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VTOL rate control architecture improvements (#10819)

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* attitude and rate setpoint message: use 3D array for thrust demand
* FixedWingAttitudeControl: rework airspeed scaling
  * move airspeed and scaling calculation into separate method
  * if vtol in hover and airspeed disabled use minimum airspeed instead of trim airspeed
This commit is contained in:
Roman Bapst
2018-11-22 02:32:40 +01:00
committed by Daniel Agar
parent 75c1396ed7
commit 90bfdb6f0a
28 changed files with 387 additions and 414 deletions
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4
msg/vehicle_attitude_setpoint.msg
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@@ -12,7 +12,9 @@ float32 yaw_sp_move_rate # rad/s (commanded by user)
float32[4] q_d # Desired quaternion for quaternion control
bool q_d_valid # Set to true if quaternion vector is valid
float32 thrust # Thrust in Newton the power system should generate
# For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand.
# For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
float32[3] thrust_body # Normalized thrust command in body NED frame [-1,1]
bool roll_reset_integral # Reset roll integral part (navigation logic change)
bool pitch_reset_integral # Reset pitch integral part (navigation logic change)