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Add body/NED frame for offboard velocity control

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This adds the possibility to use offboard velocity control in the body
frame and not just the NED (world) frame.

The frame is set in the set_position_target_local_ned message and passed
on to mc_pos_control in the position_setpoint topic.
This commit is contained in:
Julian Oes
2016-12-15 10:17:03 +01:00
committed by Lorenz Meier
parent e3aecc0762
commit e01eaf172a
3 changed files with 23 additions and 4 deletions
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msg/position_setpoint.msg
+5
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@@ -9,6 +9,9 @@ uint8 SETPOINT_TYPE_IDLE=5 # do nothing, switch off motors or keep at idle speed
uint8 SETPOINT_TYPE_OFFBOARD=6 # setpoint in NED frame (x, y, z, vx, vy, vz) set by offboard
uint8 SETPOINT_TYPE_FOLLOW_TARGET=7 # setpoint in NED frame (x, y, z, vx, vy, vz) set by follow target
uint8 VELOCITY_FRAME_LOCAL_NED = 1 # MAV_FRAME_LOCAL_NED
uint8 VELOCITY_FRAME_BODY_NED = 8 # MAV_FRAME_BODY_NED
bool valid # true if setpoint is valid
uint8 type # setpoint type to adjust behavior of position controller
float32 x # local position setpoint in m in NED
@@ -19,6 +22,8 @@ float32 vx # local velocity setpoint in m/s in NED
float32 vy # local velocity setpoint in m/s in NED
float32 vz # local velocity setpoint in m/s in NED
bool velocity_valid # true if local velocity setpoint valid
uint8 velocity_frame # to set velocity setpoints in NED or body
bool alt_valid # do not set for 3D position control. Set to true if you want z-position control while doing vx,vy velocity control.
float64 lat # latitude, in deg
float64 lon # longitude, in deg