OrbitStatus (UORB message)
ORBIT_YAW_BEHAVIOUR.
TOPICS: orbit_status
Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
|---|---|---|---|---|
| timestamp | uint64 | time since system start (microseconds) | ||
| radius | float32 | Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise. [m] | ||
| frame | uint8 | 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 = latitude in degrees _ 1e7. | ||
| z | float32 | Altitude of center point. Coordinate system depends on frame field. | ||
| yaw_behaviour | uint8 |
Constants
Source Message
Details
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c
# ORBIT_YAW_BEHAVIOUR
uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER = 0
uint8 ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING = 1
uint8 ORBIT_YAW_BEHAVIOUR_UNCONTROLLED = 2
uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE = 3
uint8 ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED = 4
uint8 ORBIT_YAW_BEHAVIOUR_UNCHANGED = 5
uint64 timestamp # time since system start (microseconds)
float32 radius # Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise. [m]
uint8 frame # The coordinate system of the fields: x, y, z.
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 = latitude in degrees * 1e7.
float32 z # Altitude of center point. Coordinate system depends on frame field.
uint8 yaw_behaviour