diff options
Diffstat (limited to 'src/modules/uORB/topics/position_setpoint_triplet.h')
| -rw-r--r-- | src/modules/uORB/topics/position_setpoint_triplet.h | 7 |
1 files changed, 7 insertions, 0 deletions
diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h index ec2131abd..cb2262534 100644 --- a/src/modules/uORB/topics/position_setpoint_triplet.h +++ b/src/modules/uORB/topics/position_setpoint_triplet.h @@ -79,10 +79,17 @@ struct position_setpoint_s double lon; /**< longitude, in deg */ float alt; /**< altitude AMSL, in m */ float yaw; /**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */ + bool yaw_valid; /**< true if yaw setpoint valid */ float yawspeed; /**< yawspeed (only for multirotors, in rad/s) */ + bool yawspeed_valid; /**< true if yawspeed setpoint valid */ float loiter_radius; /**< loiter radius (only for fixed wing), in m */ int8_t loiter_direction; /**< loiter direction: 1 = CW, -1 = CCW */ float pitch_min; /**< minimal pitch angle for fixed wing takeoff waypoints */ + float a_x; //**< acceleration x setpoint */ + float a_y; //**< acceleration y setpoint */ + float 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 */ }; /** |