px4_ros2::FwControlConfiguration Struct Reference

Public Member Functions
FwControlConfiguration &	withPitchLimits (float min_pitch_sp, float max_pitch_sp)
FwControlConfiguration &	withThrottleLimits (float min_throttle_sp, float max_throttle_sp)
FwControlConfiguration &	withMaxAcceleration (float max_lateral_acceleration_sp)
FwControlConfiguration &	withTargetSinkRate (float target_sink_rate_sp)
FwControlConfiguration &	withTargetClimbRate (float target_climb_rate_sp)
FwControlConfiguration &	withSpeedWeight (float speed_weight_sp)
	Configure the speed weight for TECS (Total Energy Control System). For more information on TECS, see https://docs.px4.io/main/en/flight_stack/controller_diagrams.html#total-energy-control-system-tecs. More...

Public Attributes
std::optional< float >	min_pitch
std::optional< float >	max_pitch
std::optional< float >	min_throttle
std::optional< float >	max_throttle
std::optional< float >	max_lateral_acceleration
std::optional< float >	target_climb_rate
std::optional< float >	target_sink_rate
std::optional< float >	speed_weight

Member Function Documentation

withSpeedWeight()

FwControlConfiguration& px4_ros2::FwControlConfiguration::withSpeedWeight ( float  speed_weight_sp )

inline

Configure the speed weight for TECS (Total Energy Control System). For more information on TECS, see https://docs.px4.io/main/en/flight_stack/controller_diagrams.html#total-energy-control-system-tecs.

Parameters

speed_weight_sp

speed weight setpoint in the range of [0.0, 2.0]. Speedweight is 1.0 by default. Set speedweight to 0.0 for altitude priority, 2.0 for airspeed priority.

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

• px4_ros2_cpp/include/px4_ros2/control/setpoint_types/fixedwing/lateral_longitudinal.hpp