mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-02-07 10:52:35 +08:00
8a5e5a411a
- Add versioning to interfacing messages - Add header description - Add units, frame and range wherever possible - Add [norm] and @range indentifiers
12 lines
862 B
Plaintext
12 lines
862 B
Plaintext
# Fixed Wing Lateral Setpoint message
|
|
# Used by the fw_lateral_longitudinal_control module
|
|
# At least one of course, airspeed_direction, or lateral_acceleration must be finite.
|
|
|
|
uint32 MESSAGE_VERSION = 0
|
|
|
|
uint64 timestamp # time since system start (microseconds)
|
|
|
|
float32 course # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly.
|
|
float32 airspeed_direction # [rad] [@range -pi, pi] Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite.
|
|
float32 lateral_acceleration # [m/s^2] [FRD] Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite.
|