# tecs_status (UORB message)

source file (opens new window)

uint64 timestamp		# time since system start (microseconds)
uint8 TECS_MODE_NORMAL = 0
uint8 TECS_MODE_UNDERSPEED = 1
uint8 TECS_MODE_TAKEOFF = 2
uint8 TECS_MODE_LAND = 3
uint8 TECS_MODE_LAND_THROTTLELIM = 4
uint8 TECS_MODE_BAD_DESCENT = 5
uint8 TECS_MODE_CLIMBOUT = 6


float32 altitude_sp
float32 altitude_filtered
float32 height_rate_setpoint
float32 height_rate
float32 equivalent_airspeed_sp
float32 true_airspeed_sp
float32 true_airspeed_filtered
float32 true_airspeed_derivative_sp
float32 true_airspeed_derivative
float32 true_airspeed_derivative_raw
float32 true_airspeed_innovation

float32 total_energy_error
float32 energy_distribution_error
float32 total_energy_rate_error
float32 energy_distribution_rate_error

float32 total_energy
float32 total_energy_rate
float32 total_energy_balance
float32 total_energy_balance_rate

float32 total_energy_sp
float32 total_energy_rate_sp
float32 total_energy_balance_sp
float32 total_energy_balance_rate_sp

float32 throttle_integ
float32 pitch_integ

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

uint8 mode