mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-07-27 00:48:23 +08:00
98 lines
7.7 KiB
Markdown
98 lines
7.7 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# SetpointConfig (UORB message)
|
|
|
|
Setpoint configuration message.
|
|
|
|
Published by external modes and PX4 will respond with SetpointConfigReply.
|
|
|
|
**TOPICS:** setpoint_config
|
|
|
|
## Fields
|
|
|
|
| Name | Type | Unit [Frame] | Range/Enum | Description |
|
|
| ----------------------------------------- | -------- | ------------ | ------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
|
|
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
|
|
| <a id="fld_type"></a>type | `uint16` | | [TYPE](#TYPE) | setpoint type (corresponding to one or more setpoint messages) |
|
|
| <a id="fld_source_id"></a>source_id | `uint8` | | | nav_state of the mode |
|
|
| <a id="fld_should_apply"></a>should_apply | `bool` | | | if true: apply as current setpoint configuration (mode should be active). If false: setpoint configuration is not changed (can be used to check if a setpoint can be used with the current vehicle configuration). |
|
|
| <a id="fld_timeout_ms"></a>timeout_ms | `uint16` | | | Configure setpoint timeout. If no setpoint received for this time, PX4 triggers a failsafe. 0 disables the timeout (unresponsive modes still trigger a timeout through arming checks). |
|
|
|
|
## Enums
|
|
|
|
### TYPE {#TYPE}
|
|
|
|
Used in field(s): [type](#fld_type)
|
|
|
|
| Name | Type | Value | Description |
|
|
| ------------------------------------------------------------------------------------- | -------- | ----- | ---------------------------------------------------------- |
|
|
| <a id="#TYPE_INVALID"></a> TYPE_INVALID | `uint16` | 0 |
|
|
| <a id="#TYPE_DIRECT_ACTUATORS"></a> TYPE_DIRECT_ACTUATORS | `uint16` | 1 | ActuatorMotors and ActuatorServos |
|
|
| <a id="#TYPE_MULTICOPTER_GOTO"></a> TYPE_MULTICOPTER_GOTO | `uint16` | 2 | GotoSetpoint |
|
|
| <a id="#TYPE_FIXEDWING_LATERAL_LONGITUDINAL"></a> TYPE_FIXEDWING_LATERAL_LONGITUDINAL | `uint16` | 3 | FixedWingLateralSetpoint and FixedWingLongitudinalSetpoint |
|
|
| <a id="#TYPE_TRAJECTORY"></a> TYPE_TRAJECTORY | `uint16` | 4 | TrajectorySetpoint |
|
|
| <a id="#TYPE_RATES"></a> TYPE_RATES | `uint16` | 5 | VehicleRatesSetpoint |
|
|
| <a id="#TYPE_ATTITUDE"></a> TYPE_ATTITUDE | `uint16` | 6 | VehicleAttitudeSetpoint |
|
|
| <a id="#TYPE_ROVER_POSITION"></a> TYPE_ROVER_POSITION | `uint16` | 7 | RoverPositionSetpoint |
|
|
| <a id="#TYPE_ROVER_SPEED_ATTITUDE"></a> TYPE_ROVER_SPEED_ATTITUDE | `uint16` | 8 | RoverSpeedSetpoint and RoverAttitudeSetpoint |
|
|
| <a id="#TYPE_ROVER_SPEED_RATE"></a> TYPE_ROVER_SPEED_RATE | `uint16` | 9 | RoverSpeedSetpoint and RoverRateSetpoint |
|
|
| <a id="#TYPE_ROVER_SPEED_STEERING"></a> TYPE_ROVER_SPEED_STEERING | `uint16` | 10 | RoverSpeedSetpoint and RoverSteeringSetpoint |
|
|
| <a id="#TYPE_ROVER_THROTTLE_ATTITUDE"></a> TYPE_ROVER_THROTTLE_ATTITUDE | `uint16` | 11 | RoverThrottleSetpoint and RoverAttitudeSetpoint |
|
|
| <a id="#TYPE_ROVER_THROTTLE_RATE"></a> TYPE_ROVER_THROTTLE_RATE | `uint16` | 12 | RoverThrottleSetpoint and RoverRateSetpoint |
|
|
| <a id="#TYPE_ROVER_THROTTLE_STEERING"></a> TYPE_ROVER_THROTTLE_STEERING | `uint16` | 13 | RoverThrottleSetpoint and RoverSteeringSetpoint |
|
|
| <a id="#TYPE_TRAJECTORY_6DOF"></a> TYPE_TRAJECTORY_6DOF | `uint16` | 14 | TrajectorySetpoint6dof |
|
|
| <a id="#TYPE_THRUST_AND_TORQUE"></a> TYPE_THRUST_AND_TORQUE | `uint16` | 15 | VehicleThrustSetpoint and VehicleTorqueSetpoint |
|
|
| <a id="#TYPE_POSITION_TRIPLET"></a> TYPE_POSITION_TRIPLET | `uint16` | 16 | PositionSetpointTriplet |
