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30 lines
1.2 KiB
30 lines
1.2 KiB
int8 LANDING_GEAR_UP = 1 # landing gear up |
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int8 LANDING_GEAR_DOWN = -1 # landing gear down |
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float32 roll_body # body angle in NED frame |
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float32 pitch_body # body angle in NED frame |
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float32 yaw_body # body angle in NED frame |
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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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float32 thrust # Thrust in Newton the power system should generate |
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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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bool disable_mc_yaw_control # control yaw for mc (used for vtol weather-vane mode) |
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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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float32 landing_gear |
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# TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
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