mirror of
https://github.com/PX4/PX4-Autopilot.git
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[Docs] update metadata (#25603)
This commit is contained in:
Hamish Willee
GitHub
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@@ -125,6 +125,31 @@ ilabs <command> [arguments...]
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status Print driver status
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```
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## sbgecom
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Source: [drivers/ins/sbgecom](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/sbgecom)
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Description du module
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### Usage {#sbgecom_usage}
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```
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sbgecom <command> [arguments...]
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Commands:
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start Start driver
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[-d <val>] Serial device
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default: /dev/ttyS0
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[-b <val>] Baudrate device
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default: 921600
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[-f <val>] Config JSON file path
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default: /etc/extras/sbg_settings\.json
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[-s <val>] Config JSON string
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status Driver status
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stop Stop driver
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```
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## vectornav
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Source: [drivers/ins/vectornav](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/vectornav)
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@@ -140,9 +140,9 @@ commander <command> [arguments...]
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transition VTOL transition
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mode Change flight mode
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manual|acro|offboard|stabilized|altctl|posctl|position:slow|auto:mission|au
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to:loiter|auto:rtl|auto:takeoff|auto:land|auto:precland|ext1
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Flight mode
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manual|acro|offboard|stabilized|altctl|posctl|altitude_cruise|position:slow
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|auto:mission|auto:loiter|auto:rtl|auto:takeoff|auto:land|auto:
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precland|ext1 Flight mode
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pair
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@@ -154,6 +154,9 @@ commander <command> [arguments...]
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lat|lon|alt Origin latitude longitude altitude
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set_heading Set current heading
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heading degrees from True North [0 360]
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poweroff Power off board (if supported)
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stop
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@@ -1062,7 +1065,9 @@ uxrce_dds_client <command> [arguments...]
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values: <IP>
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[-p <val>] Agent listening port. If not provided, defaults to
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UXRCE_DDS_PRT
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[-n <val>] Client DDS namespace
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[-n <val>] Client DDS namespace. If not provided but UXRCE_DDS_NS_IDX is
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between 0 and 9999 inclusive, then uav_ + UXRCE_DDS_NS_IDX will
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be used
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stop
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@@ -18,11 +18,11 @@ uint32 MESSAGE_VERSION = 0
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uint64 timestamp # [us] Time since system start
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uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
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uint16 reversible_flags # Bitset indicating which motors are configured to be reversible
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uint16 reversible_flags # [-] Bitset indicating which motors are configured to be reversible
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uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 #
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uint8 NUM_CONTROLS = 12 #
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float32[12] control # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)
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float32[12] control # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)
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```
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@@ -19,6 +19,6 @@ uint64 timestamp # [us] Time since system start
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uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
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uint8 NUM_CONTROLS = 8 #
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float32[8] control # [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
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float32[8] control # [-] [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
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```
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@@ -1,6 +1,6 @@
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# ArmingCheckReply (UORB message)
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Arming check reply.
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Arming check reply
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This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
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The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station).
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@@ -12,7 +12,7 @@ The message is not used by internal/FMU components, as their mode requirements a
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg)
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```c
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# Arming check reply.
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# Arming check reply
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#
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# This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
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# The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station).
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@@ -25,33 +25,33 @@ uint32 MESSAGE_VERSION = 1
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uint64 timestamp # [us] Time since system start.
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uint8 request_id # Id of ArmingCheckRequest for which this is a response.
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uint8 registration_id # Id of external component emitting this response.
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uint8 request_id # [-] Id of ArmingCheckRequest for which this is a response
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uint8 registration_id # [-] Id of external component emitting this response
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uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies.
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uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies
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uint8 health_component_index # [@enum HEALTH_COMPONENT_INDEX]
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bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json).
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bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json).
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bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json).
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bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json)
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bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json)
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bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json)
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bool can_arm_and_run # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed.
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bool can_arm_and_run # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed
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uint8 num_events # Number of queued failure messages (Event) in the events field.
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uint8 num_events # Number of queued failure messages (Event) in the events field
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Event[5] events # Arming failure reasons (Queue of events to report to GCS).
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Event[5] events # Arming failure reasons (Queue of events to report to GCS)
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# Mode requirements
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bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope).
