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15 lines
609 B
15 lines
609 B
# Trajectory setpoint in NED frame |
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# Input to PID position controller. |
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# Needs to be kinematically consistent and feasible for smooth flight. |
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# setting a value to NaN means the state should not be controlled |
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uint64 timestamp # time since system start (microseconds) |
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# NED local world frame |
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float32[3] position # in meters |
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float32[3] velocity # in meters/second |
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float32[3] acceleration # in meters/second^2 |
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float32[3] jerk # in meters/second^3 (for logging only) |
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float32 yaw # euler angle of desired attitude in radians -PI..+PI |
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float32 yawspeed # angular velocity around NED frame z-axis in radians/second
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