UBot Multirotor Velocity Limits

C++

FUBotMultirotorVelocityLimits

模块

UBotAerial · UBotAerial 0.1.0

节点

Break · Make

头文件

Source/UBotAerial/Public/UBotAerialTypes.h

多旋翼的速度上限。超过上限的指令会被截断，水平方向保持不变。

字段

字段	类型	蓝图	说明
Max Horizontal Speed Meters Per SecondMaxHorizontalSpeedMetersPerSecond	Float	读写	最大水平速度（水平速度向量的模），单位 m/s。默认 10 m/s。
Max Climb Speed Meters Per SecondMaxClimbSpeedMetersPerSecond	Float	读写	最大上升速度，单位 m/s。默认 3 m/s。
Max Descent Speed Meters Per SecondMaxDescentSpeedMetersPerSecond	Float	读写	最大下降速度，取正数，单位 m/s。默认 2 m/s。
Max Yaw Rate Radians Per SecondMaxYawRateRadiansPerSecond	Float	读写	最大偏航角速度，单位 rad/s。默认 π/2 rad/s。

节点

Break UBot Multirotor Velocity Limits

Break UBot Multirotor Velocity LimitsUBot Multirotor Velocity LimitsMax Horizontal Speed Meters Per SecondMax Climb Speed Meters Per SecondMax Descent Speed Meters Per SecondMax Yaw Rate Radians Per Second

拆分结构体 · Break:FUBotMultirotorVelocityLimits

把 UBot Multirotor Velocity Limits 拆成最大水平速度、最大上升速度、最大下降速度和最大偏航角速度。

引脚	方向	类型	说明
UBot Multirotor Velocity Limits	输入	UBot Multirotor Velocity Limits结构体
Max Horizontal Speed Meters Per Second	输出	Float	Maximum horizontal speed (norm of the horizontal velocity), m/s.
Max Climb Speed Meters Per Second	输出	Float	Maximum climb speed, m/s.
Max Descent Speed Meters Per Second	输出	Float	Maximum descent speed (a positive number), m/s.
Max Yaw Rate Radians Per Second	输出	Float	Maximum yaw rate, rad/s.

Make UBot Multirotor Velocity Limits

Make UBot Multirotor Velocity LimitsMax Horizontal Speed Meters Per Second10.0Max Climb Speed Meters Per Second3.0Max Descent Speed Meters Per Second2.0Max Yaw Rate Radians Per Second1.570796UBot Multirotor Velocity Limits

构造结构体 · Make:FUBotMultirotorVelocityLimits

用各字段组装一个 UBot Multirotor Velocity Limits。

引脚	方向	类型	默认值	说明
Max Horizontal Speed Meters Per Second	输入	Float	10.0	Maximum horizontal speed (norm of the horizontal velocity), m/s.
Max Climb Speed Meters Per Second	输入	Float	3.0	Maximum climb speed, m/s.
Max Descent Speed Meters Per Second	输入	Float	2.0	Maximum descent speed (a positive number), m/s.
Max Yaw Rate Radians Per Second	输入	Float	1.570796	Maximum yaw rate, rad/s.
UBot Multirotor Velocity Limits	输出	UBot Multirotor Velocity Limits结构体