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fixed-wing: update rate controller integrator handling

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-always reset roll/pitch/yaw integrators at the same time
-reset them while waiting for launch or during FW Takeoff before Climbout
-reset wheel rate integrator only when disarmed

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-08-12 14:54:21 +02:00
parent cd080289c6
commit 5a2127d026
6 changed files with 17 additions and 59 deletions
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msg/vehicle_attitude_setpoint.msg
+1 -3
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@@ -13,9 +13,7 @@ float32[4] q_d # Desired quaternion for quaternion control
# For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
float32[3] thrust_body # Normalized thrust command in body NED frame [-1,1]
bool roll_reset_integral # Reset roll integral part (navigation logic change)
bool pitch_reset_integral # Reset pitch integral part (navigation logic change)
bool yaw_reset_integral # Reset yaw integral part (navigation logic change)
bool reset_rate_integrals # Reset roll/pitch/yaw integrals (navigation logic change)
bool fw_control_yaw # control heading with rudder (used for auto takeoff on runway)