PositionSetpoint (повідомлення UORB)
цей файл використовується лише у потрійному підпорядкуванні позиції як залежність
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 # loiter major axis radius in m
float32 loiter_minor_radius # loiter minor axis radius (used for non-circular loiter shapes) in m
bool loiter_direction_counter_clockwise # loiter direction is clockwise by default and can be changed using this field
float32 loiter_orientation # Orientation of the major axis with respect to true north in rad [-pi,pi)
uint8 loiter_pattern # loitern pattern to follow
float32 acceptance_radius # navigation acceptance_radius if we're doing waypoint navigation
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