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36 lines
1.2 KiB
Plaintext
36 lines
1.2 KiB
Plaintext
1 month ago
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# Request
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uint8 target_sysid
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uint8 target_compid
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uint32 time_boot_ms # ms since system boot, 一般用 0 讓飛控自己填
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uint8 coordinate_frame # MAV_FRAME_*
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uint16 type_mask # POSITION_TARGET_TYPEMASK bitmask
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int32 lat_int # 1e7 * latitude (deg)
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int32 lon_int # 1e7 * longitude (deg)
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float32 alt # altitude (m)
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float32 vx # X velocity (m/s)
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float32 vy # Y velocity (m/s)
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float32 vz # Z velocity (m/s)
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float32 afx # X acceleration or force (m/s^2)
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float32 afy # Y acceleration or force (m/s^2)
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float32 afz # Z acceleration or force (m/s^2)
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float32 yaw # yaw (rad)
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float32 yaw_rate # yaw rate (rad/s)
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float32 timeout_sec # 等待 POSITION_TARGET_GLOBAL_INT 回應的時間上限
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---
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# Response
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string message
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uint8 ack_result
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uint32 r_time_boot_ms
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uint16 r_type_mask
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int32 r_lat_int
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int32 r_lon_int
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float32 r_alt
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float32 r_vx
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float32 r_vy
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float32 r_vz
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float32 r_afx
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float32 r_afy
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float32 r_afz
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float32 r_yaw
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float32 r_yaw_rate
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