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59 lines
3.4 KiB
Markdown
59 lines
3.4 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# RaptorInput (UORB message)
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Raptor Input.
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**TOPICS:** raptor_input
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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` | us | | Time since system start |
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| timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on |
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| active | `bool` | | | Signals if the policy is active (aka publishing actuator_motors) |
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| position | `float32[3]` | m [FLU] | | Position of the vehicle_local_position frame |
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| orientation | `float32[4]` | | | Orientation in the vehicle_attitude frame but using the FLU convention as a unit quaternion (w, x, y, z) |
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| linear_velocity | `float32[3]` | m/s [FLU] | | Linear velocity in the vehicle_local_position frame |
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| angular_velocity | `float32[3]` | rad/s [FLU] | | Angular velocity in the body frame |
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| previous_action | `float32[4]` | | [-1 : 1] | Previous action. Motor commands normalized to [-1, 1] |
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## Constants
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| Name | Type | Value | Description |
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| --------------------------------------------- | -------- | ----- | --------------------------------------------- |
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| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 |
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| <a id="#ACTION_DIM"></a> ACTION_DIM | `uint8` | 4 | Policy output dimensionality (for quadrotors) |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/RaptorInput.msg)
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::: details Click here to see original file
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```c
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# Raptor Input
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# The exact inputs to the Raptor foundation policy.
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# Having access to the exact inputs helps with debugging and post-hoc analysis.
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # [us] Time since system start
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uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
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bool active # Signals if the policy is active (aka publishing actuator_motors)
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float32[3] position # [m] [@frame FLU] Position of the vehicle_local_position frame
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float32[4] orientation # [-] Orientation in the vehicle_attitude frame but using the FLU convention as a unit quaternion (w, x, y, z)
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float32[3] linear_velocity # [m/s] [@frame FLU] Linear velocity in the vehicle_local_position frame
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float32[3] angular_velocity # [rad/s] [@frame FLU] Angular velocity in the body frame
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uint8 ACTION_DIM = 4 # Policy output dimensionality (for quadrotors)
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float32[4] previous_action # [@range -1, 1] Previous action. Motor commands normalized to [-1, 1]
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# TOPICS raptor_input
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```
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:::
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