Positionsetpoint

PositionSetpoint (UORB message)

this file is only used in the position_setpoint triple as a dependency

source file

```c

this file is only used in the position_setpoint triple as a dependency

uint64 timestamp # time since system start (microseconds)

uint8 SETPOINT_TYPE_POSITION=0 # position setpoint uint8 SETPOINT_TYPE_VELOCITY=1 # velocity setpoint uint8 SETPOINT_TYPE_LOITER=2 # loiter setpoint uint8 SETPOINT_TYPE_TAKEOFF=3 # takeoff setpoint uint8 SETPOINT_TYPE_LAND=4 # land setpoint, altitude must be ignored, descend until landing uint8 SETPOINT_TYPE_IDLE=5 # do nothing, switch off motors or keep at idle speed (MC)

uint8 LOITER_TYPE_ORBIT=0 # Circular pattern uint8 LOITER_TYPE_FIGUREEIGHT=1 # Pattern resembling an 8

bool valid # true if setpoint is valid uint8 type # setpoint type to adjust behavior of position controller

float32 vx # local velocity setpoint in m/s in NED float32 vy # local velocity setpoint in m/s in NED float32 vz # local velocity setpoint in m/s in NED

float64 lat # latitude, in deg float64 lon # longitude, in deg float32 alt # altitude AMSL, in m float32 yaw # yaw (only in hover), in rad [-PI..PI), NaN = leave to flight task

float32 loiter_radius # loiter major axis radius in m float32 loiter_minor_radius # loiter minor axis radius (used for non-circular loiter shapes) in m bool loiter_direction_counter_clockwise # loiter direction is clockwise by default and can be changed using this field float32 loiter_orientation # Orientation of the major axis with respect to true north in rad [-pi,pi) uint8 loiter_pattern # loitern pattern to follow

float32 acceptance_radius # navigation acceptance_radius if we're doing waypoint navigation

float32 cruising_speed # the generally desired cruising speed (not a hard constraint) bool gliding_enabled # commands the vehicle to glide if the capability is available (fixed wing only) float32 cruising_throttle # the generally desired cruising throttle (not a hard constraint), only has an effect for rover

```