factor) const
|
||||
float PerformanceModel::getMinimumCalibratedAirspeed(float load_factor, float flaps_setpoint) const
|
||||
{
|
||||
|
||||
load_factor = math::max(load_factor, FLT_EPSILON);
|
||||
return _param_fw_airspd_min.get() * sqrtf(getWeightRatio() * load_factor);
|
||||
const float airspeed_flap_factor = math::lerp(1.f, _param_fw_airspd_flp_sc.get(), flaps_setpoint);
|
||||
return (_param_fw_airspd_min.get() * airspeed_flap_factor) * sqrtf(getWeightRatio() * load_factor);
|
||||
}
|
||||
|
||||
float PerformanceModel::getCalibratedStallAirspeed(float load_factor) const
|
||||
float PerformanceModel::getCalibratedStallAirspeed(float load_factor, float flaps_setpoint) const
|
||||
{
|
||||
load_factor = math::max(load_factor, FLT_EPSILON);
|
||||
return _param_fw_airspd_stall.get() * sqrtf(getWeightRatio() * load_factor);
|
||||
const float airspeed_flap_factor = math::lerp(1.f, _param_fw_airspd_flp_sc.get(), flaps_setpoint);
|
||||
return (_param_fw_airspd_stall.get() * airspeed_flap_factor) * sqrtf(getWeightRatio() * load_factor);
|
||||
}
|
||||
|
||||
float PerformanceModel::getMaximumCalibratedAirspeed() const
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user