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45 lines
1.6 KiB
Markdown
45 lines
1.6 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# LateralControlConfiguration (UORB message)
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Fixed Wing Lateral Control Configuration message.
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Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
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**TOPICS:** lateral_control_configuration
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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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| lateral_accel_max | `float32` | m/s^2 | | Currently maps to a maximum roll angle, accel_max = tan(roll_max) \* GRAVITY |
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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/LateralControlConfiguration.msg)
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::: details Click here to see original file
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```c
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# Fixed Wing Lateral Control Configuration message
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#
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# Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # [us] Time since system start
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float32 lateral_accel_max # [m/s^2] Currently maps to a maximum roll angle, accel_max = tan(roll_max) * GRAVITY
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```
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:::
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