To make ROSplane more usable, I've implemented a node that enables different forms of flight modes. This lets the user easily isolate and test any portion of the autopilot along any axis in any combination (for example, command roll angle while altitude and airspeed is managed by the path follower). It also lets the user fly with much higher level control, making the pilot's job easier (control pitch and roll angle instead of direct control surface deflection).
Since this isn't a core part of the rosplane autonomy stack, I created an additional package for anything directly relating to rosplane functionality that isn't part of the core autonomy stack. I also moved the param manager to be a library within rosplane, so other packages in the repository can make use of it.
To make ROSplane more usable, I've implemented a node that enables different forms of flight modes. This lets the user easily isolate and test any portion of the autopilot along any axis in any combination (for example, command roll angle while altitude and airspeed is managed by the path follower). It also lets the user fly with much higher level control, making the pilot's job easier (control pitch and roll angle instead of direct control surface deflection).
Since this isn't a core part of the rosplane autonomy stack, I created an additional package for anything directly relating to rosplane functionality that isn't part of the core autonomy stack. I also moved the param manager to be a library within rosplane, so other packages in the repository can make use of it.