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43 lines
2.2 KiB
Markdown
43 lines
2.2 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# PositionControllerStatus (UORB message)
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**TOPICS:** position_controller_status
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| ----------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| nav_roll | `float32` | | | Roll setpoint [rad] |
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| nav_pitch | `float32` | | | Pitch setpoint [rad] |
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| nav_bearing | `float32` | | | Bearing angle[rad] |
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| target_bearing | `float32` | | | Bearing angle from aircraft to current target [rad] |
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| xtrack_error | `float32` | | | Signed track error [m] |
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| wp_dist | `float32` | | | Distance to active (next) waypoint [m] |
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| acceptance_radius | `float32` | | | Current horizontal acceptance radius [m] |
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| type | `uint8` | | | Current (applied) position setpoint type (see PositionSetpoint.msg) |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PositionControllerStatus.msg)
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::: details Click here to see original file
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```c
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uint64 timestamp # time since system start (microseconds)
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float32 nav_roll # Roll setpoint [rad]
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float32 nav_pitch # Pitch setpoint [rad]
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float32 nav_bearing # Bearing angle[rad]
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float32 target_bearing # Bearing angle from aircraft to current target [rad]
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float32 xtrack_error # Signed track error [m]
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float32 wp_dist # Distance to active (next) waypoint [m]
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float32 acceptance_radius # Current horizontal acceptance radius [m]
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uint8 type # Current (applied) position setpoint type (see PositionSetpoint.msg)
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```
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:::
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