fw_pos_control_l1: integrate optional use of npfg

uorb: npfg_status msg

Author: Thomas Stastny

msg/CMakeLists.txt

@@ -100,6 +100,7 @@ set(msg_files
 	mount_orientation.msg
 	multirotor_motor_limits.msg
 	navigator_mission_item.msg
+    npfg_status.msg
 	obstacle_distance.msg
 	offboard_control_mode.msg
 	onboard_computer_status.msg

msg/npfg_status.msg

@@ -0,0 +1,16 @@
+uint64 timestamp                # time since system start (microseconds)
+
+uint8 wind_est_valid            # (boolean) true = wind estimate is valid and being used by controller
+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]
+float32 bearing_feas_on_track   # on-track bearing feasibility [0,1]
+float32 signed_track_error      # signed track error [m]
+float32 track_error_bound       # track error bound [m]
+float32 airspeed_ref            # airspeed reference [m/s]
+float32 bearing                 # bearing angle [rad]
+float32 heading_ref             # heading angle reference [rad]
+float32 min_ground_speed_ref    # minimum forward ground speed reference [m/s]
+float32 adapted_period          # adapted period (if auto-tuning enabled) [s]
+float32 p_gain                  # controller proportional gain [rad/s]
+float32 time_const              # controller time constant [s]

src/modules/fw_pos_control_l1/CMakeLists.txt

@@ -44,6 +44,7 @@ px4_add_module(
 		l1
 		launchdetection
 		landing_slope
+        npfg
 		runway_takeoff
 		tecs
 	)