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* FWModeManager: add option to set flag for disabling actuators during launch Signed-off-by: Silvan <silvan@auterion.com> * Allocation: add option to each control surface to be locked for launch Signed-off-by: Silvan <silvan@auterion.com> * FW rate control: reset integral while control surfaces are locked Signed-off-by: Silvan <silvan@auterion.com> --------- Signed-off-by: Silvan <silvan@auterion.com> Co-authored-by: mahima-yoga <mahima@auterion.com>
12 lines
605 B
Plaintext
12 lines
605 B
Plaintext
# Status of the launch detection state machine (fixed-wing only)
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uint64 timestamp # time since system start (microseconds)
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uint8 STATE_WAITING_FOR_LAUNCH = 0 # waiting for launch
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uint8 STATE_LAUNCH_DETECTED_DISABLED_MOTOR = 1 # launch detected, but keep motor(s) disabled (e.g. because it can't spin freely while on catapult)
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uint8 STATE_FLYING = 2 # launch detected, use normal takeoff/flying configuration
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uint8 launch_detection_state
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bool selected_control_surface_disarmed # [-] flag indicating whether selected actuators should kept disarmed (have to be configured in control allocation)
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