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simple_offboard: add position setpoint frame

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Oleg Kalachev
2020-03-10 19:23:40 +03:00
parent 2c36fdb560
commit 8dfb9a8f6c
3 changed files with 17 additions and 3 deletions
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docs/en/frames.md
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@@ -10,7 +10,8 @@ Main frames in the `clever` package:
* `map` has its origin at the flight controller initialization point and may be considered stationary. It is shown as a white grid on the image above;
* `base_link` is rigidly bound to the drone. It is shown by the simplified drone model on the image above;
* `body` is bound to the drone, but its Z axis points up regardless of the drone's pitch and roll. It is shown by the red, blue and green lines in the illustration;
* `navigate_target` is bound to the current navigation target (as set by the [navigate](simple_offboard.md#navigate) service).
* `navigate_target` is bound to the current navigation target (as set by the [navigate](simple_offboard.md#navigate) service);
* `setpoint` is current position setpoint.
Additional frames become available when [ArUco positioning system](aruco.md) is active:

3
docs/ru/frames.md
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@@ -10,7 +10,8 @@
* `map` — координаты относительно точки инициализации полетного контроллера: белая сетка на иллюстрации;
* `base_link` — координаты относительно квадрокоптера: схематичное изображение квадрокоптера на иллюстрации;
* `body` — координаты относительно квадрокоптера без учета наклонов по тангажу и крену: красная, синяя и зеленая линии на иллюстрации;
* `navigate_target` – координаты точки, в которую сейчас летит дрон (с использованием [navigate](simple_offboard.md#navigate)).
* `navigate_target` – координаты точки, в которую сейчас летит дрон (с использованием [navigate](simple_offboard.md#navigate));
* `setpoint` – текущий setpoint по позиции.
При использовании [системы позиционирования по ArUco-маркерам](aruco.md) появляются дополнительные фреймы: