Overview

Linear (PID) control of lateral position based on state estimate, to named hover points.

ROS API

control_mode_hover (H)

Parameters

• [m/s] (maximum, at full joystick deflection) lateral speed at which to move the controller setpoint when setpoint adjustment is commanded

• If true, joystick deflections are interpreted in a frame external to the vehicle. (See also ~external_frame_heading). If false, joystick deflections are interpreted in the vehicle body frame.

• [deg] When ~external_command_frame is true, this value defines the direction in which the vehicle will fly in response to a negative pitch command (i.e. 'forward' on the joystick), irrespective of the yaw angle.