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13 lines
827 B
Plaintext
13 lines
827 B
Plaintext
# Fixed Wing Lateral Setpoint message
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#
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# Used by the fw_lateral_longitudinal_control module
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# At least one of course, airspeed_direction, or lateral_acceleration must be finite.
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # [us] Time since system start
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float32 course # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly.
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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.
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float32 lateral_acceleration # [m/s^2] [@frame FRD] Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite.
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