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16 lines
812 B
Plaintext
16 lines
812 B
Plaintext
# Auxiliary control fields for fixed-wing runway takeoff/landing
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# Passes information from the FixedWingModeManager to the FixedWingAttitudeController (wheel control) and FixedWingLandDetector (takeoff state)
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uint64 timestamp # [us] time since system start
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uint8 STATE_THROTTLE_RAMP = 0 # ramping up throttle
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uint8 STATE_CLAMPED_TO_RUNWAY = 1 # clamped to runway, controlling yaw directly (wheel or rudder)
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uint8 STATE_CLIMBOUT = 2 # climbout to safe height before navigation
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uint8 STATE_FLYING = 3 # navigate freely
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uint8 runway_takeoff_state # Current state of runway takeoff state machine
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bool wheel_steering_enabled # Flag that enables the wheel steering.
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float32 wheel_steering_nudging_rate # [norm] [@range -1, 1] [FRD] Manual wheel nudging, added to controller output. NAN is interpreted as 0.
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