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28 lines
1.3 KiB
28 lines
1.3 KiB
uint64 timestamp # time since system start (microseconds) |
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float32 roll_body # body angle in NED frame (can be NaN for FW) |
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float32 pitch_body # body angle in NED frame (can be NaN for FW) |
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float32 yaw_body # body angle in NED frame (can be NaN for FW) |
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float32 yaw_sp_move_rate # rad/s (commanded by user) |
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# For quaternion-based attitude control |
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float32[4] q_d # Desired quaternion for quaternion control |
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bool q_d_valid # Set to true if quaternion vector is valid |
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# For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand. |
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# For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero. |
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float32[3] thrust_body # Normalized thrust command in body NED frame [-1,1] |
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bool roll_reset_integral # Reset roll integral part (navigation logic change) |
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bool pitch_reset_integral # Reset pitch integral part (navigation logic change) |
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bool yaw_reset_integral # Reset yaw integral part (navigation logic change) |
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bool fw_control_yaw # control heading with rudder (used for auto takeoff on runway) |
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uint8 apply_flaps # flap config specifier |
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uint8 FLAPS_OFF = 0 # no flaps |
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uint8 FLAPS_LAND = 1 # landing config flaps |
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uint8 FLAPS_TAKEOFF = 2 # take-off config flaps |
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# TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
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