From 22fdbacdbe177d405144f2814f989252a302eb33 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Tue, 20 May 2025 11:37:48 +0200 Subject: [PATCH] LongitudinalControlConfiguration.msg: slightly adjust wording Signed-off-by: Silvan Fuhrer --- msg/versioned/LongitudinalControlConfiguration.msg | 4 ++-- posix-configs/rpi/pilotpi_fw.config | 1 + 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/msg/versioned/LongitudinalControlConfiguration.msg b/msg/versioned/LongitudinalControlConfiguration.msg index 092bf83ed4..459ec112aa 100644 --- a/msg/versioned/LongitudinalControlConfiguration.msg +++ b/msg/versioned/LongitudinalControlConfiguration.msg @@ -13,5 +13,5 @@ float32 throttle_max # [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 # [0,2], 0=pitch controls altitude only, 2=pitch controls airspeed only -bool enforce_low_height_condition # if true, total energy controller will use lower altitude control time constant -bool disable_underspeed_protection # if true, underspeed handling is disabled in the total energy controller +bool enforce_low_height_condition # if true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking +bool disable_underspeed_protection # if true, underspeed handling is disabled in the altitude controller diff --git a/posix-configs/rpi/pilotpi_fw.config b/posix-configs/rpi/pilotpi_fw.config index 06f02a39af..4c66381e1c 100644 --- a/posix-configs/rpi/pilotpi_fw.config +++ b/posix-configs/rpi/pilotpi_fw.config @@ -64,6 +64,7 @@ land_detector start fixedwing flight_mode_manager start fw_att_control start fw_mode_manager start +fw_lat_lon_control start mavlink start -x -u 14556 -r 1000000 -p