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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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1.7 KiB
LongitudinalControlConfiguration (UORB message)
Fixed Wing Longitudinal Control Configuration message Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages and configure the resultant setpoints.
# Fixed Wing Longitudinal Control Configuration message
# Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages
# and configure the resultant setpoints.
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
float32 pitch_min # [rad][@range -pi, pi] defaults to FW_P_LIM_MIN if NAN.
float32 pitch_max # [rad][@range -pi, pi] defaults to FW_P_LIM_MAX if NAN.
float32 throttle_min # [norm] [@range 0,1] deaults to FW_THR_MIN if NAN.
float32 throttle_max # [norm] [@range 0,1] defaults to FW_THR_MAX if NAN.
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.
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.
float32 speed_weight # [@range 0,2], 0=pitch controls altitude only, 2=pitch controls airspeed only
bool enforce_low_height_condition # [boolean] if true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking
bool disable_underspeed_protection # [boolean] if true, underspeed handling is disabled in the altitude controller