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779a55c6dc
- 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>
12 lines
618 B
Plaintext
12 lines
618 B
Plaintext
uint64 timestamp
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float32 pitch_min # [rad]
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float32 pitch_max # [rad]
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float32 throttle_min # [0,1]
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float32 throttle_max # [0,1]
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float32 climb_rate_target # [m/s] target climbrate used to change altitude
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float32 sink_rate_target # [m/s] target sinkrate used to change altitude
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float32 speed_weight # [0,2], 0=pitch controls altitude only, 2=pitch controls airspeed only
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bool enforce_low_height_condition # if true, total energy controller will use lower altitude control time constant
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bool disable_underspeed_protection # if true, underspeed handling is disabled in the total energy controller
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