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px4-firmware/msg/PositionSetpoint.msg

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port more uorb headers to msg
2015-01-28 02:54:58 -04:00
# this file is only used in the position_setpoint triple as a dependency
beautify some identation
2018-08-07 10:42:32 -03:00
uint64 timestamp # time since system start (microseconds)
add timestamp field to uORB msgs; sync timestamp whenever possible
2018-08-06 21:30:05 -03:00
port more uorb headers to msg
2015-01-28 02:54:58 -04:00
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)
FixedwingPositionControl: Add support for figure 8 loitering. The command is sent by a dedicated mavlink command and forwarded to the fixed wing position controller. The pattern is defined by the radius of the major axis, the radius of the minor axis and the orientation. The pattern is then defined by: The upper part of the pattern consist of a clockwise circle with radius defined by the minor axis. The center of the circle is defined by the major axis minus the minor axis away from the pattern center. The lower part of the pattern consist of a counter-clockwise circle with the same definitions as above. In between, the circles are connected with straight lines in a cross configuration. The lines are always tangetial to the circles. The orientation rotates the major axis around the NED down axis. The loitering logic is defined inside its own class used by the fixed wing position control module. It defines which segment (one of the circles or lines) is active and uses the path controller (npfg or l1-control) to determine the desired roll angle. A feedback mavlink message is send with the executed pattern parameters.
2023-07-14 05:14:47 -03:00
uint8 LOITER_TYPE_ORBIT=0 # Circular pattern
uint8 LOITER_TYPE_FIGUREEIGHT=1 # Pattern resembling an 8
port more uorb headers to msg
2015-01-28 02:54:58 -04:00
bool valid # true if setpoint is valid
uint8 type # setpoint type to adjust behavior of position controller
navigator move parameters out of MissionBlock - MissionBlock is an interface with > 10 implementations
2017-09-07 14:14:58 -03:00
port more uorb headers to msg
2015-01-28 02:54:58 -04:00
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
navigator move parameters out of MissionBlock - MissionBlock is an interface with > 10 implementations
2017-09-07 14:14:58 -03:00
port more uorb headers to msg
2015-01-28 02:54:58 -04:00
float64 lat # latitude, in deg
float64 lon # longitude, in deg
float32 alt # altitude AMSL, in m
Navigator/FlightTaskAuto yaw handling improvements/simplifications (#22532) * PositionSetpoint: remove yaw_valid field * Navigator: set yaw setpoint to NAN for Takeoff Don't set a yaw setpoint for takeoff, as Navigator doesn't handle the yaw reset. The yaw setpoint generation is handled by FlightTaskAuto. * PositionSetpoint.msg: remove disable_weather_vane and instead only use the yaw field Strictly follow the concept that if the position_setpoint.yaw is set, then follow it the controller, and otherwise let the controller set it as it thinks it's best. * Navigator: remove logic that sets yaw to be accepted in TAKEOFF No longer needed as during Takeoff we anyway don't set a yaw setpoint. * PositionSetpoint.msg: remove yawspeed_valid * PositionSetpoint.msg: remove yawspeed * Navigator: set yaw setpoint to NAN instead of current In set_takeoff and set_land_item, as well as for VTOL transition. The flight tasks then set the yaw corresponding to the current yaw. * Navigator: change get_yaw_acceptance into a bool * PositionSetpoint.msg: improve comment for yaw * MissionBlock: remove unnecessary code from set_vtol_transition_item * Navigator: clean up calculate_breaking_stop(), set yaw to NAN * Navigator: set yaw to NAN in variouls places where not specifc setpoint is desired * Navigator: set yaw to NAN in reset_position_setpoint() --------- Signed-off-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Matthias Grob <maetugr@gmail.com>
2023-12-21 11:50:13 -04:00
float32 yaw # yaw (only in hover), in rad [-PI..PI), NaN = leave to flight task
navigator move parameters out of MissionBlock - MissionBlock is an interface with > 10 implementations
2017-09-07 14:14:58 -03:00
FixedwingPositionControl: Add support for figure 8 loitering. The command is sent by a dedicated mavlink command and forwarded to the fixed wing position controller. The pattern is defined by the radius of the major axis, the radius of the minor axis and the orientation. The pattern is then defined by: The upper part of the pattern consist of a clockwise circle with radius defined by the minor axis. The center of the circle is defined by the major axis minus the minor axis away from the pattern center. The lower part of the pattern consist of a counter-clockwise circle with the same definitions as above. In between, the circles are connected with straight lines in a cross configuration. The lines are always tangetial to the circles. The orientation rotates the major axis around the NED down axis. The loitering logic is defined inside its own class used by the fixed wing position control module. It defines which segment (one of the circles or lines) is active and uses the path controller (npfg or l1-control) to determine the desired roll angle. A feedback mavlink message is send with the executed pattern parameters.
2023-07-14 05:14:47 -03:00
float32 loiter_radius # loiter major axis radius in m
float32 loiter_minor_radius # loiter minor axis radius (used for non-circular loiter shapes) in m
position_setpoint: replaced loiter_direction integer by boolean (#20317) * position_setpoint: replaced loiter_direction integer by boolean (loiter_direction_counter_clockwise) Signed-off-by: RomanBapst <bapstroman@gmail.com>
2022-09-29 06:06:10 -03:00
bool loiter_direction_counter_clockwise # loiter direction is clockwise by default and can be changed using this field
FixedwingPositionControl: Add support for figure 8 loitering. The command is sent by a dedicated mavlink command and forwarded to the fixed wing position controller. The pattern is defined by the radius of the major axis, the radius of the minor axis and the orientation. The pattern is then defined by: The upper part of the pattern consist of a clockwise circle with radius defined by the minor axis. The center of the circle is defined by the major axis minus the minor axis away from the pattern center. The lower part of the pattern consist of a counter-clockwise circle with the same definitions as above. In between, the circles are connected with straight lines in a cross configuration. The lines are always tangetial to the circles. The orientation rotates the major axis around the NED down axis. The loitering logic is defined inside its own class used by the fixed wing position control module. It defines which segment (one of the circles or lines) is active and uses the path controller (npfg or l1-control) to determine the desired roll angle. A feedback mavlink message is send with the executed pattern parameters.
2023-07-14 05:14:47 -03:00
float32 loiter_orientation # Orientation of the major axis with respect to true north in rad [-pi,pi)
uint8 loiter_pattern # loitern pattern to follow
navigator move parameters out of MissionBlock - MissionBlock is an interface with > 10 implementations
2017-09-07 14:14:58 -03:00
Add field for desired cruising speed
2016-01-22 08:29:27 -04:00
float32 acceptance_radius # navigation acceptance_radius if we're doing waypoint navigation
navigator move parameters out of MissionBlock - MissionBlock is an interface with > 10 implementations
2017-09-07 14:14:58 -03:00
Add field for desired cruising speed
2016-01-22 08:29:27 -04:00
float32 cruising_speed # the generally desired cruising speed (not a hard constraint)
FixedWingPositionControl: do not pass trim throttle via position setpoint triplet - trim throttle is handled entirely by the position controller - navigator should use speed setpoints - added flag gliding_enabled in position setpoint to stills support gliding Signed-off-by: RomanBapst <bapstroman@gmail.com>
2022-07-07 06:27:35 -03:00
bool gliding_enabled # commands the vehicle to glide if the capability is available (fixed wing only)
added comment for cruising throttle only affecting rover Signed-off-by: RomanBapst <bapstroman@gmail.com>
2022-07-07 07:07:44 -03:00
float32 cruising_throttle # the generally desired cruising throttle (not a hard constraint), only has an effect for rover