px4-firmware/msg/VehicleAttitudeSetpoint.msg

uint64 timestamp		# time since system start (microseconds)

float32 roll_body		# body angle in NED frame (can be NaN for FW)
float32 pitch_body		# body angle in NED frame (can be NaN for FW)
float32 yaw_body		# body angle in NED frame (can be NaN for FW)

float32 yaw_sp_move_rate	# rad/s (commanded by user)

# For quaternion-based attitude control
float32[4] q_d			# Desired quaternion for quaternion control

# For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand.
# For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
float32[3] thrust_body		# Normalized thrust command in body NED frame [-1,1]

bool reset_integral	# Reset roll/pitch/yaw integrals (navigation logic change)

bool fw_control_yaw_wheel	# control heading with steering wheel (used for auto takeoff on runway)

# TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint offboard_attitude_setpoint
add timestamp field to uORB msgs; sync timestamp whenever possible 2018-08-06 21:30:05 -03:00			`uint64 timestamp # time since system start (microseconds)`
move vehicle_attitude_setpoint to msg format 2014-12-08 05:37:01 -04:00
vehicle_attitude_setpoint: add comment that attitude sp angles can be NaN for FW 2018-11-09 03:26:50 -04:00			`float32 roll_body # body angle in NED frame (can be NaN for FW)`
			`float32 pitch_body # body angle in NED frame (can be NaN for FW)`
			`float32 yaw_body # body angle in NED frame (can be NaN for FW)`
removed attitude setpoint generation from mc_att_controller and moved to mc_pos_controller 2015-02-03 04:24:41 -04:00
beautify some identation 2018-08-07 10:42:32 -03:00			`float32 yaw_sp_move_rate # rad/s (commanded by user)`
move vehicle_attitude_setpoint to msg format 2014-12-08 05:37:01 -04:00
			`# For quaternion-based attitude control`
beautify some identation 2018-08-07 10:42:32 -03:00			`float32[4] q_d # Desired quaternion for quaternion control`
move vehicle_attitude_setpoint to msg format 2014-12-08 05:37:01 -04:00
VTOL rate control architecture improvements (#10819) * attitude and rate setpoint message: use 3D array for thrust demand * FixedWingAttitudeControl: rework airspeed scaling * move airspeed and scaling calculation into separate method * if vtol in hover and airspeed disabled use minimum airspeed instead of trim airspeed 2018-11-21 21:32:40 -04:00			`# For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand.`
			`# For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.`
			`float32[3] thrust_body # Normalized thrust command in body NED frame [-1,1]`
move vehicle_attitude_setpoint to msg format 2014-12-08 05:37:01 -04:00
FW separate reset integrals for messages (#20502) This commit separates integral resets for attitude and rate control setpoints 2022-11-01 02:06:27 -03:00			`bool reset_integral # Reset roll/pitch/yaw integrals (navigation logic change)`
added option for direct yaw control with rudder for fixed wing 2015-09-10 09:22:00 -03:00
VehicleAttitudeSetpoint: rename fw_control_yaw to fw_control_yaw_wheel to make usage clearer Signed-off-by: Silvan Fuhrer <silvan@auterion.com> 2022-10-31 12:54:32 -03:00			`bool fw_control_yaw_wheel # control heading with steering wheel (used for auto takeoff on runway)`
added flag for applying flaps 2015-10-13 17:47:26 -03:00
Add offboard mode swtich This commit adds a offboard mode switch module to enable using dedicated topics for offboard mode 2023-12-15 00:52:14 -04:00			`# TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint offboard_attitude_setpoint`