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Firmware
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Global position setpoint in WGS84 coordinates. More...
#include <navigation.h>
Public Attributes | |
| double | lat |
| latitude in degrees | |
| double | lon |
| longitude in degrees | |
| union { | |
| struct { | |
| union { | |
| float time_inside | |
| time that the MAV should stay inside the radius before advancing in seconds | |
| float pitch_min | |
| minimal pitch angle for fixed wing takeoff waypoints | |
| float circle_radius | |
| geofence circle radius in meters (only used for NAV_CMD_NAV_FENCE_CIRCLE*) | |
| } | |
| float acceptance_radius | |
| default radius in which the mission is accepted as reached in meters | |
| float loiter_radius | |
| loiter radius in meters, 0 for a VTOL to hover, negative for counter-clockwise | |
| float yaw | |
| in radians NED -PI..+PI, NAN means don't change yaw | |
| float ___lat_float | |
| padding | |
| float ___lon_float | |
| padding | |
| float altitude | |
| altitude in meters (AMSL) | |
| } | |
| float params [7] | |
| array to store mission command values for MAV_FRAME_MISSION | |
| }; | |
| uint16_t | nav_cmd |
| navigation command | |
| int16_t | do_jump_mission_index |
| index where the do jump will go to | |
| uint16_t | do_jump_repeat_count |
| how many times do jump needs to be done | |
| union { | |
| uint16_t do_jump_current_count | |
| count how many times the jump has been done | |
| uint16_t vertex_count | |
| Polygon vertex count (geofence) | |
| uint16_t land_precision | |
| Defines if landing should be precise: 0 = normal landing, 1 = opportunistic precision landing, 2 = required precision landing (with search) | |
| }; | |
| struct { | |
| uint16_t frame: 4 | |
| mission frame | |
| uint16_t origin: 3 | |
| how the mission item was generated | |
| uint16_t loiter_exit_xtrack: 1 | |
| exit xtrack location: 0 for center of loiter wp, 1 for exit location | |
| uint16_t force_heading: 1 | |
| heading needs to be reached | |
| uint16_t altitude_is_relative: 1 | |
| true if altitude is relative from start point | |
| uint16_t autocontinue: 1 | |
| true if next waypoint should follow after this one | |
| uint16_t vtol_back_transition: 1 | |
| part of the vtol back transition sequence | |
| uint16_t _padding0: 4 | |
| padding remaining unused bits | |
| }; | |
| uint8_t | _padding1 [2] |
| padding struct size to alignment boundary | |
Global position setpoint in WGS84 coordinates.
This is the position the MAV is heading towards. If it is of type loiter, the MAV is circling around it with the given loiter radius in meters.
Corresponds to one of the DM_KEY_WAYPOINTS_OFFBOARD_* dataman items
1.8.12