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33 lines
3.2 KiB
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33 lines
3.2 KiB
Plaintext
# MAVLink message: LANDING_TARGET
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# https://mavlink.io/en/messages/common.html
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std_msgs/Header header
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## MAV_FRAME enum
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uint8 GLOBAL = 0 # Global coordinate frame, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL)
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uint8 LOCAL_NED = 2 # Local coordinate frame, Z-up (x: north, y: east, z: down).
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uint8 MISSION = 3 # NOT a coordinate frame, indicates a mission command.
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uint8 GLOBAL_RELATIVE_ALT = 4 # Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude, second value / y: longitude, third value / z: positive altitude with 0 being at the altitude of the home location.
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uint8 LOCAL_ENU = 5 # Local coordinate frame, Z-down (x: east, y: north, z: up)
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uint8 GLOBAL_INT = 6 # Global coordinate frame, WGS84 coordinate system. First value / x: latitude in degrees*1.0e-7, second value / y: longitude in degrees*1.0e-7, third value / z: positive altitude over mean sea level (MSL)
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uint8 GLOBAL_RELATIVE_ALT_INT = 7 # Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude in degrees*10e-7, second value / y: longitude in degrees*10e-7, third value / z: positive altitude with 0 being at the altitude of the home location.
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uint8 LOCAL_OFFSET_NED = 8 # Offset to the current local frame. Anything expressed in this frame should be added to the current local frame position.
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uint8 BODY_NED = 9 # Setpoint in body NED frame. This makes sense if all position control is externalized - e.g. useful to command 2 m/s^2 acceleration to the right.
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uint8 BODY_OFFSET_NED = 10 # Offset in body NED frame. This makes sense if adding setpoints to the current flight path, to avoid an obstacle - e.g. useful to command 2 m/s^2 acceleration to the east.
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uint8 GLOBAL_TERRAIN_ALT = 11 # Global coordinate frame with above terrain level altitude. WGS84 coordinate system, relative altitude over terrain with respect to the waypoint coordinate. First value / x: latitude in degrees, second value / y: longitude in degrees, third value / z: positive altitude in meters with 0 being at ground level in terrain model.
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uint8 GLOBAL_TERRAIN_ALT_INT = 12 # Global coordinate frame with above terrain level altitude. WGS84 coordinate system, relative altitude over terrain with respect to the waypoint coordinate. First value / x: latitude in degrees*10e-7, second value / y: longitude in degrees*10e-7, third value / z: positive altitude in meters with 0 being at ground level in terrain model.
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## LANDING_TARGET_TYPE enum
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uint8 LIGHT_BEACON = 0 # Landing target signaled by light beacon (ex: IR-LOCK)
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uint8 RADIO_BEACON = 1 # Landing target signaled by radio beacon (ex: ILS, NDB)
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uint8 VISION_FIDUCIAL = 2 # Landing target represented by a fiducial marker (ex: ARTag)
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uint8 VISION_OTHER = 3 # Landing target represented by a pre-defined visual shape/feature (ex: X-marker, H-marker, square)
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uint8 target_num
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uint8 frame
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float32[2] angle
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float32 distance
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float32[2] size
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geometry_msgs/Pose pose
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uint8 type
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