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move takeoff state machine flight_mode_manager -> mc_pos_control

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Daniel Agar
2021-02-16 12:26:14 -05:00
committed by Matthias Grob
parent 823c6078d9
commit 266ea377da
20 changed files with 288 additions and 279 deletions
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9
msg/vehicle_constraints.msg
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@@ -3,15 +3,8 @@
uint64 timestamp # time since system start (microseconds)
float32 yawspeed # in radians/sec
float32 speed_xy # in meters/sec
float32 speed_up # in meters/sec
float32 speed_down # in meters/sec
float32 tilt # in radians [0, PI]
float32 min_distance_to_ground # in meters
float32 max_distance_to_ground # in meters
bool want_takeoff # tell the controller to initiate takeoff when idling (ignored during flight)
bool reset_integral # tells controller to reset integrators e.g. since we know the vehicle is not in air
float32 minimum_thrust # tell controller what the minimum collective output thrust should be
uint32 flight_task
bool want_takeoff # tell the controller to initiate takeoff when idling (ignored during flight)