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JaeyoungLim
17 lines
573 B
Plaintext
17 lines
573 B
Plaintext
# 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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float64 lat # Latitude, (degrees)
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float64 lon # Longitude, (degrees)
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float32 alt # Altitude AMSL, (meters)
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# NED local world frame
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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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