VehicleCommand.msg - takeoff & global position #24574
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hamishwillee
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Mar 20, 2025
hamishwillee
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hamishwillee
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hamishwillee
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hamishwillee
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hamishwillee
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hamishwillee
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@sfuhrer Are you OK with merging this?
The convention you would be accepting is:
- All must have pipes/placeholders for 7 items.
- No whitespace before after pipes (
|) within the table. - Anything
|Empty|will become|Unused| - Capitalisation of first letter of each entry unless that doesn't make sense in context.
- Capitalisation of the comment.
[m]used for units.[@range -pi, pi],[@invalid NAN]
If so I might do another PR to do all that general tidy stuff.
hamishwillee
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Apr 30, 2025
sfuhrer
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Apr 30, 2025
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Thanks. I'll do a follow up PR to do the generic fixes next week. |
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This attempts to work out how we should document vehicle command uorb topics, and falls out of https://github.com/PX4/PX4-user_guide/issues/3649.
Historically these were internal, reflecting the "result" of a MAVLink command/message after converting to whatever frame is used to represent the command internally. Now though these are used in ROS, so they are part of the "Public API". We need to document them clearly in terms of units and conventions so they can be used.
My assertion is that every one of these needs units and a frame added. I've started with MAV_CMD_NAV_TAKEOFF and SET_GPS_GLOBAL_ORIGIN as these were mentioned in linked issue.
@MaEtUgR and/or @sfuhrer Questions inline. If we broadly agree this approach, I'll roll it out further/properly.