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[Docs] update metadata (#25603)

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Hamish Willee
2025-09-24 10:01:55 +10:00
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parent 0a8a5472ec
commit 06a3f15d39
23 changed files with 281 additions and 457 deletions
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docs/en/advanced_config/parameter_reference.md
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docs/en/modules/modules_driver_ins.md
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@@ -125,6 +125,31 @@ ilabs <command> [arguments...]
status Print driver status status Print driver status
``` ```
## sbgecom
Source: [drivers/ins/sbgecom](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/sbgecom)
Description du module
### Usage {#sbgecom_usage}
```
sbgecom <command> [arguments...]
Commands:
start Start driver
[-d <val>] Serial device
default: /dev/ttyS0
[-b <val>] Baudrate device
default: 921600
[-f <val>] Config JSON file path
default: /etc/extras/sbg_settings\.json
[-s <val>] Config JSON string
status Driver status
stop Stop driver
```
## vectornav ## vectornav
Source: [drivers/ins/vectornav](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/vectornav) Source: [drivers/ins/vectornav](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/vectornav)
docs/en/modules/modules_system.md
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@@ -140,9 +140,9 @@ commander <command> [arguments...]
transition VTOL transition transition VTOL transition
mode Change flight mode mode Change flight mode
manual|acro|offboard|stabilized|altctl|posctl|position:slow|auto:mission|au manual|acro|offboard|stabilized|altctl|posctl|altitude_cruise|position:slow
to:loiter|auto:rtl|auto:takeoff|auto:land|auto:precland|ext1 |auto:mission|auto:loiter|auto:rtl|auto:takeoff|auto:land|auto:
Flight mode precland|ext1 Flight mode
pair pair
@@ -154,6 +154,9 @@ commander <command> [arguments...]
lat|lon|alt Origin latitude longitude altitude lat|lon|alt Origin latitude longitude altitude
set_heading Set current heading
heading degrees from True North [0 360]
poweroff Power off board (if supported) poweroff Power off board (if supported)
stop stop
@@ -1062,7 +1065,9 @@ uxrce_dds_client <command> [arguments...]
values: <IP> values: <IP>
[-p <val>] Agent listening port. If not provided, defaults to [-p <val>] Agent listening port. If not provided, defaults to
UXRCE_DDS_PRT UXRCE_DDS_PRT
[-n <val>] Client DDS namespace [-n <val>] Client DDS namespace. If not provided but UXRCE_DDS_NS_IDX is
between 0 and 9999 inclusive, then uav_ + UXRCE_DDS_NS_IDX will
be used
stop stop
docs/en/msg_docs/ActuatorMotors.md
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@@ -18,11 +18,11 @@ uint32 MESSAGE_VERSION = 0
uint64 timestamp # [us] Time since system start uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
uint16 reversible_flags # Bitset indicating which motors are configured to be reversible uint16 reversible_flags # [-] Bitset indicating which motors are configured to be reversible
uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 # uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 #
uint8 NUM_CONTROLS = 12 # uint8 NUM_CONTROLS = 12 #
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) 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)
``` ```
docs/en/msg_docs/ActuatorServos.md
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@@ -19,6 +19,6 @@ uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
uint8 NUM_CONTROLS = 8 # uint8 NUM_CONTROLS = 8 #
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. 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.
``` ```
docs/en/msg_docs/ArmingCheckReply.md
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@@ -1,6 +1,6 @@
# ArmingCheckReply (UORB message) # ArmingCheckReply (UORB message)
Arming check reply. Arming check reply
This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode. This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
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). 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).
@@ -12,7 +12,7 @@ The message is not used by internal/FMU components, as their mode requirements a
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg) [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg)
```c ```c
# Arming check reply. # Arming check reply
# #
# This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode. # This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
# 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). # 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).
@@ -25,33 +25,33 @@ uint32 MESSAGE_VERSION = 1
uint64 timestamp # [us] Time since system start. uint64 timestamp # [us] Time since system start.
uint8 request_id # Id of ArmingCheckRequest for which this is a response. uint8 request_id # [-] Id of ArmingCheckRequest for which this is a response
uint8 registration_id # Id of external component emitting this response. uint8 registration_id # [-] Id of external component emitting this response
uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies. uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies
uint8 health_component_index # [@enum HEALTH_COMPONENT_INDEX] uint8 health_component_index # [@enum HEALTH_COMPONENT_INDEX]
bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json). bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json)
bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json). bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json)
bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json). bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json)
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. 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
uint8 num_events # Number of queued failure messages (Event) in the events field. uint8 num_events # Number of queued failure messages (Event) in the events field
Event[5] events # Arming failure reasons (Queue of events to report to GCS). Event[5] events # Arming failure reasons (Queue of events to report to GCS)
# Mode requirements # Mode requirements
bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope). bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope)
bool mode_req_attitude # Requires an attitude estimate. bool mode_req_attitude # Requires an attitude estimate
bool mode_req_local_alt # Requires a local altitude estimate. bool mode_req_local_alt # Requires a local altitude estimate
bool mode_req_local_position # Requires a local position estimate. bool mode_req_local_position # Requires a local position estimate
bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate. bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate
bool mode_req_global_position # Requires a global position estimate. bool mode_req_global_position # Requires a global position estimate
bool mode_req_global_position_relaxed # Requires a relaxed global position estimate. bool mode_req_global_position_relaxed # Requires a relaxed global position estimate
bool mode_req_mission # Requires an uploaded mission. bool mode_req_mission # Requires an uploaded mission
bool mode_req_home_position # Requires a home position (such as RTL/Return mode). bool mode_req_home_position # Requires a home position (such as RTL/Return mode)
bool mode_req_prevent_arming # Prevent arming (such as in Land mode). bool mode_req_prevent_arming # Prevent arming (such as in Land mode)
bool mode_req_manual_control # Requires a manual controller bool mode_req_manual_control # Requires a manual controller
uint8 ORB_QUEUE_LENGTH = 4 uint8 ORB_QUEUE_LENGTH = 4
docs/en/msg_docs/ArmingCheckRequest.md
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# ArmingCheckRequest (UORB message) # ArmingCheckRequest (UORB message)
Arming check request. Arming check request
Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes. Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information. All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
@@ -12,7 +12,7 @@ The reply will also include the registration_id for each external component, pro
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg) [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg)
```c ```c
# Arming check request. # Arming check request
# #
# Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes. # Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
# All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information. # All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
@@ -23,10 +23,10 @@ The reply will also include the registration_id for each external component, pro
uint32 MESSAGE_VERSION = 1 uint32 MESSAGE_VERSION = 1
uint64 timestamp # [us] Time since system start. uint64 timestamp # [us] Time since system start
uint8 request_id # Id of this request. Allows correlation with associated ArmingCheckReply messages. uint8 request_id # [-] Id of this request. Allows correlation with associated ArmingCheckReply messages.
uint32 valid_registrations_mask # Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive) uint32 valid_registrations_mask # [-] Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
``` ```
docs/en/msg_docs/BatteryStatus.md
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@@ -16,76 +16,77 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
# Battery instance information is also logged and streamed in MAVLink telemetry. # Battery instance information is also logged and streamed in MAVLink telemetry.
