auterion::fixedwing::GuidanceSetpoint Class Reference

Represents a setpoint to control course, altitude, equivalent airspeed, height rate and lateral acceleration. More...

#include <auterion_sdk/control/fixedwing/guidance_control.hpp>

Classes
class	Config
	Placeholder config. More...

Public Member Functions
GuidanceSetpoint &	withCourse (float course_rad, float lateral_accel_feedforward_m_s2=NAN)
	Set the course reference with an optional lateral acceleration feedforward.
GuidanceSetpoint &	withAltitude (float altitude_msl)
	Set the altitude reference.
GuidanceSetpoint &	withHeightRate (float height_rate_m_s)
	Set a height rate setpoint.
GuidanceSetpoint &	withEquivalentAirspeed (float equivalent_airspeed_sp)
float	getCourseSetpoint () const
float	getLateralAccelerationFeedforward () const
float	getAltitudeSetpoint () const
float	getHeightRateSetpoint () const
float	getEquivalentAirspeedSetpoint () const

Detailed Description

Represents a setpoint to control course, altitude, equivalent airspeed, height rate and lateral acceleration.

This provides outer-loop guidance inputs (course and altitude) alongside inner-loop inputs. When course is set, an optional lateral acceleration feedforward can be added on top of the course controller's output. Height rate takes precedence over altitude when both are set. Fields left as NAN are ignored by the flight controller.

Member Function Documentation

withAltitude()

GuidanceSetpoint & auterion::fixedwing::GuidanceSetpoint::withAltitude ( float  altitude_msl )

inline

Set the altitude reference.

The flight controller tracks the given altitude. If withHeightRate() is also set, the height rate setpoint takes precedence and altitude is ignored.

Parameters

altitude_msl

Desired altitude above mean sea level [m].

withCourse()

GuidanceSetpoint & auterion::fixedwing::GuidanceSetpoint::withCourse ( float  course_rad, float  lateral_accel_feedforward_m_s2 = NAN  )

inline

Set the course reference with an optional lateral acceleration feedforward.

The flight controller tracks the given course. If provided, lateral_accel_feedforward_m_s2 is added on top of the course controller's own output, allowing the caller to inject a known turn demand (e.g. from a guidance law) without fighting the course loop.

Parameters

course_rad	Desired course over ground [rad], NED, clockwise from North.
lateral_accel_feedforward_m_s2	Optional lateral acceleration feedforward [m/s²]. Pass NAN (default) to use no feedforward.

withHeightRate()

GuidanceSetpoint & auterion::fixedwing::GuidanceSetpoint::withHeightRate ( float  height_rate_m_s )

inline

Set a height rate setpoint.

Takes precedence over withAltitude() when both are set. The flight controller directly commands the given climb/sink rate rather than tracking an altitude.

Parameters

height_rate_m_s

Desired height rate [m/s], positive up.

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The documentation for this class was generated from the following file:

• include/auterion_sdk/control/fixedwing/guidance_control.hpp