msgs: Clean up message definitions and descriptions

- Add versioning to interfacing messages
- Add header description
- Add units, frame and range wherever possible
- Add [norm] and @range indentifiers

msg/CMakeLists.txt

@@ -90,8 +90,6 @@ set(msg_files
 	FollowTargetEstimator.msg
 	FollowTargetStatus.msg
 	FuelTankStatus.msg
-	FixedWingLateralSetpoint.msg
-	FixedWingLongitudinalSetpoint.msg
 	FixedWingLateralGuidanceStatus.msg
 	FixedWingLateralStatus.msg
 	FixedWingRunwayControl.msg
@@ -125,12 +123,10 @@ set(msg_files
 	LandingGearWheel.msg
 	LandingTargetInnovations.msg
 	LandingTargetPose.msg
-	LateralControlConfiguration.msg
 	LaunchDetectionStatus.msg
 	LedControl.msg
 	LoggerStatus.msg
 	LogMessage.msg
-	LongitudinalControlConfiguration.msg
 	MagnetometerBiasEstimate.msg
 	MagWorkerData.msg
 	ManualControlSwitches.msg
@@ -247,8 +243,12 @@ set(msg_files
 	versioned/ArmingCheckRequest.msg
 	versioned/BatteryStatus.msg
 	versioned/ConfigOverrides.msg
+	versioned/FixedWingLateralSetpoint.msg
+	versioned/FixedWingLongitudinalSetpoint.msg
 	versioned/GotoSetpoint.msg
 	versioned/HomePosition.msg
+	versioned/LateralControlConfiguration.msg
+	versioned/LongitudinalControlConfiguration.msg
 	versioned/ManualControlSetpoint.msg
 	versioned/ModeCompleted.msg
 	versioned/RegisterExtComponentReply.msg

msg/FixedWingLateralGuidanceStatus.msg

@@ -1,10 +1,13 @@
+# Fixed Wing Lateral Guidance Status message
+# Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs
+
 uint64 timestamp                # time since system start (microseconds)
 
-float32 course_setpoint         # bearing angle (same as course) [rad]
-float32 lateral_acceleration_ff # lateral acceleration demand only for maintaining curvature [m/s^2]
-float32 bearing_feas            # bearing feasibility [0,1]
-float32 bearing_feas_on_track   # on-track bearing feasibility [0,1]
-float32 signed_track_error      # signed track error [m]
-float32 track_error_bound       # track error bound [m]
-float32 adapted_period          # adapted period (if auto-tuning enabled) [s]
-uint8 wind_est_valid            # (boolean) true = wind estimate is valid and/or being used by controller (also indicates if wind est usage is disabled despite being valid)
+float32 course_setpoint         # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. Set by guidance law
+float32 lateral_acceleration_ff # [m/s^2] [FRD] lateral acceleration demand only for maintaining curvature
+float32 bearing_feas            # [@range 0,1] bearing feasibility
+float32 bearing_feas_on_track   # [@range 0,1] on-track bearing feasibility
+float32 signed_track_error      # [m] signed track error
+float32 track_error_bound       # [m] track error bound
+float32 adapted_period          # [s] adapted period (if auto-tuning enabled)
+uint8 wind_est_valid            # [boolean] true = wind estimate is valid and/or being used by controller (also indicates if wind estimate usage is disabled despite being valid)

msg/FixedWingLateralSetpoint.msg

@@ -1,7 +0,0 @@
-uint64 timestamp
-
-# NOTE: At least one of course, airspeed_direction, or lateral_acceleration must be finite
-
-float32 course 				# [-pi, pi] Course over ground setpoint, w.r.t. North. NAN if not controlled directly.
-float32 airspeed_direction    		# [-pi, pi] Angle projected to ground of desired airspeed vector, w.r.t. North. NAN if not controlled directly, used as feedforward if course setpoint is finite.
-float32 lateral_acceleration 		# [m/s^2] Lateral acceleration setpoint in FRD frame. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite.

msg/FixedWingLateralStatus.msg

@@ -1,4 +1,7 @@
+# Fixed Wing Lateral Status message
+# Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint
+
 uint64 timestamp                         # time since system start (microseconds)
 
