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40 lines
2.2 KiB
Markdown
40 lines
2.2 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# PurePursuitStatus (UORB message)
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Pure pursuit status.
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**TOPICS:** pure_pursuit_status
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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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| lookahead_distance | `float32` | m | [0 : inf] | Lookahead distance of pure the pursuit controller |
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| target_bearing | `float32` | rad [NED] | [-pi : pi] | Target bearing calculated by the pure pursuit controller |
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| crosstrack_error | `float32` | m | [-inf (Left of the path) : inf (Right of the path)] | Shortest distance from the vehicle to the path |
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| distance_to_waypoint | `float32` | m | [-inf : inf] | Distance from the vehicle to the current waypoint |
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| bearing_to_waypoint | `float32` | rad [NED] | [-pi : pi] | Bearing towards current waypoint |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PurePursuitStatus.msg)
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::: details Click here to see original file
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```c
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# Pure pursuit status
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uint64 timestamp # [us] Time since system start
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float32 lookahead_distance # [m] [@range 0, inf] Lookahead distance of pure the pursuit controller
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float32 target_bearing # [rad] [@range -pi, pi] [@frame NED] Target bearing calculated by the pure pursuit controller
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float32 crosstrack_error # [m] [@range -inf (Left of the path), inf (Right of the path)] Shortest distance from the vehicle to the path
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float32 distance_to_waypoint # [m] [@range -inf, inf]Distance from the vehicle to the current waypoint
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float32 bearing_to_waypoint # [rad] [@range -pi, pi] [@frame NED]Bearing towards current waypoint
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```
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:::
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