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44 lines
2.7 KiB
Markdown
44 lines
2.7 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# FollowTargetStatus (UORB message)
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**TOPICS:** follow_target_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` | microseconds | | time since system start |
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| tracked_target_course | `float32` | rad | | Tracked target course in NED local frame (North is course zero) |
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| follow_angle | `float32` | rad | | Current follow angle setting |
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| orbit_angle_setpoint | `float32` | rad | | Current orbit angle setpoint from the smooth trajectory generator |
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| angular_rate_setpoint | `float32` | rad/s | | Angular rate commanded from Jerk-limited Orbit Angle trajectory for Orbit Angle |
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| desired_position_raw | `float32[3]` | m | | Raw 'idealistic' desired drone position if a drone could teleport from place to places |
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| in_emergency_ascent | `bool` | bool | | True when doing emergency ascent (when distance to ground is below safety altitude) |
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| gimbal_pitch | `float32` | rad | | Gimbal pitch commanded to track target in the center of the frame |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FollowTargetStatus.msg)
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::: details Click here to see original file
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```c
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uint64 timestamp # [microseconds] time since system start
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float32 tracked_target_course # [rad] Tracked target course in NED local frame (North is course zero)
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float32 follow_angle # [rad] Current follow angle setting
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float32 orbit_angle_setpoint # [rad] Current orbit angle setpoint from the smooth trajectory generator
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float32 angular_rate_setpoint # [rad/s] Angular rate commanded from Jerk-limited Orbit Angle trajectory for Orbit Angle
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float32[3] desired_position_raw # [m] Raw 'idealistic' desired drone position if a drone could teleport from place to places
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bool in_emergency_ascent # [bool] True when doing emergency ascent (when distance to ground is below safety altitude)
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float32 gimbal_pitch # [rad] Gimbal pitch commanded to track target in the center of the frame
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```
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:::
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