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39 lines
1.7 KiB
Markdown
39 lines
1.7 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# 速度限制 (UORB 消息)
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Velocity and yaw rate limits for a multicopter position slow mode only.
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**TOPICS:** velocity_limits
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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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| horizontal_velocity | `float32` | 米/秒 | | |
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| vertical_velocity | `float32` | 米/秒 | | |
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| yaw_rate | `float32` | rad/s | | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VelocityLimits.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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# Velocity and yaw rate limits for a multicopter position slow mode only
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uint64 timestamp # time since system start (microseconds)
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# absolute speeds, NAN means use default limit
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float32 horizontal_velocity # [m/s]
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float32 vertical_velocity # [m/s]
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float32 yaw_rate # [rad/s]
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```
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:::
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