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60 lines
7.2 KiB
Markdown
60 lines
7.2 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# LongitudinalControlConfiguration (UORB message)
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Fixed Wing Longitudinal Control Configuration message. Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages. and configure the resultant setpoints.
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**TOPICS:** longitudinal_controlconfiguration
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## Fields
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| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
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| ------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| pitch_min | `float32` | rad | [-pi : pi] | defaults to FW_P_LIM_MIN if NAN. |
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| pitch_max | `float32` | rad | [-pi : pi] | defaults to FW_P_LIM_MAX if NAN. |
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| throttle_min | `float32` | norm | [0 : 1] | deaults to FW_THR_MIN if NAN. |
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| throttle_max | `float32` | norm | [0 : 1] | defaults to FW_THR_MAX if NAN. |
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| climb_rate_target | `float32` | 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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| sink_rate_target | `float32` | 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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| speed_weight | `float32` | | [0 : 2] | , 0=pitch controls altitude only, 2=pitch controls airspeed only |
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| enforce_low_height_condition | `bool` | boolean | | if true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking |
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| disable_underspeed_protection | `bool` | boolean | | if true, underspeed handling is disabled in the altitude controller |
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## Constants
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| 명칭 | 형식 | Value | 설명 |
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| -------------------------------------------------------------------- | -------- | ----- | -- |
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| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/LongitudinalControlConfiguration.msg)
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:::details
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Click here to see original file
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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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:::
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