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31 lines
916 B
Markdown
31 lines
916 B
Markdown
# VehicleRoi (UORB message)
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Vehicle Region Of Interest (ROI)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleRoi.msg)
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```c
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# Vehicle Region Of Interest (ROI)
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uint64 timestamp # time since system start (microseconds)
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uint8 ROI_NONE = 0 # No region of interest
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uint8 ROI_WPNEXT = 1 # Point toward next MISSION with optional offset
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uint8 ROI_WPINDEX = 2 # Point toward given MISSION
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uint8 ROI_LOCATION = 3 # Point toward fixed location
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uint8 ROI_TARGET = 4 # Point toward target
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uint8 ROI_ENUM_END = 5
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uint8 mode # ROI mode (see above)
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float64 lat # Latitude to point to
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float64 lon # Longitude to point to
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float32 alt # Altitude to point to
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# additional angle offsets to next waypoint (only used with ROI_WPNEXT)
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float32 roll_offset # angle offset in rad
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float32 pitch_offset # angle offset in rad
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float32 yaw_offset # angle offset in rad
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```
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