LongitudinalControlConfiguration (UORB message)

Fixed Wing Longitudinal Control Configuration message. Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages. and configure the resultant setpoints.

TOPICS: longitudinal_controlconfiguration

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64			time since system start (microseconds)
pitch_min	float32	rad	[-pi : pi]	defaults to FW_P_LIM_MIN if NAN.
pitch_max	float32	rad	[-pi : pi]	defaults to FW_P_LIM_MAX if NAN.
throttle_min	float32	norm	[0 : 1]	deaults to FW_THR_MIN if NAN.
throttle_max	float32	norm	[0 : 1]	defaults to FW_THR_MAX if NAN.
climb_rate_target	float32	m/s		target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
sink_rate_target	float32	m/s		target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
speed_weight	float32		[0 : 2]	, 0=pitch controls altitude only, 2=pitch controls airspeed only
enforce_low_height_condition	bool	boolean		if true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking
disable_underspeed_protection	bool	boolean		if true, underspeed handling is disabled in the altitude controller

Constants

Name	Type	Value	Description
MESSAGE_VERSION	uint32	0

Source Message

Source file (GitHub)

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# Fixed Wing Longitudinal Control Configuration message
# Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages
# and configure the resultant setpoints.

uint32 MESSAGE_VERSION = 0

uint64 timestamp                        # time since system start (microseconds)

float32 pitch_min   			# [rad][@range -pi, pi] defaults to FW_P_LIM_MIN if NAN.
float32 pitch_max   			# [rad][@range -pi, pi] defaults to FW_P_LIM_MAX if NAN.
float32 throttle_min 			# [norm] [@range 0,1] deaults to FW_THR_MIN if NAN.
float32 throttle_max 			# [norm] [@range 0,1] defaults to FW_THR_MAX if NAN.
float32 climb_rate_target 		# [m/s] target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
float32 sink_rate_target 		# [m/s] target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
float32 speed_weight 			# [@range 0,2], 0=pitch controls altitude only, 2=pitch controls airspeed only
bool enforce_low_height_condition 	# [boolean] if true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking
bool disable_underspeed_protection 	# [boolean] if true, underspeed handling is disabled in the altitude controller