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docs/en/msg_docs/LongitudinalControlConfiguration.md
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@@ -4,7 +4,10 @@ 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.
**TOPICS:** longitudinal_control_configuration
@@ -12,16 +15,16 @@ Fixed Wing Longitudinal Control Configuration message. Used by the fw_lateral_lo
| 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 |
| timestamp | `uint64` | us | | Time since system start |
| 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] | Defaults 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` | | | If true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking |
| disable_underspeed_protection | `bool` | | | If true, underspeed handling is disabled in the altitude controller |
## Constants
@@ -37,22 +40,23 @@ Fixed Wing Longitudinal Control Configuration message. Used by the fw_lateral_lo
```c
# 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)
uint64 timestamp # [us] Time since system start
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
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] Defaults 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 # 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
```
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