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14 lines
943 B
Plaintext
14 lines
943 B
Plaintext
# 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] [-pi, pi] Bearing angle. Same as course over ground setpoint, w.r.t. North.
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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 # [0,1] bearing feasibility
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float32 bearing_feas_on_track # [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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