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

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VehicleRoi (UORB message)

Vehicle Region Of Interest (ROI).

TOPICS: vehicle_roi

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64			time since system start (microseconds)
mode	uint8			ROI mode (see above)
lat	float64			Latitude to point to
lon	float64			Longitude to point to
alt	float32			Altitude to point to
roll_offset	float32			angle offset in rad
pitch_offset	float32			angle offset in rad
yaw_offset	float32			angle offset in rad

Constants

Name	Type	Value	Description
ROI_NONE	uint8	0	No region of interest
ROI_WPNEXT	uint8	1	Point toward next MISSION with optional offset
ROI_WPINDEX	uint8	2	Point toward given MISSION
ROI_LOCATION	uint8	3	Point toward fixed location
ROI_TARGET	uint8	4	Point toward target
ROI_ENUM_END	uint8	5

Source Message

Source file (GitHub)

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# Vehicle Region Of Interest (ROI)

uint64 timestamp			# time since system start (microseconds)

uint8 ROI_NONE = 0			# No region of interest
uint8 ROI_WPNEXT = 1			# Point toward next MISSION with optional offset
uint8 ROI_WPINDEX = 2			# Point toward given MISSION
uint8 ROI_LOCATION = 3			# Point toward fixed location
uint8 ROI_TARGET = 4			# Point toward target
uint8 ROI_ENUM_END = 5

uint8 mode          # ROI mode (see above)

float64 lat			    # Latitude to point to
float64 lon			    # Longitude to point to
float32 alt			    # Altitude to point to

# additional angle offsets to next waypoint (only used with ROI_WPNEXT)
float32 roll_offset		# angle offset in rad
float32 pitch_offset		# angle offset in rad
float32 yaw_offset		# angle offset in rad

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