From fc1c5da92c998d88ae0bd2512d45cdd7138719f3 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Mon, 23 Jan 2023 17:54:06 +0100 Subject: [PATCH] tecs_status.msg: add comments to states Signed-off-by: Silvan Fuhrer --- msg/TecsStatus.msg | 54 +++++++++++++++++++++++----------------------- 1 file changed, 27 insertions(+), 27 deletions(-) diff --git a/msg/TecsStatus.msg b/msg/TecsStatus.msg index c553ec32a2..bf9ab8242c 100644 --- a/msg/TecsStatus.msg +++ b/msg/TecsStatus.msg @@ -1,4 +1,31 @@ uint64 timestamp # time since system start (microseconds) + +float32 altitude_sp # Altitude setpoint AMSL [m] +float32 altitude_filtered # Altitude filtered AMSL [m] +float32 height_rate_setpoint # Height rate setpoint [m/s] +float32 height_rate # Height rate [m/s] +float32 equivalent_airspeed_sp # Equivalent airpseed setpoint [m/s] +float32 true_airspeed_sp # True airpseed setpoint [m/s] +float32 true_airspeed_filtered # True airpseed filtered [m/s] +float32 true_airspeed_derivative_sp # True airpseed derivative setpoint [m/s^2] +float32 true_airspeed_derivative # True airpseed derivative [m/s^2] +float32 true_airspeed_derivative_raw # True airpseed derivative raw [m/s^2] + +float32 total_energy_rate_sp # Total energy rate setpoint [m^2/s^3] +float32 total_energy_rate # Total energy rate estimate [m^2/s^3] + +float32 total_energy_balance_rate_sp # Energy balance rate setpoint [m^2/s^3] +float32 total_energy_balance_rate # Energy balance rate estimate [m^2/s^3] + +float32 throttle_integ # Throttle integrator value [-] +float32 pitch_integ # Pitch integrator value [rad] + +float32 throttle_sp # Current throttle setpoint [-] +float32 pitch_sp_rad # Current pitch setpoint [rad] +float32 throttle_trim # estimated throttle value [0,1] required to fly level at equivalent_airspeed_sp in the current atmospheric conditions + +# TECS mode +uint8 mode uint8 TECS_MODE_NORMAL = 0 uint8 TECS_MODE_UNDERSPEED = 1 uint8 TECS_MODE_TAKEOFF = 2 @@ -6,30 +33,3 @@ uint8 TECS_MODE_LAND = 3 uint8 TECS_MODE_LAND_THROTTLELIM = 4 uint8 TECS_MODE_BAD_DESCENT = 5 uint8 TECS_MODE_CLIMBOUT = 6 - - -float32 altitude_sp -float32 altitude_filtered -float32 height_rate_setpoint -float32 height_rate -float32 equivalent_airspeed_sp -float32 true_airspeed_sp -float32 true_airspeed_filtered -float32 true_airspeed_derivative_sp -float32 true_airspeed_derivative -float32 true_airspeed_derivative_raw - -float32 total_energy_rate -float32 total_energy_balance_rate - -float32 total_energy_rate_sp -float32 total_energy_balance_rate_sp - -float32 throttle_integ -float32 pitch_integ - -float32 throttle_sp -float32 pitch_sp_rad -float32 throttle_trim # estimated throttle value [0,1] required to fly level at equivalent_airspeed_sp in the current atmospheric conditions - -uint8 mode