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40 lines
3.4 KiB
Markdown
40 lines
3.4 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# FigureEightStatus (UORB message)
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**TOPICS:** figure_eight_status
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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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_major_radius"></a>major_radius | `float32` | | | Major axis radius of the figure eight [m]. Positive values orbit clockwise, negative values orbit counter-clockwise. |
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| <a id="fld_minor_radius"></a>minor_radius | `float32` | | | Minor axis radius of the figure eight [m]. |
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| <a id="fld_orientation"></a>orientation | `float32` | | | Orientation of the major axis of the figure eight [rad]. |
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| <a id="fld_frame"></a>frame | `uint8` | | | The coordinate system of the fields: x, y, z. |
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| <a id="fld_x"></a>x | `int32` | | | X coordinate of center point. Coordinate system depends on frame field: local = x position in meters _ 1e4, global = latitude in degrees _ 1e7. |
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| <a id="fld_y"></a>y | `int32` | | | Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters _ 1e4, global = latitude in degrees _ 1e7. |
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| <a id="fld_z"></a>z | `float32` | | | Altitude of center point. Coordinate system depends on frame field. |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FigureEightStatus.msg)
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::: details Click here to see original file
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```c
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uint64 timestamp # time since system start (microseconds)
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float32 major_radius # Major axis radius of the figure eight [m]. Positive values orbit clockwise, negative values orbit counter-clockwise.
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float32 minor_radius # Minor axis radius of the figure eight [m].
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float32 orientation # Orientation of the major axis of the figure eight [rad].
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uint8 frame # The coordinate system of the fields: x, y, z.
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int32 x # X coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.
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int32 y # Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters * 1e4, global = latitude in degrees * 1e7.
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float32 z # Altitude of center point. Coordinate system depends on frame field.
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```
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:::
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