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21a2892f47
[4] is reserved for Flaps, so also having the tilt on it was preventing us from using flaps on tiltrotors, and other ripple effects. By using [8] the tilt is separated from all other channels - it requires to increase the size of actuator_controls by 1 to 9. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
33 lines
1.5 KiB
Plaintext
33 lines
1.5 KiB
Plaintext
uint64 timestamp # time since system start (microseconds)
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float32 roll_body # body angle in NED frame (can be NaN for FW)
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float32 pitch_body # body angle in NED frame (can be NaN for FW)
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float32 yaw_body # body angle in NED frame (can be NaN for FW)
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float32 yaw_sp_move_rate # rad/s (commanded by user)
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# For quaternion-based attitude control
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float32[4] q_d # Desired quaternion for quaternion control
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# For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand.
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# For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
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float32[3] thrust_body # Normalized thrust command in body NED frame [-1,1]
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bool roll_reset_integral # Reset roll integral part (navigation logic change)
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bool pitch_reset_integral # Reset pitch integral part (navigation logic change)
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bool yaw_reset_integral # Reset yaw integral part (navigation logic change)
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bool fw_control_yaw # control heading with rudder (used for auto takeoff on runway)
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uint8 apply_flaps # flap config specifier
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uint8 FLAPS_OFF = 0 # no flaps
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uint8 FLAPS_LAND = 1 # landing config flaps
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uint8 FLAPS_TAKEOFF = 2 # take-off config flaps
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uint8 apply_spoilers # spoiler config specifier
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uint8 SPOILERS_OFF = 0 # no spoilers
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uint8 SPOILERS_LAND = 1 # landing config spoiler
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uint8 SPOILERS_DESCEND = 2 # descend config spoiler
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# TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
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