* fix(gps): split RTCM corrections and moving-baseline uORB topics
The single gps_inject_data topic served two unrelated purposes:
external fixed-base RTCM corrections (from MAVLink GPS_RTCM_DATA or
UAVCAN RTCMStream) and moving-base-to-rover RTCM 4072. In a
dual-GPS-with-moving-base plus fixed-base setup, the two streams
collided on the same queue and the FMU UAVCAN bridge mirrored
fixed-base RTCM onto the MovingBaselineData CAN message, breaking
rover heading or RTK fix (see PX4/PX4-Autopilot#27088).
Split by role:
- rtcm_corrections (renamed from gps_inject_data): external RTCM
flowing into the vehicle; producers are
MAVLink, UAVCAN RTCMStream, and GPS drivers in
dump mode.
- rtcm_moving_baseline (new): moving-base GPS output intended for a
rover; single producer per vehicle
(MAX_INSTANCES = 1).
The GPS driver routes its own RTCM output to the right topic via
GPSHelper::isMovingBase(), and gates the two inbound streams per role
using new GPSHelper virtuals (PX4-GPSDrivers#212):
shouldInjectRTCMCorrections() is true for any configured receiver, so a
UART2 moving-base rover still accepts fixed-base corrections over its
main link; shouldInjectMovingBaseline() is true only for a UART1/CAN
heading rover, since a UART2 rover gets the baseline directly in
hardware and a moving base produces rather than consumes it. That
submodule PR also renames the ambiguous UBXMode fields to name their
UART explicitly (RoverWithMovingBase -> RoverWithMovingBaseUART2,
MovingBase -> MovingBaseUART2).
Septentrio's publish_rtcm_corrections() always publishes to
rtcm_moving_baseline (only the Secondary moving base calls it).
Rover-side consumers (gps, septentrio, uavcan bridge) drain both topics
independently; each topic gets its own stale-link switchover timer so
corrections failover is not suppressed by moving-baseline traffic, or
vice versa.
FMU UAVCAN bridge: two independent drain loops, one per topic. No
more dual-publish of a single uORB message onto both RTCMStream and
MovingBaselineData CAN streams.
CANnode MovingBaselineDataPub subscribes to rtcm_moving_baseline. The
bus_type == UAVCAN check is kept, now purely as a loop guard so a node
with both CANNODE_PUB_MBD and CANNODE_SUB_MBD does not rebroadcast a
peer's moving-baseline data back onto the bus. CANnode RTCMStream
subscriber maps each CAN source node ID to its own rtcm_corrections
instance (one PublicationMulti per source, capped at MAX_INSTANCES) so
multiple CAN RTCM sources (e.g. dual rovers outputting MSM7 for logging
plus a fixed-base feed) land on independent uORB instances instead of
interleaving on one, which would otherwise defeat the consumer's
per-instance stale-link selection.
Depends on PX4-GPSDrivers#212 (submodule bump included).
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
* fix(gps): use separate RTCM parsers for corrections and moving baseline
On a rover injecting both fixed-base corrections and moving-baseline RTCM, feeding both streams through a single parser allowed a fragmented frame from one source to be corrupted by bytes interleaved from the other. Reassemble each stream in its own Rtcm3Parser so frames are recovered independently.
Also collapse the two near-identical topics into a single RtcmData.msg published under both rtcm_corrections and rtcm_moving_baseline (the SensorGps pattern), track corrections and moving-baseline injection on separate perf counters so the reported corrections rate is no longer inflated by moving-baseline traffic, and zero-initialize the CAN DeviceId unions before populating their fields.
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
* fix(septentrio): avoid bugprone sizeof division on RTCM byte buffer
moving_baseline.data is a uint8_t array, so sizeof(data)/sizeof(data[0]) divides by 1; clang-tidy's bugprone-sizeof-expression flags this as a suspicious sizeof(T)/sizeof(T). Use sizeof(data) directly - the capacity value is unchanged.
