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Mavros setpoint_velocity

ROS / ros eco / packages / mavros

setpoint get ROS twist or twiststamped message and send SET_POSITION_TARGET_LOCAL_NED mavlink message with mask that allow only velocity and yaw rate

Value Name Description Bit mask
1 POSITION_TARGET_TYPEMASK_X_IGNORE Ignore position x 0 1
2 POSITION_TARGET_TYPEMASK_Y_IGNORE Ignore position y 1 1
4 POSITION_TARGET_TYPEMASK_Z_IGNORE Ignore position z 2 1
8 POSITION_TARGET_TYPEMASK_VX_IGNORE Ignore velocity x 3
16 POSITION_TARGET_TYPEMASK_VY_IGNORE Ignore velocity y 4
32 POSITION_TARGET_TYPEMASK_VZ_IGNORE Ignore velocity z 5
64 POSITION_TARGET_TYPEMASK_AX_IGNORE Ignore acceleration x 6 1
128 POSITION_TARGET_TYPEMASK_AY_IGNORE Ignore acceleration y 7 1
256 POSITION_TARGET_TYPEMASK_AZ_IGNORE Ignore acceleration z 8 1
512 POSITION_TARGET_TYPEMASK_FORCE_SET Use force instead of acceleration 9
1024 POSITION_TARGET_TYPEMASK_YAW_IGNORE Ignore yaw 10 1
2048 POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE Ignore yaw rate 11

SET_POSITION_TARGET_LOCAL_NED

Sets a desired vehicle position in a local north-east-down coordinate frame. Used by an external controller to command the vehicle (manual controller or other system).

LOCAL

Origin of local frame is fixed relative to earth. Unless otherwise specified this origin is the origin of the vehicle position-estimator ("EKF").

Parameters

Param
mav_frame LOCAL_NED