UBot Attitude Command

C++

FUBotAttitudeCommand

模块

UBotCore · UBotCore 0.1.2

节点

Break · Make

头文件

Source/UBotCore/Public/UBotActuatorInterface.h

飞行器的姿态请求：目标姿态，加推力或爬升速度。

字段

字段	类型	蓝图	说明
OrientationOrientation	Quat结构体	读写	期望姿态，机体到世界的四元数，用 UE 的坐标轴。
Use Yaw RatebUseYawRate	Boolean	读写	为 true 时航向按偏航角速度转动，不再跟随 Orientation 的偏航角。
Yaw Rate Radians Per SecondYawRateRadiansPerSecond	Float (double)	读写	使用偏航角速度时的偏航速度，单位 rad/s，用 UE 的旋转方向（正值向右偏航）。
Use ThrustbUseThrust	Boolean	读写	为 true 时使用 Normalized Thrust；否则由接收者自己调节推力，以达到 Vertical Velocity。
Normalized ThrustNormalizedThrust	Float (double)	读写	总推力占飞行器最大总推力的比例，范围 0 到 1。
Vertical Velocity Meters Per SecondVerticalVelocityMetersPerSecond	Float (double)	读写	不使用推力时的爬升速度，单位 m/s，向上为正；0 表示保持高度。
Timestamp SecondsTimestampSeconds	Float (double)	读写	发出指令时的仿真时间，单位秒。
SourceSource	Name	读写	来源标签，格式自由，比如 ROS、MCP、Blueprint。

节点

Break UBot Attitude Command

Break UBot Attitude CommandUBot Attitude CommandOrientationUse Yaw RateYaw Rate Radians Per SecondUse ThrustNormalized ThrustVertical Velocity Meters Per SecondTimestamp SecondsSource▴

拆分结构体 · Break:FUBotAttitudeCommand

把 UBot Attitude Command 拆成姿态、推力、偏航角速度、时间戳和来源等字段。

引脚	方向	类型	说明
UBot Attitude Command	输入	UBot Attitude Command结构体
Orientation	输出	Quat结构体	Desired attitude, body to world, UE axes.
Use Yaw RatebUseYawRate	输出	Boolean	Turn the heading at Yaw Rate instead of following the yaw of Orientation.
Yaw Rate Radians Per Second高级	输出	Float (double)	Yaw rate when Use Yaw Rate is set, rad/s, UE rotation sense (+ turns right).
Use Thrust高级bUseThrust	输出	Boolean	Use Normalized Thrust. Otherwise the receiver sets the thrust itself to fly Vertical Velocity.
Normalized Thrust高级	输出	Float (double)	Collective thrust as a share of the vehicle's maximum, 0..1.
Vertical Velocity Meters Per Second高级	输出	Float (double)	Climb rate when Use Thrust is not set, m/s (+ up). 0 holds the altitude.
Timestamp Seconds高级	输出	Float (double)	uBot sim time at which the command was issued.
Source高级	输出	Name	Free-form origin tag, e.g. "ROS", "MCP", "Blueprint".

Make UBot Attitude Command

Make UBot Attitude CommandOrientationUse Yaw RateYaw Rate Radians Per Second0.0Use ThrustNormalized Thrust0.0Vertical Velocity Meters Per Second0.0Timestamp Seconds0.0SourceNoneUBot Attitude Command▴

构造结构体 · Make:FUBotAttitudeCommand

用姿态、推力、偏航角速度、时间戳和来源等字段构造一个 UBot Attitude Command。

引脚	方向	类型	默认值	说明
Orientation	输入	Quat结构体	(0.0, 0.0, 0.000000,W=1.000000)	Desired attitude, body to world, UE axes.
Use Yaw RatebUseYawRate	输入	Boolean	false	Turn the heading at Yaw Rate instead of following the yaw of Orientation.
Yaw Rate Radians Per Second高级	输入	Float (double)	0.0	Yaw rate when Use Yaw Rate is set, rad/s, UE rotation sense (+ turns right).
Use Thrust高级bUseThrust	输入	Boolean	false	Use Normalized Thrust. Otherwise the receiver sets the thrust itself to fly Vertical Velocity.
Normalized Thrust高级	输入	Float (double)	0.0	Collective thrust as a share of the vehicle's maximum, 0..1.
Vertical Velocity Meters Per Second高级	输入	Float (double)	0.0	Climb rate when Use Thrust is not set, m/s (+ up). 0 holds the altitude.
Timestamp Seconds高级	输入	Float (double)	0.0	uBot sim time at which the command was issued.
Source高级	输入	Name	None	Free-form origin tag, e.g. "ROS", "MCP", "Blueprint".
UBot Attitude Command	输出	UBot Attitude Command结构体