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* Failsafe metadata update * docs: update module reference metadata * docs: update parameter reference metadata * docs: metadata: update uORB graph JSONs * uorb message metadata updates * Add new uorb topics to sidebar * Remove uorb topics that no longer exist * fix up resulting docs links --------- Co-authored-by: PX4BuildBot <bot@pixhawk.org>
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1.5 KiB
FixedWingLongitudinalSetpoint (UORB message)
Fixed Wing Longitudinal Setpoint message Used by the fw_lateral_longitudinal_control module If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion. If both altitude and height_rate are NAN, the controller maintains the current altitude.
# Fixed Wing Longitudinal Setpoint message
# Used by the fw_lateral_longitudinal_control module
# If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion.
# If both altitude and height_rate are NAN, the controller maintains the current altitude.
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
float32 altitude # [m] Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite
float32 height_rate # [m/s] [ENU] Scalar height rate setpoint. NAN if not controlled directly
float32 equivalent_airspeed # [m/s] [@range 0, inf] Scalar equivalent airspeed setpoint. NAN if system default should be used
float32 pitch_direct # [rad] [@range -pi, pi] [FRD] NAN if not controlled, overrides total energy controller
float32 throttle_direct # [norm] [@range 0,1] NAN if not controlled, overrides total energy controller