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2026-03-04 09:11:54 +00:00
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docs/en/msg_docs/LateralControlConfiguration.md
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@@ -4,7 +4,9 @@ pageClass: is-wide-page
# LateralControlConfiguration (UORB message)
Fixed Wing Lateral Control Configuration message. Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
Fixed Wing Lateral Control Configuration message.
Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
**TOPICS:** lateral_control_configuration
@@ -12,8 +14,8 @@ Fixed Wing Lateral Control Configuration message. Used by the fw_lateral_longitu
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------- | --------- | ------------ | ---------- | ---------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| lateral_accel_max | `float32` | m/s^2 | | currently maps to a maximum roll angle, accel_max = tan(roll_max) \* GRAVITY |
| timestamp | `uint64` | us | | Time since system start |
| lateral_accel_max | `float32` | m/s^2 | | Currently maps to a maximum roll angle, accel_max = tan(roll_max) \* GRAVITY |
## Constants
@@ -29,13 +31,14 @@ Fixed Wing Lateral Control Configuration message. Used by the fw_lateral_longitu
```c
# Fixed Wing Lateral Control Configuration message
#
# Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
uint64 timestamp # [us] Time since system start
float32 lateral_accel_max # [m/s^2] currently maps to a maximum roll angle, accel_max = tan(roll_max) * GRAVITY
float32 lateral_accel_max # [m/s^2] Currently maps to a maximum roll angle, accel_max = tan(roll_max) * GRAVITY
```
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