mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
88d623bedb
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
48 lines
2.3 KiB
Markdown
48 lines
2.3 KiB
Markdown
# PositionSetpoint (повідомлення UORB)
|
||
|
||
цей файл використовується лише у потрійному підпорядкуванні позиції як залежність
|
||
|
||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PositionSetpoint.msg)
|
||
|
||
```c
|
||
# this file is only used in the position_setpoint triple as a dependency
|
||
|
||
uint64 timestamp # time since system start (microseconds)
|
||
|
||
uint8 SETPOINT_TYPE_POSITION=0 # position setpoint
|
||
uint8 SETPOINT_TYPE_VELOCITY=1 # velocity setpoint
|
||
uint8 SETPOINT_TYPE_LOITER=2 # loiter setpoint
|
||
uint8 SETPOINT_TYPE_TAKEOFF=3 # takeoff setpoint
|
||
uint8 SETPOINT_TYPE_LAND=4 # land setpoint, altitude must be ignored, descend until landing
|
||
uint8 SETPOINT_TYPE_IDLE=5 # do nothing, switch off motors or keep at idle speed (MC)
|
||
|
||
uint8 LOITER_TYPE_ORBIT=0 # Circular pattern
|
||
uint8 LOITER_TYPE_FIGUREEIGHT=1 # Pattern resembling an 8
|
||
|
||
bool valid # true if setpoint is valid
|
||
uint8 type # setpoint type to adjust behavior of position controller
|
||
|
||
float32 vx # local velocity setpoint in m/s in NED
|
||
float32 vy # local velocity setpoint in m/s in NED
|
||
float32 vz # local velocity setpoint in m/s in NED
|
||
|
||
float64 lat # latitude, in deg
|
||
float64 lon # longitude, in deg
|
||
float32 alt # altitude AMSL, in m
|
||
float32 yaw # yaw (only in hover), in rad [-PI..PI), NaN = leave to flight task
|
||
|
||
float32 loiter_radius # loiter major axis radius in m
|
||
float32 loiter_minor_radius # loiter minor axis radius (used for non-circular loiter shapes) in m
|
||
bool loiter_direction_counter_clockwise # loiter direction is clockwise by default and can be changed using this field
|
||
float32 loiter_orientation # Orientation of the major axis with respect to true north in rad [-pi,pi)
|
||
uint8 loiter_pattern # loitern pattern to follow
|
||
|
||
float32 acceptance_radius # horizontal acceptance_radius (meters)
|
||
float32 alt_acceptance_radius # vertical acceptance radius, only used for fixed wing guidance, NAN = let guidance choose (meters)
|
||
|
||
float32 cruising_speed # the generally desired cruising speed (not a hard constraint)
|
||
bool gliding_enabled # commands the vehicle to glide if the capability is available (fixed wing only)
|
||
float32 cruising_throttle # the generally desired cruising throttle (not a hard constraint), only has an effect for rover
|
||
|
||
```
|