From 2e1b0d104e063c8a565b21fbf3f2e346bff69206 Mon Sep 17 00:00:00 2001 From: JaeyoungLim Date: Mon, 30 Nov 2020 18:41:17 +0100 Subject: [PATCH] offboard: Add acceleration setpoints (#924) --- en/flight_modes/offboard.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/en/flight_modes/offboard.md b/en/flight_modes/offboard.md index f818681ebcf0..831858224300 100644 --- a/en/flight_modes/offboard.md +++ b/en/flight_modes/offboard.md @@ -39,9 +39,9 @@ The action is defined in the parameters [COM_OBL_ACT](#COM_OBL_ACT) and [COM_OBL * The following input combinations are supported: * Position setpoint (only `x`, `y`, `z`) * Velocity setpoint (only `vx`, `yy`, `vz`) - * *Thrust* setpoint (only `afx`, `afy`, `afz`) - > **Note** Acceleration setpoint values are mapped to create a normalized thrust setpoint (i.e. acceleration setpoints are not "properly" supported). + * Acceleration setpoint (only `afx`, `afy`, `afz`) * Position setpoint **and** velocity setpoint (the velocity setpoint is used as feedforward; it is added to the output of the position controller and the result is used as the input to the velocity controller). + * Position setpoint **and** velocity setpoint **and** acceleration (the acceleration setpoint is used as feedforward; it is added to the output of the position controller and the result is used as the input to the velocity controller). - - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) and [MAV_FRAME_BODY_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_BODY_NED). * [SET_POSITION_TARGET_GLOBAL_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT)