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FW Attitude Controller: Wheel controller rework

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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>
This commit is contained in:
Silvan Fuhrer
2025-04-11 17:08:28 +02:00
parent a849ab9de5
commit 2600946172
10 changed files with 89 additions and 71 deletions
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msg/RateCtrlStatus.msg
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@@ -4,4 +4,3 @@ uint64 timestamp # time since system start (microseconds)
float32 rollspeed_integ
float32 pitchspeed_integ
float32 yawspeed_integ
float32 wheel_rate_integ # FW only and optional