|
|
|
|
## 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/SetpointConfig.msg)
|
|
|
|
::: details Click here to see original file
|
|
|
|
```c
|
|
# Setpoint configuration message
|
|
#
|
|
# Published by external modes and PX4 will respond with SetpointConfigReply.
|
|
|
|
uint32 MESSAGE_VERSION = 0
|
|
|
|
uint64 timestamp # [us] Time since system start
|
|
|
|
uint16 TYPE_INVALID = 0
|
|
uint16 TYPE_DIRECT_ACTUATORS = 1 # ActuatorMotors and ActuatorServos
|
|
uint16 TYPE_MULTICOPTER_GOTO = 2 # GotoSetpoint
|
|
uint16 TYPE_FIXEDWING_LATERAL_LONGITUDINAL = 3 # FixedWingLateralSetpoint and FixedWingLongitudinalSetpoint
|
|
uint16 TYPE_TRAJECTORY = 4 # TrajectorySetpoint
|
|
uint16 TYPE_RATES = 5 # VehicleRatesSetpoint
|
|
uint16 TYPE_ATTITUDE = 6 # VehicleAttitudeSetpoint
|
|
uint16 TYPE_ROVER_POSITION = 7 # RoverPositionSetpoint
|
|
uint16 TYPE_ROVER_SPEED_ATTITUDE = 8 # RoverSpeedSetpoint and RoverAttitudeSetpoint
|
|
uint16 TYPE_ROVER_SPEED_RATE = 9 # RoverSpeedSetpoint and RoverRateSetpoint
|
|
uint16 TYPE_ROVER_SPEED_STEERING = 10 # RoverSpeedSetpoint and RoverSteeringSetpoint
|
|
uint16 TYPE_ROVER_THROTTLE_ATTITUDE = 11 # RoverThrottleSetpoint and RoverAttitudeSetpoint
|
|
uint16 TYPE_ROVER_THROTTLE_RATE = 12 # RoverThrottleSetpoint and RoverRateSetpoint
|
|
uint16 TYPE_ROVER_THROTTLE_STEERING = 13 # RoverThrottleSetpoint and RoverSteeringSetpoint
|
|
uint16 TYPE_TRAJECTORY_6DOF = 14 # TrajectorySetpoint6dof
|
|
uint16 TYPE_THRUST_AND_TORQUE = 15 # VehicleThrustSetpoint and VehicleTorqueSetpoint
|
|
uint16 TYPE_POSITION_TRIPLET = 16 # PositionSetpointTriplet
|
|
|
|
uint16 type # [@enum TYPE] setpoint type (corresponding to one or more setpoint messages)
|
|
|
|
uint8 source_id # nav_state of the mode
|
|
|
|
bool should_apply # if true: apply as current setpoint configuration (mode should be active). If false: setpoint configuration is not changed (can be used to check if a setpoint can be used with the current vehicle configuration).
|
|
|
|
uint16 timeout_ms # Configure setpoint timeout. If no setpoint received for this time, PX4 triggers a failsafe. 0 disables the timeout (unresponsive modes still trigger a timeout through arming checks).
|
|
```
|
|
|
|
:::
|