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Vehicle status report that is sent out while figure eight execution is in progress (see [MAV_CMD_DO_FIGURE_EIGHT](#MAV_CMD_DO_FIGURE_EIGHT)).
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This may typically send at low rates: of the order of 2Hz.
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Field Name | Type | Units | Values | Description
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--- | --- | --- | --- | ---
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time_usec | `uint64_t` | us | | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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major_radius | `float` | m | | Major axis radius of the figure eight. Positive: orbit the north circle clockwise. Negative: orbit the north circle counter-clockwise.
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minor_radius | `float` | m | | Minor axis radius of the figure eight. Defines the radius of two circles that make up the figure.
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orientation | `float` | rad | | Orientation of the figure eight major axis with respect to true north in [-pi,pi).
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frame | `uint8_t` | | [MAV_FRAME](#MAV_FRAME) | The coordinate system of the fields: x, y, z.
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x | `int32_t` | | | X coordinate of center point. Coordinate system depends on frame field.
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y | `int32_t` | | | Y coordinate of center point. Coordinate system depends on frame field.
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z | `float` | m | | Altitude of center point. Coordinate system depends on frame field.
<span class="warning">**DEPRECATED:** Replaced By [BATTERY_INFO](#BATTERY_INFO) (2024-02) — The [BATTERY_INFO](#BATTERY_INFO) message is better aligned with UAVCAN messages, and in any case is useful even if a battery is not "smart".)</span>
Fly a figure eight path as defined by the parameters.
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Set parameters to NaN/INT32_MAX (as appropriate) to use system-default values.
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The command is intended for fixed wing vehicles (and VTOL hybrids flying in fixed-wing mode), allowing POI tracking for gimbals that don't support infinite rotation.
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This command only defines the flight path. Speed should be set independently (use e.g. [MAV_CMD_DO_CHANGE_SPEED](#MAV_CMD_DO_CHANGE_SPEED)).
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Yaw and other degrees of freedom are not specified, and will be flight-stack specific (on vehicles where they can be controlled independent of the heading).
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Param (Label) | Description | Units
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--- | --- | ---
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1 (Major Radius) | Major axis radius of the figure eight. Positive: orbit the north circle clockwise. Negative: orbit the north circle counter-clockwise.<br>NaN: The radius will be set to 2.5 times the minor radius and direction is clockwise.<br>Must be greater or equal to two times the minor radius for feasible values. | m
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2 (Minor Radius) | Minor axis radius of the figure eight. Defines the radius of the two circles that make up the figure. Negative value has no effect.<br>NaN: The radius will be set to the default loiter radius. | m
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3 | |
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4 (Orientation) | Orientation of the figure eight major axis with respect to true north (range: [-pi,pi]). NaN: use default orientation aligned to true north. | rad
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5 (Latitude/X) | Center point latitude/X coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.<br>INT32_MAX or NaN: Use current vehicle position, or current center if already loitering. |
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6 (Longitude/Y) | Center point longitude/Y coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.<br>INT32_MAX or NaN: Use current vehicle position, or current center if already loitering. |
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7 (Altitude/Z) | Center point altitude MSL/Z coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.<br>INT32_MAX or NaN: Use current vehicle altitude. |
<spanclass="warning">**WORK IN PROGRESS**: Do not use in stable production environments (it may change).</span>
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Vehicle status report that is sent out while figure eight execution is in progress (see [MAV_CMD_DO_FIGURE_EIGHT](#MAV_CMD_DO_FIGURE_EIGHT)).
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This may typically send at low rates: of the order of 2Hz.
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Field Name | Type | Units | Values | Description
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--- | --- | --- | --- | ---
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time_usec | `uint64_t` | us | | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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major_radius | `float` | m | | Major axis radius of the figure eight. Positive: orbit the north circle clockwise. Negative: orbit the north circle counter-clockwise.
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minor_radius | `float` | m | | Minor axis radius of the figure eight. Defines the radius of two circles that make up the figure.
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orientation | `float` | rad | | Orientation of the figure eight major axis with respect to true north in [-pi,pi).
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frame | `uint8_t` | | [MAV_FRAME](#MAV_FRAME) | The coordinate system of the fields: x, y, z.
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x | `int32_t` | | | X coordinate of center point. Coordinate system depends on frame field.
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y | `int32_t` | | | Y coordinate of center point. Coordinate system depends on frame field.
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z | `float` | m | | Altitude of center point. Coordinate system depends on frame field.
<spanclass="warning">**WORK IN PROGRESS**: Do not use in stable production environments (it may change).</span>
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Fly a figure eight path as defined by the parameters.
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Set parameters to NaN/INT32_MAX (as appropriate) to use system-default values.
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The command is intended for fixed wing vehicles (and VTOL hybrids flying in fixed-wing mode), allowing POI tracking for gimbals that don't support infinite rotation.
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This command only defines the flight path. Speed should be set independently (use e.g. [MAV_CMD_DO_CHANGE_SPEED](#MAV_CMD_DO_CHANGE_SPEED)).
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Yaw and other degrees of freedom are not specified, and will be flight-stack specific (on vehicles where they can be controlled independent of the heading).
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Param (Label) | Description | Units
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--- | --- | ---
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1 (Major Radius) | Major axis radius of the figure eight. Positive: orbit the north circle clockwise. Negative: orbit the north circle counter-clockwise.<br>NaN: The radius will be set to 2.5 times the minor radius and direction is clockwise.<br>Must be greater or equal to two times the minor radius for feasible values. | m
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2 (Minor Radius) | Minor axis radius of the figure eight. Defines the radius of the two circles that make up the figure. Negative value has no effect.<br>NaN: The radius will be set to the default loiter radius. | m
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3 | |
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4 (Orientation) | Orientation of the figure eight major axis with respect to true north (range: [-pi,pi]). NaN: use default orientation aligned to true north. | rad
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5 (Latitude/X) | Center point latitude/X coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.<br>INT32_MAX or NaN: Use current vehicle position, or current center if already loitering. |
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6 (Longitude/Y) | Center point longitude/Y coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.<br>INT32_MAX or NaN: Use current vehicle position, or current center if already loitering. |
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7 (Altitude/Z) | Center point altitude MSL/Z coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.<br>INT32_MAX or NaN: Use current vehicle altitude. |
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