msg: add go-to setpoint interface

msg/CMakeLists.txt

@@ -104,6 +104,7 @@ set(msg_files
 	GimbalManagerSetAttitude.msg
 	GimbalManagerSetManualControl.msg
 	GimbalManagerStatus.msg
+	GotoSetpoint.msg
 	GpioConfig.msg
 	GpioIn.msg
 	GpioOut.msg

msg/GotoSetpoint.msg

@@ -0,0 +1,25 @@
+# Position and (optional) heading setpoints with corresponding speed constraints
+# Setpoints are intended as inputs to position and heading smoothers, respectively
+# Setpoints do not need to be kinematically consistent
+# Optional heading setpoints may be specified as controlled by the respective flag
+# Unset optional setpoints are not controlled
+# Unset optional constraints default to vehicle specifications
+
+uint64 timestamp # time since system start (microseconds)
+
+# setpoints
+float32[3] position # [m] NED local world frame
+float32 heading # (optional) [rad] [-pi,pi] from North
+
+# setpoint flags
+bool flag_control_heading # true if heading is to be controlled
+
+# constraints
+float32 max_horizontal_speed # (optional) [m/s] maximum speed (absolute) in the NE-plane
+float32 max_vertical_speed # (optional) [m/s] maximum speed (absolute) in the D-axis
+float32 max_heading_rate # (optional) [rad/s] maximum heading rate (absolute)
+
+# constraint flags
+bool flag_set_max_horizontal_speed # true if setting a non-default horizontal speed limit
+bool flag_set_max_vertical_speed # true if setting a non-default vertical speed limit
+bool flag_set_max_heading_rate # true if setting a non-default heading rate limit