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16 lines
609 B
Plaintext
16 lines
609 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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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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