From c15f2e45d604cb1c3d400b2b3ee2e39da13c9da8 Mon Sep 17 00:00:00 2001 From: Martina Date: Tue, 12 Jun 2018 11:21:14 +0200 Subject: [PATCH] add vehicle_trajectory_waypoint message --- msg/CMakeLists.txt | 1 + msg/vehicle_trajectory_waypoint.msg | 19 +++++++++++++++++++ 2 files changed, 20 insertions(+) create mode 100644 msg/vehicle_trajectory_waypoint.msg diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt index 0110445f4c..569e810aea 100644 --- a/msg/CMakeLists.txt +++ b/msg/CMakeLists.txt @@ -128,6 +128,7 @@ set(msg_files vehicle_magnetometer.msg vehicle_rates_setpoint.msg vehicle_roi.msg + vehicle_trajectory_waypoint.msg vehicle_status.msg vehicle_status_flags.msg vtol_vehicle_status.msg diff --git a/msg/vehicle_trajectory_waypoint.msg b/msg/vehicle_trajectory_waypoint.msg new file mode 100644 index 0000000000..fe712a11ca --- /dev/null +++ b/msg/vehicle_trajectory_waypoint.msg @@ -0,0 +1,19 @@ +# Vehicle Waypoints Trajectory description. See also Mavlink TRAJECTORY msg +# The topic vehicle_trajectory_waypoint_desired is used to send the user desired waypoints from the position controller to the companion computer / avoidance module. +# The topic vehicle_trajectory_waypoint is used to send the adjusted waypoints from the companion computer / avoidance module to the position controller. + +uint8 MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS = 0 + +uint8 type # Type from MAV_TRAJECTORY_REPRESENTATION enum. + +uint8 POINT_0 = 0 +uint8 POINT_1 = 1 +uint8 POINT_2 = 2 +uint8 POINT_3 = 3 +uint8 POINT_4 = 4 + +uint8 NUMBER_POINTS = 5 + +trajectory_waypoint[5] waypoints + +# TOPICS vehicle_trajectory_waypoint vehicle_trajectory_waypoint_desired \ No newline at end of file