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33 lines
1.3 KiB
Markdown
33 lines
1.3 KiB
Markdown
# VehicleTrajectoryWaypoint (UORB message)
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Vehicle Waypoints Trajectory description. See also MAVLink MAV_TRAJECTORY_REPRESENTATION msg
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The topic vehicle_trajectory_waypoint_desired is used to send the user desired waypoints from the position controller to the companion computer / avoidance module.
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The topic vehicle_trajectory_waypoint is used to send the adjusted waypoints from the companion computer / avoidance module to the position controller.
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleTrajectoryWaypoint.msg)
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```c
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# Vehicle Waypoints Trajectory description. See also MAVLink MAV_TRAJECTORY_REPRESENTATION msg
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# The topic vehicle_trajectory_waypoint_desired is used to send the user desired waypoints from the position controller to the companion computer / avoidance module.
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# The topic vehicle_trajectory_waypoint is used to send the adjusted waypoints from the companion computer / avoidance module to the position controller.
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uint64 timestamp # time since system start (microseconds)
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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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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 NUMBER_POINTS = 5
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TrajectoryWaypoint[5] waypoints
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# TOPICS vehicle_trajectory_waypoint vehicle_trajectory_waypoint_desired
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```
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