forked from Archive/PX4-Autopilot
24 lines
1.0 KiB
Plaintext
24 lines
1.0 KiB
Plaintext
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uint64 timestamp # in microseconds since system start, is set whenever the writing thread stores new data
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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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