mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-07-27 00:48:23 +08:00
63 lines
5.2 KiB
Markdown
63 lines
5.2 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# LongitudinalControlConfiguration (UORB message)
|
|
|
|
Fixed Wing Longitudinal Control Configuration message.
|
|
|
|
Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages
|
|
and configure the resultant setpoints.
|
|
|
|
**TOPICS:** longitudinal_control_configuration
|
|
|
|
## Fields
|
|
|
|
| Name | Type | Unit [Frame] | Range/Enum | Description |
|
|
| --------------------------------------------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------- |
|
|
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
|
|
| <a id="fld_pitch_min"></a>pitch_min | `float32` | rad | [-pi : pi] | Defaults to FW_P_LIM_MIN if NAN. |
|
|
| <a id="fld_pitch_max"></a>pitch_max | `float32` | rad | [-pi : pi] | Defaults to FW_P_LIM_MAX if NAN. |
|
|
| <a id="fld_throttle_min"></a>throttle_min | `float32` | norm | [0 : 1] | Defaults to FW_THR_MIN if NAN. |
|
|
| <a id="fld_throttle_max"></a>throttle_max | `float32` | norm | [0 : 1] | Defaults to FW_THR_MAX if NAN. |
|
|
| <a id="fld_climb_rate_target"></a>climb_rate_target | `float32` | 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. |
|
|
| <a id="fld_sink_rate_target"></a>sink_rate_target | `float32` | 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. |
|
|
| <a id="fld_speed_weight"></a>speed_weight | `float32` | | [0 : 2] | 0=pitch controls altitude only, 2=pitch controls airspeed only |
|
|
| <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 |
|
|
| <a id="fld_disable_underspeed_protection"></a>disable_underspeed_protection | `bool` | | | If true, underspeed handling is disabled in the altitude controller |
|
|
|
|
## Constants
|
|
|
|
| Name | Type | Value | Description |
|
|
| --------------------------------------------- | -------- | ----- | ----------- |
|
|
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 |
|
|
|
|
## Source Message
|
|
|
|
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/LongitudinalControlConfiguration.msg)
|
|
|
|
::: details Click here to see original file
|
|
|
|
```c
|
|
# Fixed Wing Longitudinal Control Configuration message
|
|
#
|
|
# Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages
|
|
# and configure the resultant setpoints.
|
|
|
|
uint32 MESSAGE_VERSION = 0
|
|
|
|
uint64 timestamp # [us] Time since system start
|
|
|
|
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 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
|
|
```
|
|
|
|
:::
|