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460956fd33
- if the height rate input into TECS is finite, use that one to update a velocity reference generator - if the velocity reference generator reports position locked or height rate input is not finite, then run altidue reference generator - run altitude controller only if altitue is controlled if height_rate_setpoint is set, only use that one to update altitdue trajectory Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
33 lines
1.6 KiB
Plaintext
33 lines
1.6 KiB
Plaintext
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 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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# TECS mode
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uint8 mode
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uint8 TECS_MODE_NORMAL = 0
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uint8 TECS_MODE_UNDERSPEED = 1
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