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17 lines
1.1 KiB
Plaintext
17 lines
1.1 KiB
Plaintext
# Output of a external avoidance. Obstacle avoidance message with trajectory points, PCA and FOV. See also Mavlink OBSTACLE_AVOIDANCE msg
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uint8 MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS = 0
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uint8 MAV_TRAJECTORY_REPRESENTATION_BEZIER = 1
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uint8 type # Type from MAV_TRAJECTORY_REPRESENTATION enum.
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float32[11] point_1 # Depending on the type (see MAV_TRAJECTORY_REPRESENTATION)
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float32[11] point_2 # Depending on the type (see MAV_TRAJECTORY_REPRESENTATION)
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float32[11] point_3 # Depending on the type (see MAV_TRAJECTORY_REPRESENTATION)
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float32[11] point_4 # Depending on the type (see MAV_TRAJECTORY_REPRESENTATION)
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float32[11] point_5 # Depending on the type (see MAV_TRAJECTORY_REPRESENTATION)
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bool[5] point_valid # States if respective point is valid
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int16[4] field_of_view # Field of View of the sensor/s being used. The first two parameters are used to indicate the direction (Azimuth: 0 - 360 degrees and elevation: -90 - 90 degrees) and the last two indicate the range (Azimuth and elevation). The range is applied symmetrically in the direction. Set first element to -1 to mark as unknown.
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