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https://github.com/PX4/PX4-Autopilot.git
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9.2 KiB
9.2 KiB
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SetpointConfig (UORB message)
Setpoint configuration message.
Published by external modes and PX4 will respond with SetpointConfigReply.
TOPICS: setpoint_config
Fields
| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
|---|---|---|---|---|
| timestamp | uint64 |
us | Time since system start | |
| type | uint16 |
TYPE | setpoint type (corresponding to one or more setpoint messages) | |
| source_id | uint8 |
nav_state of the mode | ||
| 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). | ||
| 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
Used in field(s): type
Constants
| Назва | Тип | Значення | Опис |
|---|---|---|---|
| MESSAGE_VERSION | uint32 |
0 |
Source Message
:::details Click here to see original file
# 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).
:::