mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
46 lines
2.5 KiB
Markdown
46 lines
2.5 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# OffboardControlMode (UORB message)
|
|
|
|
Off-board control mode.
|
|
|
|
**TOPICS:** offboard_control_mode
|
|
|
|
## Fields
|
|
|
|
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
|
|
| ----------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
|
|
| timestamp | `uint64` | | | time since system start (microseconds) |
|
|
| position | `bool` | | | |
|
|
| velocity | `bool` | | | |
|
|
| acceleration | `bool` | | | |
|
|
| attitude | `bool` | | | |
|
|
| body_rate | `bool` | | | |
|
|
| thrust_and_torque | `bool` | | | |
|
|
| direct_actuator | `bool` | | | |
|
|
|
|
## Source Message
|
|
|
|
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OffboardControlMode.msg)
|
|
|
|
:::details
|
|
Click here to see original file
|
|
|
|
```c
|
|
# Off-board control mode
|
|
|
|
uint64 timestamp # time since system start (microseconds)
|
|
|
|
bool position
|
|
bool velocity
|
|
bool acceleration
|
|
bool attitude
|
|
bool body_rate
|
|
bool thrust_and_torque
|
|
bool direct_actuator
|
|
```
|
|
|
|
:::
|