FixedWingLateralGuidanceStatus (UORB message)

Fixed Wing Lateral Guidance Status message. Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs.

TOPICS: fixed_winglateral_guidancestatus

Fields

参数名	类型	Unit [Frame]	Range/Enum	描述
timestamp	uint64			time since system start (microseconds)
course_setpoint	float32	rad	[-pi : pi]	Desired direction of travel over ground w.r.t (true) North. Set by guidance law
lateral_acceleration_ff	float32	FRD		lateral acceleration demand only for maintaining curvature
bearing_feas	float32		[0 : 1]	bearing feasibility
bearing_feas_on_track	float32		[0 : 1]	on-track bearing feasibility
signed_track_error	float32	米		signed track error
track_error_bound	float32	米		track error bound
adapted_period	float32	s		adapted period (if auto-tuning enabled)
wind_est_valid	uint8	boolean		true = wind estimate is valid and/or being used by controller (also indicates if wind estimate usage is disabled despite being valid)

Source Message

Source file (GitHub)

Details

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# Fixed Wing Lateral Guidance Status message
# Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs

uint64 timestamp                # time since system start (microseconds)

float32 course_setpoint         # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. Set by guidance law
float32 lateral_acceleration_ff # [m/s^2] [FRD] lateral acceleration demand only for maintaining curvature
float32 bearing_feas            # [@range 0,1] bearing feasibility
float32 bearing_feas_on_track   # [@range 0,1] on-track bearing feasibility
float32 signed_track_error      # [m] signed track error
float32 track_error_bound       # [m] track error bound
float32 adapted_period          # [s] adapted period (if auto-tuning enabled)
uint8 wind_est_valid            # [boolean] true = wind estimate is valid and/or being used by controller (also indicates if wind estimate usage is disabled despite being valid)