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Rework flaps/spoilers logic

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- remove deprecated actuator_controls[INDEX_FLAPS/SPOILERS/AIRBRAKES]
- use new topic normalized_unsigned_setpoint.msg (with instances flaps_setpoint
and spoilers_setpoint) to pass into control allocation
- remove flaps/spoiler related fields from attitude_setpoint topic
- CA: add possibility to map flaps/spoilers to any control surface
- move flaps/spoiler pitch trimming to CA (previously called DTRIM_FLAPS/SPOILER)
- move manual flaps/spoiler handling from rate to attitude controller

FW Position controller: change how negative switch readings are intepreted
for flaps/spoilers (considered negative as 0).

VTOL: Rework spoiler publishing in hover

- pushlish spoiler_setpoint.msg in the VTOL module if in hover
- also set spoilers to land configuration if in Descend mode

Allocation: add slew rate limit of 0.5 to flaps/spoilers configuration change

Instead of doing the flaps/spoilers slew rate limiting in the FW Position Controller
(which then only is applied in Auto flight), do it consistently over all flight
modes, so also for manual modes.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-12-20 13:29:34 +01:00
parent 16594bffa9
commit 1e56d9c219
37 changed files with 468 additions and 398 deletions
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msg/ManualControlSetpoint.msg
+1 -1
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@@ -26,7 +26,7 @@ float32 pitch # move forward, negative pitch rotation, nose down
float32 yaw # positive yaw rotation, clockwise when seen top down
float32 throttle # move up, positive thrust, -1 is minimum available 0% or -100% +1 is 100% thrust
float32 flaps # flap position
float32 flaps # position of flaps switch/knob/lever [-1, 1]
float32 aux1
float32 aux2