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76 lines
5.9 KiB
Markdown
76 lines
5.9 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# GotoSetpoint (повідомлення UORB)
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Position and (optional) heading setpoints with corresponding speed constraints.
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Setpoints are intended as inputs to position and heading smoothers, respectively.
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Setpoints do not need to be kinematically consistent.
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Optional heading setpoints may be specified as controlled by the respective flag.
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Unset optional setpoints are not controlled.
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Unset optional constraints default to vehicle specifications.
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**TOPICS:** goto_setpoint
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## Fields
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| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
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| ----------------------------------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| timestamp | `uint64` | us | | Time since system start |
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| положення | `float32[3]` | m [NED] | | NED local world frame |
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| flag_control_heading | `bool` | | | true if heading is to be controlled |
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| heading | `float32` | | | (optional) [rad] [-pi,pi] from North |
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| flag_set_max_horizontal_speed | `bool` | | | true if setting a non-default horizontal speed limit |
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| max_horizontal_speed | `float32` | m/s | | (optional) Maximum speed (absolute) in the NE-plane |
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| flag_set_max_vertical_speed | `bool` | | | true if setting a non-default vertical speed limit |
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| max_vertical_speed | `float32` | m/s | | (optional) Maximum speed (absolute) in the D-axis |
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| flag_set_max_heading_rate | `bool` | | | true if setting a non-default heading rate limit |
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| max_heading_rate | `float32` | rad/s | | (optional) Maximum heading rate (absolute) |
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## Constants
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| Назва | Тип | Значення | Опис |
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| ------------------------------------------------------------------ | -------- | -------- | ---- |
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| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/GotoSetpoint.msg)
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:::details
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Click here to see original file
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```c
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# Position and (optional) heading setpoints with corresponding speed constraints
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#
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# Setpoints are intended as inputs to position and heading smoothers, respectively.
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# Setpoints do not need to be kinematically consistent.
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# Optional heading setpoints may be specified as controlled by the respective flag.
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# Unset optional setpoints are not controlled.
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# Unset optional constraints default to vehicle specifications.
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # [us] Time since system start
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# setpoints
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float32[3] position # [m] [@frame NED] NED local world frame
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bool flag_control_heading # true if heading is to be controlled
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float32 heading # (optional) [rad] [-pi,pi] from North
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# constraints
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bool flag_set_max_horizontal_speed # true if setting a non-default horizontal speed limit
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float32 max_horizontal_speed # [m/s] (optional) Maximum speed (absolute) in the NE-plane
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bool flag_set_max_vertical_speed # true if setting a non-default vertical speed limit
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float32 max_vertical_speed # [m/s] (optional) Maximum speed (absolute) in the D-axis
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bool flag_set_max_heading_rate # true if setting a non-default heading rate limit
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float32 max_heading_rate # [rad/s] (optional) Maximum heading rate (absolute)
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```
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:::
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