From 9027dc146eb77045474b745b5c0e8101be350eb0 Mon Sep 17 00:00:00 2001 From: Pedro Roque Date: Tue, 15 Apr 2025 10:24:03 +0200 Subject: [PATCH] feat: add 6 DoF trajectory setpoints message * feat: add attitude to trajectory setpoints * feat: proposed new trajectory message for fully actuated vehicles * fix: moved to unversioned and changed naming scheme * feat: added space between translation and attitude control * fix: change cmakelists --- msg/CMakeLists.txt | 1 + msg/TrajectorySetpoint6dof.msg | 13 +++++++++++++ 2 files changed, 14 insertions(+) create mode 100644 msg/TrajectorySetpoint6dof.msg diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt index e48e01ecfa..56e5523fbb 100644 --- a/msg/CMakeLists.txt +++ b/msg/CMakeLists.txt @@ -210,6 +210,7 @@ set(msg_files TelemetryStatus.msg TiltrotorExtraControls.msg TimesyncStatus.msg + TrajectorySetpoint6dof.msg TransponderReport.msg TuneControl.msg UavcanParameterRequest.msg diff --git a/msg/TrajectorySetpoint6dof.msg b/msg/TrajectorySetpoint6dof.msg new file mode 100644 index 0000000000..4374d1685e --- /dev/null +++ b/msg/TrajectorySetpoint6dof.msg @@ -0,0 +1,13 @@ +# 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