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New Crowdin translations - ko (#25610)
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@@ -108,92 +108,92 @@ The following steps are required to get started:
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2. Clone the repository into the workspace:
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```sh
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cd $ros_workspace/src
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git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib
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```
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```sh
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cd $ros_workspace/src
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git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib
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```
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::: info
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To ensure compatibility, use the latest _main_ branches for PX4, _px4_msgs_ and the library.
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See also [here](https://github.com/Auterion/px4-ros2-interface-lib#compatibility-with-px4).
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::: info
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To ensure compatibility, use the latest _main_ branches for PX4, _px4_msgs_ and the library.
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See also [here](https://github.com/Auterion/px4-ros2-interface-lib#compatibility-with-px4).
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:::
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3. Build the workspace:
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```sh
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cd ..
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colcon build
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source install/setup.bash
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```
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```sh
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cd ..
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colcon build
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source install/setup.bash
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```
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4. In a different shell, start PX4 SITL:
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```sh
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cd $px4-autopilot
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make px4_sitl gazebo-classic
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```
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```sh
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cd $px4-autopilot
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make px4_sitl gazebo-classic
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```
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(here we use Gazebo-Classic, but you can use any model or simulator)
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(here we use Gazebo-Classic, but you can use any model or simulator)
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5. Run the micro XRCE agent in a new shell (you can keep it running afterward):
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```sh
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MicroXRCEAgent udp4 -p 8888
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```
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```sh
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MicroXRCEAgent udp4 -p 8888
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```
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6. Start QGroundControl.
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::: info
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Use QGroundControl Daily, which supports dynamically updating the list of modes.
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::: info
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Use QGroundControl Daily, which supports dynamically updating the list of modes.
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:::
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7. Back in the ROS 2 terminal, run one of the example modes:
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```sh
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ros2 run example_mode_manual_cpp example_mode_manual
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```
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```sh
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ros2 run example_mode_manual_cpp example_mode_manual
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```
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You should get an output like this showing 'My Manual Mode' mode being registered:
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You should get an output like this showing 'My Manual Mode' mode being registered:
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```sh
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[DEBUG] [example_mode_manual]: Checking message compatibility...
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[DEBUG] [example_mode_manual]: Subscriber found, continuing
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[DEBUG] [example_mode_manual]: Publisher found, continuing
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[DEBUG] [example_mode_manual]: Registering 'My Manual Mode' (arming check: 1, mode: 1, mode executor: 0)
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[DEBUG] [example_mode_manual]: Subscriber found, continuing
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[DEBUG] [example_mode_manual]: Publisher found, continuing
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[DEBUG] [example_mode_manual]: Got RegisterExtComponentReply
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[DEBUG] [example_mode_manual]: Arming check request (id=1, only printed once)
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```
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```sh
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[DEBUG] [example_mode_manual]: Checking message compatibility...
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[DEBUG] [example_mode_manual]: Subscriber found, continuing
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[DEBUG] [example_mode_manual]: Publisher found, continuing
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[DEBUG] [example_mode_manual]: Registering 'My Manual Mode' (arming check: 1, mode: 1, mode executor: 0)
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[DEBUG] [example_mode_manual]: Subscriber found, continuing
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[DEBUG] [example_mode_manual]: Publisher found, continuing
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[DEBUG] [example_mode_manual]: Got RegisterExtComponentReply
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[DEBUG] [example_mode_manual]: Arming check request (id=1, only printed once)
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```
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8. On the PX4 shell, you can check that PX4 registered the new mode:
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```sh
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commander status
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```
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```sh
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commander status
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```
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The output should contain:
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The output should contain:
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```plain
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INFO [commander] Disarmed
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INFO [commander] navigation mode: Position
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INFO [commander] user intended navigation mode: Position
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INFO [commander] in failsafe: no
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INFO [commander] External Mode 1: nav_state: 23, name: My Manual Mode
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```
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```plain
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INFO [commander] Disarmed
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INFO [commander] navigation mode: Position
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INFO [commander] user intended navigation mode: Position
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INFO [commander] in failsafe: no
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INFO [commander] External Mode 1: nav_state: 23, name: My Manual Mode
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```
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9. At this point you should be able to see the mode in QGroundControl as well:
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10. Select the mode, make sure you have a manual control source (physical or virtual joystick), and arm the vehicle.
