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GotoControl: add go-to control interface to mc position controller

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goto control class handles smoothing of goto setpoints, outputs trajectory setpoint for mc pos control
some minor encapsulation done in mc pos control for readability
new param MPC_YAWAAUTO_MAX limiting heading accelerations in heading smoother
This commit is contained in:
Thomas Stastny
2023-11-15 11:29:10 +01:00
committed by Matthias Grob
parent e47aba8bc9
commit 4b920a6628
9 changed files with 550 additions and 52 deletions
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validation/module_schema.yaml
+2 -2
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@@ -145,14 +145,14 @@ parameters:
'%', 'Hz', 'mAh',
'rad', '%/rad', 'rad/s', 'rad/s^2', '%/rad/s', 'rad s^2/m','rad s/m',
'bit/s', 'B/s',
'deg', 'deg*1e7', 'deg/s',
'deg', 'deg*1e7', 'deg/s', 'deg/s^2',
'celcius', 'gauss', 'gauss/s', 'mgauss', 'mgauss^2',
'hPa', 'kg', 'kg/m^2', 'kg m^2', 'kg/m^3',
'mm', 'm', 'm/s', 'm^2', 'm/s^2', 'm/s^3', 'm/s^2/sqrt(Hz)', 'm/s/rad',
'Ohm', 'V', 'A',
'us', 'ms', 's',
'S', 'A/%', '(m/s^2)^2', 'm/m', 'tan(rad)^2', '(m/s)^2', 'm/rad',
'm/s^3/sqrt(Hz)', 'm/s/sqrt(Hz)', 's/(1000*PWM)', '%m/s', 'min', 'us/C',
'm/s^3/sqrt(Hz)', 'm/s/sqrt(Hz)', 's/(1000*PWM)', '%m/s', 'min', 'us/C',
'N/(m/s)', 'Nm/(rad/s)', 'Nm', 'N',
'rpm',
'normalized_thrust/s', 'normalized_thrust', 'norm', 'SD']