UAV-develop/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-24 21:09:41 +08:00
Code Issues Packages Projects Releases Wiki Activity

ControlAllocator: introduce helicopter rotor rpm controller

Browse Source
This commit is contained in:
Matthias Grob
2024-12-11 19:53:44 +01:00
parent 50092a7f67
commit 940fe45ba7
9 changed files with 209 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
msg/CMakeLists.txt
View File

@@ -181,6 +181,7 @@ set(msg_files
RoverMecanumSetpoint.msg
RoverMecanumStatus.msg
Rpm.msg
RpmControlStatus.msg
RtlStatus.msg
RtlTimeEstimate.msg
SatelliteInfo.msg

8
msg/PwmInput.msg
View File

@@ -1,4 +1,4 @@
uint64 timestamp # Time since system start (microseconds)
uint64 error_count # Timer overcapture error flag (AUX5 or MAIN5)
uint32 pulse_width # Pulse width, timer counts
uint32 period # Period, timer counts
uint64 timestamp # Time since system start (microseconds)
uint64 error_count # Timer overcapture error flag (AUX5 or MAIN5)
uint32 pulse_width # Pulse width, timer counts (microseconds)
uint32 period # Period, timer counts (microseconds)

7
msg/RpmControlStatus.msg Normal file
View File

@@ -0,0 +1,7 @@
uint64 timestamp # time since system start (microseconds)
float32 rpm_raw # measured rpm
float32 rpm_estimate # filtered rpm
float32 rpm_setpoint # desired rpm
float32 output