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a8a354d04a
- Add versioning to interfacing messages - Add header description - Add units, frame and range wherever possible
18 lines
1.0 KiB
Plaintext
18 lines
1.0 KiB
Plaintext
# Fixed Wing Longitudinal Control Configuration message
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# Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages
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# and configure the resultant setpoints.
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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float32 pitch_min # [rad]
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float32 pitch_max # [rad]
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float32 throttle_min # [0,1]
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float32 throttle_max # [0,1]
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float32 climb_rate_target # [m/s] target climbrate used to change altitude. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
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float32 sink_rate_target # [m/s] target sinkrate used to change altitude. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
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float32 speed_weight # [0,2], 0=pitch controls altitude only, 2=pitch controls airspeed only
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bool enforce_low_height_condition # if true, total energy controller will use lower altitude control time constant
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bool disable_underspeed_protection # if true, underspeed handling is disabled in the total energy controller
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