px4_ros2::MulticopterGotoGlobalSetpointType Class Reference

Setpoint type for smooth global position and heading control. More...

#include <px4_ros2/control/setpoint_types/multicopter/goto.hpp>

Public Member Functions
	MulticopterGotoGlobalSetpointType (Context &context)
void	update (const Eigen::Vector3d &global_position, const std::optional< float > &heading={}, const std::optional< float > &max_horizontal_speed={}, const std::optional< float > &max_vertical_speed={}, const std::optional< float > &max_heading_rate={})
	Go-to global setpoint update. More...

Detailed Description

Setpoint type for smooth global position and heading control.

Member Function Documentation

update()

void px4_ros2::MulticopterGotoGlobalSetpointType::update	(	const Eigen::Vector3d &	global_position,
		const std::optional< float > &	heading = {},
		const std::optional< float > &	max_horizontal_speed = {},
		const std::optional< float > &	max_vertical_speed = {},
		const std::optional< float > &	max_heading_rate = {}
	)

Go-to global setpoint update.

Unset optional values are not controlled

Parameters

global_position	latitude [deg], longitude [deg], altitude AMSL [m]
heading	[rad] from North
max_horizontal_speed	[m/s] in NE-datum of NED earth-fixed frame
max_vertical_speed	[m/s] in D-axis of NED earth-fixed frame
max_heading_rate	[rad/s] about D-axis of NED earth-fixed frame

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

• px4_ros2_cpp/include/px4_ros2/control/setpoint_types/multicopter/goto.hpp