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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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d0c9a5fc93
- handle SET_POSITION_TARGET_LOCAL_NED and SET_POSITION_TARGET_GLOBAL_INT with ORB_ID(trajectory_setpoint) - FlightTaskOffboard not needed at all - bypass position_setpoint_triplet entirely (start removing extraneous fields) - simplify offboard_control_mode to map to supported control modes
51 lines
2.4 KiB
Plaintext
51 lines
2.4 KiB
Plaintext
# this file is only used in the position_setpoint triple as a dependency
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uint64 timestamp # time since system start (microseconds)
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uint8 SETPOINT_TYPE_POSITION=0 # position setpoint
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uint8 SETPOINT_TYPE_VELOCITY=1 # velocity setpoint
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uint8 SETPOINT_TYPE_LOITER=2 # loiter setpoint
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uint8 SETPOINT_TYPE_TAKEOFF=3 # takeoff setpoint
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uint8 SETPOINT_TYPE_LAND=4 # land setpoint, altitude must be ignored, descend until landing
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uint8 SETPOINT_TYPE_IDLE=5 # do nothing, switch off motors or keep at idle speed (MC)
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uint8 SETPOINT_TYPE_FOLLOW_TARGET=6 # setpoint in NED frame (x, y, z, vx, vy, vz) set by follow target
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uint8 VELOCITY_FRAME_LOCAL_NED = 1 # MAV_FRAME_LOCAL_NED
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uint8 VELOCITY_FRAME_BODY_NED = 8 # MAV_FRAME_BODY_NED
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bool valid # true if setpoint is valid
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uint8 type # setpoint type to adjust behavior of position controller
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float32 x # local position setpoint in m in NED
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float32 y # local position setpoint in m in NED
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float32 z # local position setpoint in m in NED
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bool position_valid # true if local position setpoint valid
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float32 vx # local velocity setpoint in m/s in NED
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float32 vy # local velocity setpoint in m/s in NED
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float32 vz # local velocity setpoint in m/s in NED
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bool velocity_valid # true if local velocity setpoint valid
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uint8 velocity_frame # to set velocity setpoints in NED or body
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bool alt_valid # do not set for 3D position control. Set to true if you want z-position control while doing vx,vy velocity control.
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float64 lat # latitude, in deg
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float64 lon # longitude, in deg
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float32 alt # altitude AMSL, in m
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float32 yaw # yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw
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bool yaw_valid # true if yaw setpoint valid
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float32 yawspeed # yawspeed (only for multirotors, in rad/s)
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bool yawspeed_valid # true if yawspeed setpoint valid
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int8 landing_gear # landing gear: see definition of the states in landing_gear.msg
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float32 loiter_radius # loiter radius (only for fixed wing), in m
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int8 loiter_direction # loiter direction: 1 = CW, -1 = CCW
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float32 acceptance_radius # navigation acceptance_radius if we're doing waypoint navigation
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float32 cruising_speed # the generally desired cruising speed (not a hard constraint)
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float32 cruising_throttle # the generally desired cruising throttle (not a hard constraint)
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bool disable_weather_vane # VTOL: disable (in auto mode) the weather vane feature that turns the nose into the wind
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