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15 lines
1.0 KiB
Plaintext
15 lines
1.0 KiB
Plaintext
uint64 timestamp # time since system start (microseconds)
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float32 measured_forward_speed # [m/s] Measured speed in body x direction. Forwards: positiv, Backwards: negativ
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float32 adjusted_forward_speed_setpoint # [m/s] Speed setpoint after applying slew rate
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float32 measured_yaw # [rad] Measured yaw
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float32 adjusted_yaw_setpoint # [rad] Yaw setpoint after applying slew rate
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float32 clyaw_yaw_rate_setpoint # [rad/s] Yaw rate setpoint output by the closed loop yaw controller
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float32 measured_yaw_rate # [rad/s] Measured yaw rate
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float32 adjusted_yaw_rate_setpoint # [rad/s] Yaw rate setpoint from the closed loop yaw controller
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float32 pid_yaw_integral # Integral of the PID for the closed loop yaw controller
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float32 pid_yaw_rate_integral # Integral of the PID for the closed loop yaw rate controller
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float32 pid_throttle_integral # Integral of the PID for the closed loop speed controller
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# TOPICS rover_differential_status
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