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25 lines
1.4 KiB
Markdown
25 lines
1.4 KiB
Markdown
# NpfgStatus (UORB message)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/NpfgStatus.msg)
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```c
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uint64 timestamp # time since system start (microseconds)
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uint8 wind_est_valid # (boolean) true = wind estimate is valid and/or being used by controller (also indicates if wind est usage is disabled despite being valid)
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float32 lat_accel # resultant lateral acceleration reference [m/s^2]
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float32 lat_accel_ff # lateral acceleration demand only for maintaining curvature [m/s^2]
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float32 bearing_feas # bearing feasibility [0,1]
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float32 bearing_feas_on_track # on-track bearing feasibility [0,1]
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float32 signed_track_error # signed track error [m]
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float32 track_error_bound # track error bound [m]
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float32 airspeed_ref # (true) airspeed reference [m/s]
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float32 bearing # bearing angle [rad]
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float32 heading_ref # heading angle reference [rad]
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float32 min_ground_speed_ref # minimum forward ground speed reference [m/s]
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float32 adapted_period # adapted period (if auto-tuning enabled) [s]
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float32 p_gain # controller proportional gain [rad/s]
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float32 time_const # controller time constant [s]
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float32 can_run_factor # estimate of certainty of the correct functionality of the npfg roll setpoint in [0, 1]
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```
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