From dde656f4b14b1edb24cbbbebfd81ce4a400d80b0 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Tue, 4 Apr 2023 14:24:44 +0200 Subject: [PATCH] TECS status: rename tecs_status.altitude_filtered to altitude_reference Signed-off-by: Silvan Fuhrer --- msg/TecsStatus.msg | 2 +- src/modules/fw_path_navigation/FixedwingPositionControl.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/msg/TecsStatus.msg b/msg/TecsStatus.msg index d6207a1511..0c16fba2d1 100644 --- a/msg/TecsStatus.msg +++ b/msg/TecsStatus.msg @@ -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] diff --git a/src/modules/fw_path_navigation/FixedwingPositionControl.cpp b/src/modules/fw_path_navigation/FixedwingPositionControl.cpp index ea388bf4be..6ef6322b01 100644 --- a/src/modules/fw_path_navigation/FixedwingPositionControl.cpp +++ b/src/modules/fw_path_navigation/FixedwingPositionControl.cpp @@ -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;