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e01eaf172a
This adds the possibility to use offboard velocity control in the body frame and not just the NED (world) frame. The frame is set in the set_position_target_local_ned message and passed on to mc_pos_control in the position_setpoint topic.
47 lines
2.6 KiB
Plaintext
47 lines
2.6 KiB
Plaintext
# this file is only used in the position_setpoint triple as a dependency
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uint8 SETPOINT_TYPE_POSITION=0 # position setpoint
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uint8 SETPOINT_TYPE_VELOCITY=1 # velocity setpoint
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uint8 SETPOINT_TYPE_LOITER=2 # loiter setpoint
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uint8 SETPOINT_TYPE_TAKEOFF=3 # takeoff setpoint
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uint8 SETPOINT_TYPE_LAND=4 # land setpoint, altitude must be ignored, descend until landing
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uint8 SETPOINT_TYPE_IDLE=5 # do nothing, switch off motors or keep at idle speed (MC)
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uint8 SETPOINT_TYPE_OFFBOARD=6 # setpoint in NED frame (x, y, z, vx, vy, vz) set by offboard
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uint8 SETPOINT_TYPE_FOLLOW_TARGET=7 # setpoint in NED frame (x, y, z, vx, vy, vz) set by follow target
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uint8 VELOCITY_FRAME_LOCAL_NED = 1 # MAV_FRAME_LOCAL_NED
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uint8 VELOCITY_FRAME_BODY_NED = 8 # MAV_FRAME_BODY_NED
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bool valid # true if setpoint is valid
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uint8 type # setpoint type to adjust behavior of position controller
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float32 x # local position setpoint in m in NED
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float32 y # local position setpoint in m in NED
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float32 z # local position setpoint in m in NED
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bool position_valid # true if local position setpoint valid
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float32 vx # local velocity setpoint in m/s in NED
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float32 vy # local velocity setpoint in m/s in NED
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float32 vz # local velocity setpoint in m/s in NED
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bool velocity_valid # true if local velocity setpoint valid
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uint8 velocity_frame # to set velocity setpoints in NED or body
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bool alt_valid # do not set for 3D position control. Set to true if you want z-position control while doing vx,vy velocity control.
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float64 lat # latitude, in deg
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float64 lon # longitude, in deg
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float32 alt # altitude AMSL, in m
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float32 yaw # yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw
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bool yaw_valid # true if yaw setpoint valid
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bool disable_mc_yaw_control # control yaw for mc (used for vtol weather-vane mode)
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float32 yawspeed # yawspeed (only for multirotors, in rad/s)
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bool yawspeed_valid # true if yawspeed setpoint valid
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float32 loiter_radius # loiter radius (only for fixed wing), in m
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int8 loiter_direction # loiter direction: 1 = CW, -1 = CCW
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float32 pitch_min # minimal pitch angle for fixed wing takeoff waypoints
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float32 a_x # acceleration x setpoint
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float32 a_y # acceleration y setpoint
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float32 a_z # acceleration z setpoint
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bool acceleration_valid # true if acceleration setpoint is valid/should be used
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bool acceleration_is_force # interprete acceleration as force
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float32 acceptance_radius # navigation acceptance_radius if we're doing waypoint navigation
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float32 cruising_speed # the generally desired cruising speed (not a hard constraint)
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float32 cruising_throttle # the generally desired cruising throttle (not a hard constraint)
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