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52 lines
4.1 KiB
Markdown
52 lines
4.1 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# FixedWingLateralSetpoint (UORB message)
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Fixed Wing Lateral Setpoint message.
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Used by the fw_lateral_longitudinal_control module
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At least one of course, airspeed_direction, or lateral_acceleration must be finite.
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**TOPICS:** fixed_wing_lateral_setpoint
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## Fields
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| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
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| ----------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
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| timestamp | `uint64` | us | | Time since system start |
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| course | `float32` | rad | [-pi : pi] | Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly. |
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| airspeed_direction | `float32` | rad | [-pi : pi] | Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite. |
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| lateral_acceleration | `float32` | m/s^2 [FRD] | | Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite. |
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## Constants
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| Назва | Тип | Значення | Опис |
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| ------------------------------------------------------------------ | -------- | -------- | ---- |
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| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/FixedWingLateralSetpoint.msg)
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:::details
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Click here to see original file
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```c
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# Fixed Wing Lateral Setpoint message
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#
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# Used by the fw_lateral_longitudinal_control module
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# At least one of course, airspeed_direction, or lateral_acceleration must be finite.
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # [us] Time since system start
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float32 course # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly.
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float32 airspeed_direction # [rad] [@range -pi, pi] Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite.
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float32 lateral_acceleration # [m/s^2] [@frame FRD] Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite.
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```
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:::
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