mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
28 lines
1.2 KiB
Plaintext
28 lines
1.2 KiB
Plaintext
# Position and (optional) heading setpoints with corresponding speed constraints
|
|
#
|
|
# Setpoints are intended as inputs to position and heading smoothers, respectively.
|
|
# Setpoints do not need to be kinematically consistent.
|
|
# Optional heading setpoints may be specified as controlled by the respective flag.
|
|
# Unset optional setpoints are not controlled.
|
|
# Unset optional constraints default to vehicle specifications.
|
|
|
|
uint32 MESSAGE_VERSION = 0
|
|
|
|
uint64 timestamp # [us] Time since system start
|
|
|
|
# setpoints
|
|
float32[3] position # [m] [@frame NED] NED local world frame
|
|
|
|
bool flag_control_heading # true if heading is to be controlled
|
|
float32 heading # (optional) [rad] [-pi,pi] from North
|
|
|
|
# constraints
|
|
bool flag_set_max_horizontal_speed # true if setting a non-default horizontal speed limit
|
|
float32 max_horizontal_speed # [m/s] (optional) Maximum speed (absolute) in the NE-plane
|
|
|
|
bool flag_set_max_vertical_speed # true if setting a non-default vertical speed limit
|
|
float32 max_vertical_speed # [m/s] (optional) Maximum speed (absolute) in the D-axis
|
|
|
|
bool flag_set_max_heading_rate # true if setting a non-default heading rate limit
|
|
float32 max_heading_rate # [rad/s] (optional) Maximum heading rate (absolute)
|