struct LocalPositionCommandData
fbs/control.fbs / Source schema
Local-frame position, velocity, acceleration, and yaw setpoint.
FlatBuffers root table: LocalPositionCommand
| Name | Type | Unit / Scale | Notes |
|---|---|---|---|
timestamp_us | ulong | microseconds | Command timestamp in monotonic boot time. |
position_enu_m | synapse.types.Vec3f | ENU frame (x east, y north, z up), meters | Desired local position in the ENU frame. |
velocity_enu_m_s | synapse.types.Vec3f | ENU frame (x east, y north, z up), meters per second | Desired local velocity in the ENU frame. |
acceleration_or_force_enu | synapse.types.Vec3f | Desired ENU acceleration in m/s^2, or force in newtons when ForceSetpoint is set. | |
yaw_rad | float | radians | Desired yaw angle; zero east and positive counter-clockwise. |
yaw_rate_rad_s | float | radians per second | Desired yaw rate; positive counter-clockwise. |
type_mask | ushort | bitmask | Bitmask of LocalPositionCommandMask bits. |
coordinate_frame | synapse.types.LocalFrame | Frame in which the setpoint is expressed. |