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8a5e5a411a
- Add versioning to interfacing messages - Add header description - Add units, frame and range wherever possible - Add [norm] and @range indentifiers
14 lines
978 B
Plaintext
14 lines
978 B
Plaintext
# Fixed Wing Lateral Guidance Status message
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# Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs
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uint64 timestamp # time since system start (microseconds)
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float32 course_setpoint # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. Set by guidance law
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float32 lateral_acceleration_ff # [m/s^2] [FRD] lateral acceleration demand only for maintaining curvature
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float32 bearing_feas # [@range 0,1] bearing feasibility
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float32 bearing_feas_on_track # [@range 0,1] on-track bearing feasibility
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float32 signed_track_error # [m] signed track error
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float32 track_error_bound # [m] track error bound
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float32 adapted_period # [s] adapted period (if auto-tuning enabled)
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uint8 wind_est_valid # [boolean] true = wind estimate is valid and/or being used by controller (also indicates if wind estimate usage is disabled despite being valid)
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