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# AutotuneAttitudeControlStatus (UORB message)
Autotune attitude control status.
This message is published by the fw_autotune_attitude_control and mc_autotune_attitude_control modules when the user engages autotune,
and is subscribed to by the respective attitude controllers to command rate setpoints.
The rate_sp field is consumed by the controllers, while the remaining fields (model coefficients, gains, filters, and autotune state) are used for logging and debugging.
**TOPICS:** autotune_attitude_control_status
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------- | ------------ | ------------ | --------------- | --------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| coeff | `float32[5]` | | | Coefficients of the identified discrete-time model |
| coeff_var | `float32[5]` | | | Coefficients' variance of the identified discrete-time model |
| fitness | `float32` | | | Fitness of the parameter estimate |
| innov | `float32` | rad/s | | Innovation (residual error between model and measured output) |
| dt_model | `float32` | s | | Model sample time used for identification |
| kc | `float32` | | | Proportional rate-loop gain (ideal form) |
| ki | `float32` | | | Integral rate-loop gain (ideal form) |
| kd | `float32` | | | Derivative rate-loop gain (ideal form) |
| kff | `float32` | | | Feedforward rate-loop gain |
| att_p | `float32` | | | Proportional attitude gain |
| rate_sp | `float32[3]` | rad/s | | Rate setpoint commanded to the attitude controller. |
| u_filt | `float32` | | | Filtered input signal (normalized torque setpoint) used in system identification. |
| y_filt | `float32` | rad/s | | Filtered output signal (angular velocity) used in system identification. |
| state | `uint8` | | [STATE](#STATE) | Current state of the autotune procedure. |
## Enums
### STATE {#STATE}
| Name | Type | Value | Description |
| ----------------------------------------------------------------------------- | ------- | ----- | -------------------------------------------------------- |
| STATE_IDLE | `uint8` | 0 | Idle (not running) |
| STATE_INIT | `uint8` | 1 | Initialize filters and setup |
| STATE_ROLL_AMPLITUDE_DETECTION | `uint8` | 2 | FW only: determine required excitation amplitude (roll) |
| STATE_ROLL | `uint8` | 3 | Roll-axis excitation and model identification |
| STATE_ROLL_PAUSE | `uint8` | 4 | Pause to return to level flight |
| STATE_PITCH_AMPLITUDE_DETECTION | `uint8` | 5 | FW only: determine required excitation amplitude (pitch) |
| STATE_PITCH | `uint8` | 6 | Pitch-axis excitation and model identification |
| STATE_PITCH_PAUSE | `uint8` | 7 | Pause to return to level flight |
| STATE_YAW_AMPLITUDE_DETECTION | `uint8` | 8 | FW only: determine required excitation amplitude (yaw) |
| STATE_YAW | `uint8` | 9 | Yaw-axis excitation and model identification |
| STATE_YAW_PAUSE | `uint8` | 10 | Pause to return to level flight |
| STATE_VERIFICATION | `uint8` | 11 | Verify model and candidate gains |
| STATE_APPLY | `uint8` | 12 | Apply gains |
| STATE_TEST | `uint8` | 13 | Test gains in closed-loop |
| STATE_COMPLETE | `uint8` | 14 | Tuning completed successfully |
| STATE_FAIL | `uint8` | 15 | Tuning failed (model invalid or controller unstable) |
| STATE_WAIT_FOR_DISARM | `uint8` | 16 | Waiting for disarm before finalizing |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AutotuneAttitudeControlStatus.msg)
::: details Click here to see original file
```c
# Autotune attitude control status
#
# This message is published by the fw_autotune_attitude_control and mc_autotune_attitude_control modules when the user engages autotune,
# and is subscribed to by the respective attitude controllers to command rate setpoints.
#
# The rate_sp field is consumed by the controllers, while the remaining fields (model coefficients, gains, filters, and autotune state) are used for logging and debugging.
uint64 timestamp # [us] Time since system start
float32[5] coeff # [-] Coefficients of the identified discrete-time model
float32[5] coeff_var # [-] Coefficients' variance of the identified discrete-time model
float32 fitness # [-] Fitness of the parameter estimate
float32 innov # [rad/s] Innovation (residual error between model and measured output)
float32 dt_model # [s] Model sample time used for identification
float32 kc # [-] Proportional rate-loop gain (ideal form)
float32 ki # [-] Integral rate-loop gain (ideal form)
float32 kd # [-] Derivative rate-loop gain (ideal form)
float32 kff # [-] Feedforward rate-loop gain
float32 att_p # [-] Proportional attitude gain
float32[3] rate_sp # [rad/s] Rate setpoint commanded to the attitude controller.
float32 u_filt # [-] Filtered input signal (normalized torque setpoint) used in system identification.
float32 y_filt # [rad/s] Filtered output signal (angular velocity) used in system identification.
uint8 state # [@enum STATE] Current state of the autotune procedure.
uint8 STATE_IDLE = 0 # Idle (not running)
uint8 STATE_INIT = 1 # Initialize filters and setup
uint8 STATE_ROLL_AMPLITUDE_DETECTION = 2 # FW only: determine required excitation amplitude (roll)
uint8 STATE_ROLL = 3 # Roll-axis excitation and model identification
uint8 STATE_ROLL_PAUSE = 4 # Pause to return to level flight
uint8 STATE_PITCH_AMPLITUDE_DETECTION = 5 # FW only: determine required excitation amplitude (pitch)
uint8 STATE_PITCH = 6 # Pitch-axis excitation and model identification
uint8 STATE_PITCH_PAUSE = 7 # Pause to return to level flight
uint8 STATE_YAW_AMPLITUDE_DETECTION = 8 # FW only: determine required excitation amplitude (yaw)
uint8 STATE_YAW = 9 # Yaw-axis excitation and model identification
uint8 STATE_YAW_PAUSE = 10 # Pause to return to level flight
uint8 STATE_VERIFICATION = 11 # Verify model and candidate gains
uint8 STATE_APPLY = 12 # Apply gains
uint8 STATE_TEST = 13 # Test gains in closed-loop
uint8 STATE_COMPLETE = 14 # Tuning completed successfully
uint8 STATE_FAIL = 15 # Tuning failed (model invalid or controller unstable)
uint8 STATE_WAIT_FOR_DISARM = 16 # Waiting for disarm before finalizing
```
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