diff options
Diffstat (limited to 'src/modules/uORB')
| -rw-r--r-- | src/modules/uORB/topics/position_setpoint_triplet.h | 9 |
1 files changed, 6 insertions, 3 deletions
diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h index a8bd6b8e3..4b57833b6 100644 --- a/src/modules/uORB/topics/position_setpoint_triplet.h +++ b/src/modules/uORB/topics/position_setpoint_triplet.h @@ -61,12 +61,15 @@ enum SETPOINT_TYPE struct position_setpoint_s { - bool valid; /**< true if point is valid */ + bool valid; /**< true if setpoint is valid */ + enum SETPOINT_TYPE type; /**< setpoint type to adjust behavior of position controller */ double lat; /**< latitude, in deg */ double lon; /**< longitude, in deg */ float alt; /**< altitude AMSL, in m */ - float yaw; /**< yaw (only for multirotors), in rad [-PI..PI), NaN to hold current yaw */ - enum SETPOINT_TYPE type; /**< setpoint type to adjust behavior of position controller */ + float yaw; /**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */ + 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 */ }; /** |