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
* refactor(gps): use dedicated per-stream RTCM drain functions
rtcm_moving_baseline has a single publisher (instance 0), so its
consumers are now a plain uORB::Subscription instead of a 4-instance
SubscriptionMultiArray, and the per-stream selected-instance and
stale-link timer members it no longer needs are removed.
With each RTCM stream now a fixed type with a single caller, the
templated drain helpers (drain_rtcm_subscriptions, the overloaded
drain_rtcm_to_can) bought nothing, so replace them with dedicated
functions: drainRtcmCorrections()/drainMovingBaseline() in the GPS
driver and the UAVCAN bridge, drain_rtcm_corrections()/
drain_moving_baseline() in Septentrio. The UAVCAN bridge calls
PublishRTCMStream/PublishMovingBaselineData directly instead of through
Forward lambdas.
Rename SeptentrioDriver::publish_rtcm_corrections() to
publish_moving_baseline(): it is only reached from the Secondary
moving-base decode path and only ever emits moving-baseline RTCM.
Corrections-path behavior (instance selection, generation-gap warning,
burst cap, self-injection filter) is unchanged.
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
* refactor(gps): rename RTCM inject gate to receiverReady and simplify chunk helper
Rename GPSHelper::shouldInjectRTCMCorrections() to receiverReady(). The
virtual gates injection of both RTCM corrections and moving-baseline, and
for UBX it simply reports whether the receiver is configured, so the name
now describes what it actually gates rather than implying it only concerns
corrections. Bumps the GPS-drivers submodule to the matching rename.
Drop the vestigial message-type template parameter from publish_rtcm_chunks:
both topics share rtcm_data_s, so only the publication type needs templating.
* fix(septentrio): log dropped RTCM uORB generations
Match the gps driver and warn when the RTCM corrections or moving-baseline
subscription skips a uORB generation, so dropped injection data is visible.
* docs(docs): Docs only update to the RtcmData msg
* chore(gps): pin GPSDrivers to merged main
Contains #212 (RTCM/moving-baseline gating virtuals), #213 (X20 CFG-ODO
NAK tolerance), and #215 (SPARTN input enable, best-effort VALSET).
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
* fix(septentrio): reassemble RTCM frames per stream before injecting
Both drains wrote raw uORB chunks to the receiver, so a fragmented frame
on one stream could get the other stream's bytes spliced in mid-frame and
corrupt both. Reassemble each stream in its own parser and only write
complete frames, mirroring the gps driver. Injection stats now count
frames instead of uORB chunks.
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
* refactor(mavlink)!: remove GPS_RTCM_DATA output stream
GPS_RTCM_DATA is a GCS-to-vehicle correction transport; echoing
rtcm_corrections back out over MAVLink had no consumer and the echo was
lossy anyway (uint8 len and 180-byte payload truncate 300-byte uORB
chunks). Receiving GPS_RTCM_DATA is unchanged.
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
---------
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* fix(zenoh): generate the topic catalog into the build tree
Kconfig.topics is fully generated from the uORB message set, but the build
regenerated it into the source tree at configure time. Building any Zenoh
board therefore left the working tree dirty whenever the message set had
changed since the file was last committed (the catalog is board-config
dependent, so it drifts easily).
Generate the catalog into the build directory in cmake/kconfig.cmake, before
Kconfig is parsed, and source it from there via ZENOH_KCONFIG_TOPICS. It is
generated board-independently from every message so it no longer depends on
the msg-gating Kconfig symbols it is sourced alongside; the per-board factory
still gates which topics are actually compiled. Drop the committed catalog.
* chore(zenoh): bump zenoh-pico to the build-tree header fix
Moves zenoh-pico's generated config.h/zenoh-pico.h/library.json out of its
own source tree and into the build tree, so building no longer dirties the
submodule.
Gated on PX4/zenoh-pico#2: the pointer currently references the fix branch on
a fork and must be moved to the merged commit before this is ready.
