FixedWingLongitudinalSetpoint (UORB message)

Fixed Wing Longitudinal Setpoint message. Used by the fw_lateral_longitudinal_control module. If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion. If both altitude and height_rate are NAN, the controller maintains the current altitude.

TOPICS: fixed_winglongitudinal_setpoint

Fields

Назва	Тип	Unit [Frame]	Range/Enum	Опис
timestamp	uint64			time since system start (microseconds)
altitude	float32	m		Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite
height_rate	float32	ENU		Scalar height rate setpoint. NAN if not controlled directly
equivalent_airspeed	float32	m/s	[0 : inf]	Scalar equivalent airspeed setpoint. NAN if system default should be used
pitch_direct	float32	FRD	[-pi : pi]	NAN if not controlled, overrides total energy controller
throttle_direct	float32	norm	[0 : 1]	NAN if not controlled, overrides total energy controller

Constants

Назва	Тип	Значення	Опис
MESSAGE_VERSION	uint32	0

Source Message

Source file (GitHub)

Details

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# Fixed Wing Longitudinal Setpoint message
# Used by the fw_lateral_longitudinal_control module
# If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion.
# If both altitude and height_rate are NAN, the controller maintains the current altitude.

uint32 MESSAGE_VERSION = 0

uint64 timestamp                        # time since system start (microseconds)

float32 altitude  			# [m] Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite
float32 height_rate 			# [m/s] [ENU] Scalar height rate setpoint. NAN if not controlled directly
float32 equivalent_airspeed 		# [m/s] [@range 0, inf] Scalar equivalent airspeed setpoint. NAN if system default should be used
float32 pitch_direct 			# [rad] [@range -pi, pi] [FRD] NAN if not controlled, overrides total energy controller
float32 throttle_direct 		# [norm] [@range 0,1] NAN if not controlled, overrides total energy controller