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fix(msg): correct comments/docs regarding default values (#28729)

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* fix(msg): correct comments regarding default values

The mentioned defaulting happens in
FwLateralLongitudinalControl::updateLongitudinalControlConfiguration,
where they clearly default to the climb / sink rate _setpoint_, not the
respective maximum.

No new message version needed as only comment is changed.

* fix(msg): correct stale publisher reference in FixedWingLateralGuidanceStatus

fw_pos_control was split into fw_mode_manager and
fw_lateral_longitudinal_control; the topic is published by
the mode manager.
This commit is contained in:
Balduin
2026-09-16 17:53:40 +02:00
committed by GitHub
parent 651b8687b8
commit 571a20a15a
2 changed files with 3 additions and 3 deletions
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2
msg/FixedWingLateralGuidanceStatus.msg
View File

@@ -1,5 +1,5 @@
# Fixed Wing Lateral Guidance Status message
# Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs
# Published by fw_mode_manager module to report the resultant lateral setpoints and NPFG debug outputs
uint64 timestamp # time since system start (microseconds)

4
msg/versioned/LongitudinalControlConfiguration.msg
View File

@@ -11,8 +11,8 @@ float32 pitch_min # [rad] [@range -pi, pi] Defaults to FW_P_LIM_MIN if NAN.
float32 pitch_max # [rad] [@range -pi, pi] Defaults to FW_P_LIM_MAX if NAN.
float32 throttle_min # [norm] [@range 0,1] Defaults to FW_THR_MIN if NAN.
float32 throttle_max # [norm] [@range 0,1] Defaults to FW_THR_MAX if NAN.
float32 climb_rate_target # [m/s] Target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
float32 sink_rate_target # [m/s] Target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
float32 climb_rate_target # [m/s] Target climbrate to change altitude. Defaults to FW_T_CLMB_R_SP if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
float32 sink_rate_target # [m/s] Target sinkrate to change altitude. Defaults to FW_T_SINK_R_SP if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
float32 speed_weight # [-] [@range 0,2] 0=pitch controls altitude only, 2=pitch controls airspeed only
bool enforce_low_height_condition # If true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking
bool disable_underspeed_protection # If true, underspeed handling is disabled in the altitude controller