msg: add go-to setpoint interface

This commit is contained in:
Thomas Stastny 2023-11-15 11:24:10 +01:00 committed by Matthias Grob
parent 72a811a4b3
commit e47aba8bc9
4 changed files with 30 additions and 0 deletions

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@ -104,6 +104,7 @@ set(msg_files
GimbalManagerSetAttitude.msg GimbalManagerSetAttitude.msg
GimbalManagerSetManualControl.msg GimbalManagerSetManualControl.msg
GimbalManagerStatus.msg GimbalManagerStatus.msg
GotoSetpoint.msg
GpioConfig.msg GpioConfig.msg
GpioIn.msg GpioIn.msg
GpioOut.msg GpioOut.msg

25
msg/GotoSetpoint.msg Normal file
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@ -0,0 +1,25 @@
# Position and (optional) heading setpoints with corresponding speed constraints
# Setpoints are intended as inputs to position and heading smoothers, respectively
# Setpoints do not need to be kinematically consistent
# Optional heading setpoints may be specified as controlled by the respective flag
# Unset optional setpoints are not controlled
# Unset optional constraints default to vehicle specifications
uint64 timestamp # time since system start (microseconds)
# setpoints
float32[3] position # [m] NED local world frame
float32 heading # (optional) [rad] [-pi,pi] from North
# setpoint flags
bool flag_control_heading # true if heading is to be controlled
# constraints
float32 max_horizontal_speed # (optional) [m/s] maximum speed (absolute) in the NE-plane
float32 max_vertical_speed # (optional) [m/s] maximum speed (absolute) in the D-axis
float32 max_heading_rate # (optional) [rad/s] maximum heading rate (absolute)
# constraint flags
bool flag_set_max_horizontal_speed # true if setting a non-default horizontal speed limit
bool flag_set_max_vertical_speed # true if setting a non-default vertical speed limit
bool flag_set_max_heading_rate # true if setting a non-default heading rate limit

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@ -94,6 +94,7 @@ void LoggedTopics::add_default_topics()
add_topic("parameter_update"); add_topic("parameter_update");
add_topic("position_controller_status", 500); add_topic("position_controller_status", 500);
add_topic("position_controller_landing_status", 100); add_topic("position_controller_landing_status", 100);
add_topic("position_heading_setpoint", 200);
add_topic("position_setpoint_triplet", 200); add_topic("position_setpoint_triplet", 200);
add_optional_topic("px4io_status"); add_optional_topic("px4io_status");
add_topic("radio_status"); add_topic("radio_status");

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@ -106,6 +106,9 @@ subscriptions:
- topic: /fmu/in/sensor_optical_flow - topic: /fmu/in/sensor_optical_flow
type: px4_msgs::msg::SensorOpticalFlow type: px4_msgs::msg::SensorOpticalFlow
- topic: /fmu/in/goto_setpoint
type: px4_msgs::msg::GotoSetpoint
- topic: /fmu/in/telemetry_status - topic: /fmu/in/telemetry_status
type: px4_msgs::msg::TelemetryStatus type: px4_msgs::msg::TelemetryStatus