auterion::GuidanceInput Struct Reference

#include <auterion_sdk/control/multicopter/guidance_strategy.hpp>

Public Attributes
Eigen::Vector3d	los {Eigen::Vector3d::Zero()}
	Line-of-sight unit vector from drone to target (ENU).
Eigen::Vector3d	los_rate {Eigen::Vector3d::Zero()}
	Angular rate of the line-of-sight vector (ENU) [rad/s].
Eigen::Quaterniond	attitude_enu {Eigen::Quaterniond::Identity()}
	Current vehicle attitude quaternion (ENU).
Eigen::Vector3d	velocity_enu {Eigen::Vector3d::Zero()}
	Vehicle velocity in ENU [m/s].
Eigen::Vector3d	acceleration_flu {Eigen::Vector3d::Zero()}
	Measured specific force in FLU body frame [m/s²].
bool	following {false}
double	dt_s {0.0}
	Time step [s].
double	manual_pitch {0.0}
	Operator stick inputs — available for strategies that blend manual control.
double	manual_roll {0.0}
double	manual_throttle {0.0}
double	manual_yaw {0.0}
Eigen::Vector3f	position_enu_m {Eigen::Vector3f::Zero()}
bool	local_position_valid {false}
GlobalPosition	global_position {}
bool	global_position_valid {false}

Detailed Description

All the information a guidance strategy needs to make a decision. The host application populates this every tick — the guidance implementation only reads from it.

Member Data Documentation

following

bool auterion::GuidanceInput::following {false}

True when the pilot has engaged following via stick threshold. Set by the host application — the strategy must respect this flag and must not attempt to set it itself.

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The documentation for this struct was generated from the following file:

• include/auterion_sdk/control/multicopter/guidance_strategy.hpp