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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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1e56d9c219
- remove deprecated actuator_controls[INDEX_FLAPS/SPOILERS/AIRBRAKES] - use new topic normalized_unsigned_setpoint.msg (with instances flaps_setpoint and spoilers_setpoint) to pass into control allocation - remove flaps/spoiler related fields from attitude_setpoint topic - CA: add possibility to map flaps/spoilers to any control surface - move flaps/spoiler pitch trimming to CA (previously called DTRIM_FLAPS/SPOILER) - move manual flaps/spoiler handling from rate to attitude controller FW Position controller: change how negative switch readings are intepreted for flaps/spoilers (considered negative as 0). VTOL: Rework spoiler publishing in hover - pushlish spoiler_setpoint.msg in the VTOL module if in hover - also set spoilers to land configuration if in Descend mode Allocation: add slew rate limit of 0.5 to flaps/spoilers configuration change Instead of doing the flaps/spoilers slew rate limiting in the FW Position Controller (which then only is applied in Auto flight), do it consistently over all flight modes, so also for manual modes. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
21 lines
985 B
Plaintext
21 lines
985 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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float32 roll_body # body angle in NED frame (can be NaN for FW)
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float32 pitch_body # body angle in NED frame (can be NaN for FW)
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float32 yaw_body # body angle in NED frame (can be NaN for FW)
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float32 yaw_sp_move_rate # rad/s (commanded by user)
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# For quaternion-based attitude control
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float32[4] q_d # Desired quaternion for quaternion control
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# For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand.
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# For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
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float32[3] thrust_body # Normalized thrust command in body NED frame [-1,1]
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bool reset_integral # Reset roll/pitch/yaw integrals (navigation logic change)
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bool fw_control_yaw_wheel # control heading with steering wheel (used for auto takeoff on runway)
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# TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
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