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added documentation to control topics

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
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RomanBapst
2025-01-09 10:33:18 +03:00
parent daa6b1aa57
commit df9bee4d9b
6 changed files with 32 additions and 29 deletions
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msg/FwLongitudinalControlSetpoint.msg
+7 -5
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@@ -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