You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
36 lines
1.2 KiB
Plaintext
36 lines
1.2 KiB
Plaintext
# Request
|
|
uint8 target_sysid
|
|
uint8 target_compid
|
|
|
|
uint32 time_boot_ms # ms since system boot, 一般用 0 讓飛控自己填
|
|
uint8 coordinate_frame # MAV_FRAME_*
|
|
uint16 type_mask # POSITION_TARGET_TYPEMASK bitmask
|
|
int32 lat_int # 1e7 * latitude (deg)
|
|
int32 lon_int # 1e7 * longitude (deg)
|
|
float32 alt # altitude (m)
|
|
float32 vx # X velocity (m/s)
|
|
float32 vy # Y velocity (m/s)
|
|
float32 vz # Z velocity (m/s)
|
|
float32 afx # X acceleration or force (m/s^2)
|
|
float32 afy # Y acceleration or force (m/s^2)
|
|
float32 afz # Z acceleration or force (m/s^2)
|
|
float32 yaw # yaw (rad)
|
|
float32 yaw_rate # yaw rate (rad/s)
|
|
float32 timeout_sec # 等待 POSITION_TARGET_GLOBAL_INT 回應的時間上限
|
|
---
|
|
# Response
|
|
string message
|
|
uint8 ack_result
|
|
uint32 r_time_boot_ms
|
|
uint16 r_type_mask
|
|
int32 r_lat_int
|
|
int32 r_lon_int
|
|
float32 r_alt
|
|
float32 r_vx
|
|
float32 r_vy
|
|
float32 r_vz
|
|
float32 r_afx
|
|
float32 r_afy
|
|
float32 r_afz
|
|
float32 r_yaw
|
|
float32 r_yaw_rate |