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29 lines
1.7 KiB
Markdown
29 lines
1.7 KiB
Markdown
# LongitudinalControlConfiguration (UORB message)
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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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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/LongitudinalControlConfiguration.msg)
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```c
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# 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][@range -pi, pi] defaults to FW_P_LIM_MIN if NAN.
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float32 pitch_max # [rad][@range -pi, pi] defaults to FW_P_LIM_MAX if NAN.
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float32 throttle_min # [norm] [@range 0,1] deaults to FW_THR_MIN if NAN.
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float32 throttle_max # [norm] [@range 0,1] defaults to FW_THR_MAX if NAN.
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float32 climb_rate_target # [m/s] target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
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float32 sink_rate_target # [m/s] target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
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float32 speed_weight # [@range 0,2], 0=pitch controls altitude only, 2=pitch controls airspeed only
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bool enforce_low_height_condition # [boolean] if true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking
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bool disable_underspeed_protection # [boolean] if true, underspeed handling is disabled in the altitude controller
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```
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