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The mode will then activate, and it should print the following output:
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The mode will then activate, and it should print the following output:
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```sh
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[DEBUG] [example_mode_manual]: Mode 'My Manual Mode' activated
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```
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```sh
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[DEBUG] [example_mode_manual]: Mode 'My Manual Mode' activated
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```
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11. Now you are ready to create your own mode.
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@@ -266,9 +266,9 @@ This section steps through an example of how to create a mode executor class.
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class MyModeExecutor : public px4_ros2::ModeExecutorBase // [1]
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{
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public:
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MyModeExecutor(rclcpp::Node & node, px4_ros2::ModeBase & owned_mode) // [2]
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: ModeExecutorBase(node, px4_ros2::ModeExecutorBase::Settings{}, owned_mode),
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_node(node)
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MyModeExecutor(px4_ros2::ModeBase & owned_mode) // [2]
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: ModeExecutorBase(px4_ros2::ModeExecutorBase::Settings{}, owned_mode),
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_node(owned_mode.node())
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{ }
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enum class State // [3]
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@@ -344,8 +344,8 @@ The used types also define the compatibility with different vehicle types.
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The following sections provide a list of supported setpoint types:
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- [GotoSetpointType](#go-to-setpoint-gotosetpointtype): Smooth position and (optionally) heading control
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- [FwLateralLongitudinalSetpointType](#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype): <Badge type="tip" text="main (planned for: PX4 v1.17)" /> Direct control of lateral and longitudinal fixed wing dynamics
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- [MulticopterGotoSetpointType](#go-to-setpoint-multicoptergotosetpointtype): <Badge type="warning" text="MC only" /> Smooth position and (optionally) heading control
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- [FwLateralLongitudinalSetpointType](#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype): <Badge type="warning" text="FW only" /> <Badge type="tip" text="main (planned for: PX4 v1.17)" /> Direct control of lateral and longitudinal fixed wing dynamics
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- [DirectActuatorsSetpointType](#direct-actuator-control-setpoint-directactuatorssetpointtype): Direct control of motors and flight surface servo setpoints
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:::tip
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@@ -354,15 +354,19 @@ The other setpoint types are currently experimental, and can be found in: [px4_r
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You can add your own setpoint types by adding a class that inherits from `px4_ros2::SetpointBase`, sets the configuration flags according to what the setpoint requires, and then publishes any topic containing a setpoint.
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:::
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#### Go-to Setpoint (GotoSetpointType)
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#### Go-to Setpoint (MulticopterGotoSetpointType)
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<Badge type="warning" text="MC only" />
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:::info
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This setpoint type is currently only supported for multicopters.
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:::
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Smoothly control position and (optionally) heading setpoints with the [`px4_ros2::GotoSetpointType`](https://github.com/Auterion/px4-ros2-interface-lib/blob/main/px4_ros2_cpp/include/px4_ros2/control/setpoint_types/goto.hpp) setpoint type.
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Smoothly control position and (optionally) heading setpoints with the [`px4_ros2::MulticopterGotoSetpointType`](https://github.com/Auterion/px4-ros2-interface-lib/blob/main/px4_ros2_cpp/include/px4_ros2/control/setpoint_types/multicopter/goto.hpp) setpoint type.
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The setpoint type is streamed to FMU based position and heading smoothers formulated with time-optimal, maximum-jerk trajectories, with velocity and acceleration constraints.
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There is also a [`px4_ros2::MulticopterGotoGlobalSetpointType`](https://github.com/Auterion/px4-ros2-interface-lib/blob/main/px4_ros2_cpp/include/px4_ros2/control/setpoint_types/multicopter/goto.hpp) class that allows to send setpoints in global coordinates.
