UUV introduce param to skip controller (#15706)

* added skip_ctrl param to uuv

* fixed formatting

src/modules/uuv_att_control/uuv_att_control.cpp

@@ -238,7 +238,15 @@ void UUVAttitudeControl::Run()
 			}
 
 			/* Geometric Control*/
-			control_attitude_geo(attitude, _attitude_setpoint, angular_velocity, _rates_setpoint);
+			int skip_controller = _param_skip_ctrl.get();
+
+			if (skip_controller) {
+				constrain_actuator_commands(_rates_setpoint.roll, _rates_setpoint.pitch, _rates_setpoint.yaw,
+							    _rates_setpoint.thrust_body[0]);
+
+			} else {
+				control_attitude_geo(attitude, _attitude_setpoint, angular_velocity, _rates_setpoint);
+			}
 		}
 	}
 

src/modules/uuv_att_control/uuv_att_control.hpp

@@ -87,10 +87,6 @@ public:
 	UUVAttitudeControl();
 	~UUVAttitudeControl();
 
-	UUVAttitudeControl(const UUVAttitudeControl &) = delete;
-	UUVAttitudeControl operator=(const UUVAttitudeControl &other) = delete;
-
-
 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);
 
@@ -131,6 +127,7 @@ private:
 		(ParamFloat<px4::params::UUV_YAW_D>) _param_yaw_d,
 		// control/input modes
 		(ParamInt<px4::params::UUV_INPUT_MODE>) _param_input_mode,
+		(ParamInt<px4::params::UUV_SKIP_CTRL>) _param_skip_ctrl,
 		// direct access to inputs
 		(ParamFloat<px4::params::UUV_DIRCT_ROLL>) _param_direct_roll,
 		(ParamFloat<px4::params::UUV_DIRCT_PITCH>) _param_direct_pitch,

src/modules/uuv_att_control/uuv_att_control_params.c

@@ -107,6 +107,14 @@ PARAM_DEFINE_FLOAT(UUV_YAW_D, 2.0f);
  */
 PARAM_DEFINE_INT32(UUV_INPUT_MODE, 0);
 
+/**
+ * Skip the controller
+ *
+ * @value 0 use the module's controller
+ * @value 1 skip the controller and feedthrough the setpoints
+ */
+PARAM_DEFINE_INT32(UUV_SKIP_CTRL, 0);
+
 /**
  * Direct roll input
  *