PX4-Autopilot/docs/en/msg_docs/FixedWingLateralSetpoint.md

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FixedWingLateralSetpoint (UORB message)

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.

TOPICS: fixed_wing_lateral_setpoint

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64	us		Time since system start
course	float32	rad	[-pi : pi]	Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly.
airspeed_direction	float32	rad	[-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.
lateral_acceleration	float32	m/s^2 [FRD]		Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite.

Constants

Name	Type	Value	Description
MESSAGE_VERSION	uint32	0

Source Message

Source file (GitHub)

::: details Click here to see original file

# 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 # [us] Time since system start

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] [@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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