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feat: add 6 DoF trajectory setpoints message

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* 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
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Pedro Roque 2025-04-15 10:24:03 +02:00 committed by GitHub
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commit 9027dc146e
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1
msg/CMakeLists.txt
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@ -210,6 +210,7 @@ set(msg_files
TelemetryStatus.msg
TiltrotorExtraControls.msg
TimesyncStatus.msg
TrajectorySetpoint6dof.msg
TransponderReport.msg
TuneControl.msg
UavcanParameterRequest.msg

13
msg/TrajectorySetpoint6dof.msg Normal file
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@ -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