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34 lines
1.4 KiB
Plaintext
34 lines
1.4 KiB
Plaintext
# Waypoints Trajectory description. See also Mavlink TRAJECTORY msg
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uint8 POINT_0 = 0
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uint8 POINT_1 = 1
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uint8 POINT_2 = 2
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uint8 POINT_3 = 3
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uint8 POINT_4 = 4
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uint8 X = 0
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uint8 Y = 1
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uint8 Z = 2
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uint8 VX = 3
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uint8 VY = 4
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uint8 VZ = 5
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uint8 AX = 6
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uint8 AY = 7
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uint8 AZ = 8
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uint8 YAW = 9
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uint8 YAW_SPEED = 10
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uint8 MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS = 0
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uint8 type # Type from MAV_TRAJECTORY_REPRESENTATION enum.
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float32[11] point_0 # MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS, index 0-2 position sp, index 3-5 velocity sp, index 6-8 acceleration sp, index 9 yaw, index 10 yaw speed
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float32[11] point_1 # MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS, index 0-2 position sp, index 3-5 velocity sp, index 6-8 acceleration sp, index 9 yaw, index 10 yaw speed
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float32[11] point_2 # MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS, index 0-2 position sp, index 3-5 velocity sp, index 6-8 acceleration sp, index 9 yaw, index 10 yaw speed
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float32[11] point_3 # MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS, index 0-2 position sp, index 3-5 velocity sp, index 6-8 acceleration sp, index 9 yaw, index 10 yaw speed
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float32[11] point_4 # MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS, index 0-2 position sp, index 3-5 velocity sp, index 6-8 acceleration sp, index 9 yaw, index 10 yaw speed
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bool[5] point_valid # States if respective point is valid
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# TOPICS trajectory_waypoint trajectory_waypoint_desired
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