UBot Flight Setpoint

C++

FUBotFlightSetpoint

模块

UBotAerial · UBotAerial 0.1.0

节点

Break · Make

头文件

Source/UBotAerial/Public/UBotAerialTypes.h

飞控在一个物理步里要飞的目标。单位为 SI，坐标为 UE 世界轴。

字段

字段	类型	蓝图	说明
ModeMode	EUBot Flight Control Mode枚举	读写	决定哪些字段生效。电机模式不会到达飞控。
Velocity Meters Per SecondVelocityMetersPerSecond	Vector	读写	速度模式：世界坐标系下的目标速度，单位 m/s。
Yaw Rate Radians Per SecondYawRateRadiansPerSecond	Float (double)	读写	速度模式：偏航角速度，单位 rad/s（正值向右转）。
Hold PositionbHoldPosition	Boolean	读写	速度模式：水平方向保持 Hold Position，垂直速度为 0 时也保持其高度。
Hold Position MetersHoldPositionMeters	Vector	读写	速度模式：要保持的位置，单位 m（世界坐标）。
OrientationOrientation	Quat结构体	读写	姿态模式：目标姿态（机体到世界）。
Use Yaw RatebUseYawRate	Boolean	读写	姿态模式：按 Yaw Rate 转动朝向，而不是跟随 Orientation 的偏航角。
Body Rate Radians Per SecondBodyRateRadiansPerSecond	Vector	读写	角速度模式：机体坐标系下的目标角速度，单位 rad/s。
Use ThrustbUseThrust	Boolean	读写	姿态和角速度模式：使用 Normalized Thrust，否则按 Vertical Velocity 飞。
Normalized ThrustNormalizedThrust	Float (double)	读写	总推力占最大推力的比例，范围 0 到 1。
Vertical Velocity Meters Per SecondVerticalVelocityMetersPerSecond	Float (double)	读写	不用推力的姿态和角速度模式：爬升速度，单位 m/s（向上为正）。

节点

Break UBot Flight Setpoint

Break UBot Flight SetpointUBot Flight SetpointModeVelocity Meters Per SecondYaw Rate Radians Per SecondHold PositionHold Position MetersOrientationUse Yaw RateBody Rate Radians Per SecondUse ThrustNormalized ThrustVertical Velocity Meters Per Second▴

拆分结构体 · Break:FUBotFlightSetpoint

把 UBot Flight Setpoint 拆成各个成员字段。

引脚	方向	类型	说明
UBot Flight Setpoint	输入	UBot Flight Setpoint结构体
Mode	输出	EUBot Flight Control Mode枚举	Which fields apply. Motor mode never reaches a controller.
Velocity Meters Per Second	输出	Vector	Velocity mode: target velocity in the world frame, m/s.
Yaw Rate Radians Per Second高级	输出	Float (double)	Velocity mode: yaw rate, rad/s (+ turns right).
Hold Position高级bHoldPosition	输出	Boolean	Velocity mode: hold Hold Position horizontally, and its altitude while the vertical velocity is 0.
Hold Position Meters高级	输出	Vector	Velocity mode: the position to hold, m (world).
Orientation高级	输出	Quat结构体	Attitude mode: target attitude, body to world.
Use Yaw Rate高级bUseYawRate	输出	Boolean	Attitude mode: turn the heading at Yaw Rate instead of following the yaw of Orientation.
Body Rate Radians Per Second高级	输出	Vector	Body rate mode: target angular velocity in the body frame, rad/s.
Use Thrust高级bUseThrust	输出	Boolean	Attitude and body rate modes: use Normalized Thrust; otherwise fly Vertical Velocity.
Normalized Thrust高级	输出	Float (double)	Collective thrust as a share of the maximum, 0..1.
Vertical Velocity Meters Per Second高级	输出	Float (double)	Attitude and body rate modes without thrust: climb rate, m/s (+ up).

Make UBot Flight Setpoint

Make UBot Flight SetpointModeVelocityVelocity Meters Per Second0.0, 0.0, 0.0Yaw Rate Radians Per Second0.0Hold PositionHold Position Meters0.0, 0.0, 0.0OrientationUse Yaw RateBody Rate Radians Per Second0.0, 0.0, 0.0Use ThrustNormalized Thrust0.0Vertical Velocity Meters Per Second0.0UBot Flight Setpoint▴

构造结构体 · Make:FUBotFlightSetpoint

用各个成员字段组成一个 UBot Flight Setpoint。

引脚	方向	类型	默认值	说明
Mode	输入	EUBot Flight Control Mode枚举	Velocity	Which fields apply. Motor mode never reaches a controller.
Velocity Meters Per Second	输入	Vector	0.000000,0.000000,0.000000	Velocity mode: target velocity in the world frame, m/s.
Yaw Rate Radians Per Second高级	输入	Float (double)	0.0	Velocity mode: yaw rate, rad/s (+ turns right).
Hold Position高级bHoldPosition	输入	Boolean	false	Velocity mode: hold Hold Position horizontally, and its altitude while the vertical velocity is 0.
Hold Position Meters高级	输入	Vector	0.000000,0.000000,0.000000	Velocity mode: the position to hold, m (world).
Orientation高级	输入	Quat结构体	(0.0, 0.0, 0.000000,W=1.000000)	Attitude mode: target attitude, body to world.
Use Yaw Rate高级bUseYawRate	输入	Boolean	false	Attitude mode: turn the heading at Yaw Rate instead of following the yaw of Orientation.
Body Rate Radians Per Second高级	输入	Vector	0.000000,0.000000,0.000000	Body rate mode: target angular velocity in the body frame, rad/s.
Use Thrust高级bUseThrust	输入	Boolean	false	Attitude and body rate modes: use Normalized Thrust; otherwise fly Vertical Velocity.
Normalized Thrust高级	输入	Float (double)	0.0	Collective thrust as a share of the maximum, 0..1.
Vertical Velocity Meters Per Second高级	输入	Float (double)	0.0	Attitude and body rate modes without thrust: climb rate, m/s (+ up).
UBot Flight Setpoint	输出	UBot Flight Setpoint结构体