PositionSetpoint (UORB message)
this file is only used in the position_setpoint triple as a dependency.
TOPICS: position_setpoint
Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
|---|---|---|---|---|
| timestamp | uint64 | time since system start (microseconds) | ||
| valid | bool | true if setpoint is valid | ||
| type | uint8 | setpoint type to adjust behavior of position controller | ||
| vx | float32 | local velocity setpoint in m/s in NED | ||
| vy | float32 | local velocity setpoint in m/s in NED | ||
| vz | float32 | local velocity setpoint in m/s in NED | ||
| lat | float64 | latitude, in deg | ||
| lon | float64 | longitude, in deg | ||
| alt | float32 | altitude AMSL, in m | ||
| yaw | float32 | yaw (only in hover), in rad [-PI..PI), NaN = leave to flight task | ||
| loiter_radius | float32 | m | [0 : INF] | loiter major axis radius |
| loiter_minor_radius | float32 | m | [0 : INF] | loiter minor axis radius (used for non-circular loiter shapes) |
| loiter_direction_counter_clockwise | bool | loiter direction is clockwise by default and can be changed using this field | ||
| loiter_orientation | float32 | rad | [-pi : pi] | orientation of the major axis with respect to true north |
| loiter_pattern | uint8 | loitern pattern to follow | ||
| acceptance_radius | float32 | horizontal acceptance_radius (meters) | ||
| alt_acceptance_radius | float32 | vertical acceptance radius, only used for fixed wing guidance, NAN = let guidance choose (meters) | ||
| cruising_speed | float32 | the generally desired cruising speed (not a hard constraint) | ||
| gliding_enabled | bool | commands the vehicle to glide if the capability is available (fixed wing only) | ||
| cruising_throttle | float32 | the generally desired cruising throttle (not a hard constraint), only has an effect for rover |
Constants
Source Message
Details
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c
# 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 LOITER_TYPE_ORBIT=0 # Circular pattern
uint8 LOITER_TYPE_FIGUREEIGHT=1 # Pattern resembling an 8
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
float64 lat # latitude, in deg
float64 lon # longitude, in deg
float32 alt # altitude AMSL, in m
float32 yaw # yaw (only in hover), in rad [-PI..PI), NaN = leave to flight task
float32 loiter_radius # [m] [@range 0, INF] loiter major axis radius
float32 loiter_minor_radius # [m] [@range 0, INF] loiter minor axis radius (used for non-circular loiter shapes)
bool loiter_direction_counter_clockwise # loiter direction is clockwise by default and can be changed using this field
float32 loiter_orientation # [rad] [@range -pi, pi] orientation of the major axis with respect to true north
uint8 loiter_pattern # loitern pattern to follow
float32 acceptance_radius # horizontal acceptance_radius (meters)
float32 alt_acceptance_radius # vertical acceptance radius, only used for fixed wing guidance, NAN = let guidance choose (meters)
float32 cruising_speed # the generally desired cruising speed (not a hard constraint)
bool gliding_enabled # commands the vehicle to glide if the capability is available (fixed wing only)
float32 cruising_throttle # the generally desired cruising throttle (not a hard constraint), only has an effect for rover