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37 lines
1.7 KiB
Markdown
37 lines
1.7 KiB
Markdown
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pageClass: is-wide-page
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---
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# CollisionConstraints (повідомлення UORB)
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Local setpoint constraints in NED frame. setting something to NaN means that no limit is provided.
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**TOPICS:** collision_constraints
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## Fields
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| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
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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_original_setpoint"></a>original_setpoint | `float32[2]` | | | velocities demanded |
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| <a id="fld_adapted_setpoint"></a>adapted_setpoint | `float32[2]` | | | velocities allowed |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CollisionConstraints.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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# Local setpoint constraints in NED frame
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# setting something to NaN means that no limit is provided
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uint64 timestamp # time since system start (microseconds)
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float32[2] original_setpoint # velocities demanded
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float32[2] adapted_setpoint # velocities allowed
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```
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:::
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