px4-firmware/msg/position_setpoint.msg

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

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_OFFBOARD=6 	# setpoint in NED frame (x, y, z, vx, vy, vz) set by offboard
uint8 SETPOINT_TYPE_FOLLOW_TARGET=7  # 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 x			# local position setpoint in m in NED
float32 y			# local position setpoint in m in NED
float32 z			# local position setpoint in m in NED
bool position_valid		# true if local position setpoint valid
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
bool disable_mc_yaw_control		# control yaw for mc (used for vtol weather-vane mode)
float32 yawspeed		# yawspeed (only for multirotors, in rad/s)
bool yawspeed_valid		# true if yawspeed setpoint valid
float32 loiter_radius		# loiter radius (only for fixed wing), in m
int8 loiter_direction		# loiter direction: 1 = CW, -1 = CCW
float32 pitch_min		# minimal pitch angle for fixed wing takeoff waypoints
float32 a_x			# acceleration x setpoint
float32 a_y			# acceleration y setpoint
float32 a_z			# acceleration z setpoint
bool acceleration_valid		# true if acceleration setpoint is valid/should be used
bool acceleration_is_force	# interprete acceleration as force
float32 acceptance_radius   # navigation acceptance_radius if we're doing waypoint navigation
float32 cruising_speed		# the generally desired cruising speed (not a hard constraint)
float32 cruising_throttle	# the generally desired cruising throttle (not a hard constraint)
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`

			`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_OFFBOARD=6 # setpoint in NED frame (x, y, z, vx, vy, vz) set by offboard`
velocity smoothing 2016-02-24 14:03:46 -04:00			`uint8 SETPOINT_TYPE_FOLLOW_TARGET=7 # 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`
			`float32 x # local position setpoint in m in NED`
			`float32 y # local position setpoint in m in NED`
			`float32 z # local position setpoint in m in NED`
			`bool position_valid # true if local position setpoint valid`
			`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.`
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`
orb topic messages: -added flag to enable weathervane yaw control for vtol -added comment to keep virtual topics and original topic identical 2016-02-12 07:30:13 -04:00			`bool disable_mc_yaw_control # control yaw for mc (used for vtol weather-vane mode)`
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`
			`float32 loiter_radius # loiter radius (only for fixed wing), in m`
			`int8 loiter_direction # loiter direction: 1 = CW, -1 = CCW`
			`float32 pitch_min # minimal pitch angle for fixed wing takeoff waypoints`
			`float32 a_x # acceleration x setpoint`
			`float32 a_y # acceleration y setpoint`
			`float32 a_z # acceleration z setpoint`
			`bool acceleration_valid # true if acceleration setpoint is valid/should be used`
			`bool acceleration_is_force # interprete acceleration as force`
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`
			`float32 cruising_speed # the generally desired cruising speed (not a hard constraint)`
Implement MAV_CMD_DO_CHANGE_SPEED throttle 2016-06-09 12:15:57 -03:00			`float32 cruising_throttle # the generally desired cruising throttle (not a hard constraint)`