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https://github.com/PX4/PX4-Autopilot.git
synced 2026-02-08 20:43:42 +08:00
c94c1ce4d2
* introduced altitude acceptance radius in position setpoint for fixed wing guidance - allows navigator to explicitly set the altitude acceptance radius - needed for staright line landing support * added ignore_alt_acceptance to position setpoint message to allow guidance logic to ignore altitude error on waypoint - can be useful to prevent loitering at a waypoint within a mission landing sequence * only set altitude acceptance radius to infinity for a waypoint inside a mission landing for fixed wing vehicles * navigator: return altitude acceptance radius from triplet if it's valid * FixedWingPositionControl: check if alt acceptance radius provided in position setpoint is larger 0 --------- Signed-off-by: RomanBapst <bapstroman@gmail.com> Co-authored-by: Alvaro Fernandez <alvaro@auterion.com>
39 lines
2.0 KiB
Plaintext
39 lines
2.0 KiB
Plaintext
# this file is only used in the position_setpoint triple as a dependency
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uint64 timestamp # time since system start (microseconds)
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uint8 SETPOINT_TYPE_POSITION=0 # position setpoint
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uint8 SETPOINT_TYPE_VELOCITY=1 # velocity setpoint
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uint8 SETPOINT_TYPE_LOITER=2 # loiter setpoint
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uint8 SETPOINT_TYPE_TAKEOFF=3 # takeoff setpoint
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uint8 SETPOINT_TYPE_LAND=4 # land setpoint, altitude must be ignored, descend until landing
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uint8 SETPOINT_TYPE_IDLE=5 # do nothing, switch off motors or keep at idle speed (MC)
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uint8 LOITER_TYPE_ORBIT=0 # Circular pattern
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uint8 LOITER_TYPE_FIGUREEIGHT=1 # Pattern resembling an 8
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bool valid # true if setpoint is valid
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uint8 type # setpoint type to adjust behavior of position controller
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float32 vx # local velocity setpoint in m/s in NED
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float32 vy # local velocity setpoint in m/s in NED
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float32 vz # local velocity setpoint in m/s in NED
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float64 lat # latitude, in deg
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float64 lon # longitude, in deg
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float32 alt # altitude AMSL, in m
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float32 yaw # yaw (only in hover), in rad [-PI..PI), NaN = leave to flight task
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float32 loiter_radius # loiter major axis radius in m
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float32 loiter_minor_radius # loiter minor axis radius (used for non-circular loiter shapes) in m
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bool loiter_direction_counter_clockwise # loiter direction is clockwise by default and can be changed using this field
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float32 loiter_orientation # Orientation of the major axis with respect to true north in rad [-pi,pi)
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uint8 loiter_pattern # loitern pattern to follow
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float32 acceptance_radius # horizontal acceptance_radius (meters)
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float32 alt_acceptance_radius # vertical acceptance radius, only used for fixed wing guidance, NAN = let guidance choose (meters)
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float32 cruising_speed # the generally desired cruising speed (not a hard constraint)
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bool gliding_enabled # commands the vehicle to glide if the capability is available (fixed wing only)
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float32 cruising_throttle # the generally desired cruising throttle (not a hard constraint), only has an effect for rover
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