FollowTargetStatus (UORB message)

TOPICS: follow_targetstatus

Fields

参数名	类型	Unit [Frame]	Range/Enum	描述
timestamp	uint64	microseconds		time since system start
tracked_target_course	float32	rad		Tracked target course in NED local frame (North is course zero)
follow_angle	float32	rad		Current follow angle setting
orbit_angle_setpoint	float32	rad		Current orbit angle setpoint from the smooth trajectory generator
angular_rate_setpoint	float32	rad/s		Angular rate commanded from Jerk-limited Orbit Angle trajectory for Orbit Angle
desired_position_raw	float32[3]	米		Raw 'idealistic' desired drone position if a drone could teleport from place to places
in_emergency_ascent	bool	bool		True when doing emergency ascent (when distance to ground is below safety altitude)
gimbal_pitch	float32	rad		Gimbal pitch commanded to track target in the center of the frame

Source Message

Source file (GitHub)

Details

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uint64 timestamp                  # [microseconds] time since system start

float32 tracked_target_course     # [rad] Tracked target course in NED local frame (North is course zero)
float32 follow_angle              # [rad] Current follow angle setting

float32 orbit_angle_setpoint      # [rad] Current orbit angle setpoint from the smooth trajectory generator
float32 angular_rate_setpoint     # [rad/s] Angular rate commanded from Jerk-limited Orbit Angle trajectory for Orbit Angle

float32[3] desired_position_raw   # [m] Raw 'idealistic' desired drone position if a drone could teleport from place to places

bool in_emergency_ascent          # [bool] True when doing emergency ascent (when distance to ground is below safety altitude)
float32 gimbal_pitch              # [rad] Gimbal pitch commanded to track target in the center of the frame