Another hi-jack: setpoint_position

setpoint_position

Sent position setpoint using SET_POSITION_TARGET_LOCAL_NED.

Subscribed Topics

~setpoint_position/local(geometry_msgs/PoseStamped)

Setpoint position. Only YAW axis extracted from orientation field.

PX4

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 SETPOINT_TYPE_OFFBOARD=6     # setpoint in NED frame (x, y, z, vx, vy, vz) set by offboard
uint8 SETPOINT_TYPE_FOLLOW_TARGET=7  # setpoint in NED frame (x, y, z, vx, vy, vz) set by follow target

uint8 VELOCITY_FRAME_LOCAL_NED = 1 # MAV_FRAME_LOCAL_NED
uint8 VELOCITY_FRAME_BODY_NED = 8 # MAV_FRAME_BODY_NED

bool valid            # true if setpoint is valid
uint8 type            # setpoint type to adjust behavior of position controller
float32 x            # local position setpoint in m in NED
float32 y            # local position setpoint in m in NED
float32 z            # local position setpoint in m in NED
bool position_valid        # true if local position setpoint valid
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
bool velocity_valid        # true if local velocity setpoint valid
uint8 velocity_frame        # to set velocity setpoints in NED or body

bool alt_valid        # do not set for 3D position control. Set to true if you want z-position control while doing vx,vy velocity control.
float64 lat            # latitude, in deg
float64 lon            # longitude, in deg
float32 alt            # altitude AMSL, in m
float32 yaw            # yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw
bool yaw_valid            # true if yaw setpoint valid
bool disable_mc_yaw_control        # control yaw for mc (used for vtol weather-vane mode)
float32 yawspeed        # yawspeed (only for multirotors, in rad/s)
bool yawspeed_valid        # true if yawspeed setpoint valid
float32 loiter_radius        # loiter radius (only for fixed wing), in m
int8 loiter_direction        # loiter direction: 1 = CW, -1 = CCW
float32 pitch_min        # minimal pitch angle for fixed wing takeoff waypoints
float32 a_x            # acceleration x setpoint
float32 a_y            # acceleration y setpoint
float32 a_z            # acceleration z setpoint
bool acceleration_valid        # true if acceleration setpoint is valid/should be used
bool acceleration_is_force    # interprete acceleration as force
float32 acceptance_radius   # navigation acceptance_radius if we're doing waypoint navigation
float32 cruising_speed        # the generally desired cruising speed (not a hard constraint)
float32 cruising_throttle    # the generally desired cruising throttle (not a hard constraint)

Mavros

https://github.com/mavlink/mavros/blob/master/mavros/src/plugins/setpoint_position.cpp