uint32 MESSAGE_VERSION = 1 uint32 MESSAGE_VERSION = 1
uint8 MAX_INSTANCES = 4 uint8 MAX_INSTANCES = 3
uint64 timestamp # [us] Time since system start uint64 timestamp # [us] Time since system start
bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
float32 voltage_v # [V] [@invalid 0] Battery voltage bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
float32 current_a # [A] [@invalid -1] Battery current float32 voltage_v # [V] [@invalid 0] Battery voltage
float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight) float32 current_a # [A] [@invalid -1] Battery current
float32 discharged_mah # [mAh] [@invalid -1] Discharged amount float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight)
float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity float32 discharged_mah # [mAh] [@invalid -1] Discharged amount
float32 scale # [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity
float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load float32 scale # [-] [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
float32 temperature # [°C] [@invalid NaN] Temperature of the battery float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
uint8 cell_count # [@invalid 0] Number of cells float32 temperature # [°C] [@invalid NaN] Temperature of the battery
uint8 cell_count # [-] [@invalid 0] Number of cells
uint8 source # [@enum SOURCE] Battery source uint8 source # [@enum SOURCE] Battery source
uint8 SOURCE_POWER_MODULE = 0 # Power module uint8 SOURCE_POWER_MODULE = 0 # Power module
uint8 SOURCE_EXTERNAL = 1 # External uint8 SOURCE_EXTERNAL = 1 # External
uint8 SOURCE_ESCS = 2 # ESCs uint8 SOURCE_ESCS = 2 # ESCs
uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 uint8 priority # [-] Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
uint16 capacity # [mAh] Capacity of the battery when fully charged uint16 capacity # [mAh] Capacity of the battery when fully charged
uint16 cycle_count # Number of discharge cycles the battery has experienced uint16 cycle_count # [-] Number of discharge cycles the battery has experienced
uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
uint16 manufacture_date # Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512 uint16 manufacture_date # [-] Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
uint8 id # ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed uint8 id # [-] ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
uint16 interface_error # Interface error counter uint16 interface_error # [-] Interface error counter
float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages
float32 max_cell_voltage_delta # Max difference between individual cell voltages float32 max_cell_voltage_delta # [V] Max difference between individual cell voltages
bool is_powering_off # Power off event imminent indication, false if unknown bool is_powering_off # Power off event imminent indication, false if unknown
bool is_required # Set if the battery is explicitly required before arming bool is_required # Set if the battery is explicitly required before arming
uint8 warning # [@enum WARNING STATE] Current battery warning uint8 warning # [@enum WARNING STATE] Current battery warning
uint8 WARNING_NONE = 0 # No battery low voltage warning active uint8 WARNING_NONE = 0 # No battery low voltage warning active
uint8 WARNING_LOW = 1 # Low voltage warning uint8 WARNING_LOW = 1 # Low voltage warning
uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
uint8 WARNING_EMERGENCY = 3 # Immediate landing required uint8 WARNING_EMERGENCY = 3 # Immediate landing required
uint8 WARNING_FAILED = 4 # Battery has failed completely uint8 WARNING_FAILED = 4 # Battery has failed completely
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 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
uint8 STATE_CHARGING = 7 # Battery is charging uint8 STATE_CHARGING = 7 # Battery is charging
uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication
uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
uint8 FAULT_SPIKES = 1 # Voltage spikes uint8 FAULT_SPIKES = 1 # Voltage spikes
uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed
uint8 FAULT_OVER_CURRENT = 3 # Over-current uint8 FAULT_OVER_CURRENT = 3 # Over-current
uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature
uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
uint8 FAULT_HARDWARE_FAILURE = 9 # Hardware problem uint8 FAULT_HARDWARE_FAILURE = 9 # Hardware problem
uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
uint8 FAULT_COUNT = 11 # Counter. Keep this as last element uint8 FAULT_COUNT = 11 # Counter. Keep this as last element
float32 full_charge_capacity_wh # [Wh] Compensated battery capacity float32 full_charge_capacity_wh # [Wh] Compensated battery capacity
float32 remaining_capacity_wh # [Wh] Compensated battery capacity remaining float32 remaining_capacity_wh # [Wh] Compensated battery capacity remaining
uint16 over_discharge_count # Number of battery overdischarge uint16 over_discharge_count # [-] Number of battery overdischarge
