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WIP: Fixed wing control API #24056

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WIP: Fixed wing control API #24056

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RomanBapst
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@RomanBapst RomanBapst commented Nov 29, 2024 •
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Solved Problem

Refactor fixed wing position controller to create flexible control API according to diagram provided.

Screenshot from 2024-11-29 10-10-48

TODO:

  • split controllers into separate modules where it makes sense
  • refactor longitudinal control, only lateral part done until now
  • handle constraints (throttle, roll) -> similar to what we do for multicopters

Changelog Entry

For release notes:

Feature/Bugfix XYZ
New parameter: XYZ_Z
Documentation: Need to clarify page ... / done, read docs.px4.io/...

Alternatives

We could also ...

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github-actions bot commented Dec 20, 2024 •
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🔎 FLASH Analysis

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  +0.2%     +42  [ = ]       0    ../../src/drivers/distance_sensor/cm8jl65/CM8JL65.cpp
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 -98.9%  +185Ki  [ = ]       0    [469 Others]
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  [NEW] +1.30Ki  [ = ]       0    ../../src/lib/npfg/AirspeedReferenceController.cpp
  [NEW] +2.23Ki  [ = ]       0    ../../src/lib/npfg/CourseToAirspeedRefMapper.cpp
  [NEW] +3.83Ki  [ = ]       0    ../../src/lib/npfg/DirectionalGuidance.cpp
  [DEL] -5.75Ki  [ = ]       0    ../../src/lib/npfg/npfg.cpp
  -1.3%     -25  [ = ]       0    ../../src/lib/version/version.c
  [NEW] +19.4Ki  [ = ]       0    ../../src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp
 -17.3% -9.30Ki  [ = ]       0    ../../src/modules/fw_pos_control/FixedwingPositionControl.cpp
  -0.2%      -6  [ = ]       0    ../../src/modules/fw_pos_control/runway_takeoff/RunwayTakeoff.cpp
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  +0.0%      +8  [ = ]       0    ../../src/modules/logger/logger.cpp
  [NEW] +1.31Ki  [ = ]       0    msg/topics_sources/fw_lateral_control_setpoint.cpp
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  [NEW] +1.30Ki  [ = ]       0    msg/topics_sources/lateral_control_limits.cpp
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   +26% +1.78Ki  [ = ]       0    ../../src/lib/fw_performance_model/PerformanceModel.cpp
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  [NEW] +4.87Ki  [ = ]       0    ../../src/lib/npfg/CourseToAirspeedRefMapper.cpp
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  [DEL] -14.9Ki  [ = ]       0    ../../src/lib/npfg/npfg.cpp
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  -0.0%     -15  [ = ]       0    ../../src/modules/commander/Commander.cpp
 -99.5% +9.68Ki  [ = ]       0    [42 Others]
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   +27%    +400  [ = ]       0    ../../src/lib/fw_performance_model/PerformanceModel.cpp
  [NEW]    +176  [ = ]       0    ../../src/lib/npfg/AirspeedReferenceController.cpp
  [NEW]    +728  [ = ]       0    ../../src/lib/npfg/CourseToAirspeedRefMapper.cpp
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  [NEW]     +98  [ = ]       0    ../../src/lib/npfg/AirspeedReferenceController.cpp
  [NEW]     +61  [ = ]       0    ../../src/lib/npfg/CourseToAirspeedRefMapper.cpp
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  [NEW] +50.7Ki  [ = ]       0    ../../src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp
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  -0.1%      -7  [ = ]       0    ../../src/modules/mc_att_control/mc_att_control_main.cpp
  -0.9%      -7  [ = ]       0    ../../src/modules/mc_pos_control/PositionControl/ControlMath.cpp
   +19%      +7  [ = ]       0    ../../src/modules/mc_pos_control/Takeoff/Takeoff.cpp
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  [NEW]    +386  [ = ]       0    ../../src/lib/npfg/CourseToAirspeedRefMapper.cpp
  [NEW]    +670  [ = ]       0    ../../src/lib/npfg/DirectionalGuidance.cpp
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  [NEW]     +66  [ = ]       0    msg/topics_sources/fw_lateral_control_setpoint.cpp
  [NEW]     +76  [ = ]       0    msg/topics_sources/fw_longitudinal_control_setpoint.cpp
  [NEW]     +29  [ = ]       0    msg/topics_sources/lateral_control_limits.cpp
  [NEW]     +34  [ = ]       0    msg/topics_sources/longitudinal_control_limits.cpp
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  -8.3%     -16  [ = ]       0    ../../src/drivers/barometer/invensense/icp201xx/icp201xx_main.cpp
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  [NEW]    +128  [ = ]       0    ../../src/lib/npfg/AirspeedReferenceController.cpp
  [NEW]    +208  [ = ]       0    ../../src/lib/npfg/CourseToAirspeedRefMapper.cpp
  [NEW]    +560  [ = ]       0    ../../src/lib/npfg/DirectionalGuidance.cpp
  [DEL]    -832  [ = ]       0    ../../src/lib/npfg/npfg.cpp
  -2.8%     -32  [ = ]       0    ../../src/lib/tecs/TECS.cpp
  -7.0%     -64  [ = ]       0    ../../src/lib/version/version.c
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  -0.9%     -16  [ = ]       0    ../../src/modules/fw_att_control/FixedwingAttitudeControl.cpp
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  -9.5%    -576  [ = ]       0    ../../src/modules/fw_pos_control/FixedwingPositionControl.cpp
  -2.9%     -16  [ = ]       0    ../../src/modules/fw_pos_control/runway_takeoff/RunwayTakeoff.cpp
 -99.6%    +480  [ = ]       0    [10 Others]
-5.9% -4.07Ki  [ = ]       0    [Unmapped]
+0.5%  +247Ki  +0.2% +4.07Ki    TOTAL

Updated: 2025-01-14T08:46:40

@RomanBapst RomanBapst force-pushed the pr-fw_ctrl_api branch 2 times, most recently from f14b301 to 8405fa3 Compare January 8, 2025 12:39
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