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23 lines
1.2 KiB
Markdown
23 lines
1.2 KiB
Markdown
# FixedWingLateralSetpoint (UORB message)
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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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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/FixedWingLateralSetpoint.msg)
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```c
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# 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] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly.
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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.
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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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```
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