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bool mode_req_attitude # Requires an attitude estimate.
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bool mode_req_local_alt # Requires a local altitude estimate.
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bool mode_req_local_position # Requires a local position estimate.
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bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate.
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bool mode_req_global_position # Requires a global position estimate.
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bool mode_req_global_position_relaxed # Requires a relaxed global position estimate.
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bool mode_req_mission # Requires an uploaded mission.
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bool mode_req_home_position # Requires a home position (such as RTL/Return mode).
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bool mode_req_prevent_arming # Prevent arming (such as in Land mode).
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bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope)
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bool mode_req_attitude # Requires an attitude estimate
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bool mode_req_local_alt # Requires a local altitude estimate
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bool mode_req_local_position # Requires a local position estimate
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bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate
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bool mode_req_global_position # Requires a global position estimate
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bool mode_req_global_position_relaxed # Requires a relaxed global position estimate
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bool mode_req_mission # Requires an uploaded mission
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bool mode_req_home_position # Requires a home position (such as RTL/Return mode)
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bool mode_req_prevent_arming # Prevent arming (such as in Land mode)
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bool mode_req_manual_control # Requires a manual controller
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uint8 ORB_QUEUE_LENGTH = 4
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@@ -1,6 +1,6 @@
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# ArmingCheckRequest (UORB message)
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Arming check request.
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Arming check request
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Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
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All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
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@@ -12,7 +12,7 @@ The reply will also include the registration_id for each external component, pro
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg)
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```c
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# Arming check request.
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# Arming check request
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#
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# Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
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# All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
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@@ -23,10 +23,10 @@ The reply will also include the registration_id for each external component, pro
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uint32 MESSAGE_VERSION = 1
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uint64 timestamp # [us] Time since system start.
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uint64 timestamp # [us] Time since system start
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uint8 request_id # Id of this request. Allows correlation with associated ArmingCheckReply messages.
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uint8 request_id # [-] Id of this request. Allows correlation with associated ArmingCheckReply messages.
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uint32 valid_registrations_mask # Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
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uint32 valid_registrations_mask # [-] Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
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```
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@@ -16,76 +16,77 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
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# Battery instance information is also logged and streamed in MAVLink telemetry.
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uint32 MESSAGE_VERSION = 1
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uint8 MAX_INSTANCES = 4
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uint8 MAX_INSTANCES = 3
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uint64 timestamp # [us] Time since system start
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bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
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float32 voltage_v # [V] [@invalid 0] Battery voltage
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float32 current_a # [A] [@invalid -1] Battery current
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float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight)
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float32 discharged_mah # [mAh] [@invalid -1] Discharged amount
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float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity
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float32 scale # [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
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float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
