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feat(fw_att_control): tilt-tracking controller

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ttechnick
2026-01-13 15:31:13 +01:00
committed by Nick
parent e370b3f4b8
commit c4330f5a47
14 changed files with 99 additions and 579 deletions
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4
src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp
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@@ -298,7 +298,9 @@ void FwLateralLongitudinalControl::Run()
// additional is_finite checks that should not be necessary, but are kept for safety
float roll_body = PX4_ISFINITE(roll_sp) ? roll_sp : 0.0f;
float pitch_body = PX4_ISFINITE(pitch_sp) ? pitch_sp : 0.0f;
const float yaw_body = _yaw; // yaw is not controlled in fixed wing, need to set it though for quaternion generation
float yaw_body = _yaw;
const float thrust_body_x = PX4_ISFINITE(throttle_sp) ? throttle_sp : 0.0f;
if (_control_mode_sub.get().flag_control_manual_enabled) {