FixedWingRunwayControl (UORB message)

Auxiliary control fields for fixed-wing runway takeoff/landing.

TOPICS: fixed_wingrunway_control

Fields

Назва	Тип	Unit [Frame]	Range/Enum	Опис
timestamp	uint64	us		time since system start
runway_takeoff_state	uint8			Current state of runway takeoff state machine
wheel_steering_enabled	bool			Flag that enables the wheel steering.
wheel_steering_nudging_rate	float32	FRD	[-1 : 1]	Manual wheel nudging, added to controller output. NAN is interpreted as 0.

Constants

Назва	Тип	Значення	Опис
STATE_THROTTLE_RAMP	uint8	0	ramping up throttle
STATE_CLAMPED_TO_RUNWAY	uint8	1	clamped to runway, controlling yaw directly (wheel or rudder)
STATE_CLIMBOUT	uint8	2	climbout to safe height before navigation
STATE_FLYING	uint8	3	navigate freely

Source Message

Source file (GitHub)

Details

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# Auxiliary control fields for fixed-wing runway takeoff/landing

# Passes information from the FixedWingModeManager to the FixedWingAttitudeController (wheel control) and FixedWingLandDetector (takeoff state)

uint64 timestamp # [us] time since system start

uint8 STATE_THROTTLE_RAMP = 0		# ramping up throttle
uint8 STATE_CLAMPED_TO_RUNWAY = 1	# clamped to runway, controlling yaw directly (wheel or rudder)
uint8 STATE_CLIMBOUT = 2		# climbout to safe height before navigation
uint8 STATE_FLYING = 3			# navigate freely

uint8 runway_takeoff_state		# Current state of runway takeoff state machine

bool wheel_steering_enabled		# Flag that enables the wheel steering.
float32 wheel_steering_nudging_rate	# [norm] [@range -1, 1] [FRD] Manual wheel nudging, added to controller output. NAN is interpreted as 0.