mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
48 lines
4.2 KiB
Markdown
48 lines
4.2 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# FixedWingLateralSetpoint (UORB message)
|
|
|
|
Fixed Wing Lateral Setpoint message. Used by the fw_lateral_longitudinal_control module. At least one of course, airspeed_direction, or lateral_acceleration must be finite.
|
|
|
|
**TOPICS:** fixed_winglateral_setpoint
|
|
|
|
## Fields
|
|
|
|
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
|
|
| ----------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
|
|
| timestamp | `uint64` | | | time since system start (microseconds) |
|
|
| course | `float32` | rad | [-pi : pi] | Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly. |
|
|
| 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. |
|
|
| lateral_acceleration | `float32` | FRD | | Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite. |
|
|
|
|
## Constants
|
|
|
|
| 명칭 | 형식 | Value | 설명 |
|
|
| -------------------------------------------------------------------- | -------- | ----- | -- |
|
|
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
|
|
|
|
## Source Message
|
|
|
|
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/FixedWingLateralSetpoint.msg)
|
|
|
|
:::details
|
|
Click here to see original file
|
|
|
|
```c
|
|
# Fixed Wing Lateral Setpoint message
|
|
# Used by the fw_lateral_longitudinal_control module
|
|
# At least one of course, airspeed_direction, or lateral_acceleration must be finite.
|
|
|
|
uint32 MESSAGE_VERSION = 0
|
|
|
|
uint64 timestamp # time since system start (microseconds)
|
|
|
|
float32 course # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly.
|
|
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.
|
|
float32 lateral_acceleration # [m/s^2] [FRD] Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite.
|
|
```
|
|
|
|
:::
|