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27 lines
1.5 KiB
Markdown
27 lines
1.5 KiB
Markdown
# FixedWingLongitudinalSetpoint (UORB message)
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Fixed Wing Longitudinal Setpoint message
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Used by the fw_lateral_longitudinal_control module
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If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion.
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If both altitude and height_rate are NAN, the controller maintains the current altitude.
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/FixedWingLongitudinalSetpoint.msg)
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```c
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# Fixed Wing Longitudinal Setpoint message
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# Used by the fw_lateral_longitudinal_control module
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# If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion.
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# If both altitude and height_rate are NAN, the controller maintains the current altitude.
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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float32 altitude # [m] Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite
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float32 height_rate # [m/s] [ENU] Scalar height rate setpoint. NAN if not controlled directly
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float32 equivalent_airspeed # [m/s] [@range 0, inf] Scalar equivalent airspeed setpoint. NAN if system default should be used
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float32 pitch_direct # [rad] [@range -pi, pi] [FRD] NAN if not controlled, overrides total energy controller
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float32 throttle_direct # [norm] [@range 0,1] NAN if not controlled, overrides total energy controller
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```
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