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FW separate reset integrals for messages (#20502)

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This commit separates integral resets for attitude and rate control setpoints
This commit is contained in:
JaeyoungLim
2022-11-01 06:06:27 +01:00
committed by GitHub
parent 6d2dd798a0
commit a90857f651
5 changed files with 12 additions and 10 deletions
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msg/VehicleAttitudeSetpoint.msg
+1 -1
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@@ -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
+2
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@@ -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)