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docs: add description to AutotuneAttitudeControlStatus.msg

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mahima-yoga 2025-10-02 13:59:31 +02:00 committed by Mahima Yoga
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msg/AutotuneAttitudeControlStatus.msg
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@ -1,38 +1,45 @@
uint64 timestamp # time since system start (microseconds)
# Autotune attitude control status
#
# This message is published by the fw_autotune_attitude_control and mc_autotune_attitude_control modules when the user engages autotune,
# and is subscribed to by the respective attitude controllers to command rate setpoints.
#
# The rate_sp field is consumed by the controllers, while the remaining fields (model coefficients, gains, filters, and autotune state) are used for logging and debugging.
float32[5] coeff # coefficients of the identified discrete-time model
float32[5] coeff_var # coefficients' variance of the identified discrete-time model
float32 fitness # fitness of the parameter estimate
float32 innov
float32 dt_model
uint64 timestamp # [us] Time since system start
float32 kc
float32 ki
float32 kd
float32 kff
float32 att_p
float32[5] coeff # [-] Coefficients of the identified discrete-time model
float32[5] coeff_var # [-] Coefficients' variance of the identified discrete-time model
float32 fitness # [-] Fitness of the parameter estimate
float32 innov # [rad/s] Innovation (residual error between model and measured output)
float32 dt_model # [s] Model sample time used for identification
float32[3] rate_sp
float32 u_filt
float32 y_filt
float32 kc # [-] Proportional rate-loop gain (ideal form)
float32 ki # [-] Integral rate-loop gain (ideal form)
float32 kd # [-] Derivative rate-loop gain (ideal form)
float32 kff # [-] Feedforward rate-loop gain
float32 att_p # [-] Proportional attitude gain
uint8 STATE_IDLE = 0
uint8 STATE_INIT = 1
uint8 STATE_ROLL_AMPLITUDE_DETECTION = 2
uint8 STATE_ROLL = 3
uint8 STATE_ROLL_PAUSE = 4
uint8 STATE_PITCH_AMPLITUDE_DETECTION = 5
uint8 STATE_PITCH = 6
uint8 STATE_PITCH_PAUSE = 7
uint8 STATE_YAW_AMPLITUDE_DETECTION = 8
uint8 STATE_YAW = 9
uint8 STATE_YAW_PAUSE = 10
uint8 STATE_VERIFICATION = 11
uint8 STATE_APPLY = 12
uint8 STATE_TEST = 13
uint8 STATE_COMPLETE = 14
uint8 STATE_FAIL = 15
uint8 STATE_WAIT_FOR_DISARM = 16
float32[3] rate_sp # [rad/s] Rate setpoint commanded to the attitude controller.
uint8 state
float32 u_filt # [-] Filtered input signal (normalized torque setpoint) used in system identification.
float32 y_filt # [rad/s] Filtered output signal (angular velocity) used in system identification.
uint8 state # [@enum STATE] Current state of the autotune procedure.
uint8 STATE_IDLE = 0 # Idle (not running)
uint8 STATE_INIT = 1 # Initialize filters and setup
uint8 STATE_ROLL_AMPLITUDE_DETECTION = 2 # FW only: determine required excitation amplitude (roll)
uint8 STATE_ROLL = 3 # Roll-axis excitation and model identification
uint8 STATE_ROLL_PAUSE = 4 # Pause to return to level flight
uint8 STATE_PITCH_AMPLITUDE_DETECTION = 5 # FW only: determine required excitation amplitude (pitch)
uint8 STATE_PITCH = 6 # Pitch-axis excitation and model identification
uint8 STATE_PITCH_PAUSE = 7 # Pause to return to level flight
uint8 STATE_YAW_AMPLITUDE_DETECTION = 8 # FW only: determine required excitation amplitude (yaw)
uint8 STATE_YAW = 9 # Yaw-axis excitation and model identification
uint8 STATE_YAW_PAUSE = 10 # Pause to return to level flight
uint8 STATE_VERIFICATION = 11 # Verify model and candidate gains
uint8 STATE_APPLY = 12 # Apply gains
uint8 STATE_TEST = 13 # Test gains in closed-loop
uint8 STATE_COMPLETE = 14 # Tuning completed successfully
uint8 STATE_FAIL = 15 # Tuning failed (model invalid or controller unstable)
uint8 STATE_WAIT_FOR_DISARM = 16 # Waiting for disarm before finalizing