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FW Position Controller rework

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- 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>
This commit is contained in:
RomanBapst
2025-01-08 15:34:43 +03:00
committed by Silvan Fuhrer
parent 52f0ef927d
commit 779a55c6dc
107 changed files with 3268 additions and 2920 deletions
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boards/ark/fmu-v6x/default.px4board
+1
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@@ -57,6 +57,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y
boards/ark/fpv/default.px4board
+1
View File
@@ -38,6 +38,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
CONFIG_MODULES_FW_ATT_CONTROL=y
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
CONFIG_MODULES_FW_POS_CONTROL=y
CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
CONFIG_MODULES_FW_RATE_CONTROL=y
CONFIG_MODULES_GIMBAL=y
CONFIG_MODULES_GYRO_CALIBRATION=y