added documentation to control topics

Signed-off-by: RomanBapst <bapstroman@gmail.com>

msg/FwLateralControlSetpoint.msg

@@ -1,11 +1,12 @@
 uint64 timestamp
 
-float32 course_setpoint
-float32 airspeed_reference_direction    # angle of desired airspeed vector [-pi, pi]
-float32 lateral_acceleration_setpoint
+# NOTE: At least one of course_setpoint, airspeed_reference_direction, or lateral_acceleration_setpoint must be finite
+float32 course_setpoint # NAN if not controlled directly, [-pi, pi]
+float32 airspeed_reference_direction    # angle of desired airspeed vector, NAN if not controlled directly, used as feedforward if course setpoint is finite, [-pi, pi],
+float32 lateral_acceleration_setpoint # NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_reference_direction is finite, [m/s^2]
 float32 roll_sp # TODO: remove, only for testing
 
-float32 heading_sp_runway_takeoff
-bool reset_integral
+float32 heading_sp_runway_takeoff # [-pi, pi] heading setpoint for runway takeoff
+bool reset_integral # TODO: remove, resets rate controller integrals
 
 # TOPICS fw_lateral_control_setpoint fw_lateral_control_status

msg/FwLongitudinalControlSetpoint.msg

@@ -1,9 +1,11 @@
 uint64 timestamp
 
-float32 height_rate_setpoint
-float32 altitude_setpoint
-float32 equivalent_airspeed_setpoint
-float32 pitch_sp
-float32 thrust_sp
+
+# Note: If not both pitch_sp and throttle_sp are finite, then either altitude_setpoint or height_rate_setpoint must be finite
+float32 height_rate_setpoint # NAN if not controlled directly, used as feeforward if altitude_setpoint is finite [m/s]
+float32 altitude_setpoint  # NAN if not controlled, MSL [m]
+float32 equivalent_airspeed_setpoint # [m/s]
+float32 pitch_sp # NAN if not controlled, overrides total energy controller [rad]
+float32 thrust_sp # NAN if not controlled, overrides total energy controller [0,1]
 
 # TOPICS fw_longitudinal_control_setpoint fw_longitudinal_control_status

msg/LateralControlLimits.msg

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

msg/LongitudinalControlLimits.msg

@@ -1,15 +1,15 @@
 uint64 timestamp
 
-float32 pitch_min
-float32 pitch_max
-float32 throttle_min
-float32 throttle_max
-float32 climb_rate_max
-float32 sink_rate_max
-float32 equivalent_airspeed_min
-float32 equivalent_airspeed_max
+float32 pitch_min   # [rad]
+float32 pitch_max   # [rad]
+float32 throttle_min # [0,1]
+float32 throttle_max # [0,1]
+float32 climb_rate_target # target climbrate used to change altitude, [m/s]
+float32 sink_rate_target # target sinkrate used to change altitude, [m/s]
+float32 equivalent_airspeed_min # [m/s]
+float32 equivalent_airspeed_max # [m/s]
 
-float32 speed_weight
+float32 speed_weight # [0,2], 0=pitch controls altitude only, 2=pitch controls airspeed only
 
-bool enforce_low_height_condition
+bool enforce_low_height_condition # if true, total energy controller will use lower altitude control time constant
 bool disable_underspeed_protection