Hello. I am doing a project in which a uav (fixed-wing) shall land on a moving car. The car will have an april tag on it, and from that we will calculate pose.
This part is done already, and now from that we have made a trajectory controller that outputs ax, ay and az. However, it turns out there is no way to input these values onto ardupilot. What we have done so far is modify the TECS and L1 controller to accept external input. We have found a way to insert lateral acceleration to L1 and climb rate velocity to TECS, but we have no way of inserting ax (or vx). We have tried do_change_speed, but it doesn’t quite do what we want and is not fast enough. Therefore we were wondering if there’s a way to do this either through TECS or other layers of the flight stack.
Any help would be very welcome.