forked from Archive/PX4-Autopilot
msg: add go-to setpoint interface
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@ -104,6 +104,7 @@ set(msg_files
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GimbalManagerSetAttitude.msg
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GimbalManagerSetManualControl.msg
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GimbalManagerStatus.msg
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GotoSetpoint.msg
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GpioConfig.msg
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GpioIn.msg
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GpioOut.msg
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@ -0,0 +1,25 @@
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# Position and (optional) heading setpoints with corresponding speed constraints
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# Setpoints are intended as inputs to position and heading smoothers, respectively
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# Setpoints do not need to be kinematically consistent
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# Optional heading setpoints may be specified as controlled by the respective flag
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# Unset optional setpoints are not controlled
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# Unset optional constraints default to vehicle specifications
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uint64 timestamp # time since system start (microseconds)
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# setpoints
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float32[3] position # [m] NED local world frame
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float32 heading # (optional) [rad] [-pi,pi] from North
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# setpoint flags
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bool flag_control_heading # true if heading is to be controlled
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# constraints
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float32 max_horizontal_speed # (optional) [m/s] maximum speed (absolute) in the NE-plane
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float32 max_vertical_speed # (optional) [m/s] maximum speed (absolute) in the D-axis
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float32 max_heading_rate # (optional) [rad/s] maximum heading rate (absolute)
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# constraint flags
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bool flag_set_max_horizontal_speed # true if setting a non-default horizontal speed limit
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bool flag_set_max_vertical_speed # true if setting a non-default vertical speed limit
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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()
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add_topic("parameter_update");
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add_topic("position_controller_status", 500);
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add_topic("position_controller_landing_status", 100);
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add_topic("position_heading_setpoint", 200);
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add_topic("position_setpoint_triplet", 200);
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add_optional_topic("px4io_status");
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add_topic("radio_status");
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@ -106,6 +106,9 @@ subscriptions:
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- topic: /fmu/in/sensor_optical_flow
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type: px4_msgs::msg::SensorOpticalFlow
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- topic: /fmu/in/goto_setpoint
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type: px4_msgs::msg::GotoSetpoint
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- topic: /fmu/in/telemetry_status
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type: px4_msgs::msg::TelemetryStatus
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