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float32 temperature # [°C] [@invalid NaN] Temperature of the battery
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uint8 cell_count # [@invalid 0] Number of cells
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uint64 timestamp # [us] Time since system start
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bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
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float32 voltage_v # [V] [@invalid 0] Battery voltage
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float32 current_a # [A] [@invalid -1] Battery current
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float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight)
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float32 discharged_mah # [mAh] [@invalid -1] Discharged amount
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float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity
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float32 scale # [-] [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
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float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
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float32 temperature # [°C] [@invalid NaN] Temperature of the battery
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uint8 cell_count # [-] [@invalid 0] Number of cells
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uint8 source # [@enum SOURCE] Battery source
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uint8 SOURCE_POWER_MODULE = 0 # Power module
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uint8 SOURCE_EXTERNAL = 1 # External
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uint8 SOURCE_ESCS = 2 # ESCs
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uint8 source # [@enum SOURCE] Battery source
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uint8 SOURCE_POWER_MODULE = 0 # Power module
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uint8 SOURCE_EXTERNAL = 1 # External
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uint8 SOURCE_ESCS = 2 # ESCs
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uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
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uint16 capacity # [mAh] Capacity of the battery when fully charged
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uint16 cycle_count # Number of discharge cycles the battery has experienced
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uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
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uint16 manufacture_date # Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
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uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
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uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
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uint8 id # ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
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uint16 interface_error # Interface error counter
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uint8 priority # [-] Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
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uint16 capacity # [mAh] Capacity of the battery when fully charged
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uint16 cycle_count # [-] Number of discharge cycles the battery has experienced
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uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
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uint16 manufacture_date # [-] Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
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uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
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uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
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uint8 id # [-] ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
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uint16 interface_error # [-] Interface error counter
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float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages
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float32 max_cell_voltage_delta # Max difference between individual cell voltages
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float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages
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float32 max_cell_voltage_delta # [V] Max difference between individual cell voltages
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bool is_powering_off # Power off event imminent indication, false if unknown
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bool is_required # Set if the battery is explicitly required before arming
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bool is_powering_off # Power off event imminent indication, false if unknown
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bool is_required # Set if the battery is explicitly required before arming
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uint8 warning # [@enum WARNING STATE] Current battery warning
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uint8 WARNING_NONE = 0 # No battery low voltage warning active
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uint8 WARNING_LOW = 1 # Low voltage warning
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uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
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uint8 WARNING_EMERGENCY = 3 # Immediate landing required
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uint8 WARNING_FAILED = 4 # Battery has failed completely
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uint8 STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field
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uint8 STATE_CHARGING = 7 # Battery is charging
