FW separate reset integrals for messages (#20502)

This commit separates integral resets for attitude and rate control setpoints

msg/VehicleAttitudeSetpoint.msg

@@ -13,7 +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 reset_rate_integrals	# Reset roll/pitch/yaw integrals (navigation logic change)
+bool reset_integral	# Reset roll/pitch/yaw integrals (navigation logic change)
 
 bool fw_control_yaw		# control heading with rudder (used for auto takeoff on runway)
 

msg/VehicleRatesSetpoint.msg

@@ -8,3 +8,5 @@ float32 yaw		# [rad/s] yaw rate setpoint
 # For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand.
 # 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 reset_integral # Reset roll/pitch/yaw integrals (navigation logic change)

src/modules/fw_att_control/FixedwingAttitudeControl.cpp

@@ -157,7 +157,7 @@ FixedwingAttitudeControl::vehicle_manual_poll(const float yaw_body)
 					Quatf q(Eulerf(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body));
 					q.copyTo(_att_sp.q_d);
 
-					_att_sp.reset_rate_integrals = false;
+					_att_sp.reset_integral = false;
 
 					_att_sp.timestamp = hrt_absolute_time();
 
@@ -392,8 +392,8 @@ void FixedwingAttitudeControl::Run()
 			const float airspeed = get_airspeed_and_update_scaling();
 
 			/* reset integrals where needed */
-			if (_att_sp.reset_rate_integrals) {
-				_rate_control.resetIntegral();
+			if (_att_sp.reset_integral) {
+				_rates_sp.reset_integral = true;
 			}
 
 			/* Reset integrators if the aircraft is on ground
@@ -403,7 +403,7 @@ void FixedwingAttitudeControl::Run()
 			    || (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
 				&& !_vehicle_status.in_transition_mode && !_vehicle_status.is_vtol_tailsitter)) {
 
-				_rate_control.resetIntegral();
+				_rates_sp.reset_integral = true;
 				_wheel_ctrl.reset_integrator();
 			}
 
@@ -605,7 +605,7 @@ void FixedwingAttitudeControl::Run()
 				_actuator_controls.control[actuator_controls_s::INDEX_YAW] = (PX4_ISFINITE(yaw_u)) ? math::constrain(yaw_u + trim_yaw,
 						-1.f, 1.f) : trim_yaw;
 
-				if (!PX4_ISFINITE(roll_u) || !PX4_ISFINITE(pitch_u) || !PX4_ISFINITE(yaw_u)) {
+				if (!PX4_ISFINITE(roll_u) || !PX4_ISFINITE(pitch_u) || !PX4_ISFINITE(yaw_u) || _rates_sp.reset_integral) {
 					_rate_control.resetIntegral();
 				}
 

src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp

@@ -1487,7 +1487,7 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
 
 		if (_runway_takeoff.resetIntegrators()) {
 			// reset integrals except yaw (which also counts for the wheel controller)
-			_att_sp.reset_rate_integrals = true;
+			_att_sp.reset_integral = true;
 
 			// throttle is open loop anyway during ground roll, no need to wind up the integrator
 			_tecs.resetIntegrals();
@@ -1626,7 +1626,7 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
 
 		} else {
 			/* Tell the attitude controller to stop integrating while we are waiting for the launch */
-			_att_sp.reset_rate_integrals = true;
+			_att_sp.reset_integral = true;
 
 			/* Set default roll and pitch setpoints during detection phase */
 			_att_sp.roll_body = 0.0f;
@@ -2249,7 +2249,7 @@ FixedwingPositionControl::Run()
 		_npfg.setPeriod(_param_npfg_period.get());
 		_l1_control.set_l1_period(_param_fw_l1_period.get());
 
-		_att_sp.reset_rate_integrals = false;
+		_att_sp.reset_integral = false;
 
 		// by default we don't want yaw to be contoller directly with rudder
 		_att_sp.fw_control_yaw = false;

src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp

@@ -62,7 +62,7 @@ TEST(PositionControlTest, EmptySetpoint)
 	EXPECT_FLOAT_EQ(attitude.yaw_sp_move_rate, 0.f);
 	EXPECT_EQ(Quatf(attitude.q_d), Quatf(1.f, 0.f, 0.f, 0.f));
 	EXPECT_EQ(Vector3f(attitude.thrust_body), Vector3f(0.f, 0.f, 0.f));
-	EXPECT_EQ(attitude.reset_rate_integrals, false);
+	EXPECT_EQ(attitude.reset_integral, false);
 	EXPECT_EQ(attitude.fw_control_yaw, false);
 	EXPECT_FLOAT_EQ(attitude.apply_flaps, 0.f);//vehicle_attitude_setpoint_s::FLAPS_OFF); // TODO why no reference?
 }