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7205e8f359
- move the update after the integration: a new computed jerk has an impact at the next epoch only - add jerk reduction in case of too large integration time: when a jerk of "min_jerk" during dt is too much - add jerk reduction if the integration time is larger than the predicted one and that integrating that jerk would lead to an acceleration overshoot - rename some variables
23 lines
756 B
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23 lines
756 B
Plaintext
# Local position setpoint in NED frame
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# setting something to NaN means the state should not be controlled
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uint64 timestamp # time since system start (microseconds)
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float32 x # in meters NED
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float32 y # in meters NED
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float32 z # in meters NED
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float32 yaw # in radians NED -PI..+PI
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float32 yawspeed # in radians/sec
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float32 vx # in meters/sec
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float32 vy # in meters/sec
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float32 vz # in meters/sec
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float32 acc_x # in meters/(sec*sec)
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float32 acc_y # in meters/(sec*sec)
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float32 acc_z # in meters/(sec*sec)
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float32 jerk_x # in meters/(sec*sec*sec)
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float32 jerk_y # in meters/(sec*sec*sec)
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float32 jerk_z # in meters/(sec*sec*sec)
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float32[3] thrust # normalized thrust vector in NED
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# TOPICS vehicle_local_position_setpoint trajectory_setpoint
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