VehicleLocalPositionSetpoint (UORB message)

Local position setpoint in NED frame. Telemetry of PID position controller to monitor tracking. NaN means the state was not controlled.

TOPICS: vehicle_localposition_setpoint

Fields

명칭	형식	Unit [Frame]	Range/Enum	설명
timestamp	uint64			time since system start (microseconds)
x	float32			in meters NED
y	float32			in meters NED
z	float32			in meters NED
vx	float32			in meters/sec
vy	float32			in meters/sec
vz	float32			in meters/sec
acceleration	float32[3]			in meters/sec^2
thrust	float32[3]			normalized thrust vector in NED
yaw	float32			in radians NED -PI..+PI
yawspeed	float32			in radians/sec

Source Message

Source file (GitHub)

Details

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# Local position setpoint in NED frame
# Telemetry of PID position controller to monitor tracking.
# NaN means the state was not controlled

uint64 timestamp	# time since system start (microseconds)

float32 x		# in meters NED
float32 y		# in meters NED
float32 z		# in meters NED

float32 vx		# in meters/sec
float32 vy		# in meters/sec
float32 vz		# in meters/sec

float32[3] acceleration # in meters/sec^2
float32[3] thrust	# normalized thrust vector in NED

float32 yaw		# in radians NED -PI..+PI
float32 yawspeed	# in radians/sec