tecs_status.msg: directly add underspeed ratio to msg instead of boolean

Signed-off-by: Silvan Fuhrer <[email protected]>

msg/TecsStatus.msg

@@ -26,4 +26,4 @@ float32 throttle_sp			# Current throttle setpoint [-]
 float32 pitch_sp_rad			# Current pitch setpoint [rad]
 float32 throttle_trim			# estimated throttle value [0,1] required to fly level at equivalent_airspeed_sp in the current atmospheric conditions
 
-bool underspeed_mode_enabled		# System has detected a low airspeed and takes measures to avoid stalling the plane
+float32 underspeed_ratio		# 0: no underspeed, 1: maximal underspeed. Controller takes measures to avoid stall proportional to ratio if >0.

src/lib/tecs/TECS.hpp

@@ -646,7 +646,7 @@ class TECS
 	float get_throttle_setpoint() {return _control.getThrottleSetpoint();}
 
 	uint64_t timestamp() { return _update_timestamp; }
-	bool underspeed_detected() { return _control.getRatioUndersped() > 0.f; }
+	float get_underspeed_ratio() { return _control.getRatioUndersped(); }
 
 private:
 	TECSControl 			_control;			///< Control submodule.

src/modules/fw_pos_control/FixedwingPositionControl.cpp

@@ -506,7 +506,7 @@ FixedwingPositionControl::tecs_status_publish(float alt_sp, float equivalent_air
 	tecs_status.throttle_sp = _tecs.get_throttle_setpoint();
 	tecs_status.pitch_sp_rad = _tecs.get_pitch_setpoint();
 	tecs_status.throttle_trim = throttle_trim;
-	tecs_status.underspeed_mode_enabled = _tecs.underspeed_detected();
+	tecs_status.underspeed_ratio = _tecs.get_underspeed_ratio();
 
 	tecs_status.timestamp = hrt_absolute_time();