forked from Archive/PX4-Autopilot
Add uORB messages for bezier curve trajectories
This commit is contained in:
parent
5b8aa20c2f
commit
6e1185d4f2
|
@ -129,6 +129,7 @@ set(msg_files
|
|||
telemetry_status.msg
|
||||
test_motor.msg
|
||||
timesync_status.msg
|
||||
trajectory_bezier.msg
|
||||
trajectory_waypoint.msg
|
||||
transponder_report.msg
|
||||
tune_control.msg
|
||||
|
@ -158,6 +159,7 @@ set(msg_files
|
|||
vehicle_roi.msg
|
||||
vehicle_status.msg
|
||||
vehicle_status_flags.msg
|
||||
vehicle_trajectory_bezier.msg
|
||||
vehicle_trajectory_waypoint.msg
|
||||
vtol_vehicle_status.msg
|
||||
wheel_encoders.msg
|
||||
|
|
|
@ -285,6 +285,10 @@ rtps:
|
|||
id: 127
|
||||
- msg: hover_thrust_estimate
|
||||
id: 128
|
||||
- msg: trajectory_bezier
|
||||
id: 129
|
||||
- msg: vehicle_trajectory_bezier
|
||||
id: 130
|
||||
########## multi topics: begin ##########
|
||||
- msg: actuator_controls_0
|
||||
id: 150
|
||||
|
@ -354,4 +358,5 @@ rtps:
|
|||
- msg: estimator_innovation_test_ratios
|
||||
id: 171
|
||||
alias: estimator_innovations
|
||||
|
||||
########## multi topics: end ##########
|
||||
|
|
|
@ -0,0 +1,8 @@
|
|||
# Bezier Trajectory description. See also Mavlink TRAJECTORY msg
|
||||
# The topic trajectory_bezier describe each waypoint defined in vehicle_trajectory_bezier
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
float32[3] position
|
||||
float32 yaw
|
||||
float32 delta
|
|
@ -0,0 +1,18 @@
|
|||
# Vehicle Waypoints Trajectory description. See also MAVLink MAV_TRAJECTORY_REPRESENTATION msg
|
||||
# The topic vehicle_trajectory_bezier is used to send a smooth flight path from the
|
||||
# companion computer / avoidance module to the position controller.
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint8 POINT_0 = 0
|
||||
uint8 POINT_1 = 1
|
||||
uint8 POINT_2 = 2
|
||||
uint8 POINT_3 = 3
|
||||
uint8 POINT_4 = 4
|
||||
|
||||
uint8 NUMBER_POINTS = 5
|
||||
|
||||
trajectory_bezier[5] control_points
|
||||
uint8 bezier_order
|
||||
|
||||
# TOPICS vehicle_trajectory_bezier
|
Loading…
Reference in New Issue