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VehicleAttitudeSetpoint.msg: remove reset_integral and fw_control_yaw_wheel

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Signed-off-by: Silvan <silvan@auterion.com>
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Silvan
2025-04-16 13:09:09 +02:00
committed by Silvan Fuhrer
parent 0276f66b18
commit 3e3f10f5bc
11 changed files with 90 additions and 136 deletions
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docs/en/flight_modes_fw/takeoff.md
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@@ -101,7 +101,7 @@ The _runway takeoff mode_ has the following phases:
::: info
For a smooth takeoff, the runway wheel controller possibly needs to be tuned.
It consists of a rate controller (P-I-FF-controller with the parameters [FW_WR_P](../advanced_config/parameter_reference.md#FW_WR_P), [FW_WR_I](../advanced_config/parameter_reference.md#FW_WR_I), [FW_WR_FF](../advanced_config/parameter_reference.md#FW_WR_FF)) and an outer loop that calculates heading setpoints from course errors and can be tuned via [RWTO_NPFG_PERIOD](#RWTO_NPFG_PERIOD).
It consists of a rate controller (P-I-FF-controller with the parameters [FW_WR_P](../advanced_config/parameter_reference.md#FW_WR_P), [FW_WR_I](../advanced_config/parameter_reference.md#FW_WR_I), [FW_WR_FF](../advanced_config/parameter_reference.md#FW_WR_FF)).
:::
### Parameters (Runway Takeoff)
@@ -120,7 +120,6 @@ Runway takeoff is affected by the following parameters:
| <a id="RWTO_NUDGE"></a>[RWTO_NUDGE](../advanced_config/parameter_reference.md#RWTO_NUDGE) | Enable wheel controller nudging while on the runway |
| <a id="FW_WING_SPAN"></a>[FW_WING_SPAN](../advanced_config/parameter_reference.md#FW_WING_SPAN) | The wingspan of the vehicle. Used to prevent wingstrikes. |
| <a id="FW_WING_HEIGHT"></a>[FW_WING_HEIGHT](../advanced_config/parameter_reference.md#FW_WING_HEIGHT) | The height of the wings above ground (ground clearance). Used to prevent wingstrikes. |
| <a id="RWTO_NPFG_PERIOD"></a>[RWTO_NPFG_PERIOD](../advanced_config/parameter_reference.md#RWTO_NPFG_PERIOD) | L1 period while steering on runway. Increase for less aggressive response to course errors. |
## See Also