uav.modes.NavGPSMode#
Classes#
coordinates: The coordinates to navigate to (x/y/z or lon/lat/alt, wait time, GPS/LOCAL). |
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A mode for navigating to a GPS coordinate |
Module Contents#
- class NavGPSParams#
Bases:
vehicle_common.mode_loader.ParamsBase- coordinates: The coordinates to navigate to (x/y/z or lon/lat/alt, wait time, GPS/LOCAL).
Local are NED coordinates, relative to the starting position (https://docs.px4.io/main/en/ros2/user_guide.html#ros-2-px4-frame-conventions).
margin: The margin of error for the GPS coordinate.
- coordinates: list[tuple[tuple[float, float, float], float, Literal['GPS', 'LOCAL']]]#
- margin: float = 1#
- class NavGPSMode#
Bases:
vehicle_common.mode.Mode[uav.vehicles.UAV.UAV,NavGPSParams]A mode for navigating to a GPS coordinate
- initialize(node: rclpy.node.Node, vehicle: uav.vehicles.UAV.UAV, params: NavGPSParams) → None#
- on_update(time_delta: float) → None#
Periodic logic for setting gps coord.
- get_local_target() → tuple[float, float, float]#
Get the local target of the UAV.
- Returns:
The local target of the UAV.
- Return type:
tuple[float, float, float]
- check_status() → str#
Check the status of the mode.
- Returns:
The status of the mode.
- Return type:
str