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vehicle_command: add initial frame support (GLOBAL & GLOBAL_RELATIVE_ALT)

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Daniel Agar
2024-05-02 16:49:37 +02:00
committed by Matthias Grob
parent c13e3bae12
commit ed35155b50
5 changed files with 45 additions and 2 deletions
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msg/VehicleCommand.msg
+6 -1
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@@ -165,7 +165,10 @@ int8 ARMING_ACTION_ARM = 1
uint8 GRIPPER_ACTION_RELEASE = 0
uint8 GRIPPER_ACTION_GRAB = 1
uint8 ORB_QUEUE_LENGTH = 8
uint8 frame # The coordinate system of the COMMAND.
uint8 FRAME_UNKNOWN = 0 # Not specified.
uint8 FRAME_GLOBAL = 1 # Global (WGS84) coordinate frame + MSL altitude.
uint8 FRAME_GLOBAL_RELATIVE_ALT = 2 # Global (WGS84) coordinate frame + altitude relative to the home position.
float32 param1 # Parameter 1, as defined by MAVLink uint16 VEHICLE_CMD enum.
float32 param2 # Parameter 2, as defined by MAVLink uint16 VEHICLE_CMD enum.
@@ -184,4 +187,6 @@ bool from_external
uint16 COMPONENT_MODE_EXECUTOR_START = 1000
uint8 ORB_QUEUE_LENGTH = 8
# TOPICS vehicle_command gimbal_v1_command vehicle_command_mode_executor