* bump zenoh-pico
The cdrstream uORB->IDL->CDR codegen floods the build log with noise:
- CycloneDDS idlc warns once per carried-over .msg comment that the
@verbatim annotation is unsupported (VehicleCommand alone emits 153).
Pass -Wno-unsupported-annotations via the idlc_generate WARNINGS list.
- rosidl_adapter prints a Reading/Writing line per message to stdout.
Filter those in msg2idl.py via builtins.print rather than redirecting
stdout, which the empy template engine breaks on. Errors still go to
stderr.
* feat(navigator): extend detect and avoid module to follow regulatory standards such as ASTM F3442
* docs(docs): minor subedit
* refactor(navigator): reduce flash by grouping notif into same events
* docs(daa): Improve docs readability with ::: details blocks
* fix(navigator): single event when on ground with conflict
* refactor(boards): increase flash length from 4M - 128k to 5M - 128k
* rework(general): define DAA standard at build with new CONFIG_NAVIGATOR_ADSB_F3442
* clean(navigator): minor changes to clean the PR
* feat(boards): add CONFIG_NAVIGATOR_ADSB_FAKE_TRAFFIC in visionTargetEstStatic.px4board
* rework(daa): reduce amount of abstractions and minor cleaning
* refactor(boards): allyes revert flash length to 4M-128K
* refactor(boards): allyes increase flash length to 5M-128K
* rework(daa): rework event notifications to improve clarity
* docs(docs): move details inside of ::: details block
* docs(docs): run npx prettier
* refactor(daa): avoid void mutator functions
* docs(docs): Improve Python helper to decode daa unique id
* rework(daa): move encoded id handling to the adsb lib and refactor on_active
* refactor(daa): naming and zero init
* fix(daa): move dataman dep from daa level to unit test level
* refactor(daa): define common daa_input and rework process_transponder_report
* fix(daa): remove stale todo
* refactor(daa): rename crosstrack_based_daa to crosstrack_standard
* refactor(daa): rename F34_ params to DAA_
* docs(docs): revert changes to autogenerated docs
* docs(docs): Add Detect And Avoid in index.md
* refactor(daa): update message on init failed
* refactor(daa): only publish most_urgent conflict once in on_active()
* refactor(daa): move conflict buffer handling in the adsb lib
* refactor(daa): move notifications into new class ConflictNotifier and only notify once per cycle
* refactor(daa): uninit _cycle_changes to store into .bss (and save flash)
* docs(docs): remove unused image link
* refactor(daa): move automated action policy to the adsb lib
* refactor(daa): move self detection into adsb lib as DaaTrafficFilter
* refactor(daa): minor changes in unit tests
* refactor(daa): merge DaaTrafficFilter and DaaEncoding
* fix(daa): fix CI by removing navigator from the DAA deps
* refactor(daa): reduce stack size
* fix(daa): advertise _fake_traffic_pub in constructor
* refactor(daa): Comments only, simplify and reduce comments
* fix(daa): brief comment missing end star
* Disable CONFIG_NAVIGATOR_ADSB in ark_fpv_default board
* docs(docs): General clarifications and remove the 1.18 badge
* refactor(daa): cleaning
* refactor(daa): minor cleaning
* refactor(adsb): simplify conflict tracker assuming push_back cannot fail
* build(cmake): cleaner fix to protect regex alternations
* refactor(daa): Crosstrack, remove unit test requiring finite yaw (yaw not used by standard)
* refactor(daa): minor cleaning and fix callsign to uint64
---------
Co-authored-by: jonas <jonas.perolini@rigi.tech>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Switches from using VehicleControlMode to a specific setpoint type message
with reply.
Reasons:
- in case a VehicleControlMode was dropped (e.g. when the mode switched
setpoint type), no confirmation was returned, and resulting in wrong
controller flags.
- cleaner interface separation: external modes do not need to configure
(or know) which controller to run for a certain setpoint
- allows for external modes to check for compatibility: e.g. a mode using
fixed-wing setpoint types can now be rejected on a multicopter.
