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80 lines
7.1 KiB
Markdown
80 lines
7.1 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# TecsStatus (UORB message)
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**TOPICS:** tecs_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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| altitude_sp | `float32` | | | Altitude setpoint AMSL [m] |
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| altitude_reference | `float32` | | | Altitude setpoint reference AMSL [m] |
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| altitude_time_constant | `float32` | | | Time constant of the altitude tracker [s] |
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| height_rate_reference | `float32` | | | Height rate setpoint reference [m/s] |
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| height_rate_direct | `float32` | | | Direct height rate setpoint from velocity reference generator [m/s] |
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| height_rate_setpoint | `float32` | | | Height rate setpoint [m/s] |
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| height_rate | `float32` | | | Height rate [m/s] |
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| equivalent_airspeed_sp | `float32` | | | Equivalent airspeed setpoint [m/s] |
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| true_airspeed_sp | `float32` | | | True airspeed setpoint [m/s] |
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| true_airspeed_filtered | `float32` | | | True airspeed filtered [m/s] |
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| true_airspeed_derivative_sp | `float32` | | | True airspeed derivative setpoint [m/s^2] |
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| true_airspeed_derivative | `float32` | | | True airspeed derivative [m/s^2] |
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| true_airspeed_derivative_raw | `float32` | | | True airspeed derivative raw [m/s^2] |
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| total_energy_rate_sp | `float32` | | | Total energy rate setpoint [m^2/s^3] |
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| total_energy_rate | `float32` | | | Total energy rate estimate [m^2/s^3] |
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| total_energy_balance_rate_sp | `float32` | | | Energy balance rate setpoint [m^2/s^3] |
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| total_energy_balance_rate | `float32` | | | Energy balance rate estimate [m^2/s^3] |
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| throttle_integ | `float32` | | | Throttle integrator value [-] |
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| pitch_integ | `float32` | | | Pitch integrator value [rad] |
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| throttle_sp | `float32` | | | Current throttle setpoint [-] |
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| pitch_sp_rad | `float32` | | | Current pitch setpoint [rad] |
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| throttle_trim | `float32` | | | estimated throttle value [0,1] required to fly level at equivalent_airspeed_sp in the current atmospheric conditions |
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| underspeed_ratio | `float32` | | | 0: no underspeed, 1: maximal underspeed. Controller takes measures to avoid stall proportional to ratio if >0. |
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| fast_descend_ratio | `float32` | | | value indicating if fast descend mode is enabled with ramp up and ramp down [0-1] |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TecsStatus.msg)
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::: details Click here to see original file
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```c
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uint64 timestamp # time since system start (microseconds)
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float32 altitude_sp # Altitude setpoint AMSL [m]
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float32 altitude_reference # Altitude setpoint reference AMSL [m]
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float32 altitude_time_constant # Time constant of the altitude tracker [s]
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float32 height_rate_reference # Height rate setpoint reference [m/s]
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float32 height_rate_direct # Direct height rate setpoint from velocity reference generator [m/s]
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float32 height_rate_setpoint # Height rate setpoint [m/s]
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float32 height_rate # Height rate [m/s]
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float32 equivalent_airspeed_sp # Equivalent airspeed setpoint [m/s]
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float32 true_airspeed_sp # True airspeed setpoint [m/s]
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float32 true_airspeed_filtered # True airspeed filtered [m/s]
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float32 true_airspeed_derivative_sp # True airspeed derivative setpoint [m/s^2]
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float32 true_airspeed_derivative # True airspeed derivative [m/s^2]
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float32 true_airspeed_derivative_raw # True airspeed derivative raw [m/s^2]
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float32 total_energy_rate_sp # Total energy rate setpoint [m^2/s^3]
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float32 total_energy_rate # Total energy rate estimate [m^2/s^3]
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float32 total_energy_balance_rate_sp # Energy balance rate setpoint [m^2/s^3]
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float32 total_energy_balance_rate # Energy balance rate estimate [m^2/s^3]
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float32 throttle_integ # Throttle integrator value [-]
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float32 pitch_integ # Pitch integrator value [rad]
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float32 throttle_sp # Current throttle setpoint [-]
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float32 pitch_sp_rad # Current pitch setpoint [rad]
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float32 throttle_trim # estimated throttle value [0,1] required to fly level at equivalent_airspeed_sp in the current atmospheric conditions
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float32 underspeed_ratio # 0: no underspeed, 1: maximal underspeed. Controller takes measures to avoid stall proportional to ratio if >0.
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float32 fast_descend_ratio # value indicating if fast descend mode is enabled with ramp up and ramp down [0-1]
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```
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:::
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