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54 lines
2.9 KiB
Markdown
54 lines
2.9 KiB
Markdown
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pageClass: is-wide-page
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---
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# FixedWingRunwayControl (UORB message)
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Auxiliary control fields for fixed-wing runway takeoff/landing.
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**TOPICS:** fixed_wing_runway_control
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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` | us | | time since system start |
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| runway_takeoff_state | `uint8` | | | Current state of runway takeoff state machine |
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| wheel_steering_enabled | `bool` | | | Flag that enables the wheel steering. |
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| wheel_steering_nudging_rate | `float32` | FRD | [-1 : 1] | Manual wheel nudging, added to controller output. NAN is interpreted as 0. |
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## Constants
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| Name | Type | Value | Description |
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| ------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------- |
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| <a id="#STATE_THROTTLE_RAMP"></a> STATE_THROTTLE_RAMP | `uint8` | 0 | ramping up throttle |
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| <a id="#STATE_CLAMPED_TO_RUNWAY"></a> STATE_CLAMPED_TO_RUNWAY | `uint8` | 1 | clamped to runway, controlling yaw directly (wheel or rudder) |
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| <a id="#STATE_CLIMBOUT"></a> STATE_CLIMBOUT | `uint8` | 2 | climbout to safe height before navigation |
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| <a id="#STATE_FLYING"></a> STATE_FLYING | `uint8` | 3 | navigate freely |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FixedWingRunwayControl.msg)
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::: details Click here to see original file
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```c
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# Auxiliary control fields for fixed-wing runway takeoff/landing
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# Passes information from the FixedWingModeManager to the FixedWingAttitudeController (wheel control) and FixedWingLandDetector (takeoff state)
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uint64 timestamp # [us] time since system start
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uint8 STATE_THROTTLE_RAMP = 0 # ramping up throttle
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uint8 STATE_CLAMPED_TO_RUNWAY = 1 # clamped to runway, controlling yaw directly (wheel or rudder)
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uint8 STATE_CLIMBOUT = 2 # climbout to safe height before navigation
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uint8 STATE_FLYING = 3 # navigate freely
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uint8 runway_takeoff_state # Current state of runway takeoff state machine
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bool wheel_steering_enabled # Flag that enables the wheel steering.
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float32 wheel_steering_nudging_rate # [norm] [@range -1, 1] [FRD] Manual wheel nudging, added to controller output. NAN is interpreted as 0.
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```
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:::
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