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uint8 warning # [@enum WARNING STATE] Current battery warning
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uint8 WARNING_NONE = 0 # No battery low voltage warning active
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uint8 WARNING_LOW = 1 # Low voltage warning
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uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
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uint8 WARNING_EMERGENCY = 3 # Immediate landing required
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uint8 WARNING_FAILED = 4 # Battery has failed completely
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uint8 STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field
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uint8 STATE_CHARGING = 7 # Battery is charging
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uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication
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uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
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uint8 FAULT_SPIKES = 1 # Voltage spikes
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uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed
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uint8 FAULT_OVER_CURRENT = 3 # Over-current
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uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature
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uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
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uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
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uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
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uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
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uint8 FAULT_HARDWARE_FAILURE = 9 # Hardware problem
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uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
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uint8 FAULT_COUNT = 11 # Counter. Keep this as last element
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uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication
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uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
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uint8 FAULT_SPIKES = 1 # Voltage spikes
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uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed
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uint8 FAULT_OVER_CURRENT = 3 # Over-current
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uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature
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uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
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uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
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uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
|
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uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
|
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uint8 FAULT_HARDWARE_FAILURE = 9 # Hardware problem
|
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uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
|
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uint8 FAULT_COUNT = 11 # Counter. Keep this as last element
|
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float32 full_charge_capacity_wh # [Wh] Compensated battery capacity
|
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float32 remaining_capacity_wh # [Wh] Compensated battery capacity remaining
|
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uint16 over_discharge_count # Number of battery overdischarge
|
||||
float32 nominal_voltage # [V] Nominal voltage of the battery pack
|
||||
float32 full_charge_capacity_wh # [Wh] Compensated battery capacity
|
||||
float32 remaining_capacity_wh # [Wh] Compensated battery capacity remaining
|
||||
uint16 over_discharge_count # [-] Number of battery overdischarge
|
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float32 nominal_voltage # [V] Nominal voltage of the battery pack
|
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|
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float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
|
||||
float32 ocv_estimate # [V] Open circuit voltage estimate
|
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float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate
|
||||
float32 volt_based_soc_estimate # [@range 0, 1] Normalized volt based state of charge estimate
|
||||
float32 voltage_prediction # [V] Predicted voltage
|
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float32 prediction_error # [V] Prediction error
|
||||
float32 estimation_covariance_norm # Norm of the covariance matrix
|
||||
float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
|
||||
float32 ocv_estimate # [V] Open circuit voltage estimate
|
||||
float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate
|
||||
float32 volt_based_soc_estimate # [-] [@range 0, 1] Normalized volt based state of charge estimate
|
||||
float32 voltage_prediction # [V] Predicted voltage
|
||||
float32 prediction_error # [V] Prediction error
|
||||
float32 estimation_covariance_norm # [-] Norm of the covariance matrix
|
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|
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```
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|
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@@ -1,7 +1,5 @@
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# EstimatorStatus (UORB message)
|
||||
|
||||
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg)
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```c
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||||