float32 nominal_voltage # [V] Nominal voltage of the battery pack float32 nominal_voltage # [V] Nominal voltage of the battery pack
float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
float32 ocv_estimate # [V] Open circuit voltage estimate float32 ocv_estimate # [V] Open circuit voltage estimate
float32 ocv_estimate_filtered # [V] Filtered 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 volt_based_soc_estimate # [-] [@range 0, 1] Normalized volt based state of charge estimate
float32 voltage_prediction # [V] Predicted voltage float32 voltage_prediction # [V] Predicted voltage
float32 prediction_error # [V] Prediction error float32 prediction_error # [V] Prediction error
float32 estimation_covariance_norm # Norm of the covariance matrix float32 estimation_covariance_norm # [-] Norm of the covariance matrix
``` ```
docs/en/msg_docs/EstimatorStatus.md
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@@ -1,7 +1,5 @@
# EstimatorStatus (UORB message) # EstimatorStatus (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg) [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg)
```c ```c
@@ -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_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 uint8 CS_GPS_YAW_FAULT = 27 # 27 - true when the GNSS heading has been declared faulty and is no longer being used
uint8 CS_RNG_FAULT = 28 # 28 - true when the range finder has been declared faulty and is no longer being used uint8 CS_RNG_FAULT = 28 # 28 - true when the range finder has been declared faulty and is no longer being used
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 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 # 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error
docs/en/msg_docs/EstimatorStatusFlags.md
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@@ -1,7 +1,5 @@
# EstimatorStatusFlags (UORB message) # EstimatorStatusFlags (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatusFlags.msg) [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatusFlags.msg)
```c ```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_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_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_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 # fault status
uint32 fault_status_changes # number of filter fault status (fs) changes uint32 fault_status_changes # number of filter fault status (fs) changes
docs/en/msg_docs/PurePursuitStatus.md
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@@ -7,11 +7,11 @@ Pure pursuit status
```c ```c
# Pure pursuit status # Pure pursuit status
uint64 timestamp # [us] Time since system start uint64 timestamp # [us] Time since system start
float32 lookahead_distance # [m] [@range 0, inf] Lookahead distance of pure the pursuit controller 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 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 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 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 float32 bearing_to_waypoint # [rad] [@range -pi, pi] [@frame NED]Bearing towards current waypoint
``` ```
docs/en/msg_docs/RoverAttitudeSetpoint.md
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@@ -7,7 +7,7 @@ Rover Attitude Setpoint
```c ```c
# Rover Attitude Setpoint # Rover Attitude Setpoint
uint64 timestamp # [us] Time since system start uint64 timestamp # [us] Time since system start
float32 yaw_setpoint # [rad] [@range -inf, inf] [@frame NED] Yaw setpoint float32 yaw_setpoint # [rad] [@range -inf, inf] [@frame NED] Yaw setpoint
``` ```
docs/en/msg_docs/RoverAttitudeStatus.md
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@@ -7,8 +7,8 @@ Rover Attitude Status
```c ```c
# Rover Attitude Status # Rover Attitude Status
uint64 timestamp # [us] Time since system start uint64 timestamp # [us] Time since system start
float32 measured_yaw # [rad] [@range -pi, pi] [@frame NED]Measured yaw 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) float32 adjusted_yaw_setpoint # [rad] [@range -pi, pi] [@frame NED] Yaw setpoint that is being tracked (Applied slew rates)
``` ```
docs/en/msg_docs/RoverPositionSetpoint.md
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@@ -7,11 +7,11 @@ Rover Position Setpoint
```c ```c
# Rover Position Setpoint # Rover Position Setpoint
uint64 timestamp # [us] Time since system start uint64 timestamp # [us] Time since system start
float32[2] position_ned # [m] [@range -inf, inf] [@frame NED] Target position 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[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 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 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 float32 yaw # [rad] [@range -pi,pi] [@frame NED] [@invalid NaN Defaults to vehicle yaw] Mecanum only: Specify vehicle yaw during travel
``` ```
docs/en/msg_docs/RoverRateSetpoint.md
