flight_mode_manager: ManualAcceleration support weathervane yaw handler

[dagar]

• fixes 1.12 Release everything great except Weather Vane #17911

@taileron @VTOLDavid can you give this a try?

[dagar]

If this (or a minor variation) works then we can cleanly back port it for v1.12.2.

[VTOLDavid]

Thank you @dagar! I will test it this week

[taileron]

If this (or a minor variation) works then we can cleanly back port it for v1.12.2.

change into 1.12.1 wv now works perfect in position, rtl, mission much thanks @dagar:
https://review.px4.io/plot_app?log=ed48f96c-5447-437c-8105-5df8e4c901a6

[VTOLDavid]

If this (or a minor variation) works then we can cleanly back port it for v1.12.2.

change into 1.12.1 wv now works perfect in position, rtl, mission much thanks @dagar:
https://review.px4.io/plot_app?log=ed48f96c-5447-437c-8105-5df8e4c901a6

Same here, works perfect. Thanks @dagar!

[sfuhrer]

How about extending WV_EN to a bitmask with field one: enable in Auto, field two: enable in Position? As I can imagine users not wanting the WV in Position flight mode, but only in Auto modes.

[VTOLDavid]

How about extending WV_EN to a bitmask with field one: enable in Auto, field two: enable in Position? As I can imagine users not wanting the WV in Position flight mode, but only in Auto modes.

Seems a good option, but why someone would like his VTOL to fight against wind?

[sfuhrer]

How about extending WV_EN to a bitmask with field one: enable in Auto, field two: enable in Position? As I can imagine users not wanting the WV in Position flight mode, but only in Auto modes.

Seems a good option, but why someone would like his VTOL to fight against wind?

Maybe somebody wants to be able to precisely set the yaw of the vehicle manually? In low wind conditions that's no problem. And a fairly knowledgeable pilot probably makes a better job than WV. And I haven't personally tried WV in Pos mode, will be interesting to see how well it works when you have a lot of position setpoint changes.

But it's fine for me to bring this in like this, and follow up with another PR later to make it configurable if we see the need.

[dagar]

I'm going to merge this as is, then cherry-pick for v1.12.2. Then in master we can follow up with adding more granularity to WV_EN.

Thanks everyone.