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TECS status: rename tecs_status.altitude_filtered to altitude_reference

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-04-04 14:24:44 +02:00
parent f06150bf0c
commit dde656f4b1
2 changed files with 2 additions and 2 deletions
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2
msg/TecsStatus.msg
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@ -1,7 +1,7 @@
uint64 timestamp # time since system start (microseconds)
float32 altitude_sp # Altitude setpoint AMSL [m]
float32 altitude_sp_filtered # Altitude setpoint filtered AMSL [m]
float32 altitude_sp_ref # Altitude setpoint reference AMSL [m]
float32 height_rate_setpoint # Height rate setpoint [m/s]
float32 height_rate # Height rate [m/s]
float32 equivalent_airspeed_sp # Equivalent airspeed setpoint [m/s]

2
src/modules/fw_path_navigation/FixedwingPositionControl.cpp
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@ -483,7 +483,7 @@ FixedwingPositionControl::tecs_status_publish(float alt_sp, float equivalent_air
}
tecs_status.altitude_sp = alt_sp;
tecs_status.altitude_sp_filtered = debug_output.altitude_sp_ref;
tecs_status.altitude_sp_ref = debug_output.altitude_sp_ref;
tecs_status.height_rate_setpoint = debug_output.control.altitude_rate_control;
tecs_status.height_rate = -_local_pos.vz;
tecs_status.equivalent_airspeed_sp = equivalent_airspeed_sp;