UBot Body Rate Command

C++

FUBotBodyRateCommand

模块

UBotCore · UBotCore 0.1.2

节点

Break · Make

头文件

Source/UBotCore/Public/UBotActuatorInterface.h

飞行器的机体角速度请求：机体角速度，加推力或爬升速度。

字段

字段	类型	蓝图	说明
Body Rate Radians Per SecondBodyRateRadiansPerSecond	Vector	读写	期望的机体系角速度，用 UE 的坐标轴和旋转方向（+Z 是向右偏航），单位 rad/s。
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 Body Rate Command

Break UBot Body Rate CommandUBot Body Rate CommandBody Rate Radians Per SecondUse ThrustNormalized ThrustVertical Velocity Meters Per SecondTimestamp SecondsSource▴

拆分结构体 · Break:FUBotBodyRateCommand

把 UBot Body Rate Command 拆成机体角速度、推力、时间戳和来源等字段。

引脚	方向	类型	说明
UBot Body Rate Command	输入	UBot Body Rate Command结构体
Body Rate Radians Per Second	输出	Vector	Desired angular velocity in the body frame, UE axes and UE rotation sense (+Z = yaw to the right), rad/s.
Use ThrustbUseThrust	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 Body Rate Command

Make UBot Body Rate CommandBody Rate Radians Per Second0.0, 0.0, 0.0Use ThrustNormalized Thrust0.0Vertical Velocity Meters Per Second0.0Timestamp Seconds0.0SourceNoneUBot Body Rate Command▴

构造结构体 · Make:FUBotBodyRateCommand

用机体角速度、推力、时间戳和来源等字段构造一个 UBot Body Rate Command。

引脚	方向	类型	默认值	说明
Body Rate Radians Per Second	输入	Vector	0.000000,0.000000,0.000000	Desired angular velocity in the body frame, UE axes and UE rotation sense (+Z = yaw to the right), rad/s.
Use ThrustbUseThrust	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 Body Rate Command	输出	UBot Body Rate Command结构体