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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>
10 lines
568 B
Plaintext
10 lines
568 B
Plaintext
uint64 timestamp
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# Note: If not both pitch_direct and throttle_direct are finite, then either altitude or height_rate must be finite
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float32 altitude # [m] Altitude setpoint AMSL, NAN if not controlled
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float32 height_rate # [m/s] NAN if not controlled directly, used as feedforward if altitude is finite
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float32 equivalent_airspeed # [m/s] NAN if system default should be used
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float32 pitch_direct # [rad] NAN if not controlled, overrides total energy controller
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float32 throttle_direct # [0,1] NAN if not controlled, overrides total energy controller
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