Does trajectory setpoint control yaw behavior for Fixed-Wing?

PX4 Autopilot
1

Hi everyone,

I have a question regarding the trajectory_setpoint message behavior on Fixed-Wing vehicles.

When sending a trajectory setpoint that contains both position and yaw values does the fixed wing position controller attempt to align the aircraft’s heading to the specified yaw value upon reaching the setpoint? Or is the yaw field in trajectory setpoint ignored by the fixed wing flight stack, making it only applicable to multicopters?

2

Hi!

I assume you are using offboard mode here? Have you considered using the PX4 ROS2 interface lib instead. There you can directly control the course.

To answer your question, the yaw is ignored for fixed wing. In general the trajectory setpoint is not used anywhere in the fixed-wing controller in PX4, except for when offboard is enabled, in which case the position, velocity, and acceleration fields are converted into a position setpoint.