PX4-Autopilot/docs/en/msg_docs/OrbitStatus.md

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OrbitStatus (UORB message)

ORBIT_YAW_BEHAVIOUR.

TOPICS: orbit_status

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64			time since system start (microseconds)
radius	float32			Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise. [m]
frame	uint8			The coordinate system of the fields: x, y, z.
x	float64			X coordinate of center point. Coordinate system depends on frame field: local = x position in meters _ 1e4, global = latitude in degrees _ 1e7.
y	float64			Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters _ 1e4, global = latitude in degrees _ 1e7.
z	float32			Altitude of center point. Coordinate system depends on frame field.
yaw_behaviour	uint8

Constants

Name	Type	Value	Description
ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER	uint8	0
ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING	uint8	1
ORBIT_YAW_BEHAVIOUR_UNCONTROLLED	uint8	2
ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE	uint8	3
ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED	uint8	4
ORBIT_YAW_BEHAVIOUR_UNCHANGED	uint8	5

Source Message

Source file (GitHub)

::: details Click here to see original file

# ORBIT_YAW_BEHAVIOUR
uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER = 0
uint8 ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING = 1
uint8 ORBIT_YAW_BEHAVIOUR_UNCONTROLLED = 2
uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE = 3
uint8 ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED = 4
uint8 ORBIT_YAW_BEHAVIOUR_UNCHANGED = 5

uint64 timestamp # time since system start (microseconds)
float32 radius   # Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise. [m]
uint8 frame      # The coordinate system of the fields: x, y, z.
float64 x        # X coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.
float64 y        # Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters * 1e4, global = latitude in degrees * 1e7.
float32 z        # Altitude of center point. Coordinate system depends on frame field.
uint8 yaw_behaviour

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