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100 lines
14 KiB
Markdown
100 lines
14 KiB
Markdown
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pageClass: is-wide-page
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---
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# PositionSetpoint (повідомлення UORB)
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this file is only used in the position_setpoint triple as a dependency.
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**TOPICS:** position_setpoint
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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_valid"></a>valid | `bool` | | | true if setpoint is valid |
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| <a id="fld_type"></a>type | `uint8` | | | setpoint type to adjust behavior of position controller |
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| <a id="fld_vx"></a>vx | `float32` | | | local velocity setpoint in m/s in NED |
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| <a id="fld_vy"></a>vy | `float32` | | | local velocity setpoint in m/s in NED |
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| <a id="fld_vz"></a>vz | `float32` | | | local velocity setpoint in m/s in NED |
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| <a id="fld_lat"></a>lat | `float64` | | | latitude, in deg |
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| <a id="fld_lon"></a>lon | `float64` | | | longitude, in deg |
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| <a id="fld_alt"></a>alt | `float32` | | | altitude AMSL, in m |
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| <a id="fld_yaw"></a>yaw | `float32` | | | yaw (only in hover), in rad [-PI..PI), NaN = leave to flight task |
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| <a id="fld_loiter_radius"></a>loiter_radius | `float32` | m | [0 : INF] | loiter major axis radius |
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| <a id="fld_loiter_minor_radius"></a>loiter_minor_radius | `float32` | m | [0 : INF] | loiter minor axis radius (used for non-circular loiter shapes) |
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| <a id="fld_loiter_direction_counter_clockwise"></a>loiter_direction_counter_clockwise | `bool` | | | loiter direction is clockwise by default and can be changed using this field |
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| <a id="fld_loiter_orientation"></a>loiter_orientation | `float32` | rad | [-pi : pi] | orientation of the major axis with respect to true north |
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| <a id="fld_loiter_pattern"></a>loiter_pattern | `uint8` | | | loitern pattern to follow |
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| <a id="fld_acceptance_radius"></a>acceptance_radius | `float32` | | | horizontal acceptance_radius (meters) |
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| <a id="fld_alt_acceptance_radius"></a>alt_acceptance_radius | `float32` | | | vertical acceptance radius, only used for fixed wing guidance, NAN = let guidance choose (meters) |
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| <a id="fld_course"></a>course | `float32` | rad | | desired course (bearing) over ground, NaN = unused |
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| <a id="fld_cruising_speed"></a>cruising_speed | `float32` | | | the generally desired cruising speed (not a hard constraint) |
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| <a id="fld_gliding_enabled"></a>gliding_enabled | `bool` | | | commands the vehicle to glide if the capability is available (fixed wing only) |
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| <a id="fld_cruising_throttle"></a>cruising_throttle | `float32` | | | the generally desired cruising throttle (not a hard constraint), only has an effect for rover |
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## Constants
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| Назва | Тип | Значення | Опис |
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| ------------------------------------------------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------------------------- |
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| <a id="#SETPOINT_TYPE_POSITION"></a> SETPOINT_TYPE_POSITION | `uint8` | 0 | position setpoint |
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| <a id="#SETPOINT_TYPE_VELOCITY"></a> SETPOINT_TYPE_VELOCITY | `uint8` | 1 | velocity setpoint |
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| <a id="#SETPOINT_TYPE_LOITER"></a> SETPOINT_TYPE_LOITER | `uint8` | 2 | loiter setpoint |
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| <a id="#SETPOINT_TYPE_TAKEOFF"></a> SETPOINT_TYPE_TAKEOFF | `uint8` | 3 | takeoff setpoint |
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| <a id="#SETPOINT_TYPE_LAND"></a> SETPOINT_TYPE_LAND | `uint8` | 4 | land setpoint, altitude must be ignored, descend until landing |
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| <a id="#SETPOINT_TYPE_IDLE"></a> SETPOINT_TYPE_IDLE | `uint8` | 5 | do nothing, switch off motors or keep at idle speed (MC) |
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| <a id="#LOITER_TYPE_ORBIT"></a> LOITER_TYPE_ORBIT | `uint8` | 0 | Circular pattern |
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| <a id="#LOITER_TYPE_FIGUREEIGHT"></a> LOITER_TYPE_FIGUREEIGHT | `uint8` | 1 | Pattern resembling an 8 |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PositionSetpoint.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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# this file is only used in the position_setpoint triple as a dependency
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uint64 timestamp # time since system start (microseconds)
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uint8 SETPOINT_TYPE_POSITION=0 # position setpoint
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uint8 SETPOINT_TYPE_VELOCITY=1 # velocity setpoint
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uint8 SETPOINT_TYPE_LOITER=2 # loiter setpoint
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uint8 SETPOINT_TYPE_TAKEOFF=3 # takeoff setpoint
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uint8 SETPOINT_TYPE_LAND=4 # land setpoint, altitude must be ignored, descend until landing
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uint8 SETPOINT_TYPE_IDLE=5 # do nothing, switch off motors or keep at idle speed (MC)
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uint8 LOITER_TYPE_ORBIT=0 # Circular pattern
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uint8 LOITER_TYPE_FIGUREEIGHT=1 # Pattern resembling an 8
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bool valid # true if setpoint is valid
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uint8 type # setpoint type to adjust behavior of position controller
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float32 vx # local velocity setpoint in m/s in NED
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float32 vy # local velocity setpoint in m/s in NED
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float32 vz # local velocity setpoint in m/s in NED
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float64 lat # latitude, in deg
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float64 lon # longitude, in deg
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float32 alt # altitude AMSL, in m
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float32 yaw # yaw (only in hover), in rad [-PI..PI), NaN = leave to flight task
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float32 loiter_radius # [m] [@range 0, INF] loiter major axis radius
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float32 loiter_minor_radius # [m] [@range 0, INF] loiter minor axis radius (used for non-circular loiter shapes)
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bool loiter_direction_counter_clockwise # loiter direction is clockwise by default and can be changed using this field
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float32 loiter_orientation # [rad] [@range -pi, pi] orientation of the major axis with respect to true north
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uint8 loiter_pattern # loitern pattern to follow
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float32 acceptance_radius # horizontal acceptance_radius (meters)
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float32 alt_acceptance_radius # vertical acceptance radius, only used for fixed wing guidance, NAN = let guidance choose (meters)
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float32 course # [rad] desired course (bearing) over ground, NaN = unused
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float32 cruising_speed # the generally desired cruising speed (not a hard constraint)
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bool gliding_enabled # commands the vehicle to glide if the capability is available (fixed wing only)
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float32 cruising_throttle # the generally desired cruising throttle (not a hard constraint), only has an effect for rover
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```
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:::
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