mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
589aff7e0d
For the RC controlled yaw behaviour, we do a yaw setpoint according to the stick expo. The uncontrolled yaw behaviour behaves undefined. Switching between yaw behaviours makes the drone stand still for a moment, which probably can be improved.
15 lines
959 B
Plaintext
15 lines
959 B
Plaintext
# ORBIT_YAW_BEHAVIOUR
|
|
uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER = 0
|
|
uint8 ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING = 1
|
|
uint8 ORBIT_YAW_BEHAVIOUR_UNCONTROLLED = 2
|
|
uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE = 3
|
|
uint8 ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED = 4
|
|
|
|
uint64 timestamp # time since system start (microseconds)
|
|
float32 radius # Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise. [m]
|
|
uint8 frame # The coordinate system of the fields: x, y, z.
|
|
float64 x # X coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.
|
|
float64 y # Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters * 1e4, global = latitude in degrees * 1e7.
|
|
float32 z # Altitude of center point. Coordinate system depends on frame field.
|
|
uint8 yaw_behaviour
|