mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-02-08 20:43:42 +08:00
2ecffff700
* fw_tecs: Support tighter altitude tracking during low-height flight. Added FW_T_THR_LOW_HGT defining low-height flight threshold * tecs: Applied smoothed-out altitude TC transition to landings * fw_tecs: modified tighter altitude control for low-height implementation * addressed PR comments * addressed PR comments --------- Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
32 lines
1.8 KiB
Plaintext
32 lines
1.8 KiB
Plaintext
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]
|