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60 lines
5.7 KiB
Markdown
60 lines
5.7 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# OrbitStatus (UORB message)
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ORBIT_YAW_BEHAVIOUR.
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**TOPICS:** orbit_status
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## Fields
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| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
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| ---------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| radius | `float32` | | | Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise. [m] |
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| frame | `uint8` | | | The coordinate system of the fields: x, y, z. |
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| x | `float64` | | | X coordinate of center point. Coordinate system depends on frame field: local = x position in meters _ 1e4, global = latitude in degrees _ 1e7. |
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| y | `float64` | | | Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters _ 1e4, global = latitude in degrees _ 1e7. |
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| z | `float32` | | | Altitude of center point. Coordinate system depends on frame field. |
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| yaw_behaviour | `uint8` | | | |
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## Constants
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| 参数名 | 类型 | 值 | 描述 |
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| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------- | - | -- |
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| <a id="#ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER"></a> ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER | `uint8` | 0 | |
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| <a id="#ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING"></a> ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING | `uint8` | 1 | |
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| <a id="#ORBIT_YAW_BEHAVIOUR_UNCONTROLLED"></a> ORBIT_YAW_BEHAVIOUR_UNCONTROLLED | `uint8` | 2 | |
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| <a id="#ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE"></a> ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE | `uint8` | 3 | |
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| <a id="#ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED"></a> ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED | `uint8` | 4 | |
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| <a id="#ORBIT_YAW_BEHAVIOUR_UNCHANGED"></a> ORBIT_YAW_BEHAVIOUR_UNCHANGED | `uint8` | 5 | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OrbitStatus.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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# ORBIT_YAW_BEHAVIOUR
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uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER = 0
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uint8 ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING = 1
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uint8 ORBIT_YAW_BEHAVIOUR_UNCONTROLLED = 2
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uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE = 3
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uint8 ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED = 4
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uint8 ORBIT_YAW_BEHAVIOUR_UNCHANGED = 5
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uint64 timestamp # time since system start (microseconds)
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float32 radius # Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise. [m]
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uint8 frame # The coordinate system of the fields: x, y, z.
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float64 x # X coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.
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float64 y # Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters * 1e4, global = latitude in degrees * 1e7.
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float32 z # Altitude of center point. Coordinate system depends on frame field.
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uint8 yaw_behaviour
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```
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:::
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