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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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9ee8fa21cd
- .msg files are PascalCase - topics are still either per msg or explicitly listed in TOPICS - compatible structs are still generated (eg struct msg_s), but ROS2 style px4::msg::Msg is also available
26 lines
1.2 KiB
Plaintext
26 lines
1.2 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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