UBot Multirotor State
多旋翼在最近一个物理步的真值状态，SI 单位，UE 世界坐标轴。
| 字段 | 类型 | 蓝图 | 说明 |
|---|---|---|---|
Position MetersPositionMeters | Vector | 只读 | 根组件在世界中的位置，单位 m（UE 坐标轴：X 向前，Y 向右，Z 向上）。 |
OrientationOrientation | Quat结构体 | 只读 | 机体姿态（机体系到世界系）。 |
Linear Velocity Meters Per SecondLinearVelocityMetersPerSecond | Vector | 只读 | 世界系线速度，单位 m/s。 |
Angular Velocity Radians Per SecondAngularVelocityRadiansPerSecond | Vector | 只读 | 机体系角速度，单位 rad/s，采用 UE 的转向（+Z 为向右偏航）。 |
Linear Acceleration Meters Per Second SquaredLinearAccelerationMetersPerSecondSquared | Vector | 只读 | 世界系线加速度，取最近一个物理步，单位 m/s²。 |
Specific Force Meters Per Second SquaredSpecificForceMetersPerSecondSquared | Vector | 只读 | 机体上理想加速度计的读数（加速度减去重力，机体系），单位 m/s²。悬停时 Z 轴约为 +9.81。 |
Rotor Speeds Radians Per SecondRotorSpeedsRadiansPerSecond | Float (double)数组 | 只读 | 按电机顺序排列的旋翼转速，单位 rad/s；简化飞行模型为空。 |
Sim Time SecondsSimTimeSeconds | Float (double) | 只读 | 这个物理步的 uBot 仿真时间，单位 s。 |
Break UBot Multirotor State
Section titled “Break UBot Multirotor State”Break UBot Multirotor StateUBot Multirotor StatePosition MetersOrientationLinear Velocity Meters Per SecondAngular Velocity Radians Per SecondLinear Acceleration Meters Per Second SquaredSpecific Force Meters Per Second SquaredRotor Speeds Radians Per SecondSim Time Seconds
把 UBot Multirotor State 拆成位置、姿态、线速度、角速度、线加速度、比力、旋翼转速和仿真时间。
| 引脚 | 方向 | 类型 | 说明 |
|---|---|---|---|
| UBot Multirotor State | 输入 | UBot Multirotor State结构体 | |
| Position Meters | 输出 | Vector | Position of the root in the world, m (UE axes: X forward, Y right, Z up). |
| Orientation | 输出 | Quat结构体 | Orientation of the body (body to world). |
| Linear Velocity Meters Per Second高级 | 输出 | Vector | Linear velocity in the world frame, m/s. |
| Angular Velocity Radians Per Second高级 | 输出 | Vector | Angular velocity in the body frame, rad/s, UE rotation sense (+Z yaws right). |
| Linear Acceleration Meters Per Second Squared高级 | 输出 | Vector | Linear acceleration in the world frame over the latest step, m/s². |
| Specific Force Meters Per Second Squared高级 | 输出 | Vector | What an ideal accelerometer on the body reads (acceleration minus gravity, in the body frame), m/s². Hover reads about +9.81 on Z. |
| Rotor Speeds Radians Per Second高级 | 输出 | Float (double)数组 | Rotor speeds in motor order, rad/s (empty for the simplified flight model). |
| Sim Time Seconds高级 | 输出 | Float (double) | uBot sim time of this step, s. |
Make UBot Multirotor State
Section titled “Make UBot Multirotor State”Make UBot Multirotor StateUBot Multirotor State
用各字段组装一个 UBot Multirotor State。
| 引脚 | 方向 | 类型 |
|---|---|---|
| UBot Multirotor State | 输出 | UBot Multirotor State结构体 |