- allows for further extensions, like a setpoint timeout
This makes it a bit more effort to add a new setpoint type. Specifically,
setpoint_types.cpp needs to be extended when adding a new setpoint message.
PX4 internal modes also make use of the setpoint types. The information
flow is:
nav_state -> setpoint type -> vehicle control mode flags
It also adds a timeout to the setpoint config, but is not implemented
yet.
This changes the interface for external modes and thus the compatibility
version is increased.
The nested CycloneDDS CMake invocation in msg/CMakeLists.txt exists
only to produce the 'idlc' IDL compiler as a host-side code-gen
tool. It does not need CycloneDDS's TLS transport or DDS Security
features, but both default to ON in cyclonedds' upstream CMake.
When ENABLE_SSL=AUTO (the default), cyclonedds finds the system
OpenSSL and builds ddsi_ssl.c. On macos-latest the system OpenSSL
is 3.x, which removed the deprecated SSL_get_peer_certificate()
symbol used in our pinned cyclonedds revision (2023). The host
build then fails at link time with:
Undefined symbols for architecture arm64:
"_SSL_get_peer_certificate", referenced from:
_dds_report_tls_version in ddsi_ssl.c.o
This broke every Zenoh-enabled board build on macOS (boards that
select CONFIG_MODULES_ZENOH pull in LIB_CDRSTREAM, which is what
triggers the nested build). v5 and v6x never hit it because they
don't enable Zenoh.
Passing -DENABLE_SSL=OFF -DENABLE_SECURITY=OFF skips compilation of
ddsi_ssl.c and the security plugins entirely. idlc is unaffected
(pure C code generation, no DDS runtime).
Verified locally on macOS ARM64: clean distclean + make
px4_fmu-v6xrt_default completes in 2090/2090 ninja steps, producing
a 2.1 MB .px4 with 59% FLASH used.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Overhauls the DShot driver with per-timer BDShot selection, multi-timer
sequential capture, Extended DShot Telemetry (EDT), and AM32 ESC EEPROM
read/write via MAVLink. Expands ESC support from 8 to 12 channels.
BDShot:
- Per-timer BDShot protocol selection via actuator config UI
- Multi-timer sequential burst/capture on any DMA-capable timer
- Adaptive per-channel GCR bitstream decoding
- Per-channel online/offline detection with hysteresis
Extended DShot Telemetry (EDT):
- Temperature, voltage, current from BDShot frames (no serial wire)
- New DSHOT_BIDIR_EDT parameter
- EDT data merged with serial telemetry when both available
AM32 EEPROM:
- Read/write AM32 ESC settings via MAVLink ESC_EEPROM message
- ESCSettingsInterface abstraction for future ESC firmware types
- New DSHOT_ESC_TYPE parameter
Other changes:
- Per-motor pole count params DSHOT_MOT_POL1–12 (replaces MOT_POLE_COUNT)
- EscStatus/EscReport expanded to 12 ESCs with uint16 bitmasks
- Numerous bounds-check, overflow, and concurrency fixes
- Updated DShot documentation
This commit introduces a new control mode for fixed-wing aircraft that
utilizes Euler angles for attitude control.
Additionally, a new logged topic has been added to facilitate debugging and
monitoring of the Euler rates setpoints during flight.
* moving raptor
bump
compiles and raptor mode appears
hovering with RAPTOR seems to work
Using Raptor to execute offboard commands works (using multirobot f03825a5795a77c5a095f799eeb8e0b646fe7176 to feed the trajectory_setpoint). Requires more testing
simplified rotmat
runtime inference frequency multiple
arming request response reflects actual readiness
adjusting to fit IMU gyro ratemax
relaxing control timing warning thresholds for SITL
Using mode registration to signal if offboard commands should be forwarded to trajectory_setpoint instead of just hardcoding vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD
adopting new "request_offboard_setpoint" in raptor module
replace offboard seems good
mc_raptor: overwrite offboard parameter
separate raptor config
addendum
Raptor off by default
RAPTOR readme
Loading raptor checkpoint from tar works.