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@@ -7,7 +7,7 @@ Rover Rate setpoint
```c ```c
# Rover Rate setpoint # Rover Rate setpoint
uint64 timestamp # [us] Time since system start uint64 timestamp # [us] Time since system start
float32 yaw_rate_setpoint # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint float32 yaw_rate_setpoint # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint
``` ```
docs/en/msg_docs/RoverRateStatus.md
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@@ -7,9 +7,9 @@ Rover Rate Status
```c ```c
# Rover Rate Status # Rover Rate Status
uint64 timestamp # [us] Time since system start uint64 timestamp # [us] Time since system start
float32 measured_yaw_rate # [rad/s] [@range -inf, inf] [@frame NED] Measured yaw rate 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 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 float32 pid_yaw_rate_integral # [-] [@range -1, 1] Integral of the PID for the closed loop yaw rate controller
``` ```
docs/en/msg_docs/RoverSpeedSetpoint.md
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@@ -7,8 +7,8 @@ Rover Speed Setpoint
```c ```c
# Rover Speed Setpoint # Rover Speed Setpoint
uint64 timestamp # [us] Time since system start 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_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 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
``` ```
docs/en/msg_docs/RoverSpeedStatus.md
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@@ -7,12 +7,12 @@ Rover Velocity Status
```c ```c
# Rover Velocity Status # Rover Velocity Status
uint64 timestamp # [us] Time since system start 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 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 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 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 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 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 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
``` ```
docs/en/msg_docs/RoverSteeringSetpoint.md
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@@ -7,7 +7,7 @@ Rover Steering setpoint
```c ```c
# Rover Steering setpoint # Rover Steering setpoint
uint64 timestamp # [us] Time since system start 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 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
``` ```
docs/en/msg_docs/RoverThrottleSetpoint.md
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@@ -7,8 +7,8 @@ Rover Throttle setpoint
```c ```c
# Rover Throttle setpoint # Rover Throttle setpoint
uint64 timestamp # [us] Time since system start 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_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 float32 throttle_body_y # [-] [@range -1 (Left), 1 (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Throttle setpoint along body Y axis
``` ```
docs/en/msg_docs/VehicleCommand.md
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@@ -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_MODE = 530 # Set camera capture mode (photo, video, etc.).
uint16 VEHICLE_CMD_SET_CAMERA_ZOOM = 531 # Set camera zoom. uint16 VEHICLE_CMD_SET_CAMERA_ZOOM = 531 # Set camera zoom.
uint16 VEHICLE_CMD_SET_CAMERA_FOCUS = 532 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_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_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. uint16 VEHICLE_CMD_IMAGE_START_CAPTURE = 2000 # Start image capture sequence.
docs/en/msg_docs/VehicleStatus.md
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@@ -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_AUTO_RTL = 5 # Auto return to launch mode
uint8 NAVIGATION_STATE_POSITION_SLOW = 6 uint8 NAVIGATION_STATE_POSITION_SLOW = 6
uint8 NAVIGATION_STATE_FREE5 = 7 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_FREE3 = 9
uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
uint8 NAVIGATION_STATE_FREE2 = 11 uint8 NAVIGATION_STATE_FREE2 = 11
docs/en/msg_docs/index.md
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@@ -16,8 +16,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [ActuatorMotors](ActuatorMotors.md) — Motor control message - [ActuatorMotors](ActuatorMotors.md) — Motor control message
- [ActuatorServos](ActuatorServos.md) — Servo control message - [ActuatorServos](ActuatorServos.md) — Servo control message
- [AirspeedValidated](AirspeedValidated.md) - [AirspeedValidated](AirspeedValidated.md)
- [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply. - [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply
- [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request. - [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request
- [BatteryStatus](BatteryStatus.md) — Battery status - [BatteryStatus](BatteryStatus.md) — Battery status
- [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors - [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors
- [Event](Event.md) — Events interface - [Event](Event.md) — Events interface