TecsStatus (UORB message)

TOPICS: tecs_status

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64			time since system start (microseconds)
altitude_sp	float32			Altitude setpoint AMSL [m]
altitude_reference	float32			Altitude setpoint reference AMSL [m]
altitude_time_constant	float32			Time constant of the altitude tracker [s]
height_rate_reference	float32			Height rate setpoint reference [m/s]
height_rate_direct	float32			Direct height rate setpoint from velocity reference generator [m/s]
height_rate_setpoint	float32			Height rate setpoint [m/s]
height_rate	float32			Height rate [m/s]
equivalent_airspeed_sp	float32			Equivalent airspeed setpoint [m/s]
true_airspeed_sp	float32			True airspeed setpoint [m/s]
true_airspeed_filtered	float32			True airspeed filtered [m/s]
true_airspeed_derivative_sp	float32			True airspeed derivative setpoint [m/s^2]
true_airspeed_derivative	float32			True airspeed derivative [m/s^2]
true_airspeed_derivative_raw	float32			True airspeed derivative raw [m/s^2]
total_energy_rate_sp	float32			Total energy rate setpoint [m^2/s^3]
total_energy_rate	float32			Total energy rate estimate [m^2/s^3]
total_energy_balance_rate_sp	float32			Energy balance rate setpoint [m^2/s^3]
total_energy_balance_rate	float32			Energy balance rate estimate [m^2/s^3]
throttle_integ	float32			Throttle integrator value [-]
pitch_integ	float32			Pitch integrator value [rad]
throttle_sp	float32			Current throttle setpoint [-]
pitch_sp_rad	float32			Current pitch setpoint [rad]
throttle_trim	float32			estimated throttle value [0,1] required to fly level at equivalent_airspeed_sp in the current atmospheric conditions
underspeed_ratio	float32			0: no underspeed, 1: maximal underspeed. Controller takes measures to avoid stall proportional to ratio if >0.
fast_descend_ratio	float32			value indicating if fast descend mode is enabled with ramp up and ramp down [0-1]

Source Message

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uint64 timestamp		# time since system start (microseconds)

float32 altitude_sp			# Altitude setpoint AMSL [m]
float32 altitude_reference		# Altitude setpoint reference AMSL [m]
float32 altitude_time_constant		# Time constant of the altitude tracker [s]
float32 height_rate_reference		# Height rate setpoint reference [m/s]
float32 height_rate_direct		# Direct height rate setpoint from velocity reference generator [m/s]
float32 height_rate_setpoint		# Height rate setpoint [m/s]
float32 height_rate			# Height rate [m/s]
float32 equivalent_airspeed_sp		# Equivalent airspeed setpoint [m/s]
float32 true_airspeed_sp		# True airspeed setpoint [m/s]
float32 true_airspeed_filtered		# True airspeed filtered [m/s]
float32 true_airspeed_derivative_sp	# True airspeed derivative setpoint [m/s^2]
float32 true_airspeed_derivative	# True airspeed derivative [m/s^2]
float32 true_airspeed_derivative_raw	# True airspeed derivative raw [m/s^2]

float32 total_energy_rate_sp		# Total energy rate setpoint [m^2/s^3]
float32 total_energy_rate		# Total energy rate estimate [m^2/s^3]

float32 total_energy_balance_rate_sp	# Energy balance rate setpoint [m^2/s^3]
float32 total_energy_balance_rate	# Energy balance rate estimate [m^2/s^3]

float32 throttle_integ			# Throttle integrator value [-]
float32 pitch_integ			# Pitch integrator value [rad]

float32 throttle_sp			# Current throttle setpoint [-]
float32 pitch_sp_rad			# Current pitch setpoint [rad]
float32 throttle_trim			# estimated throttle value [0,1] required to fly level at equivalent_airspeed_sp in the current atmospheric conditions

float32 underspeed_ratio		# 0: no underspeed, 1: maximal underspeed. Controller takes measures to avoid stall proportional to ratio if >0.
float32 fast_descend_ratio 		#  value indicating if fast descend mode is enabled with ramp up and ramp down [0-1]