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a8a354d04a
- Add versioning to interfacing messages - Add header description - Add units, frame and range wherever possible
12 lines
789 B
Plaintext
12 lines
789 B
Plaintext
# 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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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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float32 course # [rad] [-pi, pi] Course over ground setpoint, w.r.t. North. NAN if not controlled directly.
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float32 airspeed_direction # [rad] [-pi, pi] Angle projected to ground of desired airspeed vector, w.r.t. North. NAN if not controlled directly, used as feedforward if course setpoint is finite.
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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.
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