FBWA Rudder Mixing Logic + Motor Trim#103
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Pull request overview
This PR adds rudder mixing infrastructure and motor trim support to the attitude manager system. The changes introduce new member variables and a configuration method for rudder mixing (though the actual mixing logic is not yet implemented), and enhance the motor control output to support per-motor trim adjustments.
Changes:
- Added rudder mixing configuration method and member variables to AttitudeManager
- Implemented motor trim support in the motor output logic
- Added trim field to the MotorInstance_t struct
Reviewed changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated 9 comments.
| File | Description |
|---|---|
| zeropilot4.0/src/attitude_manager/attitude_manager.cpp | Added rudder mixing variables initialization, setRudderMixing() method, and modified outputToMotor() to apply trim values |
| zeropilot4.0/include/driver_ifaces/motor_datatype.hpp | Added trim field to MotorInstance_t struct for per-motor output adjustments |
| zeropilot4.0/include/attitude_manager/attitude_manager.hpp | Declared setRudderMixing() method and added three private member variables for rudder mixing functionality |
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Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
…ARG/efs-zeropilot-4.0 into feauture/am/rudder-mixing-fix
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
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