TrajectorySetpoint6dof (UORB message)

Trajectory setpoint in NED frame. Input to position controller.

TOPICS: trajectory_setpoint6dof

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)
quaternion	float32[4]			unit quaternion
angular_velocity	float32[3]			angular velocity in radians/second

Source Message

Source file (GitHub)

Details

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# Trajectory setpoint in NED frame
# Input to position controller.

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[4] quaternion             # unit quaternion
float32[3] angular_velocity       # angular velocity in radians/second