diff options
Diffstat (limited to 'msg/position_setpoint.msg')
| -rw-r--r-- | msg/position_setpoint.msg | 35 |
1 files changed, 35 insertions, 0 deletions
diff --git a/msg/position_setpoint.msg b/msg/position_setpoint.msg new file mode 100644 index 000000000..ae6756aa8 --- /dev/null +++ b/msg/position_setpoint.msg @@ -0,0 +1,35 @@ +# this file is only used in the position_setpoint triple as a dependency + +uint8 SETPOINT_TYPE_POSITION=0 # position setpoint +uint8 SETPOINT_TYPE_VELOCITY=1 # velocity setpoint +uint8 SETPOINT_TYPE_LOITER=2 # loiter setpoint +uint8 SETPOINT_TYPE_TAKEOFF=3 # takeoff setpoint +uint8 SETPOINT_TYPE_LAND=4 # land setpoint, altitude must be ignored, descend until landing +uint8 SETPOINT_TYPE_IDLE=5 # do nothing, switch off motors or keep at idle speed (MC) +uint8 SETPOINT_TYPE_OFFBOARD=6 # setpoint in NED frame (x, y, z, vx, vy, vz) set by offboard + +bool valid # true if setpoint is valid +uint8 type # setpoint type to adjust behavior of position controller +float32 x # local position setpoint in m in NED +float32 y # local position setpoint in m in NED +float32 z # local position setpoint in m in NED +bool position_valid # true if local position setpoint valid +float32 vx # local velocity setpoint in m/s in NED +float32 vy # local velocity setpoint in m/s in NED +float32 vz # local velocity setpoint in m/s in NED +bool velocity_valid # true if local velocity setpoint valid +float64 lat # latitude, in deg +float64 lon # longitude, in deg +float32 alt # altitude AMSL, in m +float32 yaw # yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw +bool yaw_valid # true if yaw setpoint valid +float32 yawspeed # yawspeed (only for multirotors, in rad/s) +bool yawspeed_valid # true if yawspeed setpoint valid +float32 loiter_radius # loiter radius (only for fixed wing), in m +int8 loiter_direction # loiter direction: 1 = CW, -1 = CCW +float32 pitch_min # minimal pitch angle for fixed wing takeoff waypoints +float32 a_x # acceleration x setpoint +float32 a_y # acceleration y setpoint +float32 a_z # acceleration z setpoint +bool acceleration_valid # true if acceleration setpoint is valid/should be used +bool acceleration_is_force # interprete acceleration as force |