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30 lines
1.2 KiB
Markdown
30 lines
1.2 KiB
Markdown
# TrajectorySetpoint (повідомлення UORB)
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Traекторія вказівки в рамці NED
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Вхід до контролера позиції PID.
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Потрібно мати кінематичну консистентність і бути можливим для плавного польоту.
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встановлення значення NaN означає, що стан не повинен контролюватися
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/TrajectorySetpoint.msg)
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```c
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# Trajectory setpoint in NED frame
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# Input to PID position controller.
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# Needs to be kinematically consistent and feasible for smooth flight.
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# setting a value to NaN means the state should not be controlled
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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# NED local world frame
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float32[3] position # in meters
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float32[3] velocity # in meters/second
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float32[3] acceleration # in meters/second^2
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float32[3] jerk # in meters/second^3 (for logging only)
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float32 yaw # euler angle of desired attitude in radians -PI..+PI
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float32 yawspeed # angular velocity around NED frame z-axis in radians/second
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```
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