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55 lines
2.6 KiB
55 lines
2.6 KiB
# this file is only used in the position_setpoint triple as a dependency |
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uint64 timestamp # time since system start (microseconds) |
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uint8 SETPOINT_TYPE_POSITION=0 # position setpoint |
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uint8 SETPOINT_TYPE_VELOCITY=1 # velocity setpoint |
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uint8 SETPOINT_TYPE_LOITER=2 # loiter setpoint |
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uint8 SETPOINT_TYPE_TAKEOFF=3 # takeoff setpoint |
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uint8 SETPOINT_TYPE_LAND=4 # land setpoint, altitude must be ignored, descend until landing |
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uint8 SETPOINT_TYPE_IDLE=5 # do nothing, switch off motors or keep at idle speed (MC) |
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uint8 SETPOINT_TYPE_OFFBOARD=6 # setpoint in NED frame (x, y, z, vx, vy, vz) set by offboard |
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uint8 SETPOINT_TYPE_FOLLOW_TARGET=7 # setpoint in NED frame (x, y, z, vx, vy, vz) set by follow target |
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uint8 VELOCITY_FRAME_LOCAL_NED = 1 # MAV_FRAME_LOCAL_NED |
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uint8 VELOCITY_FRAME_BODY_NED = 8 # MAV_FRAME_BODY_NED |
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bool valid # true if setpoint is valid |
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uint8 type # setpoint type to adjust behavior of position controller |
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float32 x # local position setpoint in m in NED |
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float32 y # local position setpoint in m in NED |
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float32 z # local position setpoint in m in NED |
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bool position_valid # true if local position setpoint valid |
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float32 vx # local velocity setpoint in m/s in NED |
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float32 vy # local velocity setpoint in m/s in NED |
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float32 vz # local velocity setpoint in m/s in NED |
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bool velocity_valid # true if local velocity setpoint valid |
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uint8 velocity_frame # to set velocity setpoints in NED or body |
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bool alt_valid # do not set for 3D position control. Set to true if you want z-position control while doing vx,vy velocity control. |
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float64 lat # latitude, in deg |
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float64 lon # longitude, in deg |
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float32 alt # altitude AMSL, in m |
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float32 yaw # yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw |
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bool yaw_valid # true if yaw setpoint valid |
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float32 yawspeed # yawspeed (only for multirotors, in rad/s) |
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bool yawspeed_valid # true if yawspeed setpoint valid |
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float32 loiter_radius # loiter radius (only for fixed wing), in m |
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int8 loiter_direction # loiter direction: 1 = CW, -1 = CCW |
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float32 pitch_min # minimal pitch angle for fixed wing takeoff waypoints |
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float32 a_x # acceleration x setpoint |
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float32 a_y # acceleration y setpoint |
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float32 a_z # acceleration z setpoint |
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bool acceleration_valid # true if acceleration setpoint is valid/should be used |
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bool acceleration_is_force # interprete acceleration as force |
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float32 acceptance_radius # navigation acceptance_radius if we're doing waypoint navigation |
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float32 cruising_speed # the generally desired cruising speed (not a hard constraint) |
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float32 cruising_throttle # the generally desired cruising throttle (not a hard constraint)
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