2017-10-06 09:41:39 -03:00
|
|
|
int8 LANDING_GEAR_UP = 1 # landing gear up
|
|
|
|
|
int8 LANDING_GEAR_DOWN = -1 # landing gear down
|
2014-12-08 05:37:01 -04:00
|
|
|
|
|
|
|
|
float32 roll_body # body angle in NED frame
|
|
|
|
|
float32 pitch_body # body angle in NED frame
|
2015-02-03 04:24:41 -04:00
|
|
|
float32 yaw_body # body angle in NED frame
|
|
|
|
|
|
|
|
|
|
float32 yaw_sp_move_rate # rad/s (commanded by user)
|
2014-12-08 05:37:01 -04:00
|
|
|
|
|
|
|
|
# For quaternion-based attitude control
|
|
|
|
|
float32[4] q_d # Desired quaternion for quaternion control
|
|
|
|
|
bool q_d_valid # Set to true if quaternion vector is valid
|
|
|
|
|
|
|
|
|
|
float32 thrust # Thrust in Newton the power system should generate
|
|
|
|
|
|
|
|
|
|
bool roll_reset_integral # Reset roll integral part (navigation logic change)
|
|
|
|
|
bool pitch_reset_integral # Reset pitch integral part (navigation logic change)
|
|
|
|
|
bool yaw_reset_integral # Reset yaw integral part (navigation logic change)
|
2015-09-10 09:22:00 -03:00
|
|
|
|
2015-09-24 16:53:10 -03:00
|
|
|
bool fw_control_yaw # control heading with rudder (used for auto takeoff on runway)
|
2016-02-12 07:30:13 -04:00
|
|
|
bool disable_mc_yaw_control # control yaw for mc (used for vtol weather-vane mode)
|
2015-10-13 17:47:26 -03:00
|
|
|
|
2018-07-08 18:15:01 -03:00
|
|
|
uint8 apply_flaps # flap config specifier
|
|
|
|
|
uint8 FLAPS_OFF = 0 # no flaps
|
|
|
|
|
uint8 FLAPS_LAND = 1 # landing config flaps
|
|
|
|
|
uint8 FLAPS_TAKEOFF = 2 # take-off config flaps
|
2016-04-25 18:36:13 -03:00
|
|
|
|
2016-10-20 13:12:09 -03:00
|
|
|
float32 landing_gear
|
|
|
|
|
|
2017-04-09 14:17:20 -03:00
|
|
|
# TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
|
