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57 lines
3.0 KiB
Markdown
57 lines
3.0 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# FixedWingLongitudinalSetpoint (UORB message)
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Fixed Wing Longitudinal Setpoint message.
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Used by the fw_lateral_longitudinal_control module
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If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion.
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If both altitude and height_rate are NAN, the controller maintains the current altitude.
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**TOPICS:** fixed_wing_longitudinal_setpoint
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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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| altitude | `float32` | m | | Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite |
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| height_rate | `float32` | m/s [ENU] | | Scalar height rate setpoint. NAN if not controlled directly |
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| equivalent_airspeed | `float32` | m/s | [0 : inf] | Scalar equivalent airspeed setpoint. NAN if system default should be used |
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| pitch_direct | `float32` | rad [FRD] | [-pi : pi] | NAN if not controlled, overrides total energy controller |
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| throttle_direct | `float32` | norm | [0 : 1] | NAN if not controlled, overrides total energy controller |
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## Constants
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| Name | Type | Value | Description |
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| --------------------------------------------- | -------- | ----- | ----------- |
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| <a id="#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/FixedWingLongitudinalSetpoint.msg)
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::: details Click here to see original file
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```c
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# Fixed Wing Longitudinal Setpoint message
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#
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# Used by the fw_lateral_longitudinal_control module
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# If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion.
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# If both altitude and height_rate are NAN, the controller maintains the current altitude.
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # [us] Time since system start
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float32 altitude # [m] Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite
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float32 height_rate # [m/s] [@frame ENU] Scalar height rate setpoint. NAN if not controlled directly
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float32 equivalent_airspeed # [m/s] [@range 0, inf] Scalar equivalent airspeed setpoint. NAN if system default should be used
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float32 pitch_direct # [rad] [@range -pi, pi] [@frame FRD] NAN if not controlled, overrides total energy controller
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float32 throttle_direct # [norm] [@range 0,1] NAN if not controlled, overrides total energy controller
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```
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:::
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