2018-08-06 21:30:05 -03:00
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uint64 timestamp # time since system start (microseconds)
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2017-10-06 09:41:39 -03:00
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int8 LANDING_GEAR_UP = 1 # landing gear up
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int8 LANDING_GEAR_DOWN = -1 # landing gear down
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2014-12-08 05:37:01 -04:00
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2018-11-09 03:26:50 -04:00
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float32 roll_body # body angle in NED frame (can be NaN for FW)
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float32 pitch_body # body angle in NED frame (can be NaN for FW)
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float32 yaw_body # body angle in NED frame (can be NaN for FW)
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2015-02-03 04:24:41 -04:00
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2018-08-07 10:42:32 -03:00
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float32 yaw_sp_move_rate # rad/s (commanded by user)
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2014-12-08 05:37:01 -04:00
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# For quaternion-based attitude control
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2018-08-07 10:42:32 -03:00
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float32[4] q_d # Desired quaternion for quaternion control
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bool q_d_valid # Set to true if quaternion vector is valid
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2014-12-08 05:37:01 -04:00
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2018-08-07 10:42:32 -03:00
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float32 thrust # Thrust in Newton the power system should generate
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2014-12-08 05:37:01 -04:00
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2018-08-07 10:42:32 -03:00
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bool roll_reset_integral # Reset roll integral part (navigation logic change)
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bool pitch_reset_integral # Reset pitch integral part (navigation logic change)
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bool yaw_reset_integral # Reset yaw integral part (navigation logic change)
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2015-09-10 09:22:00 -03:00
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2018-08-07 10:42:32 -03:00
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bool fw_control_yaw # control heading with rudder (used for auto takeoff on runway)
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2015-10-13 17:47:26 -03:00
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2018-08-07 10:42:32 -03:00
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uint8 apply_flaps # flap config specifier
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uint8 FLAPS_OFF = 0 # no flaps
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uint8 FLAPS_LAND = 1 # landing config flaps
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uint8 FLAPS_TAKEOFF = 2 # take-off config flaps
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2016-04-25 18:36:13 -03:00
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2016-10-20 13:12:09 -03:00
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float32 landing_gear
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2017-04-09 14:17:20 -03:00
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# TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
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