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docs/en/msg_docs/LongitudinalControlConfiguration.md
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@@ -1,10 +1,39 @@
---
pageClass: is-wide-page
---
# 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.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/LongitudinalControlConfiguration.msg)
**TOPICS:** longitudinal_controlconfiguration
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| pitch_min | `float32` | rad | [-pi : pi] | defaults to FW_P_LIM_MIN if NAN. |
| pitch_max | `float32` | rad | [-pi : pi] | defaults to FW_P_LIM_MAX if NAN. |
| throttle_min | `float32` | norm | [0 : 1] | deaults to FW_THR_MIN if NAN. |
| throttle_max | `float32` | norm | [0 : 1] | defaults to FW_THR_MAX if NAN. |
| climb_rate_target | `float32` | 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. |
| sink_rate_target | `float32` | 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. |
| speed_weight | `float32` | | [0 : 2] | , 0=pitch controls altitude only, 2=pitch controls airspeed only |
| enforce_low_height_condition | `bool` | boolean | | if true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking |
| disable_underspeed_protection | `bool` | boolean | | if true, underspeed handling is disabled in the altitude controller |
## Constants
| Name | Type | Value | Description |
| ----------------------------------------------- | -------- | ----- | ----------- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/LongitudinalControlConfiguration.msg)
::: details Click here to see original file
```c
# Fixed Wing Longitudinal Control Configuration message
@@ -24,5 +53,6 @@ float32 sink_rate_target # [m/s] target sinkrate to change altitude. Defaults
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
```
:::