check if load was successful
refactoring: cutting out the pure C interface to allow direct testing of the policy input/output behavior from the file, without fully loading it into memory first
adapter not needed anymore
ripping out test observation mode (not used in a long time)
fixing warnings
bump RLtools to fix the remaining warnings
Loading RAPTOR checkpoint from sdcard seems to work on FMU-6C
embedding Raptor policy into flash works again
also printing checkpoint name when using the embedded policy
cleaner handling of the checkpoint name
back to reading from file
ripping out visual odometry checks
cleaner
more debug but no success
bump rlt
bump
pre next rebase
we can publish the no angvel update because we latch onto it with the scheduled work item anyways
this kind of runs on the 6c
still bad
SIH almost flying
saving stale traj setpoint yaw
new error. timestamp not the problem anymore
bump rlt; SIH works with executor
shaping up
bumping blob (include tar checkpoint)
cleaning up
fixing formatting
update readme
* moving raptor
bump
compiles and raptor mode appears
hovering with RAPTOR seems to work
Using Raptor to execute offboard commands works (using multirobot f03825a5795a77c5a095f799eeb8e0b646fe7176 to feed the trajectory_setpoint). Requires more testing
simplified rotmat
runtime inference frequency multiple
arming request response reflects actual readiness
adjusting to fit IMU gyro ratemax
relaxing control timing warning thresholds for SITL
Using mode registration to signal if offboard commands should be forwarded to trajectory_setpoint instead of just hardcoding vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD
adopting new "request_offboard_setpoint" in raptor module
replace offboard seems good
mc_raptor: overwrite offboard parameter
separate raptor config
addendum
Raptor off by default
RAPTOR readme
Loading raptor checkpoint from tar works.
check if load was successful
refactoring: cutting out the pure C interface to allow direct testing of the policy input/output behavior from the file, without fully loading it into memory first
adapter not needed anymore
ripping out test observation mode (not used in a long time)
fixing warnings
bump RLtools to fix the remaining warnings
Loading RAPTOR checkpoint from sdcard seems to work on FMU-6C
embedding Raptor policy into flash works again
also printing checkpoint name when using the embedded policy
cleaner handling of the checkpoint name
back to reading from file
ripping out visual odometry checks
cleaner
more debug but no success
bump rlt
bump
pre next rebase
we can publish the no angvel update because we latch onto it with the scheduled work item anyways
this kind of runs on the 6c
still bad
SIH almost flying
saving stale traj setpoint yaw
new error. timestamp not the problem anymore
bump rlt; SIH works with executor
shaping up
bumping blob (include tar checkpoint)
cleaning up
fixing formatting
update readme
updating gitignore
* fixing format and declaring submodules as cmake dependencies
* adding uORB message documentation
* fixing comment alignment
* Adding option to restrict mc_raptor to not listen to the trajectory_setpoint (use the position and yaw at activation time as reference instead)
* bump RLtools; relax timing thresholds and adding real world readme
* smooth traj tracking performance
* Measuring trajectory_setpoint timing (providing stats in raptor_status); reverting accidental .gitignore modification
* More ideomatic way of setting the path to the policy checkpoint
* Reset trajectory_setpoint on raptor mode activation
* Adding internal trajectory generation (feeding trajectory_setpoint over Mavlink is too noisy). Quite agile trajectory tracking, good performance
* stable flight
* Update msg/versioned/RaptorInput.msg
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* adopting message formatting conventions
* sort raptor.px4board
* Archiving RegisterExtComponentRequestV1.msg
* Add message versioning for VehicleStatus v2 and RegisterExtComponentRequest v2
* fixing formatting
* making internal reference configurable via command
* RAPTOR docs wip
* raptor internal reference documentation
* Finishing RAPTOR docs first draft
* adding logging instructions
* Fixing missing command documentation test error
* fixing format
* adding motor layout warning
* raptor minimal subedit - prettier, images etc
* Improve intro
* Fix up Neural_Networks version
* Mentioning "Adaptive" in the RAPTOR documentation's title
* Adding clarifications about the internal reference trajectory generator
