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17 lines
730 B
17 lines
730 B
# Local setpoint constraints in NED frame |
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# setting something to NaN means that no limit is provided |
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uint64 timestamp # time since system start (microseconds) |
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float32 yawspeed # in radians/sec |
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float32 speed_xy # in meters/sec |
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float32 speed_up # in meters/sec |
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float32 speed_down # in meters/sec |
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float32 tilt # in radians [0, PI] |
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float32 min_distance_to_ground # in meters |
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float32 max_distance_to_ground # in meters |
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bool want_takeoff # tell the controller to initiate takeoff when idling (ignored during flight) |
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bool reset_integral # tells controller to reset integrators e.g. since we know the vehicle is not in air |
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float32 minimum_thrust # tell controller what the minimum collective output thrust should be |
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uint32 flight_task
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