LongitudinalControlConfiguration (UORB message)

Fixed Wing Longitudinal Control Configuration message.

Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages and configure the resultant setpoints.

TOPICS: longitudinal_control_configuration

Fields

参数名	类型	Unit [Frame]	Range/Enum	描述
timestamp	uint64	us		Time since system start
pitch_min	float32	rad	[-pi : pi]	Defaults to FW_P_LIM_MIN if NAN.
pitch_max	float32	rad	[-pi : pi]	Defaults to FW_P_LIM_MAX if NAN.
throttle_min	float32	norm	[0 : 1]	Defaults to FW_THR_MIN if NAN.
throttle_max	float32	norm	[0 : 1]	Defaults to FW_THR_MAX if NAN.
climb_rate_target	float32	米/秒		Target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
sink_rate_target	float32	米/秒		Target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
speed_weight	float32		[0 : 2]	0=pitch controls altitude only, 2=pitch controls airspeed only
enforce_low_height_condition	bool			If true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking
disable_underspeed_protection	bool			If true, underspeed handling is disabled in the altitude 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 Control Configuration message
#
# Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages
# and configure the resultant setpoints.

uint32 MESSAGE_VERSION = 0

uint64 timestamp # [us] Time since system start

float32 pitch_min # [rad] [@range -pi, pi] Defaults to FW_P_LIM_MIN if NAN.
float32 pitch_max # [rad] [@range -pi, pi] Defaults to FW_P_LIM_MAX if NAN.
float32 throttle_min # [norm] [@range 0,1] Defaults to FW_THR_MIN if NAN.
float32 throttle_max # [norm] [@range 0,1] Defaults to FW_THR_MAX if NAN.
float32 climb_rate_target # [m/s] Target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
float32 sink_rate_target # [m/s] Target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
float32 speed_weight # [-] [@range 0,2] 0=pitch controls altitude only, 2=pitch controls airspeed only
bool enforce_low_height_condition # If true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking
bool disable_underspeed_protection # If true, underspeed handling is disabled in the altitude controller