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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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55809e809c
Separate settings in Eco mode (beside airspeed): - FW_T_CLMB_R_SP_E (slower climb for more efficiency) - FW_T_ALT_TC_E (larger to reduce motor action due to altitude errors) - FW_T_SPDWEIGHT_E (more weight to airspeed to reduce motor action due to altitude errors) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
52 lines
1.3 KiB
Plaintext
52 lines
1.3 KiB
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint8 TECS_MODE_NORMAL = 0
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uint8 TECS_MODE_UNDERSPEED = 1
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uint8 TECS_MODE_TAKEOFF = 2
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uint8 TECS_MODE_LAND = 3
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uint8 TECS_MODE_LAND_THROTTLELIM = 4
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uint8 TECS_MODE_BAD_DESCENT = 5
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uint8 TECS_MODE_CLIMBOUT = 6
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uint8 TECS_MODE_ECO = 7
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float32 altitude_sp
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float32 altitude_filtered
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float32 height_rate_setpoint
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float32 height_rate
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float32 equivalent_airspeed_sp
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float32 true_airspeed_sp
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float32 true_airspeed_filtered
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float32 true_airspeed_derivative_sp
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float32 true_airspeed_derivative
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float32 true_airspeed_derivative_raw
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float32 true_airspeed_innovation
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float32 total_energy_error
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float32 energy_distribution_error
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float32 total_energy_rate_error
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float32 energy_distribution_rate_error
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float32 total_energy
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float32 total_energy_rate
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float32 total_energy_balance
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float32 total_energy_balance_rate
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float32 total_energy_sp
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float32 total_energy_rate_sp
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float32 total_energy_balance_sp
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float32 total_energy_balance_rate_sp
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float32 throttle_integ
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float32 pitch_integ
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float32 throttle_sp
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float32 pitch_sp_rad
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uint8 mode
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uint8 flight_phase
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uint8 TECS_FLIGHT_PHASE_LEVEL = 0 # In level flight (no altitude setpoint change)
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uint8 TECS_FLIGHT_PHASE_CLIMB = 1 # Climb is triggered (altitude setpoint is increasing)
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uint8 TECS_FLIGHT_PHASE_DESCEND = 2 # Descend is triggered (altitude setpoint is descreasing)
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