Added back separate message for internal controller commands

rosplane/include/controller_base.hpp

@@ -17,6 +17,7 @@
 #include <rclcpp/rclcpp.hpp>
 #include <rosflight_msgs/msg/command.hpp>
 #include <rosplane_msgs/msg/controller_commands.hpp>
+#include <rosplane_msgs/msg/controller_internals.hpp>
 #include <rosplane_msgs/msg/state.hpp>
 #include <param_manager.hpp>
 
@@ -120,7 +121,7 @@ class controller_base : public rclcpp::Node
   /**
    * This publisher publishes the current commands in the control algorithm.
    */
-  rclcpp::Publisher<rosplane_msgs::msg::ControllerCommands>::SharedPtr controller_commands_pub_;
+  rclcpp::Publisher<rosplane_msgs::msg::ControllerInternals>::SharedPtr controller_internals_pub_;
 
   /**
    * This subscriber subscribes to the commands the controller uses to calculate control effort.

rosplane/src/controller_base.cpp

@@ -13,8 +13,8 @@ controller_base::controller_base()
 
   // Advertise published topics.
   actuators_pub_ = this->create_publisher<rosflight_msgs::msg::Command>("command", 10);
-  controller_commands_pub_ = this->create_publisher<rosplane_msgs::msg::ControllerCommands>(
-    "controller_commands_out", 10);
+  controller_internals_pub_ = this->create_publisher<rosplane_msgs::msg::ControllerInternals>(
+    "controller_internals", 10);
 
   // Advertise subscribed topics and set bound callbacks.
   controller_commands_sub_ = this->create_subscription<rosplane_msgs::msg::ControllerCommands>(
@@ -120,25 +120,24 @@ void controller_base::actuator_controls_publish()
     actuators_pub_->publish(actuators);
 
     // Publish the current control values
-    rosplane_msgs::msg::ControllerCommands controller_commands;
-    controller_commands.header.stamp = now;
-    controller_commands.phi_c = output.phi_c;
-    controller_commands.theta_c = output.theta_c;
+    rosplane_msgs::msg::ControllerInternals controller_internals;
+    controller_internals.header.stamp = now;
+    controller_internals.phi_c = output.phi_c;
+    controller_internals.theta_c = output.theta_c;
     switch (output.current_zone) {
       case alt_zones::TAKE_OFF:
-        controller_commands.alt_zone = controller_commands.ZONE_TAKE_OFF;
+        controller_internals.alt_zone = controller_internals.ZONE_TAKE_OFF;
         break;
       case alt_zones::CLIMB:
-        controller_commands.alt_zone = controller_commands.ZONE_CLIMB;
+        controller_internals.alt_zone = controller_internals.ZONE_CLIMB;
         break;
       case alt_zones::ALTITUDE_HOLD:
-        controller_commands.alt_zone = controller_commands.ZONE_ALTITUDE_HOLD;
+        controller_internals.alt_zone = controller_internals.ZONE_ALTITUDE_HOLD;
         break;
       default:
         break;
     }
-    controller_commands.aux_valid = false;
-    controller_commands_pub_->publish(controller_commands);
+    controller_internals_pub_->publish(controller_internals);
   }
 }
 

rosplane_msgs/CMakeLists.txt

@@ -27,6 +27,7 @@ find_package(rosidl_default_generators REQUIRED)
 set(msg_files
   "msg/Command.msg"
   "msg/ControllerCommands.msg"
+  "msg/ControllerInternals.msg"
   "msg/CurrentPath.msg"
   "msg/State.msg"
   "msg/Waypoint.msg"

rosplane_msgs/msg/ControllerCommands.msg

@@ -15,9 +15,3 @@ bool aux_valid		# Auxiliary commands valid
 # parameter for the controller to use these commands.
 float32 theta_c		# Commanded pitch (rad)
 float32 phi_c		# Commanded roll (rad)
-uint8 alt_zone		# Zone in the altitude state machine
-
-uint8 ZONE_TAKE_OFF = 0
-uint8 ZONE_CLIMB = 1
-uint8 ZONE_DESEND = 2
-uint8 ZONE_ALTITUDE_HOLD = 3

rosplane_msgs/msg/ControllerInternals.msg

@@ -0,0 +1,12 @@
+# Internal controller commands output from the outer loops of the autopilot
+
+# header
+std_msgs/Header header
+float32 theta_c		# Commanded pitch (rad)
+float32 phi_c		# Commanded roll (rad)
+uint8 alt_zone		# Zone in the altitude state machine
+
+uint8 ZONE_TAKE_OFF = 0
+uint8 ZONE_CLIMB = 1
+uint8 ZONE_DESEND = 2
+uint8 ZONE_ALTITUDE_HOLD = 3

rosplane_tuning/README.md

@@ -10,7 +10,7 @@ Signal generator is a ROS2 node that will generate step inputs, square waves, si
 
 This is useful for tuning autopilots as we can give a clear and repeatable command to any portion of the autopilot and observe its response to that input. We can then tune gains, re-issue the same commands, and observe whether performance improved or worsened.
 
-Signal generator works by publishing autopilot commands on the ROS network on the `controller_commands` and `tuning_debug` topics. Each control output (roll, pitch, altitude, course, airspeed) has a default values that is set by a ROS parameter. The signal generator will then add the generated signal to one of the control outputs with a set magnitude and frequency.
+Signal generator works by publishing autopilot commands on the ROS network on the `controller_commands` topic. Each control output (roll, pitch, altitude, course, airspeed) has a default values that is set by a ROS parameter. The signal generator will then add the generated signal to one of the control outputs with a set magnitude and frequency.
 
 ### Signal Types
 - Step: This is a non-continuous signal, where the generated signal will jump between the default value and the default+magnitude every time the `toggle_step_signal` service is called.