Dynamics Control

Requires APX4 3.3 or newer

Fixed Wing Dynamics Mode allows you to control a Fixed Wing by supplying acceleration and velocity setpoints to the controller in the vehicle's body frame.

For a detailed explanation of the implementation of this setpoint in PX4, see the upstream documentation.

Set up mode

In order to prepare your flight mode to accept DynamicsSetpoint, you need to supply the auterion::fixedwing::DynamicsSetpoint::Config object to your mode constructor like so:

auterion::Mode my_mode(sdk, "My Mode", {
    auterion::fixedwing::DynamicsSetpoint::Config{}
});

Create setpoints

DynamicsSetpoint setpoints can take height rate, equivalent airspeed and lateral acceleration as arguments.

The equivalent airspeed setpoint will only be used when the vehicle is equipped with an airspeed sensor.

To create a setpoint, you can use the builder pattern like so:

auto setpoint = auterion::fixedwing::DynamicsSetpoint{}
    .withHeightRate(h_dot)
    .withEquivalentAirspeed(equivalent_airspeed)
    .withLateralAcceleration(a_lat)

To ensure the drone follows your setpoints, return these setpoints in the onUpdateSetpoint callback method of your mode.