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_wing_longitudinal_setpoint

Fields

参数名	类型	Unit [Frame]	Range/Enum	描述
timestamp	uint64	us		Time since system start
altitude	float32	米		Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite
height_rate	float32	m/s [ENU]		Scalar height rate setpoint. NAN if not controlled directly
equivalent_airspeed	float32	米/秒	[0 : inf]	Scalar equivalent airspeed setpoint. NAN if system default should be used
pitch_direct	float32	rad [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

参数名	类型	值	描述
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 # [us] Time since system start

float32 altitude # [m] Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite
float32 height_rate # [m/s] [@frame 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] [@frame FRD] NAN if not controlled, overrides total energy controller
float32 throttle_direct # [norm] [@range 0,1] NAN if not controlled, overrides total energy controller