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57 lines
3.2 KiB
Markdown
57 lines
3.2 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# TrajectorySetpoint (повідомлення UORB)
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Trajectory setpoint in NED frame. Input to PID position controller. Потрібно мати кінематичну консистентність і бути можливим для плавного польоту. setting a value to NaN means the state should not be controlled.
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**TOPICS:** trajectory_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` | | | time since system start (microseconds) |
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| положення | `float32[3]` | | | in meters |
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| швидкість | `float32[3]` | | | in meters/second |
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| acceleration | `float32[3]` | | | in meters/second^2 |
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| jerk | `float32[3]` | | | in meters/second^3 (for logging only) |
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| yaw | `float32` | | | euler angle of desired attitude in radians -PI..+PI |
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| yawspeed | `float32` | | | angular velocity around NED frame z-axis in radians/second |
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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/TrajectorySetpoint.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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# Trajectory setpoint in NED frame
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# Input to PID position controller.
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# Needs to be kinematically consistent and feasible for smooth flight.
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# setting a value to NaN means the state should not be controlled
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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# NED local world frame
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float32[3] position # in meters
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float32[3] velocity # in meters/second
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float32[3] acceleration # in meters/second^2
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float32[3] jerk # in meters/second^3 (for logging only)
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float32 yaw # euler angle of desired attitude in radians -PI..+PI
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float32 yawspeed # angular velocity around NED frame z-axis in radians/second
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```
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:::
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