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47 lines
2.8 KiB
Markdown
47 lines
2.8 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# TrajectorySetpoint6dof (UORB message)
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Trajectory setpoint in NED frame. Input to position controller.
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**TOPICS:** trajectory_setpoint6dof
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## Fields
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| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
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| ---------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
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| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
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| <a id="fld_position"></a>position | `float32[3]` | | | in meters |
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| <a id="fld_velocity"></a>velocity | `float32[3]` | | | in meters/second |
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| <a id="fld_acceleration"></a>acceleration | `float32[3]` | | | in meters/second^2 |
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| <a id="fld_jerk"></a>jerk | `float32[3]` | | | in meters/second^3 (for logging only) |
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| <a id="fld_quaternion"></a>quaternion | `float32[4]` | | | unit quaternion |
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| <a id="fld_angular_velocity"></a>angular_velocity | `float32[3]` | | | angular velocity in radians/second |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TrajectorySetpoint6dof.msg)
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:::details
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Click here to see original file
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```c
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# Trajectory setpoint in NED frame
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# Input to position controller.
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uint64 timestamp # time since system start (microseconds)
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# NED local world frame
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float32[3] position # in meters
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float32[3] velocity # in meters/second
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float32[3] acceleration # in meters/second^2
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float32[3] jerk # in meters/second^3 (for logging only)
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float32[4] quaternion # unit quaternion
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float32[3] angular_velocity # angular velocity in radians/second
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```
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:::
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