github.com/bluenviron/gomavlib/v2@v2.2.1-0.20240308101627-2c07e3da629c/pkg/dialects/common/message_autopilot_state_for_gimbal_device.go (about)

     1  //autogenerated:yes
     2  //nolint:revive,misspell,govet,lll
     3  package common
     4  
     5  // Low level message containing autopilot state relevant for a gimbal device. This message is to be sent from the autopilot to the gimbal device component. The data of this message are for the gimbal device's estimator corrections, in particular horizon compensation, as well as indicates autopilot control intentions, e.g. feed forward angular control in the z-axis.
     6  type MessageAutopilotStateForGimbalDevice struct {
     7  	// System ID
     8  	TargetSystem uint8
     9  	// Component ID
    10  	TargetComponent uint8
    11  	// Timestamp (time since system boot).
    12  	TimeBootUs uint64
    13  	// Quaternion components of autopilot attitude: w, x, y, z (1 0 0 0 is the null-rotation, Hamilton convention).
    14  	Q [4]float32
    15  	// Estimated delay of the attitude data. 0 if unknown.
    16  	QEstimatedDelayUs uint32
    17  	// X Speed in NED (North, East, Down). NAN if unknown.
    18  	Vx float32
    19  	// Y Speed in NED (North, East, Down). NAN if unknown.
    20  	Vy float32
    21  	// Z Speed in NED (North, East, Down). NAN if unknown.
    22  	Vz float32
    23  	// Estimated delay of the speed data. 0 if unknown.
    24  	VEstimatedDelayUs uint32
    25  	// Feed forward Z component of angular velocity (positive: yawing to the right). NaN to be ignored. This is to indicate if the autopilot is actively yawing.
    26  	FeedForwardAngularVelocityZ float32
    27  	// Bitmap indicating which estimator outputs are valid.
    28  	EstimatorStatus ESTIMATOR_STATUS_FLAGS `mavenum:"uint16"`
    29  	// The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
    30  	LandedState MAV_LANDED_STATE `mavenum:"uint8"`
    31  	// Z component of angular velocity in NED (North, East, Down). NaN if unknown.
    32  	AngularVelocityZ float32 `mavext:"true"`
    33  }
    34  
    35  // GetID implements the message.Message interface.
    36  func (*MessageAutopilotStateForGimbalDevice) GetID() uint32 {
    37  	return 286
    38  }