forked from Archive/PX4-Autopilot
38 lines
1.8 KiB
Plaintext
38 lines
1.8 KiB
Plaintext
# this file is only used in the position_setpoint triple as a dependency
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uint64 timestamp # time since system start (microseconds)
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uint8 SETPOINT_TYPE_POSITION=0 # position setpoint
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uint8 SETPOINT_TYPE_VELOCITY=1 # velocity setpoint
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uint8 SETPOINT_TYPE_LOITER=2 # loiter setpoint
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uint8 SETPOINT_TYPE_TAKEOFF=3 # takeoff setpoint
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uint8 SETPOINT_TYPE_LAND=4 # land setpoint, altitude must be ignored, descend until landing
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uint8 SETPOINT_TYPE_IDLE=5 # do nothing, switch off motors or keep at idle speed (MC)
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bool valid # true if setpoint is valid
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uint8 type # setpoint type to adjust behavior of position controller
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float32 vx # local velocity setpoint in m/s in NED
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float32 vy # local velocity setpoint in m/s in NED
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float32 vz # local velocity setpoint in m/s in NED
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float64 lat # latitude, in deg
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float64 lon # longitude, in deg
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float32 alt # altitude AMSL, in m
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float32 yaw # yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw
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bool yaw_valid # true if yaw setpoint valid
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float32 yawspeed # yawspeed (only for multirotors, in rad/s)
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bool yawspeed_valid # true if yawspeed setpoint valid
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float32 loiter_radius # loiter radius (only for fixed wing), in m
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bool loiter_direction_counter_clockwise # loiter direction is clockwise by default and can be changed using this field
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float32 acceptance_radius # navigation acceptance_radius if we're doing waypoint navigation
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float32 cruising_speed # the generally desired cruising speed (not a hard constraint)
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bool gliding_enabled # commands the vehicle to glide if the capability is available (fixed wing only)
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float32 cruising_throttle # the generally desired cruising throttle (not a hard constraint), only has an effect for rover
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bool disable_weather_vane # VTOL: disable (in auto mode) the weather vane feature that turns the nose into the wind
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