TrajectorySetpoint (UORB message)

Trajectory setpoint in NED frame. Input to PID position controller. Needs to be kinematically consistent and feasible for smooth flight. setting a value to NaN means the state should not be controlled.

TOPICS: trajectory_setpoint

Fields

参数名	类型	Unit [Frame]	Range/Enum	描述
timestamp	uint64			time since system start (microseconds)
位置	float32[3]			in meters
速度	float32[3]			in meters/second
acceleration	float32[3]			in meters/second^2
jerk	float32[3]			in meters/second^3 (for logging only)
yaw	float32			euler angle of desired attitude in radians -PI..+PI
yawspeed	float32			angular velocity around NED frame z-axis in radians/second

Constants

参数名	类型	值	描述
MESSAGE_VERSION	uint32	0

Source Message

Source file (GitHub)

Details

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# Trajectory setpoint in NED frame
# Input to PID position controller.
# Needs to be kinematically consistent and feasible for smooth flight.
# setting a value to NaN means the state should not be controlled

uint32 MESSAGE_VERSION = 0

uint64 timestamp # time since system start (microseconds)

# NED local world frame
float32[3] position # in meters
float32[3] velocity # in meters/second
float32[3] acceleration # in meters/second^2
float32[3] jerk # in meters/second^3 (for logging only)

float32 yaw # euler angle of desired attitude in radians -PI..+PI
float32 yawspeed # angular velocity around NED frame z-axis in radians/second