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docs/en/msg_docs/FixedWingLongitudinalSetpoint.md
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@@ -4,7 +4,11 @@ pageClass: is-wide-page
# 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.
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
@@ -12,11 +16,11 @@ Fixed Wing Longitudinal Setpoint message. Used by the fw_lateral_longitudinal_co
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------- | --------- | ------------ | ---------- | ---------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp | `uint64` | us | | Time since system start |
| altitude | `float32` | m | | Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite |
| height_rate | `float32` | ENU | | Scalar height rate setpoint. NAN if not controlled directly |
| height_rate | `float32` | m/s [ENU] | | Scalar height rate setpoint. NAN if not controlled directly |
| equivalent_airspeed | `float32` | m/s | [0 : inf] | Scalar equivalent airspeed setpoint. NAN if system default should be used |
| pitch_direct | `float32` | FRD | [-pi : pi] | NAN if not controlled, overrides total energy controller |
| 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
@@ -33,19 +37,20 @@ Fixed Wing Longitudinal Setpoint message. Used by the fw_lateral_longitudinal_co
```c
# 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 # time since system start (microseconds)
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] [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] [FRD] NAN if not controlled, overrides total energy controller
float32 throttle_direct # [norm] [@range 0,1] NAN if not controlled, overrides total energy controller
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
```
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