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# TecsStatus (повідомлення UORB)

**TOPICS:** tecs_status

## Fields

| Назва                                                                                                            | Тип       | Unit [Frame] | Range/Enum | Опис                                                                                                                                                                                                               |
| ---------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| timestamp                                                                                                        | `uint64`  |                                                                  |            | time since system start (microseconds)                                                                                                                                                          |
| altitude_sp                                                                                 | `float32` |                                                                  |            | Altitude setpoint AMSL [m]                                                                                                                                     |
| altitude_reference                                                                          | `float32` |                                                                  |            | Altitude setpoint reference AMSL [m]                                                                                                                           |
| altitude_time_constant                                                 | `float32` |                                                                  |            | Time constant of the altitude tracker [s]                                                                                                                      |
| height_rate_reference                                                  | `float32` |                                                                  |            | Height rate setpoint reference [m/s]                                                                                                                           |
| height_rate_direct                                                     | `float32` |                                                                  |            | Direct height rate setpoint from velocity reference generator [m/s]                                                                                            |
| height_rate_setpoint                                                   | `float32` |                                                                  |            | Height rate setpoint [m/s]                                                                                                                                     |
| height_rate                                                                                 | `float32` |                                                                  |            | Height rate [m/s]                                                                                                                                              |
| equivalent_airspeed_sp                                                 | `float32` |                                                                  |            | Equivalent airspeed setpoint [m/s]                                                                                                                             |
| true_airspeed_sp                                                       | `float32` |                                                                  |            | True airspeed setpoint [m/s]                                                                                                                                   |
| true_airspeed_filtered                                                 | `float32` |                                                                  |            | True airspeed filtered [m/s]                                                                                                                                   |
| true_airspeed_derivative_sp                       | `float32` |                                                                  |            | True airspeed derivative setpoint [m/s^2]                                                                                                                      |
| true_airspeed_derivative                                               | `float32` |                                                                  |            | True airspeed derivative [m/s^2]                                                                                                                               |
| true_airspeed_derivative_raw                      | `float32` |                                                                  |            | True airspeed derivative raw [m/s^2]                                                                                                                           |
| total_energy_rate_sp                              | `float32` |                                                                  |            | Total energy rate setpoint [m^2/s^3]                                                                                                                           |
| total_energy_rate                                                      | `float32` |                                                                  |            | Total energy rate estimate [m^2/s^3]                                                                                                                           |
| total_energy_balance_rate_sp | `float32` |                                                                  |            | Energy balance rate setpoint [m^2/s^3]                                                                                                                         |
| total_energy_balance_rate                         | `float32` |                                                                  |            | Energy balance rate estimate [m^2/s^3]                                                                                                                         |
| throttle_integ                                                                              | `float32` |                                                                  |            | Throttle integrator value [-]                                                                                                                                  |
| pitch_integ                                                                                 | `float32` |                                                                  |            | Pitch integrator value [rad]                                                                                                                                   |
| throttle_sp                                                                                 | `float32` |                                                                  |            | Current throttle setpoint [-]                                                                                                                                  |
| pitch_sp_rad                                                           | `float32` |                                                                  |            | Current pitch setpoint [rad]                                                                                                                                   |
| throttle_trim                                                                               | `float32` |                                                                  |            | estimated throttle value [0,1] required to fly level at equivalent_airspeed_sp in the current atmospheric conditions |
| underspeed_ratio                                                                            | `float32` |                                                                  |            | 0: no underspeed, 1: maximal underspeed. Controller takes measures to avoid stall proportional to ratio if >0.                                     |
| fast_descend_ratio                                                     | `float32` |                                                                  |            | value indicating if fast descend mode is enabled with ramp up and ramp down [0-1]                                                                              |

## Source Message

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

:::details
Click here to see original file

```c
uint64 timestamp		# time since system start (microseconds)

float32 altitude_sp			# Altitude setpoint AMSL [m]
float32 altitude_reference		# Altitude setpoint reference AMSL [m]
float32 altitude_time_constant		# Time constant of the altitude tracker [s]
float32 height_rate_reference		# Height rate setpoint reference [m/s]
float32 height_rate_direct		# Direct height rate setpoint from velocity reference generator [m/s]
float32 height_rate_setpoint		# Height rate setpoint [m/s]
float32 height_rate			# Height rate [m/s]
float32 equivalent_airspeed_sp		# Equivalent airspeed setpoint [m/s]
float32 true_airspeed_sp		# True airspeed setpoint [m/s]
float32 true_airspeed_filtered		# True airspeed filtered [m/s]
float32 true_airspeed_derivative_sp	# True airspeed derivative setpoint [m/s^2]
float32 true_airspeed_derivative	# True airspeed derivative [m/s^2]
float32 true_airspeed_derivative_raw	# True airspeed derivative raw [m/s^2]

float32 total_energy_rate_sp		# Total energy rate setpoint [m^2/s^3]
float32 total_energy_rate		# Total energy rate estimate [m^2/s^3]

float32 total_energy_balance_rate_sp	# Energy balance rate setpoint [m^2/s^3]
float32 total_energy_balance_rate	# Energy balance rate estimate [m^2/s^3]

float32 throttle_integ			# Throttle integrator value [-]
float32 pitch_integ			# Pitch integrator value [rad]

float32 throttle_sp			# Current throttle setpoint [-]
float32 pitch_sp_rad			# Current pitch setpoint [rad]
float32 throttle_trim			# estimated throttle value [0,1] required to fly level at equivalent_airspeed_sp in the current atmospheric conditions

float32 underspeed_ratio		# 0: no underspeed, 1: maximal underspeed. Controller takes measures to avoid stall proportional to ratio if >0.
float32 fast_descend_ratio 		#  value indicating if fast descend mode is enabled with ramp up and ramp down [0-1]
```

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