integrate optional NPFG library for wind-aware fixed-wing guidance

msg/CMakeLists.txt

@@ -111,6 +111,7 @@ set(msg_files
 	mission_result.msg
 	mount_orientation.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/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]
+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/lib/CMakeLists.txt

@@ -54,6 +54,7 @@ add_subdirectory(mathlib)
 add_subdirectory(mixer)
 add_subdirectory(mixer_module)
 add_subdirectory(motion_planning)
+add_subdirectory(npfg)
 add_subdirectory(output_limit)
 add_subdirectory(perf)
 add_subdirectory(pid)

src/lib/npfg/CMakeLists.txt

@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2018-2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(npfg
+	npfg.cpp
+	npfg.hpp
+)
+
+target_link_libraries(npfg PRIVATE geo)