-float32 lateral_acceleration    # resultant lateral acceleration reference [m/s^2]
-float32 can_run_factor 	 	# estimate of certainty of the correct functionality of the npfg roll setpoint in [0, 1]
+float32 lateral_acceleration_setpoint    # [m/s^2] [FRD] resultant lateral acceleration setpoint
+float32 can_run_factor 	 	         # [norm] [@range 0, 1] estimate of certainty of the correct functionality of the npfg roll setpoint

msg/FixedWingLongitudinalSetpoint.msg

@@ -1,9 +0,0 @@
-uint64 timestamp
-
-# Note: If not both pitch_direct and throttle_direct are finite, then either altitude or height_rate must be finite
-
-float32 altitude  			# [m] Altitude setpoint AMSL, NAN if not controlled
-float32 height_rate 			# [m/s] NAN if not controlled directly, used as feedforward if altitude is finite
-float32 equivalent_airspeed 		# [m/s] NAN if system default should be used
-float32 pitch_direct 			# [rad] NAN if not controlled, overrides total energy controller
-float32 throttle_direct 		# [0,1] NAN if not controlled, overrides total energy controller

msg/FixedWingRunwayControl.msg

@@ -5,4 +5,4 @@
 uint64 timestamp # [us] time since system start
 
 bool wheel_steering_enabled		# Flag that enables the wheel steering.
-float32 wheel_steering_nudging_rate	# [norm] [-1, 1] [FRD] Manual wheel nudging, added to controller output. NAN is interpreted as 0.
+float32 wheel_steering_nudging_rate	# [norm] [@range -1, 1] [FRD] Manual wheel nudging, added to controller output. NAN is interpreted as 0.

msg/LateralControlConfiguration.msg

@@ -1,3 +0,0 @@
-uint64 timestamp
-
-float32 lateral_accel_max # [m/s^2] maps 1:1 to a maximum roll angle, accel_max = tan(roll_max) * GRAVITY

msg/LongitudinalControlConfiguration.msg

@@ -1,11 +0,0 @@
-uint64 timestamp
-
-float32 pitch_min   			# [rad]
-float32 pitch_max   			# [rad]
-float32 throttle_min 			# [0,1]
-float32 throttle_max 			# [0,1]
-float32 climb_rate_target 		# [m/s] target climbrate used to change altitude
-float32 sink_rate_target 		# [m/s] target sinkrate used to change altitude
-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

msg/versioned/FixedWingLateralSetpoint.msg

@@ -0,0 +1,11 @@
+# Fixed Wing Lateral Setpoint message
+# Used by the fw_lateral_longitudinal_control module
+# At least one of course, airspeed_direction, or lateral_acceleration must be finite.
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp                        # time since system start (microseconds)
+
+float32 course 				# [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly.
+float32 airspeed_direction    		# [rad] [@range -pi, pi] Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite.
+float32 lateral_acceleration 		# [m/s^2] [FRD] Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite.

msg/versioned/FixedWingLongitudinalSetpoint.msg

@@ -0,0 +1,14 @@
+# Fixed Wing Longitudinal Setpoint message
+# Used by the fw_lateral_longitudinal_control module
+# If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion.
+# If both altitude and height_rate are NAN, the controller maintains the current altitude.
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp                        # time since system start (microseconds)
+
+float32 altitude  			# [m] Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite
+float32 height_rate 			# [m/s] [ENU] Scalar height rate setpoint. NAN if not controlled directly
+float32 equivalent_airspeed 		# [m/s] [@range 0, inf] Scalar equivalent airspeed setpoint. NAN if system default should be used
+float32 pitch_direct 			# [rad] [@range -pi, pi] [FRD] NAN if not controlled, overrides total energy controller
+float32 throttle_direct 		# [norm] [@range 0,1] NAN if not controlled, overrides total energy controller

msg/versioned/LateralControlConfiguration.msg

@@ -0,0 +1,8 @@
+# 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)
+
+float32 lateral_accel_max # [m/s^2] currently maps to a maximum roll angle, accel_max = tan(roll_max) * GRAVITY

msg/versioned/LongitudinalControlConfiguration.msg

@@ -0,0 +1,17 @@
+# 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)
+
+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

src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp

@@ -285,7 +285,7 @@ void FwLateralLongitudinalControl::Run()
 
 			fixed_wing_lateral_status_s fixed_wing_lateral_status{};
 			fixed_wing_lateral_status.timestamp = hrt_absolute_time();
-			fixed_wing_lateral_status.lateral_acceleration = lateral_accel_sp;
+			fixed_wing_lateral_status.lateral_acceleration_setpoint = lateral_accel_sp;
 			fixed_wing_lateral_status.can_run_factor = _can_run_factor;
 
 			_fixed_wing_lateral_status_pub.publish(fixed_wing_lateral_status);