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The most trivial use is simply inputting a 3D position into the update method:
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```cpp
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@@ -419,7 +423,7 @@ This setpoint is streamed to the PX4 [_FwLateralLongitudinalControl_ module](../
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To control the vehicle, at least one lateral **and** one longitudinal setpoint must be provided:
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1. Of the longitudinal inputs: either `altitude` or `height_rate` must be finite to control vertical motion.
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If both are set to `NAN`, the vehicle will maintain its current altitude.
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If both are set to `NAN`, the vehicle will maintain its current altitude.
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2. Of the lateral inputs: at least one of `course`, `airspeed_direction`, or `lateral_acceleration` must be finite.
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For a detailed description of the controllable parameters, please refer to message definitions ([FixedWingLateralSetpoint](../msg_docs/FixedWingLateralSetpoint.md) and [FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md)).
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@@ -553,7 +557,7 @@ If you want to control an actuator that does not control the vehicle's motion, b
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To control a VTOL in an external flight mode, ensure you're returning the correct setpoint type based on the current flight configuration:
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- Multicopter mode: use a setpoint type that is compatible with multicopter control. For example: either the [`GotoSetpointType`](#go-to-setpoint-gotosetpointtype) or the [`TrajectorySetpointType`](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1TrajectorySetpointType.html).
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- Multicopter mode: use a setpoint type that is compatible with multicopter control. For example: either the [`MulticopterGotoSetpointType`](#go-to-setpoint-multicoptergotosetpointtype) or the [`TrajectorySetpointType`](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1TrajectorySetpointType.html).
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- Fixed-wing mode: Use the [`FwLateralLongitudinalSetpointType`](#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype).
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As long as the VTOL remains in either multicopter or fixed-wing mode throughout the external mode, no additional handling is required.
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@@ -568,24 +572,24 @@ Commanding transitions externally makes the user partially responsible for ensur
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3. To command a transition, you can use the `toMulticopter()` or `toFixedwing()` methods on your VTOL object to set the desired state.
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4. During transition, send the following combination of setpoints:
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```cpp
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// Assuming the instance of the px4_ros2::VTOL object is called vtol
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```cpp
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// Assuming the instance of the px4_ros2::VTOL object is called vtol
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// Send TrajectorySetpointType as follows:
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Eigen::Vector3f acceleration_sp = vtol.computeAccelerationSetpointDuringTransition();
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Eigen::Vector3f velocity_sp{NAN, NAN, 0.f};
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// Send TrajectorySetpointType as follows:
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Eigen::Vector3f acceleration_sp = vtol.computeAccelerationSetpointDuringTransition();
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Eigen::Vector3f velocity_sp{NAN, NAN, 0.f};
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_trajectory_setpoint->update(velocity_sp, acceleration_sp);
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_trajectory_setpoint->update(velocity_sp, acceleration_sp);
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// Send FwLateralLongitudinalSetpointType with lateral input to realign vehicle as desired
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// Send FwLateralLongitudinalSetpointType with lateral input to realign vehicle as desired
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float course_sp = 0.F; // North
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float course_sp = 0.F; // North
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_fw_lateral_longitudinal_setpoint->updateWithAltitude(NAN, course_sp)
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```
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_fw_lateral_longitudinal_setpoint->updateWithAltitude(NAN, course_sp)
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```
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This will ensure that the transition is handled properly within PX4.
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You can optionally pass a deceleration setpoint to `computeAccelerationSetpointDuringTransition()` to be used during back-transitions.
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This will ensure that the transition is handled properly within PX4.
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You can optionally pass a deceleration setpoint to `computeAccelerationSetpointDuringTransition()` to be used during back-transitions.
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To check the current state of the vehicle, use the `getCurrentState()` method on your `px4_ros2::VTOL` object.
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@@ -598,7 +602,7 @@ If you want to control an independent actuator (a servo), follow these steps:
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1. [Configure the output](../payloads/generic_actuator_control.md#generic-actuator-control-with-mavlink).
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2. Create an instance of [px4_ros2::PeripheralActuatorControls](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1PeripheralActuatorControls.html) in the constructor of your mode.
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3. Call the `set()` method to control the actuator(s).
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This can be done independently of any active setpoints.
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This can be done independently of any active setpoints.
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### 텔레메트리
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