px4-firmware/msg/position_controller_status.msg

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uint64 timestamp # time since system start (microseconds)
float32 nav_roll
float32 nav_pitch
float32 nav_bearing
float32 target_bearing
float32 xtrack_error
float32 wp_dist
float32 acceptance_radius # the optimal distance to a waypoint to switch to the next
float32 yaw_acceptance # NaN if not set
float32 altitude_acceptance # the optimal vertical distance to a waypoint to switch to the next