* Removing "foundation policy" wording
* Fixing new-line check
* Removing redundant (evident through directory hierarchy) raptor_ from filenames
* Unifying Neural Network docs (mc_nn_control and mc_raptor) under the "Neural Network" topic
* Fix to standard structure
* Making the distinction between mc_nn_control and mc_raptor more clear and fixing the comparison table
* Removing trajectory_setpoint forwarding flag from external mode registration request and from the vehicle status
* Trivial layout and wording fixes
* fixing docs error
---------
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* uavcan: collect node info and publish every second
* UORB: Add DeviceInformation Message
Format DeviceInformation.msg with standard comment spaces
* SENS: add getter for device_id
* UAVCAN: add publishing of DeviceInformation based on publised message type, and Node Information
* LOG: add deviceInformation
* MSG:BAT: fix comment to be inline with the max_instaces
* UAVCAN: DeviceInformation, incorporated feedback
* UAVCAN: DeviceInformation, incorporated feedback
* UAVCAN: DeviceInformation, Fixed bug with Powermonitor
---------
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
* Add tflm to px4 with module
- Add TensorFlow Lite Micro(TFLM) as a library in px4
- Make a module that uses neural network inference for control, which uses TFLM for inference
- Make board config files for PX4 with neural module
* Added neural flight mode
* Add posibility to read of inference times
* Fix comments from review:
- Switch ssh link to https link in submodule
- Remove mc_nn_control from startup
* Add tflm to px4 with module
- Add TensorFlow Lite Micro(TFLM) as a library in px4
- Make a module that uses neural network inference for control, which uses TFLM for inference
- Make board config files for PX4 with neural module
* Added neural flight mode
* Add posibility to read of inference times
* Remove auto start
* Add logging from neural control module
* Fix automatic startup to only be when module is included
* Switch to flight mode registration
* Add docs
* Change min/max/coeff to actual parameters
* add figures to neural network docs
* Switch to e2e network
* Remove toolchain changes and replace with instructions in docs
* Get ready for merge after toolchain upgrade
* switch back to submodule
* Try to figure out cmake
* Get CI working with new toolchain
* Remove fork dependency
* Finalize PR
* fix toolchain inclusion
* Fix ctype_base.h include
* Cleanup includes for TFLM
* Remove redundant std
* Update FW module names in board files
* Fix docs
* Remove cstdlib copy
* Copy header from nuttx
* Prettier, markup, layout
* NeuralControl.msg - update uorb comments to current standard
* Add description to neural topic
* Fix typo
* Typo
* TFLM and Module utitlities
* Neural networks top level
* Update docs
* Add manual control
* Update docs
* Revert the manual control attempt
* Update docs/en/advanced/nn_module_utilities.md
* Add posibility to set trajectory setpoint with manual control
---------
Co-authored-by: Pedro Roque <padr@kth.se>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
I'm starting the separate battery info message because no char[32] should be published and logged
at high rate and we need a separate battery info message for static information as discussed.
To separate accuracy requirements for VTOL hover and cruise.
- global_position_relaxed refers to having a valid horizontal velocity aid source
in the estimator and a set global reference position, but poses no requirements
on the accuracy of the provided position estimate.
- Auto flight modes Mission, Loiter and RTL, while in fixed-wing mode,
only require the relaxed global position going forward
- COM_POS_FS_EPH is thus no longer used on fixed-wing vehicles (resp. VTOL in FW)
- rename failsafe_flags.local_position_accuracy_low to failsafe_flags.position_accuracy_low
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan <silvan@auterion.com>
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>
- 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>
* feat: add attitude to trajectory setpoints
* feat: proposed new trajectory message for fully actuated vehicles
* fix: moved to unversioned and changed naming scheme
* feat: added space between translation and attitude control
* fix: change cmakelists
Internal combustion engine control module.
New actuator functions and RPM based start/restart logic.
Not enabled by default.
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Pernilla <pernilla@auterion.com>
