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FW Position Controller rework

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- split up old module into two, one handling setpoint generation, one control
- add lateral and longitudinal control setpoints topics that can also be
injected from companion computer
- add configuration topics that (optionally) configure the controller
with limits and momentary settings

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2025-01-08 15:34:43 +03:00
committed by Silvan Fuhrer
parent 52f0ef927d
commit 779a55c6dc
107 changed files with 3268 additions and 2920 deletions
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10
msg/FixedWingLateralGuidanceStatus.msg Normal file
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uint64 timestamp # time since system start (microseconds)
float32 course_setpoint # bearing angle (same as course) [rad]
float32 lateral_acceleration_ff # lateral acceleration demand only for maintaining curvature [m/s^2]
float32 bearing_feas # bearing feasibility [0,1]
float32 bearing_feas_on_track # on-track bearing feasibility [0,1]
float32 signed_track_error # signed track error [m]
float32 track_error_bound # track error bound [m]
float32 adapted_period # adapted period (if auto-tuning enabled) [s]
uint8 wind_est_valid # (boolean) true = wind estimate is valid and/or being used by controller (also indicates if wind est usage is disabled despite being valid)