Mavros setpoint_raw
ROS / ros eco / packages / mavros
Mavlink
- POSITION_TARGET_LOCAL_NED (85)
- POSITION_TARGET_GLOBAL_INT(87)
- ATTITUDE_TARGET (83)
- SET_ATTITUDE_TARGET
MAV FRAME
Mavlink documentation - GLOBAL: Global coordinate frame with WGS84 latitude/longitude and altitude positive over mean sea level (MSL) by default. The following modifiers may be used with "GLOBAL": - INT: Latitude/longitude (in degrees) are scaled by multiplying by 1E7. - LOCAL: Origin of local frame is fixed relative to earth. Unless otherwise specified this origin is the origin of the vehicle position-estimator ("EKF").
POSITION_TARGET_LOCAL_NED(85)
Set the vehicle’s target position (as an offset in NED from the EKF origin)
POSITION_TARGET_GLOBAL_INT(87)
Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_GLOBAL_INT if the vehicle is being controlled this way.
SET_ATTITUDE_TARGET(82)
Sets a desired vehicle attitude. Used by an external controller to command the vehicle (manual controller or other system). (SET_ATTITUDE_TARGET
| Value | Name | Description |
|---|---|---|
| 1 | ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNORE | Ignore body roll rate |
| 2 | ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNORE | Ignore body pitch rate |
| 4 | ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE | Ignore body yaw rate |
| 32 | ATTITUDE_TARGET_TYPEMASK_THRUST_BODY_SET | Use 3D body thrust setpoint instead of throttle |
| 64 | ATTITUDE_TARGET_TYPEMASK_THROTTLE_IGNORE | Ignore throttle)[https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET] |
Demo: send attitude target only with RPY and thrust
mask = 7 ignore all rate part