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76 lines
5.5 KiB
Markdown
76 lines
5.5 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# SetpointConfigReply (UORB message)
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Reply to SetpointConfig.
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**TOPICS:** setpoint_config_reply
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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` | us | | Time since system start |
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| <a id="fld_type"></a>type | `uint16` | | | See SetpointConfig::TYPE\_\* |
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| <a id="fld_source_id"></a>source_id | `uint8` | | | nav_state of the mode that sent the SetpointConfig |
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| <a id="fld_result"></a>result | `uint8` | | [RESULT](#RESULT) | |
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| <a id="fld_mode_req_angular_velocity"></a>mode_req_angular_velocity | `bool` | | | |
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| <a id="fld_mode_req_attitude"></a>mode_req_attitude | `bool` | | | |
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| <a id="fld_mode_req_local_alt"></a>mode_req_local_alt | `bool` | | | |
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| <a id="fld_mode_req_local_position"></a>mode_req_local_position | `bool` | | | |
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## Enums
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### RESULT {#RESULT}
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Used in field(s): [result](#fld_result)
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| Назва | Тип | Значення | Опис |
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| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---------------------------------------------------- |
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| <a id="#RESULT_SUCCESS"></a> RESULT_SUCCESS | `uint8` | 0 | |
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| <a id="#RESULT_FAILURE_OTHER"></a> RESULT_FAILURE_OTHER | `uint8` | 1 | |
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| <a id="#RESULT_UNSUPPORTED"></a> RESULT_UNSUPPORTED | `uint8` | 2 | Setpoint type is unsupported for the current vehicle |
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| <a id="#RESULT_UNKNOWN_SETPOINT_TYPE"></a> RESULT_UNKNOWN_SETPOINT_TYPE | `uint8` | 3 | The setpoint type is not known |
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## Constants
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| Назва | Тип | Значення | Опис |
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| ------------------------------------------------------------------ | -------- | -------- | ---- |
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| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/SetpointConfigReply.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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# Reply to SetpointConfig
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # [us] Time since system start
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uint16 type # See SetpointConfig::TYPE_*
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uint8 source_id # nav_state of the mode that sent the SetpointConfig
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uint8 RESULT_SUCCESS = 0
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uint8 RESULT_FAILURE_OTHER = 1
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uint8 RESULT_UNSUPPORTED = 2 # Setpoint type is unsupported for the current vehicle
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uint8 RESULT_UNKNOWN_SETPOINT_TYPE = 3 # The setpoint type is not known
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uint8 result # [@enum RESULT]
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# Mode requirements for using the given setpoint type. A mode will use these and apply them to the arming check reply (PX4 does not do that itself).
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# Certain setpoint types can be used in a reduced way, for example a TrajectorySetpoint without position control. In that case PX4 still sets all requirement flags, and the mode will then ignore mode_req_local_position.
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bool mode_req_angular_velocity
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bool mode_req_attitude
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bool mode_req_local_alt
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bool mode_req_local_position
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```
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:::
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