VehicleRoi (UORB message)

Vehicle Region Of Interest (ROI)

source file

# Vehicle Region Of Interest (ROI)

uint64 timestamp            # time since system start (microseconds)

uint8 ROI_NONE = 0          # No region of interest
uint8 ROI_WPNEXT = 1            # Point toward next MISSION with optional offset
uint8 ROI_WPINDEX = 2           # Point toward given MISSION
uint8 ROI_LOCATION = 3          # Point toward fixed location
uint8 ROI_TARGET = 4            # Point toward target
uint8 ROI_ENUM_END = 5

uint8 mode          # ROI mode (see above)

float64 lat             # Latitude to point to
float64 lon             # Longitude to point to
float32 alt             # Altitude to point to

# additional angle offsets to next waypoint (only used with ROI_WPNEXT)
float32 roll_offset     # angle offset in rad
float32 pitch_offset        # angle offset in rad
float32 yaw_offset      # angle offset in rad