@@ -54,7 +52,9 @@ uint8 CS_SYNTHETIC_MAG_Z = 25 # 25 - true when we are using a synthesized measur
|
||||
uint8 CS_VEHICLE_AT_REST = 26 # 26 - true when the vehicle is at rest
|
||||
uint8 CS_GPS_YAW_FAULT = 27 # 27 - true when the GNSS heading has been declared faulty and is no longer being used
|
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uint8 CS_RNG_FAULT = 28 # 28 - true when the range finder has been declared faulty and is no longer being used
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||||
uint8 CS_GNSS_VEL = 44 # 44 - true if GNSS velocity measurements are being fused
|
||||
uint8 CS_GNSS_VEL = 44 # 44 - true if GNSS velocity measurement fusion is intended
|
||||
uint8 CS_GNSS_FAULT = 45 # 45 - true if GNSS measurements have been declared faulty and are no longer used
|
||||
uint8 CS_YAW_MANUAL = 46 # 46 - true if yaw has been set manually
|
||||
|
||||
uint32 filter_fault_flags # Bitmask to indicate EKF internal faults
|
||||
# 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error
|
||||
|
||||
@@ -1,7 +1,5 @@
|
||||
# EstimatorStatusFlags (UORB message)
|
||||
|
||||
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatusFlags.msg)
|
||||
|
||||
```c
|
||||
@@ -56,6 +54,8 @@ bool cs_valid_fake_pos # 41 - true if a valid constant position is bein
|
||||
bool cs_constant_pos # 42 - true if the vehicle is at a constant position
|
||||
bool cs_baro_fault # 43 - true when the current baro has been declared faulty and is no longer being used
|
||||
bool cs_gnss_vel # 44 - true if GNSS velocity measurement fusion is intended
|
||||
bool cs_gnss_fault # 45 - true if GNSS measurements have been declared faulty and are no longer used
|
||||
bool cs_yaw_manual # 46 - true if yaw has been set manually
|
||||
|
||||
# fault status
|
||||
uint32 fault_status_changes # number of filter fault status (fs) changes
|
||||
|
||||
@@ -7,11 +7,11 @@ Pure pursuit status
|
||||
```c
|
||||
# Pure pursuit status
|
||||
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 lookahead_distance # [m] [@range 0, inf] Lookahead distance of pure the pursuit controller
|
||||
float32 target_bearing # [rad] [@range -pi, pi] [@frame NED] Target bearing calculated by the pure pursuit controller
|
||||
float32 crosstrack_error # [m] [@range -inf (Left of the path), inf (Right of the path)] Shortest distance from the vehicle to the path
|
||||
float32 distance_to_waypoint # [m] [@range -inf, inf]Distance from the vehicle to the current waypoint
|
||||
float32 bearing_to_waypoint # [rad] [@range -pi, pi] [@frame NED]Bearing towards current waypoint
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 lookahead_distance # [m] [@range 0, inf] Lookahead distance of pure the pursuit controller
|
||||
float32 target_bearing # [rad] [@range -pi, pi] [@frame NED] Target bearing calculated by the pure pursuit controller
|
||||
float32 crosstrack_error # [m] [@range -inf (Left of the path), inf (Right of the path)] Shortest distance from the vehicle to the path
|
||||
float32 distance_to_waypoint # [m] [@range -inf, inf]Distance from the vehicle to the current waypoint
|
||||
float32 bearing_to_waypoint # [rad] [@range -pi, pi] [@frame NED]Bearing towards current waypoint
|
||||
|
||||
```
|
||||
|
||||
@@ -7,7 +7,7 @@ Rover Attitude Setpoint
|
||||
```c
|
||||
# Rover Attitude Setpoint
|
||||
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 yaw_setpoint # [rad] [@range -inf, inf] [@frame NED] Yaw setpoint
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 yaw_setpoint # [rad] [@range -inf, inf] [@frame NED] Yaw setpoint
|
||||
|
||||
```
|
||||
|
||||
@@ -7,8 +7,8 @@ Rover Attitude Status
|
||||
```c
|
||||
# Rover Attitude Status
|
||||
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 measured_yaw # [rad] [@range -pi, pi] [@frame NED]Measured yaw
|
||||
float32 adjusted_yaw_setpoint # [rad] [@range -pi, pi] [@frame NED] Yaw setpoint that is being tracked (Applied slew rates)
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 measured_yaw # [rad] [@range -pi, pi] [@frame NED]Measured yaw
|
||||
float32 adjusted_yaw_setpoint # [rad] [@range -pi, pi] [@frame NED] Yaw setpoint that is being tracked (Applied slew rates)
|
||||
|
||||
```
|
||||
|
||||
@@ -7,11 +7,11 @@ Rover Position Setpoint
|
||||
```c
|
||||
# Rover Position Setpoint
|
||||
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32[2] position_ned # [m] [@range -inf, inf] [@frame NED] Target position
|
||||
float32[2] start_ned # [m] [@range -inf, inf] [@frame NED] [@invalid NaN Defaults to vehicle position] Start position which specifies a line for the rover to track
|
||||
float32 cruising_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to maximum speed] Cruising speed
|
||||
float32 arrival_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to 0] Speed the rover should arrive at the target with
|
||||
float32 yaw # [rad] [@range -pi,pi] [@frame NED] [@invalid NaN Defaults to vehicle yaw] Mecanum only: Specify vehicle yaw during travel
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32[2] position_ned # [m] [@range -inf, inf] [@frame NED] Target position
|
||||
float32[2] start_ned # [m] [@range -inf, inf] [@frame NED] [@invalid NaN Defaults to vehicle position] Start position which specifies a line for the rover to track
|
||||
float32 cruising_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to maximum speed] Cruising speed
|
||||
float32 arrival_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to 0] Speed the rover should arrive at the target with
|
||||
float32 yaw # [rad] [@range -pi,pi] [@frame NED] [@invalid NaN Defaults to vehicle yaw] Mecanum only: Specify vehicle yaw during travel
|
||||
|
||||
```
|
||||
|
||||
@@ -7,7 +7,7 @@ Rover Rate setpoint
|
||||
```c
|
||||
# Rover Rate setpoint
|
||||
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 yaw_rate_setpoint # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 yaw_rate_setpoint # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint
|
||||
|
||||
```
|
||||
|
||||
@@ -7,9 +7,9 @@ Rover Rate Status
|
||||
```c
|
||||
# Rover Rate Status
|
||||
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 measured_yaw_rate # [rad/s] [@range -inf, inf] [@frame NED] Measured yaw rate
