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65 lines
6.3 KiB
Markdown
65 lines
6.3 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# NavigatorMissionItem (UORB message)
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**TOPICS:** navigator_mission_item
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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_sequence_current"></a>sequence_current | `uint16` | | | Sequence of the current mission item |
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| <a id="fld_nav_cmd"></a>nav_cmd | `uint16` | | | |
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| <a id="fld_latitude"></a>latitude | `float32` | | | |
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| <a id="fld_longitude"></a>longitude | `float32` | | | |
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| <a id="fld_time_inside"></a>time_inside | `float32` | | | time that the MAV should stay inside the radius before advancing in seconds |
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| <a id="fld_acceptance_radius"></a>acceptance_radius | `float32` | | | default radius in which the mission is accepted as reached in meters |
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| <a id="fld_loiter_radius"></a>loiter_radius | `float32` | | | loiter radius in meters, 0 for a VTOL to hover, negative for counter-clockwise |
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| <a id="fld_yaw"></a>yaw | `float32` | | | in radians NED -PI..+PI, NAN means don't change yaw |
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| <a id="fld_altitude"></a>altitude | `float32` | | | altitude in meters (AMSL) |
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| <a id="fld_frame"></a>frame | `uint8` | | | mission frame |
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| <a id="fld_origin"></a>origin | `uint8` | | | mission item origin (onboard or mavlink) |
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| <a id="fld_loiter_exit_xtrack"></a>loiter_exit_xtrack | `bool` | | | exit xtrack location: 0 for center of loiter wp, 1 for exit location |
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| <a id="fld_force_heading"></a>force_heading | `bool` | | | heading needs to be reached |
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| <a id="fld_altitude_is_relative"></a>altitude_is_relative | `bool` | | | true if altitude is relative from start point |
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| <a id="fld_autocontinue"></a>autocontinue | `bool` | | | true if next waypoint should follow after this one |
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| <a id="fld_vtol_back_transition"></a>vtol_back_transition | `bool` | | | part of the vtol back transition sequence |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/NavigatorMissionItem.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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uint64 timestamp # time since system start (microseconds)
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uint16 sequence_current # Sequence of the current mission item
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uint16 nav_cmd
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float32 latitude
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float32 longitude
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float32 time_inside # time that the MAV should stay inside the radius before advancing in seconds
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float32 acceptance_radius # default radius in which the mission is accepted as reached in meters
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float32 loiter_radius # loiter radius in meters, 0 for a VTOL to hover, negative for counter-clockwise
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float32 yaw # in radians NED -PI..+PI, NAN means don't change yaw
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float32 altitude # altitude in meters (AMSL)
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uint8 frame # mission frame
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uint8 origin # mission item origin (onboard or mavlink)
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bool loiter_exit_xtrack # exit xtrack location: 0 for center of loiter wp, 1 for exit location
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bool force_heading # heading needs to be reached
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bool altitude_is_relative # true if altitude is relative from start point
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bool autocontinue # true if next waypoint should follow after this one
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bool vtol_back_transition # part of the vtol back transition sequence
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```
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:::
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