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improve lateral and long status messages

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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Silvan Fuhrer
2025-05-22 13:35:35 +02:00
parent cb2c711e58
commit ce7b9d2035
2 changed files with 3 additions and 3 deletions
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msg/FixedWingLateralGuidanceStatus.msg
+1 -1
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@@ -3,7 +3,7 @@
uint64 timestamp # time since system start (microseconds)
float32 course_setpoint # [rad] [-pi, pi] Desired direction of travel over ground w.r.t (true) North. Set by guidance law
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 # [0,1] bearing feasibility
float32 bearing_feas_on_track # [0,1] on-track bearing feasibility
msg/versioned/FixedWingLateralSetpoint.msg
+2 -2
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@@ -6,6 +6,6 @@ uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
float32 course # [rad] [-pi, pi] Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly.
float32 airspeed_direction # [rad] [-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 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.