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571a20a15a
* 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.
15 lines
1.2 KiB
Plaintext
15 lines
1.2 KiB
Plaintext
# Fixed Wing Lateral Guidance Status message
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# Published by fw_mode_manager module to report the resultant lateral setpoints and NPFG debug outputs
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uint64 timestamp # time since system start (microseconds)
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float32 course_setpoint # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. Set by guidance law
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float32 lateral_acceleration_ff # [m/s^2] [FRD] lateral acceleration demand only for maintaining curvature
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float32 bearing_feas # [@range 0,1] bearing feasibility
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float32 bearing_feas_on_track # [@range 0,1] on-track bearing feasibility
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float32 signed_track_error # [m] signed track error
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float32 track_error_bound # [m] track error bound
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float32 switch_distance # [m] [@range 0, INF] [@invalid NaN] distance from the current waypoint at which the navigator should advance to the next one (turn anticipation). If below NAV_ACC_RAD, the parameter value is used instead.
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float32 adapted_period # [s] adapted period (if auto-tuning enabled)
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uint8 wind_est_valid # [boolean] true = wind estimate is valid and/or being used by controller (also indicates if wind estimate usage is disabled despite being valid)
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