Send position setpoints as local offsets

2026-07-01 16:11:56 +08:00
parent b37be91922
commit f185cf173e
3 changed files with 76 additions and 36 deletions
@@ -173,7 +173,8 @@ class RouterProxy:

        位置控制:
            proxy.send_setpoint(control_mode="POSITION",
-                                lat=22.543210, lon=113.887650, z=-8.0, yaw=0.0)
+                                x=1.0, y=0.0, z=-0.5, yaw=0.0,
+                                frame="LOCAL_OFFSET_NED")
        速度控制:
            proxy.send_setpoint(control_mode="VELOCITY",
                                vx=1.0, vy=0.0, vz=0.0, yaw_rate=0.0)