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

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PositionSetpoint (UORB message)

this file is only used in the position_setpoint triple as a dependency.

TOPICS: position_setpoint

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64			time since system start (microseconds)
valid	bool			true if setpoint is valid
type	uint8			setpoint type to adjust behavior of position controller
vx	float32			local velocity setpoint in m/s in NED
vy	float32			local velocity setpoint in m/s in NED
vz	float32			local velocity setpoint in m/s in NED
lat	float64			latitude, in deg
lon	float64			longitude, in deg
alt	float32			altitude AMSL, in m
yaw	float32			yaw (only in hover), in rad [-PI..PI), NaN = leave to flight task
loiter_radius	float32	m	[0 : INF]	loiter major axis radius
loiter_minor_radius	float32	m	[0 : INF]	loiter minor axis radius (used for non-circular loiter shapes)
loiter_direction_counter_clockwise	bool			loiter direction is clockwise by default and can be changed using this field
loiter_orientation	float32	rad	[-pi : pi]	orientation of the major axis with respect to true north
loiter_pattern	uint8			loitern pattern to follow
acceptance_radius	float32			horizontal acceptance_radius (meters)
alt_acceptance_radius	float32			vertical acceptance radius, only used for fixed wing guidance, NAN = let guidance choose (meters)
cruising_speed	float32			the generally desired cruising speed (not a hard constraint)
gliding_enabled	bool			commands the vehicle to glide if the capability is available (fixed wing only)
cruising_throttle	float32			the generally desired cruising throttle (not a hard constraint), only has an effect for rover

Constants

Name	Type	Value	Description
SETPOINT_TYPE_POSITION	uint8	0	position setpoint
SETPOINT_TYPE_VELOCITY	uint8	1	velocity setpoint
SETPOINT_TYPE_LOITER	uint8	2	loiter setpoint
SETPOINT_TYPE_TAKEOFF	uint8	3	takeoff setpoint
SETPOINT_TYPE_LAND	uint8	4	land setpoint, altitude must be ignored, descend until landing
SETPOINT_TYPE_IDLE	uint8	5	do nothing, switch off motors or keep at idle speed (MC)
LOITER_TYPE_ORBIT	uint8	0	Circular pattern
LOITER_TYPE_FIGUREEIGHT	uint8	1	Pattern resembling an 8

Source Message

Source file (GitHub)

::: details Click here to see original file

# this file is only used in the position_setpoint triple as a dependency

uint64 timestamp		# time since system start (microseconds)

uint8 SETPOINT_TYPE_POSITION=0	# position setpoint
uint8 SETPOINT_TYPE_VELOCITY=1	# velocity setpoint
uint8 SETPOINT_TYPE_LOITER=2	# loiter setpoint
uint8 SETPOINT_TYPE_TAKEOFF=3	# takeoff setpoint
uint8 SETPOINT_TYPE_LAND=4	# land setpoint, altitude must be ignored, descend until landing
uint8 SETPOINT_TYPE_IDLE=5	# do nothing, switch off motors or keep at idle speed (MC)

uint8 LOITER_TYPE_ORBIT=0 	# Circular pattern
uint8 LOITER_TYPE_FIGUREEIGHT=1 # Pattern resembling an 8

bool valid			# true if setpoint is valid
uint8 type			# setpoint type to adjust behavior of position controller

float32 vx			# local velocity setpoint in m/s in NED
float32 vy			# local velocity setpoint in m/s in NED
float32 vz			# local velocity setpoint in m/s in NED

float64 lat			# latitude, in deg
float64 lon			# longitude, in deg
float32 alt			# altitude AMSL, in m
float32 yaw			# yaw (only in hover), in rad [-PI..PI), NaN = leave to flight task

float32 loiter_radius		# [m] [@range 0, INF] loiter major axis radius
float32 loiter_minor_radius	# [m] [@range 0, INF] loiter minor axis radius (used for non-circular loiter shapes)
bool loiter_direction_counter_clockwise # loiter direction is clockwise by default and can be changed using this field
float32 loiter_orientation 	# [rad] [@range -pi, pi] orientation of the major axis with respect to true north
uint8 	loiter_pattern		# loitern pattern to follow

float32 acceptance_radius   # horizontal acceptance_radius (meters)
float32 alt_acceptance_radius # vertical acceptance radius, only used for fixed wing guidance, NAN = let guidance choose (meters)

float32 cruising_speed		# the generally desired cruising speed (not a hard constraint)
bool gliding_enabled		# commands the vehicle to glide if the capability is available (fixed wing only)
float32 cruising_throttle	# the generally desired cruising throttle (not a hard constraint), only has an effect for rover

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