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Co-authored-by: KonradRudin <98741601+KonradRudin@users.noreply.github.com>
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Roman Bapst 2025-05-13 17:48:28 +03:00 committed by Silvan
parent 2d43e6caf2
commit 911d75e578
3 changed files with 4 additions and 4 deletions
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2
msg/FixedWingLateralGuidanceStatus.msg
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@ -10,4 +10,4 @@ float32 bearing_feas_on_track # [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 est usage is disabled despite being valid)
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)

2
msg/FixedWingLateralStatus.msg
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@ -4,4 +4,4 @@
uint64 timestamp # time since system start (microseconds)
float32 lateral_acceleration_setpoint # [m/s^2] [FRD] resultant lateral acceleration setpoint
float32 can_run_factor # [0, 1] estimate of certainty of the correct functionality of the npfg roll setpoint in
float32 can_run_factor # [0, 1] estimate of certainty of the correct functionality of the npfg roll setpoint

4
src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.hpp
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@ -172,8 +172,8 @@ private:
)
hrt_abstime _last_time_loop_ran{};
uint8_t _z_reset_counter{0};
uint64_t _time_airspeed_last_valid{0};
uint8_t _z_reset_counter{UINT8_C(0)};
uint64_t _time_airspeed_last_valid{UINT64_C(0)};
float _air_density{atmosphere::kAirDensitySeaLevelStandardAtmos};
// Smooths changes in the altitude tracking error time constant value
SlewRate<float> _tecs_alt_time_const_slew_rate;