OrbitStatus (UORB message)

Orbit status.

Current state of an orbit or loiter manoeuver, published while the maneuver is executing. For multirotors, published by the orbit flight task (FlightTaskOrbit) on each control cycle when a valid GPS projection is available. For fixed-wing, published by FixedWingModeManager during loiter. Subscribed by the MAVLink module and streamed to the GCS as ORBIT_EXECUTION_STATUS (message 360).

TOPICS: orbit_status

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64	us		Time since system start
radius	float32	m		Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise.
frame	uint8		FRAME	The coordinate system of the fields: x, y, z
x	float64			X coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.
y	float64			Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters * 1e4, global = longitude in degrees * 1e7.
z	float32			Altitude of center point. Coordinate system depends on frame field.
yaw_behaviour	uint8		ORBIT_YAW_BEHAVIOUR

Enums

FRAME

Name	Type	Value	Description
FRAME_GLOBAL	uint8	0	WGS84 global frame, MSL altitude. x/y = latitude/longitude (degrees × 1e7)
FRAME_LOCAL_NED	uint8	1	Local NED frame. x/y = north/east position (meters × 1e4)
FRAME_GLOBAL_RELATIVE_ALT	uint8	3	WGS84 global frame, altitude above home. x/y = latitude/longitude (degrees × 1e7)
FRAME_GLOBAL_TERRAIN_ALT	uint8	10	WGS84 global frame, altitude above terrain. x/y = latitude/longitude (degrees × 1e7)

ORBIT_YAW_BEHAVIOUR

Name	Type	Value	Description
ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER	uint8	0	Vehicle front points to the center (default).
ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING	uint8	1	Vehicle front holds heading when message received.
ORBIT_YAW_BEHAVIOUR_UNCONTROLLED	uint8	2	Yaw uncontrolled.
ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE	uint8	3	Vehicle front follows flight path (tangential to circle).
ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED	uint8	4	Yaw controlled by RC input.
ORBIT_YAW_BEHAVIOUR_UNCHANGED	uint8	5	Vehicle uses current yaw behaviour (unchanged). The vehicle-default yaw behaviour is used if this value is specified when orbit is first commanded.

Source Message

Source file (GitHub)

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# Orbit status
#
# Current state of an orbit or loiter manoeuver, published while the maneuver is executing.
# For multirotors, published by the orbit flight task (FlightTaskOrbit) on each control cycle
# when a valid GPS projection is available.
# For fixed-wing, published by FixedWingModeManager during loiter.
# Subscribed by the MAVLink module and streamed to the GCS as ORBIT_EXECUTION_STATUS (message 360).

uint64 timestamp # [us] Time since system start
float32 radius # [m] Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise.

uint8 frame # [@enum FRAME] The coordinate system of the fields: x, y, z
uint8 FRAME_GLOBAL = 0 # WGS84 global frame, MSL altitude. x/y = latitude/longitude (degrees × 1e7)
uint8 FRAME_LOCAL_NED = 1 # Local NED frame. x/y = north/east position (meters × 1e4)
uint8 FRAME_GLOBAL_RELATIVE_ALT = 3 # WGS84 global frame, altitude above home. x/y = latitude/longitude (degrees × 1e7)
uint8 FRAME_GLOBAL_TERRAIN_ALT = 10 # WGS84 global frame, altitude above terrain. x/y = latitude/longitude (degrees × 1e7)

float64 x # X coordinate of center point. Coordinate system depends on frame field: `local = x position in meters * 1e4`, `global = latitude in degrees * 1e7`.
float64 y # Y coordinate of center point. Coordinate system depends on frame field: `local = y position in meters * 1e4`, `global = longitude in degrees * 1e7`.
float32 z # Altitude of center point. Coordinate system depends on frame field.

uint8 yaw_behaviour # [@enum ORBIT_YAW_BEHAVIOUR]
uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER = 0 # Vehicle front points to the center (default).
uint8 ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING = 1 # Vehicle front holds heading when message received.
uint8 ORBIT_YAW_BEHAVIOUR_UNCONTROLLED = 2 # Yaw uncontrolled.
uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE = 3 # Vehicle front follows flight path (tangential to circle).
uint8 ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED = 4 # Yaw controlled by RC input.
uint8 ORBIT_YAW_BEHAVIOUR_UNCHANGED = 5 # Vehicle uses current yaw behaviour (unchanged). The vehicle-default yaw behaviour is used if this value is specified when orbit is first commanded.