mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-07-27 00:48:23 +08:00
56 lines
2.7 KiB
Markdown
56 lines
2.7 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# TrajectorySetpoint (UORB message)
|
|
|
|
Trajectory setpoint in NED frame. Input to PID position controller. Needs to be kinematically consistent and feasible for smooth flight. setting a value to NaN means the state should not be controlled.
|
|
|
|
**TOPICS:** trajectory_setpoint
|
|
|
|
## Fields
|
|
|
|
| Name | Type | Unit [Frame] | Range/Enum | Description |
|
|
| ----------------------------------------- | ------------ | ------------ | ---------- | ---------------------------------------------------------- |
|
|
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
|
|
| <a id="fld_position"></a>position | `float32[3]` | | | in meters |
|
|
| <a id="fld_velocity"></a>velocity | `float32[3]` | | | in meters/second |
|
|
| <a id="fld_acceleration"></a>acceleration | `float32[3]` | | | in meters/second^2 |
|
|
| <a id="fld_jerk"></a>jerk | `float32[3]` | | | in meters/second^3 (for logging only) |
|
|
| <a id="fld_yaw"></a>yaw | `float32` | | | euler angle of desired attitude in radians -PI..+PI |
|
|
| <a id="fld_yawspeed"></a>yawspeed | `float32` | | | angular velocity around NED frame z-axis in radians/second |
|
|
|
|
## Constants
|
|
|
|
| Name | Type | Value | Description |
|
|
| --------------------------------------------- | -------- | ----- | ----------- |
|
|
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 |
|
|
|
|
## Source Message
|
|
|
|
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/TrajectorySetpoint.msg)
|
|
|
|
::: details Click here to see original file
|
|
|
|
```c
|
|
# Trajectory setpoint in NED frame
|
|
# Input to PID position controller.
|
|
# Needs to be kinematically consistent and feasible for smooth flight.
|
|
# setting a value to NaN means the state should not be controlled
|
|
|
|
uint32 MESSAGE_VERSION = 0
|
|
|
|
uint64 timestamp # time since system start (microseconds)
|
|
|
|
# NED local world frame
|
|
float32[3] position # in meters
|
|
float32[3] velocity # in meters/second
|
|
float32[3] acceleration # in meters/second^2
|
|
float32[3] jerk # in meters/second^3 (for logging only)
|
|
|
|
float32 yaw # euler angle of desired attitude in radians -PI..+PI
|
|
float32 yawspeed # angular velocity around NED frame z-axis in radians/second
|
|
```
|
|
|
|
:::
|