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2600946172
add RunwayControl messge to pass wheel steering controls to wheel controller Signed-off-by: Silvan Fuhrer <silvan@auterion.com> Runway takeoff: specify that RWTO_TKOFF is directly applied during takeoff Signed-off-by: Silvan Fuhrer <silvan@auterion.com> msg/RateCtrlStatus: remove unused wheel_rate_integ field The wheel rate controller is not run in the moduels that are now running the MC/FW rate controllers, so thsi field canot be filled. Signed-off-by: Silvan Fuhrer <silvan@auterion.com> wheel rate controller: use speed scaler quadratically on integrator Signed-off-by: Silvan Fuhrer <silvan@auterion.com> wheel yaw controller: use a time constant of 0.1 Signed-off-by: Silvan Fuhrer <silvan@auterion.com> FW Attitude Controller: lock heading setpoint for wheels to initial heading Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
9 lines
405 B
Plaintext
9 lines
405 B
Plaintext
# Auxiliary control fields for fixed-wing runway takeoff/landing
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# Passes information from the FixedWingModeManager to the FixedWingAttitudeController
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uint64 timestamp # [us] time since system start
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bool wheel_steering_enabled # Flag that enables the wheel steering.
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float32 wheel_steering_nudging_rate # [norm] [-1, 1] [FRD] Manual wheel nudging, added to controller output. NAN is interpreted as 0.
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