|
||||
float32 adjusted_yaw_rate_setpoint # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint that is being tracked (Applied slew rates)
|
||||
float32 pid_yaw_rate_integral # [] [@range -1, 1] Integral of the PID for the closed loop yaw rate controller
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 measured_yaw_rate # [rad/s] [@range -inf, inf] [@frame NED] Measured yaw rate
|
||||
float32 adjusted_yaw_rate_setpoint # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint that is being tracked (Applied slew rates)
|
||||
float32 pid_yaw_rate_integral # [-] [@range -1, 1] Integral of the PID for the closed loop yaw rate controller
|
||||
|
||||
```
|
||||
|
||||
@@ -7,8 +7,8 @@ Rover Speed Setpoint
|
||||
```c
|
||||
# Rover Speed Setpoint
|
||||
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction
|
||||
float32 speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction
|
||||
float32 speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction
|
||||
|
||||
```
|
||||
|
||||
@@ -7,12 +7,12 @@ Rover Velocity Status
|
||||
```c
|
||||
# Rover Velocity Status
|
||||
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 measured_speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Measured speed in body x direction
|
||||
float32 adjusted_speed_body_x_setpoint # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction that is being tracked (Applied slew rates)
|
||||
float32 pid_throttle_body_x_integral # [] [@range -1, 1] Integral of the PID for the closed loop controller of the speed in body x direction
|
||||
float32 measured_speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Measured speed in body y direction
|
||||
float32 adjusted_speed_body_y_setpoint # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates)
|
||||
float32 pid_throttle_body_y_integral # [] [@range -1, 1] [@invalid NaN If not mecanum] Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 measured_speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Measured speed in body x direction
|
||||
float32 adjusted_speed_body_x_setpoint # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction that is being tracked (Applied slew rates)
|
||||
float32 pid_throttle_body_x_integral # [-] [@range -1, 1] Integral of the PID for the closed loop controller of the speed in body x direction
|
||||
float32 measured_speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Measured speed in body y direction
|
||||
float32 adjusted_speed_body_y_setpoint # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates)
|
||||
float32 pid_throttle_body_y_integral # [-] [@range -1, 1] [@invalid NaN If not mecanum] Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction
|
||||
|
||||
```
|
||||
|
||||
@@ -7,7 +7,7 @@ Rover Steering setpoint
|
||||
```c
|
||||
# Rover Steering setpoint
|
||||
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 normalized_steering_setpoint # [@range -1 (Left), 1 (Right)] [@frame Body] Ackermann: Normalized steering angle, Differential/Mecanum: Normalized speed difference between the left and right wheels
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 normalized_steering_setpoint # [-] [@range -1 (Left), 1 (Right)] [@frame Body] Ackermann: Normalized steering angle, Differential/Mecanum: Normalized speed difference between the left and right wheels
|
||||
|
||||
```
|
||||
|
||||
@@ -7,8 +7,8 @@ Rover Throttle setpoint
|
||||
```c
|
||||
# Rover Throttle setpoint
|
||||
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 throttle_body_x # [] [@range -1 (Backwards), 1 (Forwards)] [@frame Body] Throttle setpoint along body X axis
|
||||
float32 throttle_body_y # [] [@range -1 (Left), 1 (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Throttle setpoint along body Y axis
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 throttle_body_x # [-] [@range -1 (Backwards), 1 (Forwards)] [@frame Body] Throttle setpoint along body X axis
|
||||
float32 throttle_body_y # [-] [@range -1 (Left), 1 (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Throttle setpoint along body Y axis
|
||||
|
||||
```
|
||||
|
||||
@@ -96,6 +96,7 @@ uint16 VEHICLE_CMD_REQUEST_CAMERA_INFORMATION = 521 # Request camera information
|
||||
uint16 VEHICLE_CMD_SET_CAMERA_MODE = 530 # Set camera capture mode (photo, video, etc.).
|
||||
uint16 VEHICLE_CMD_SET_CAMERA_ZOOM = 531 # Set camera zoom.
|
||||
uint16 VEHICLE_CMD_SET_CAMERA_FOCUS = 532
|
||||
uint16 VEHICLE_CMD_EXTERNAL_ATTITUDE_ESTIMATE = 620 # Set an external estimate of vehicle attitude in degrees.
|
||||
uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW = 1000 # Setpoint to be sent to a gimbal manager to set a gimbal pitch and yaw.
|
||||
uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE = 1001 # Gimbal configuration to set which sysid/compid is in primary and secondary control.
|
||||
uint16 VEHICLE_CMD_IMAGE_START_CAPTURE = 2000 # Start image capture sequence.
|
||||
|
||||
@@ -48,7 +48,7 @@ uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode
|
||||
uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode
|
||||
uint8 NAVIGATION_STATE_POSITION_SLOW = 6
|
||||
uint8 NAVIGATION_STATE_FREE5 = 7
|
||||
uint8 NAVIGATION_STATE_FREE4 = 8
|
||||
uint8 NAVIGATION_STATE_ALTITUDE_CRUISE = 8 # Altitude with Cruise mode
|
||||
uint8 NAVIGATION_STATE_FREE3 = 9
|
||||
uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
|
||||
uint8 NAVIGATION_STATE_FREE2 = 11
|
||||
|
||||
@@ -16,8 +16,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
|
||||
- [ActuatorMotors](ActuatorMotors.md) — Motor control message
|
||||
- [ActuatorServos](ActuatorServos.md) — Servo control message
|
||||
- [AirspeedValidated](AirspeedValidated.md)
|
||||
- [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply.
|
||||
- [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request.
|
||||
- [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply
|
||||
- [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request
|
||||
- [BatteryStatus](BatteryStatus.md) — Battery status
|
||||
- [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors
|
||||
- [Event](Event.md) — Events interface
|
||||
|
||||
Reference in New Issue
Block a user