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Thomas Stastny
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Oct 9, 2023
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# Position and heading setpoints and translational and heading rate constraints | ||
# Input to position and heading smoothers | ||
# Setpoints do not need to be kinematically consistent | ||
# Optional inputs may be specified as controlled by the respective flags | ||
# Unset optional setpoints are not controlled | ||
# Unset optional constraints default to vehicle specifications | ||
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uint64 timestamp # time since system start (microseconds) | ||
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# setpoints | ||
float32[3] position # [m] NED local world frame | ||
float32 heading # (optional) [rad] [-pi,pi] from North | ||
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# setpoint flags | ||
bool flag_control_heading # true if heading is to be controlled | ||
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# constraints | ||
float32 max_horizontal_speed # (optional) [m/s] maximum speed (absolute) in the NE-plane | ||
float32 max_vertical_speed # (optional) [m/s] maximum speed (absolute) in the D-axis | ||
float32 max_heading_rate # (optional) [rad/s] maximum heading rate (absolute) | ||
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# constraint flags | ||
bool flag_set_max_horizontal_speed # true if setting a non-default horizontal speed limit | ||
bool flag_set_max_vertical_speed # true if setting a non-default vertical speed limit | ||
bool flag_set_max_heading_rate # true if setting a non-default heading rate limit |