GotoSetpoint (UORB message)

Position and (optional) heading setpoints with corresponding speed constraints. Setpoints are intended as inputs to position and heading smoothers, respectively. Setpoints do not need to be kinematically consistent. Optional heading setpoints may be specified as controlled by the respective flag. Unset optional setpoints are not controlled. Unset optional constraints default to vehicle specifications.

TOPICS: goto_setpoint

Fields

명칭	형식	Unit [Frame]	Range/Enum	설명
timestamp	uint64			time since system start (microseconds)
position	float32[3]	m		NED local world frame
flag_control_heading	bool			true if heading is to be controlled
heading	float32			(optional) [rad] [-pi,pi] from North
flag_set_max_horizontal_speed	bool			true if setting a non-default horizontal speed limit
max_horizontal_speed	float32			(optional) [m/s] maximum speed (absolute) in the NE-plane
flag_set_max_vertical_speed	bool			true if setting a non-default vertical speed limit
max_vertical_speed	float32			(optional) [m/s] maximum speed (absolute) in the D-axis
flag_set_max_heading_rate	bool			true if setting a non-default heading rate limit
max_heading_rate	float32			(optional) [rad/s] maximum heading rate (absolute)

Constants

명칭	형식	Value	설명
MESSAGE_VERSION	uint32	0

Source Message

Source file (GitHub)

Details

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# Position and (optional) heading setpoints with corresponding speed constraints
# Setpoints are intended as inputs to position and heading smoothers, respectively
# Setpoints do not need to be kinematically consistent
# Optional heading setpoints may be specified as controlled by the respective flag
# Unset optional setpoints are not controlled
# Unset optional constraints default to vehicle specifications

uint32 MESSAGE_VERSION = 0

uint64 timestamp # time since system start (microseconds)

# setpoints
float32[3] position # [m] NED local world frame

bool flag_control_heading # true if heading is to be controlled
float32 heading # (optional) [rad] [-pi,pi] from North

# constraints
bool flag_set_max_horizontal_speed # true if setting a non-default horizontal speed limit
float32 max_horizontal_speed # (optional) [m/s] maximum speed (absolute) in the NE-plane

bool flag_set_max_vertical_speed # true if setting a non-default vertical speed limit
float32 max_vertical_speed # (optional) [m/s] maximum speed (absolute) in the D-axis

bool flag_set_max_heading_rate # true if setting a non-default heading rate limit
float32 max_heading_rate # (optional) [rad/s] maximum heading rate (absolute)