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# 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

| Name                | Type      | Unit [Frame] | Range/Enum | Description                                                                        |
| ------------------- | --------- | ------------ | ---------- | ---------------------------------------------------------------------------------- |
| timestamp           | `uint64`  |              |            | time since system start (microseconds)                                             |
| 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                        |
| 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                           |
| throttle_direct     | `float32` | norm         | [0 : 1]    | NAN if not controlled, overrides total energy controller                           |

## Constants

| Name                                            | Type     | Value | Description |
| ----------------------------------------------- | -------- | ----- | ----------- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0     |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/FixedWingLongitudinalSetpoint.msg)

::: details Click here to see original file

```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)

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
```

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