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48 lines
3.6 KiB
Markdown
48 lines
3.6 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# FixedWingLateralGuidanceStatus (UORB message)
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Fixed Wing Lateral Guidance Status message. Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs.
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**TOPICS:** fixed_wing_lateral_guidance_status
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| ----------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| course_setpoint | `float32` | rad | [-pi : pi] | Desired direction of travel over ground w.r.t (true) North. Set by guidance law |
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| lateral_acceleration_ff | `float32` | FRD | | lateral acceleration demand only for maintaining curvature |
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| bearing_feas | `float32` | | [0 : 1] | bearing feasibility |
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| bearing_feas_on_track | `float32` | | [0 : 1] | on-track bearing feasibility |
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| signed_track_error | `float32` | m | | signed track error |
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| track_error_bound | `float32` | m | | track error bound |
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| adapted_period | `float32` | s | | adapted period (if auto-tuning enabled) |
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| wind_est_valid | `uint8` | boolean | | true = wind estimate is valid and/or being used by controller (also indicates if wind estimate usage is disabled despite being valid) |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FixedWingLateralGuidanceStatus.msg)
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::: details Click here to see original file
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```c
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# Fixed Wing Lateral Guidance Status message
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# Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs
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uint64 timestamp # time since system start (microseconds)
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float32 course_setpoint # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. Set by guidance law
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float32 lateral_acceleration_ff # [m/s^2] [FRD] lateral acceleration demand only for maintaining curvature
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float32 bearing_feas # [@range 0,1] bearing feasibility
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float32 bearing_feas_on_track # [@range 0,1] on-track bearing feasibility
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float32 signed_track_error # [m] signed track error
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float32 track_error_bound # [m] track error bound
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float32 adapted_period # [s] adapted period (if auto-tuning enabled)
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uint8 wind_est_valid # [boolean] true = wind estimate is valid and/or being used by controller (also indicates if wind estimate usage is disabled despite being valid)
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```
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:::
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