add option to disable use of wind estimates with npfg

Author: Thomas Stastny

msg/npfg_status.msg

@@ -1,6 +1,6 @@
 uint64 timestamp                # time since system start (microseconds)
 
-uint8 wind_est_valid            # (boolean) true = wind estimate is valid and being used by controller
+uint8 wind_est_valid            # (boolean) true = wind estimate is valid and/or being used by controller (also indicates if wind est usage is disabled despite being valid)
 float32 lat_accel               # resultant lateral acceleration reference [m/s^2]
 float32 lat_accel_ff            # lateral acceleration demand only for maintaining curvature [m/s^2]
 float32 bearing_feas            # bearing feasibility [0,1]

src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp

@@ -269,6 +269,12 @@ FixedwingPositionControl::wind_poll()
 			_wind_vel(1) = 0.0f;
 		}
 	}
+
+	if (!_param_npfg_en_wind_estimates.get()) {
+		_wind_valid = false;
+		_wind_vel(0) = 0.0f;
+		_wind_vel(1) = 0.0f;
+	}
 }
 
 void

src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp

@@ -389,6 +389,7 @@ class FixedwingPositionControl final : public ModuleBase<FixedwingPositionContro
 		(ParamFloat<px4::params::NPFG_ROLL_TC>) _param_npfg_roll_time_const,
 		(ParamFloat<px4::params::NPFG_ASPD_BUF>) _param_npfg_airspeed_buffer,
 		(ParamFloat<px4::params::NPFG_SW_DST_MLT>) _param_npfg_switch_distance_multiplier,
+		(ParamBool<px4::params::NPFG_EN_WIND_EST>) _param_npfg_en_wind_estimates,
 
 		(ParamFloat<px4::params::FW_LND_AIRSPD_SC>) _param_fw_lnd_airspd_sc,
 		(ParamFloat<px4::params::FW_LND_ANG>) _param_fw_lnd_ang,

src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c

@@ -252,6 +252,14 @@ PARAM_DEFINE_FLOAT(NPFG_ASPD_BUF, 1.5f);
  */
 PARAM_DEFINE_FLOAT(NPFG_SW_DST_MLT, 0.32f);
 
+/**
+ * Enable use of wind estimates for NPFG. Disabling, controller assumes zero wind.
+ *
+ * @boolean
+ * @group FW NPFG Control
+ */
+PARAM_DEFINE_INT32(NPFG_EN_WIND_EST, 1);
+
 /**
  * Cruise throttle
  *