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64 lines
7.7 KiB
Markdown
64 lines
7.7 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# LongitudinalControlConfiguration (UORB message)
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Fixed Wing Longitudinal Control Configuration message.
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Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages
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and configure the resultant setpoints.
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**TOPICS:** longitudinal_control_configuration
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## Fields
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| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
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| ---------------------------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
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| <a id="fld_pitch_min"></a>pitch_min | `float32` | rad | [-pi : pi] | Defaults to FW_P_LIM_MIN if NAN. |
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| <a id="fld_pitch_max"></a>pitch_max | `float32` | rad | [-pi : pi] | Defaults to FW_P_LIM_MAX if NAN. |
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| <a id="fld_throttle_min"></a>throttle_min | `float32` | norm | [0 : 1] | Defaults to FW_THR_MIN if NAN. |
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| <a id="fld_throttle_max"></a>throttle_max | `float32` | norm | [0 : 1] | Defaults to FW_THR_MAX if NAN. |
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| <a id="fld_climb_rate_target"></a>climb_rate_target | `float32` | 米/秒 | | Target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. |
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| <a id="fld_sink_rate_target"></a>sink_rate_target | `float32` | 米/秒 | | Target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. |
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| <a id="fld_speed_weight"></a>speed_weight | `float32` | | [0 : 2] | 0=pitch controls altitude only, 2=pitch controls airspeed only |
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| <a id="fld_enforce_low_height_condition"></a>enforce_low_height_condition | `bool` | | | If true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking |
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| <a id="fld_disable_underspeed_protection"></a>disable_underspeed_protection | `bool` | | | If true, underspeed handling is disabled in the altitude controller |
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## Constants
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| 参数名 | 类型 | 值 | 描述 |
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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/LongitudinalControlConfiguration.msg)
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:::details
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Click here to see original file
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```c
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# Fixed Wing Longitudinal Control Configuration message
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#
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# Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages
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# and configure the resultant setpoints.
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # [us] Time since system start
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float32 pitch_min # [rad] [@range -pi, pi] Defaults to FW_P_LIM_MIN if NAN.
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float32 pitch_max # [rad] [@range -pi, pi] Defaults to FW_P_LIM_MAX if NAN.
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float32 throttle_min # [norm] [@range 0,1] Defaults to FW_THR_MIN if NAN.
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float32 throttle_max # [norm] [@range 0,1] Defaults to FW_THR_MAX if NAN.
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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.
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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.
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float32 speed_weight # [-] [@range 0,2] 0=pitch controls altitude only, 2=pitch controls airspeed only
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bool enforce_low_height_condition # If true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking
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bool disable_underspeed_protection # If true, underspeed handling is disabled in the altitude controller
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```
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:::
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