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https://github.com/CopterExpress/clover.git
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0cfdac43ec
* Allow using nans for most of services parameters * Add terrain frame * Remove yaw_rate parameter from most services * Add set_yaw and set_yaw_rate services * Correct order for pitch and roll everywhere to match XYZ convention * Add simple_offboard/state topic * Add essential tests * Stop publishing setpoints when land called
39 lines
605 B
Plaintext
39 lines
605 B
Plaintext
uint8 MODE_NONE = 0
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uint8 MODE_NAVIGATE = 1
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uint8 MODE_NAVIGATE_GLOBAL = 2
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uint8 MODE_POSITION = 3
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uint8 MODE_VELOCITY = 4
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uint8 MODE_ATTITUDE = 5
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uint8 MODE_RATES = 6
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uint8 YAW_MODE_YAW = 0
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uint8 YAW_MODE_YAW_RATE = 1
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uint8 YAW_MODE_YAW_TOWARDS = 2
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# type of offboard control
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uint8 mode
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uint8 yaw_mode
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# targets
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float32 x
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float32 y
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float32 z
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float32 speed
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float32 lat
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float32 lon
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float32 vx
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float32 vy
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float32 vz
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float32 roll
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float32 pitch
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float32 yaw
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float32 roll_rate
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float32 pitch_rate
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float32 yaw_rate
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float32 thrust
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# frames of reference
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string xy_frame_id
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string z_frame_id
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string yaw_frame_id
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