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- 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>
8 lines
606 B
Plaintext
8 lines
606 B
Plaintext
uint64 timestamp
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# NOTE: At least one of course, airspeed_direction, or lateral_acceleration must be finite
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float32 course # [-pi, pi] Course over ground setpoint, w.r.t. North. NAN if not controlled directly.
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float32 airspeed_direction # [-pi, pi] Angle projected to ground of desired airspeed vector, w.r.t. North. NAN if not controlled directly, used as feedforward if course setpoint is finite.
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float32 lateral_acceleration # [m/s^2] Lateral acceleration setpoint in FRD frame. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite.
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