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1e56d9c219
- remove deprecated actuator_controls[INDEX_FLAPS/SPOILERS/AIRBRAKES] - use new topic normalized_unsigned_setpoint.msg (with instances flaps_setpoint and spoilers_setpoint) to pass into control allocation - remove flaps/spoiler related fields from attitude_setpoint topic - CA: add possibility to map flaps/spoilers to any control surface - move flaps/spoiler pitch trimming to CA (previously called DTRIM_FLAPS/SPOILER) - move manual flaps/spoiler handling from rate to attitude controller FW Position controller: change how negative switch readings are intepreted for flaps/spoilers (considered negative as 0). VTOL: Rework spoiler publishing in hover - pushlish spoiler_setpoint.msg in the VTOL module if in hover - also set spoilers to land configuration if in Descend mode Allocation: add slew rate limit of 0.5 to flaps/spoilers configuration change Instead of doing the flaps/spoilers slew rate limiting in the FW Position Controller (which then only is applied in Auto flight), do it consistently over all flight modes, so also for manual modes. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
6 lines
158 B
Plaintext
6 lines
158 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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float32 normalized_setpoint # [0, 1]
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# TOPICS flaps_setpoint spoilers_setpoint
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