auterion::BodyFrameSpecificForceController::State Struct Reference

Public Attributes
Eigen::Vector3d	sf_sp_enu {Eigen::Vector3d::Zero()}
	Specific force setpoint in ENU frame [m/s²].
Eigen::Vector3d	sf_sp_body {Eigen::Vector3d::Zero()}
	Specific force setpoint in body FLU frame [m/s²].
double	validated_airspeed {0.0}
	Airspeed used for control: measured value, or approach_airspeed fallback [m/s].
double	sf_sp_y_bank {0.0}
	Lateral specific force allocated to banking (roll) [m/s²].
double	sf_sp_y_skid {0.0}
	Lateral specific force allocated to skidding (yaw) [m/s²].
double	max_side_acceleration {0.0}
	Airspeed-scaled maximum side acceleration [m/s²].
double	roll_error {0.0}
	Roll error input to the roll rate channel [rad].
double	sp_p_unlim {0.0}
	Pitch rate setpoint before the camera VFOV limiter is applied [rad/s].
double	sf_y_error {0.0}
	Current lateral body acceleration error [m/s²].
double	sf_y_error_integral {0.0}
	Yaw PI integrator state.
double	sf_z_error_integral {0.0}
	Pitch PI integrator state.
double	sf_roll_error_integral {0.0}
	Roll specific-force error integrator state [rad].
double	airspeed_error_integral {0.0}
	Airspeed PI integrator state [m/s].
Eigen::Vector3d	body_rates_sp {Eigen::Vector3d::Zero()}
	Body-rate setpoint [rad/s] in FLU convention (roll, pitch, yaw).
double	thrust_sp {0.5}
	Normalized thrust setpoint in [0, 1].

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

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