px4-firmware/msg/position_setpoint.msg

# this file is only used in the position_setpoint triple as a dependency

uint64 timestamp		# time since system start (microseconds)

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_FOLLOW_TARGET=6  # setpoint in NED frame (x, y, z, vx, vy, vz) set by follow target

uint8 VELOCITY_FRAME_LOCAL_NED = 1 # MAV_FRAME_LOCAL_NED
uint8 VELOCITY_FRAME_BODY_NED = 8 # MAV_FRAME_BODY_NED

bool valid			# true if setpoint is valid
uint8 type			# setpoint type to adjust behavior of position controller

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
uint8 velocity_frame		# to set velocity setpoints in NED or body
bool alt_valid		# do not set for 3D position control. Set to true if you want z-position control while doing vx,vy velocity control.

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

int8 landing_gear		# landing gear: see definition of the states in landing_gear.msg

float32 loiter_radius		# loiter radius (only for fixed wing), in m
int8 loiter_direction		# loiter direction: 1 = CW, -1 = CCW

float32 acceptance_radius   # navigation acceptance_radius if we're doing waypoint navigation

float32 cruising_speed		# the generally desired cruising speed (not a hard constraint)
bool gliding_enabled		# commands the vehicle to glide if the capability is available (fixed wing only)
float32 cruising_throttle	# the generally desired cruising throttle (not a hard constraint), only has an effect for rover

bool disable_weather_vane   # VTOL: disable (in auto mode) the weather vane feature that turns the nose into the wind
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)`
OFFBOARD mode architecture overhaul (#16739) - handle SET_POSITION_TARGET_LOCAL_NED and SET_POSITION_TARGET_GLOBAL_INT with ORB_ID(trajectory_setpoint) - FlightTaskOffboard not needed at all - bypass position_setpoint_triplet entirely (start removing extraneous fields) - simplify offboard_control_mode to map to supported control modes 2021-03-05 10:39:46 -04:00			`uint8 SETPOINT_TYPE_FOLLOW_TARGET=6 # setpoint in NED frame (x, y, z, vx, vy, vz) set by follow target`
port more uorb headers to msg 2015-01-28 02:54:58 -04:00
Add body/NED frame for offboard velocity control This adds the possibility to use offboard velocity control in the body frame and not just the NED (world) frame. The frame is set in the set_position_target_local_ned message and passed on to mc_pos_control in the position_setpoint topic. 2016-11-21 10:53:39 -04:00			`uint8 VELOCITY_FRAME_LOCAL_NED = 1 # MAV_FRAME_LOCAL_NED`
			`uint8 VELOCITY_FRAME_BODY_NED = 8 # MAV_FRAME_BODY_NED`

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`
			`bool velocity_valid # true if local velocity setpoint valid`
Add body/NED frame for offboard velocity control This adds the possibility to use offboard velocity control in the body frame and not just the NED (world) frame. The frame is set in the set_position_target_local_ned message and passed on to mc_pos_control in the position_setpoint topic. 2016-11-21 10:53:39 -04:00			`uint8 velocity_frame # to set velocity setpoints in NED or body`
Offboard control (#5816) * Fix jmavsim HITL simulation of MAV_CMD_DO_REPOSITION in the case where you have no radio attached to the PX4 and so you have disabled RC link loss for that reason (set NAV_RCL_ACT = 0) but you still want the jmavsimulation to work. The line of code changed here causes failsafe RTL to kick in without this fix. * Add altitude hold option using Z position control, while doing velocity control on vx and vy. * Fix style and rebase issues 2016-11-07 07:09:41 -04:00			`bool alt_valid # do not set for 3D position control. Set to true if you want z-position control while doing vx,vy velocity control.`
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`
			`float32 yaw # yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw`
			`bool yaw_valid # true if yaw setpoint valid`
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 yawspeed # yawspeed (only for multirotors, in rad/s)`
			`bool yawspeed_valid # true if yawspeed setpoint valid`
navigator move parameters out of MissionBlock - MissionBlock is an interface with > 10 implementations 2017-09-07 14:14:58 -03:00
position_setpoint: Change deploy gear to landing gear - Use the values from landing_gear.msg 2018-11-06 08:58:45 -04:00			`int8 landing_gear # landing gear: see definition of the states in landing_gear.msg`
FlightTask Auto: Save deploy gear information 2018-11-05 09:47:18 -04:00
port more uorb headers to msg 2015-01-28 02:54:58 -04:00			`float32 loiter_radius # loiter radius (only for fixed wing), in m`
			`int8 loiter_direction # loiter direction: 1 = CW, -1 = CCW`
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`
Navigator: VTOL: disable weather vane during yaw aligning before front transition Signed-off-by: Silvan Fuhrer <silvan@auterion.com> 2019-08-15 10:55:35 -03:00
Navigator: make weather vane work in all auto modes, not just mission (#13761) - rename of flag in position sp: from allow_weather_vane to disable_weather_vane - flag now doesn't have to be set for all auto modes, meaning that weather vane is also active outside of mission - flag is set before front transition to align with wp, and unset after alignment is over Signed-off-by: Silvan Fuhrer <silvan@auterion.com> 2019-12-28 13:13:16 -04:00			`bool disable_weather_vane # VTOL: disable (in auto mode) the weather vane feature that turns the nose into the wind`