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docs/ko/msg_docs/FixedWingRunwayControl.md
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---
pageClass: is-wide-page
---
# FixedWingRunwayControl (UORB message)
Auxiliary control fields for fixed-wing runway takeoff/landing
Auxiliary control fields for fixed-wing runway takeoff/landing.
Passes information from the FixedWingModeManager to the FixedWingAttitudeController
**TOPICS:** fixed_wingrunway_control
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FixedWingRunwayControl.msg)
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------------------------------------------------------------ | --------- | ---------------------------------------------------------------- | ---------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | time since system start |
| runway_takeoff_state | `uint8` | | | Current state of runway takeoff state machine |
| wheel_steering_enabled | `bool` | | | Flag that enables the wheel steering. |
| wheel_steering_nudging_rate | `float32` | FRD | [-1 : 1] | Manual wheel nudging, added to controller output. NAN is interpreted as 0. |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------------------------------------------ | ------- | ----- | -------------------------------------------------------------------------------- |
| <a href="#STATE_THROTTLE_RAMP"></a> STATE_THROTTLE_RAMP | `uint8` | 0 | ramping up throttle |
| <a href="#STATE_CLAMPED_TO_RUNWAY"></a> STATE_CLAMPED_TO_RUNWAY | `uint8` | 1 | clamped to runway, controlling yaw directly (wheel or rudder) |
| <a href="#STATE_CLIMBOUT"></a> STATE_CLIMBOUT | `uint8` | 2 | climbout to safe height before navigation |
| <a href="#STATE_FLYING"></a> STATE_FLYING | `uint8` | 3 | navigate freely |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FixedWingRunwayControl.msg)
:::details
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```c
# Auxiliary control fields for fixed-wing runway takeoff/landing
# Passes information from the FixedWingModeManager to the FixedWingAttitudeController
# Passes information from the FixedWingModeManager to the FixedWingAttitudeController (wheel control) and FixedWingLandDetector (takeoff state)
uint64 timestamp # [us] time since system start
uint8 STATE_THROTTLE_RAMP = 0 # ramping up throttle
uint8 STATE_CLAMPED_TO_RUNWAY = 1 # clamped to runway, controlling yaw directly (wheel or rudder)
uint8 STATE_CLIMBOUT = 2 # climbout to safe height before navigation
uint8 STATE_FLYING = 3 # navigate freely
uint8 runway_takeoff_state # Current state of runway takeoff state machine
bool wheel_steering_enabled # Flag that enables the wheel steering.
float32 wheel_steering_nudging_rate # [norm] [@range -1, 1] [FRD] Manual wheel nudging, added to controller output. NAN is interpreted as 0.
```
:::