forked from Archive/PX4-Autopilot
40 lines
1.7 KiB
Plaintext
40 lines
1.7 KiB
Plaintext
###############################################################################################
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# The vehicle_attitude_setpoint.msg needs to be in sync with the virtual setpoint messages
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#
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# Please keep the following messages identical;
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# vehicle_attitude_setpoint.msg
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# mc_virtual_attitude_setpoint.msg
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# fw_virtual_attitude_setpoint.msg
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#
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###############################################################################################
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float32 roll_body # body angle in NED frame
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float32 pitch_body # body angle in NED frame
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float32 yaw_body # body angle in NED frame
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float32 yaw_sp_move_rate # rad/s (commanded by user)
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float32[9] R_body # Rotation matrix describing the setpoint as rotation from the current body frame
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bool R_valid # Set to true if rotation matrix is valid
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# For quaternion-based attitude control
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float32[4] q_d # Desired quaternion for quaternion control
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bool q_d_valid # Set to true if quaternion vector is valid
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float32[4] q_e # Attitude error in quaternion
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bool q_e_valid # Set to true if quaternion error vector is valid
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float32 thrust # Thrust in Newton the power system should generate
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bool roll_reset_integral # Reset roll integral part (navigation logic change)
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bool pitch_reset_integral # Reset pitch integral part (navigation logic change)
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bool yaw_reset_integral # Reset yaw integral part (navigation logic change)
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bool fw_control_yaw # control heading with rudder (used for auto takeoff on runway)
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bool disable_mc_yaw_control # control yaw for mc (used for vtol weather-vane mode)
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bool apply_flaps
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# WAS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
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# TOPICS mc_virtual_attitude_setpoint
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