msg: introduce message versioning

2026-10-20 03:43:34 +08:00 · 2024-12-13 16:34:37 +01:00
parent f9140fcd50
commit 4fe7d713d3
28 changed files with 100 additions and 33 deletions
@@ -0,0 +1,26 @@
+# Position and (optional) heading setpoints with corresponding speed constraints
+# Setpoints are intended as inputs to position and heading smoothers, respectively
+# Setpoints do not need to be kinematically consistent
+# Optional heading setpoints may be specified as controlled by the respective flag
+# Unset optional setpoints are not controlled
+# Unset optional constraints default to vehicle specifications
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp # time since system start (microseconds)
+
+# setpoints
+float32[3] position # [m] NED local world frame
+
+bool flag_control_heading # true if heading is to be controlled
+float32 heading # (optional) [rad] [-pi,pi] from North
+
+# constraints
+bool flag_set_max_horizontal_speed # true if setting a non-default horizontal speed limit
+float32 max_horizontal_speed # (optional) [m/s] maximum speed (absolute) in the NE-plane
+
+bool flag_set_max_vertical_speed # true if setting a non-default vertical speed limit
+float32 max_vertical_speed # (optional) [m/s] maximum speed (absolute) in the D-axis
+
+bool flag_set_max_heading_rate # true if setting a non-default heading rate limit
+float32 max_heading_rate # (optional) [rad/s] maximum heading rate (absolute)