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19 lines
1.3 KiB
Plaintext
19 lines
1.3 KiB
Plaintext
# Fixed Wing Longitudinal Control Configuration message
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#
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# Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages
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# and configure the resultant setpoints.
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # [us] Time since system start
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float32 pitch_min # [rad] [@range -pi, pi] Defaults to FW_P_LIM_MIN if NAN.
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float32 pitch_max # [rad] [@range -pi, pi] Defaults to FW_P_LIM_MAX if NAN.
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float32 throttle_min # [norm] [@range 0,1] Defaults to FW_THR_MIN if NAN.
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float32 throttle_max # [norm] [@range 0,1] Defaults to FW_THR_MAX if NAN.
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float32 climb_rate_target # [m/s] Target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
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float32 sink_rate_target # [m/s] Target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
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float32 speed_weight # [-] [@range 0,2] 0=pitch controls altitude only, 2=pitch controls airspeed only
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bool enforce_low_height_condition # If true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking
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bool disable_underspeed_protection # If true, underspeed handling is disabled in the altitude controller
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