New data types: uavcan.nav.*

2026-10-15 07:03:34 +08:00 · 2014-06-11 00:43:46 +04:00
parent 5bd787cce0
commit a11f1b4192
4 changed files with 42 additions and 0 deletions
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+#
+# Orientation and thrust setpoint for VTOL crafts.
+#
+
+uavcan.FigureOfMerit figure_of_merit
+
+float16[4] orientation_xyzw
+float16 thrust  # Range [0; 1]
@@ -0,0 +1,13 @@
+#
+# Vehicle pose estimate.
+#
+
+uavcan.Timestamp timestamp
+
+float16[4] orientation_xyzw
+float32[3] position
+float16[<=36] pose_covariance
+
+float16[3] linear_velocity
+float16[3] angular_velocity
+float16[<=36] velocity_covariance
@@ -0,0 +1,12 @@
+#
+# Attitude and velocity in local frame.
+#
+
+uavcan.Timestamp timestamp
+
+float16[4] orientation_xyzw
+float16[<=9] orientation_covariance
+
+float16[3] linear_velocity
+float16[3] angular_velocity
+float16[<=36] velocity_covariance
@@ -0,0 +1,9 @@
+#
+# Target pose of the vehicle in fixed frame.
+# Some components may be ignored on underactuated systems (i.e. pitch and roll on a quadrotor).
+#
+
+uavcan.FigureOfMerit figure_of_merit
+
+float16[4] orientation_xyzw
+float32[3] position