You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
45 lines
2.2 KiB
45 lines
2.2 KiB
# this file is only used in the position_setpoint triple as a dependency |
|
|
|
uint64 timestamp # time since system start (microseconds) |
|
|
|
uint8 SETPOINT_TYPE_POSITION=0 # position setpoint |
|
uint8 SETPOINT_TYPE_VELOCITY=1 # velocity setpoint |
|
uint8 SETPOINT_TYPE_LOITER=2 # loiter setpoint |
|
uint8 SETPOINT_TYPE_TAKEOFF=3 # takeoff setpoint |
|
uint8 SETPOINT_TYPE_LAND=4 # land setpoint, altitude must be ignored, descend until landing |
|
uint8 SETPOINT_TYPE_IDLE=5 # do nothing, switch off motors or keep at idle speed (MC) |
|
uint8 SETPOINT_TYPE_FOLLOW_TARGET=6 # setpoint in NED frame (x, y, z, vx, vy, vz) set by follow target |
|
|
|
uint8 VELOCITY_FRAME_LOCAL_NED = 1 # MAV_FRAME_LOCAL_NED |
|
uint8 VELOCITY_FRAME_BODY_NED = 8 # MAV_FRAME_BODY_NED |
|
|
|
bool valid # true if setpoint is valid |
|
uint8 type # setpoint type to adjust behavior of position controller |
|
|
|
float32 vx # local velocity setpoint in m/s in NED |
|
float32 vy # local velocity setpoint in m/s in NED |
|
float32 vz # local velocity setpoint in m/s in NED |
|
bool velocity_valid # true if local velocity setpoint valid |
|
uint8 velocity_frame # to set velocity setpoints in NED or body |
|
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. |
|
|
|
float64 lat # latitude, in deg |
|
float64 lon # longitude, in deg |
|
float32 alt # altitude AMSL, in m |
|
float32 yaw # yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw |
|
bool yaw_valid # true if yaw setpoint valid |
|
|
|
float32 yawspeed # yawspeed (only for multirotors, in rad/s) |
|
bool yawspeed_valid # true if yawspeed setpoint valid |
|
|
|
int8 landing_gear # landing gear: see definition of the states in landing_gear.msg |
|
|
|
float32 loiter_radius # loiter radius (only for fixed wing), in m |
|
int8 loiter_direction # loiter direction: 1 = CW, -1 = CCW |
|
|
|
float32 acceptance_radius # navigation acceptance_radius if we're doing waypoint navigation |
|
|
|
float32 cruising_speed # the generally desired cruising speed (not a hard constraint) |
|
float32 cruising_throttle # the generally desired cruising throttle (not a hard constraint) |
|
|
|
bool disable_weather_vane # VTOL: disable (in auto mode) the weather vane feature that turns the nose into the wind
|
|
|