Silvan Fuhrer 7c766692c4 FW Att and Rate Controller, Tailsitter: fix tailsitter frame transformations ...

Strictly follow the following convention for tailsitter:
FW Attitude and FW rate controller always operate in the FW frame, meaning that roll is
roll in FW, which for tailsitter means around the yaw axis in the body frame. The interfaces
between modules is though always in body frame.

That enables us to do the axis transformations for tailsitter, that are currently distributed
all over the controller (attitude, rate, vtol module), only at the input and output data of modules.

Side effect is that the FW rate control tuning gains meanings change: while before the roll gains
where meant for the body axis, they are now always applied for the FW roll axis (also in hover). So
the naming now is correct for FW, while before it was for Hover.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

2023-01-13 18:18:11 +01:00

..

CMakeLists.txt

Add new fixed wing rate control module (fw_rate_control)

2023-01-04 11:14:00 -05:00

FixedwingRateControl.cpp

FW Att and Rate Controller, Tailsitter: fix tailsitter frame transformations

2023-01-13 18:18:11 +01:00

FixedwingRateControl.hpp

Add new fixed wing rate control module (fw_rate_control)

2023-01-04 11:14:00 -05:00

fw_rate_control_params.c

Add new fixed wing rate control module (fw_rate_control)

2023-01-04 11:14:00 -05:00

Kconfig

Add new fixed wing rate control module (fw_rate_control)

2023-01-04 11:14:00 -05:00