TecsStatus (повідомлення UORB)

source file

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]