diff --git a/docs/ko/SUMMARY.md b/docs/ko/SUMMARY.md index 844175e86c..2f637e2a44 100644 --- a/docs/ko/SUMMARY.md +++ b/docs/ko/SUMMARY.md @@ -179,6 +179,7 @@ - [CubePilot Cube Orange (CubePilot)](flight_controller/cubepilot_cube_orange.md) - [CubePilot Cube Yellow (CubePilot)](flight_controller/cubepilot_cube_yellow.md) - [Cube 배선 퀵 스타트](assembly/quick_start_cube.md) + - [Gear Up AirBrainH743](flight_controller/gearup_airbrainh743.md) - [Holybro Kakute H7v2](flight_controller/kakuteh7v2.md) - [Holybro Kakute H7mini](flight_controller/kakuteh7mini.md) - [Holybro Kakute H7](flight_controller/kakuteh7.md) @@ -255,7 +256,7 @@ - [Benewake TFmini 라이다](sensor/tfmini.md) - [LeddarOne 라이다](sensor/leddar_one.md) - [Lidar-Lite](sensor/lidar_lite.md) - - [Lightware Lidars (SF/LW)](sensor/sfxx_lidar.md) + - [Lightware Lidars (SF/LW/GRF)](sensor/sfxx_lidar.md) - [Lightware SF45 Rotary Lidar](sensor/sf45_rotating_lidar.md) - [TeraRanger ](sensor/teraranger.md) - [✘ Lanbao PSK-CM8JL65-CC5](sensor/cm8jl65_ir_distance_sensor.md) @@ -932,6 +933,7 @@ - [라이센스](contribute/licenses.md) - [출시](releases/index.md) + - [Release Process](releases/release_process.md) - [main (alpha)](releases/main.md) - [1.17 (alpha)](releases/1.17.md) - [1.16 (stable)](releases/1.16.md) diff --git a/docs/ko/companion_computer/ark_jetson_pab_carrier.md b/docs/ko/companion_computer/ark_jetson_pab_carrier.md index 95a4e26d51..99f683dcb3 100644 --- a/docs/ko/companion_computer/ark_jetson_pab_carrier.md +++ b/docs/ko/companion_computer/ark_jetson_pab_carrier.md @@ -12,19 +12,16 @@ The [ARK Jetson Pixhawk Autopilot Bus (PAB) Carrier](https://arkelectron.gitbook ## 사양 - **Power Requirements** - - 5V - 4A minimum (dependent on usage and peripherals) - **Additional Features** - - Pixhawk Autopilot Bus (PAB) Form Factor ([PAB Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf)) - MicroSD Slot - USA-built, NDAA compliant - Integrated 1W heater for sensor stability in extreme conditions - **Physical Details** - - Weight: - Without Jetson and Flight Controller – 80g - With Jetson, no heatsink or Flight Controller – 108g diff --git a/docs/ko/companion_computer/holybro_pixhawk_rpi_cm4_baseboard.md b/docs/ko/companion_computer/holybro_pixhawk_rpi_cm4_baseboard.md index 8229e9454e..0f062e642b 100644 --- a/docs/ko/companion_computer/holybro_pixhawk_rpi_cm4_baseboard.md +++ b/docs/ko/companion_computer/holybro_pixhawk_rpi_cm4_baseboard.md @@ -170,7 +170,6 @@ To enable this MAVLink instance on the FC: ![Image of baseboard showing FC USB-C connector](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_fc_usb_c.jpg) 2. [Set the parameters](../advanced_config/parameters.md): - - `MAV_1_CONFIG` = `102` - `MAV_1_MODE = 2` - `SER_TEL2_BAUD` = `921600` @@ -184,7 +183,6 @@ On the RPi side: 1. Connect to the RPi (using WiFi, a router, or a WiFi Dongle). 2. Enable the RPi serial port by running `RPi-config` - - Go to `3 Interface Options`, then `I6 Serial Port`. Then choose: - `login shell accessible over serial → No` diff --git a/docs/ko/companion_computer/pixhawk_rpi.md b/docs/ko/companion_computer/pixhawk_rpi.md index 8dc16701da..070dbd0b3e 100644 --- a/docs/ko/companion_computer/pixhawk_rpi.md +++ b/docs/ko/companion_computer/pixhawk_rpi.md @@ -145,7 +145,6 @@ Enter the following commands (in sequence) a terminal to configure Ubuntu for RP ``` 3. Go to the **Interface Option** and then click **Serial Port**. - - Select **No** to disable serial login shell. - Select **Yes** to enable the serial interface. - Click **Finish** and restart the RPi. @@ -164,7 +163,6 @@ Enter the following commands (in sequence) a terminal to configure Ubuntu for RP ``` 6. Then save the file and restart the RPi. - - In `nano` you can save the file using the following sequence of keyboard shortcuts: **ctrl+x**, **ctrl+y**, **Enter**. 7. Check that the serial port is available. diff --git a/docs/ko/computer_vision/collision_prevention.md b/docs/ko/computer_vision/collision_prevention.md index b8e9a0ef2a..12d78ce16b 100644 --- a/docs/ko/computer_vision/collision_prevention.md +++ b/docs/ko/computer_vision/collision_prevention.md @@ -214,7 +214,6 @@ The Lua script works by extracting the `obstacle_distance_fused` data at each ti 3. Open PlotJuggler and navigate to the **Tools > Reactive Script Editor** section. In the **Script Editor** tab, add following scripts in the appropriate sections: - - **Global code, executed once:** ```lua diff --git a/docs/ko/concept/flight_tasks.md b/docs/ko/concept/flight_tasks.md index d8316fa1ba..6ffe26163b 100644 --- a/docs/ko/concept/flight_tasks.md +++ b/docs/ko/concept/flight_tasks.md @@ -33,7 +33,6 @@ The instructions below might be used to create a task named _MyTask_: - FlightTaskMyTask.cpp 3. Update **CMakeLists.txt** for the new task - - Copy the contents of the **CMakeLists.txt** for another task - e.g. [Orbit/CMakeLists.txt](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/flight_mode_manager/tasks/Orbit/CMakeLists.txt) - Update the copyright to the current year diff --git a/docs/ko/config/_autotune.md b/docs/ko/config/_autotune.md index ec9ec69753..932f43efc7 100644 --- a/docs/ko/config/_autotune.md +++ b/docs/ko/config/_autotune.md @@ -84,16 +84,9 @@ The test steps are: If an [Enable/Disable Autotune Switch](#enable-disable-autotune-switch) is configured you can just toggle the switch to the "enabled" position. - 1. In QGroundControl, open the menu **Vehicle setup > PID Tuning**: - ![Tuning Setup > Autotune Enabled](../../assets/qgc/setup/autotune/autotune.png) - - 2. Select either the _Rate Controller_ or _Attitude Controller_ tabs. - - 3. Ensure that the **Autotune enabled** button is enabled (this will display the **Autotune** button and remove the manual tuning selectors). - - 4. Read the warning popup and click on **OK** to start tuning. + ![Tuning Setup > Autotune Enabled](../../assets/qgc/setup/autotune/autotune.png) 2. Select either the _Rate Controller_ or _Attitude Controller_ tabs. 3. Ensure that the **Autotune enabled** button is enabled (this will display the **Autotune** button and remove the manual tuning selectors). 4. Read the warning popup and click on **OK** to start tuning.
diff --git a/docs/ko/config/level_horizon_calibration.md b/docs/ko/config/level_horizon_calibration.md index a3769d8e9f..3e9fd0c508 100644 --- a/docs/ko/config/level_horizon_calibration.md +++ b/docs/ko/config/level_horizon_calibration.md @@ -22,7 +22,6 @@ Performing this calibration step is only recommended if the autopilot's orientat ::: 4. Place the vehicle in its level flight orientation on a level surface: - - For planes this is the position during level flight (planes tend to have their wings slightly pitched up!) - For copters this is the hover position. diff --git a/docs/ko/config_heli/index.md b/docs/ko/config_heli/index.md index bfa800eca5..5167e401bd 100644 --- a/docs/ko/config_heli/index.md +++ b/docs/ko/config_heli/index.md @@ -77,7 +77,6 @@ To setup and configure a helicopter: 3. Remove the rotor blades and propellers 4. Assign motors and servos to outputs and test (also in [Actuator configuration](../config/actuators.md)): - 1. Assign the [motors and servos to the outputs](../config/actuators.md#actuator-outputs). 2. Power the vehicle with a battery and use the [actuator testing sliders](../config/actuators.md#actuator-testing) to validate correct servo and motor assignment and direction. diff --git a/docs/ko/config_mc/pid_tuning_guide_multicopter_basic.md b/docs/ko/config_mc/pid_tuning_guide_multicopter_basic.md index efc5ebcfe7..c17c455ddd 100644 --- a/docs/ko/config_mc/pid_tuning_guide_multicopter_basic.md +++ b/docs/ko/config_mc/pid_tuning_guide_multicopter_basic.md @@ -140,7 +140,6 @@ Make sure to have assigned a [Kill switch](../config/safety.md#emergency-switche 13. 모든 축에서 자세 콘트롤러에 대하여 튜닝 프로세스를 반복하십시오. 14. Repeat the tuning process for the velocity and positions controllers (on all the axes). - - Use Position mode when tuning these controllers - Select the **Simple position control** option in the _Position control mode ..._ selector (this allows direct control for the generation of step inputs) diff --git a/docs/ko/config_rover/index.md b/docs/ko/config_rover/index.md index 17af2f6742..aff8b6389a 100644 --- a/docs/ko/config_rover/index.md +++ b/docs/ko/config_rover/index.md @@ -18,28 +18,37 @@ A drive mode will only work properly if all the configuration for the preceding ## Flashing the Rover Build -Rovers use a custom build that must be flashed onto your flight controller instead of the default PX4 build: +Rover is built as a [firmware variant](../dev_setup/building_px4.md#px4-make-build-targets), and must be installed as "Custom Firmware" in QGC (other vehicles are present in the default variant). -1. First build the rover firmware for your flight controller from the `main` branch (there is no release build, so you can't just select this build from QGroundControl). +The release versions of Rover firmware for different boards are attached to the associated GitHub release tag. +For example, you can find `px4_fmu-v5x_rover.px4` on [PX4-Autopilot/releases/tag/v1.16.1](https://github.com/PX4/PX4-Autopilot/releases/tag/v1.16.1). +For the `main` branch version of Rover you will need to [build the firmware](#building-rover). - To build for rover with the `make` command, replace the `_default` suffix with `_rover`. - For example, to build rover for px4_fmu-v6x boards, you would use the command: +Load the firmware onto your flight controller as "Custom Firmware" (see [Loading Firmware > Installing PX4 Main, Beta or Custom Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware)). - ```sh - make px4_fmu-v6x_rover - ``` +## Building Rover - ::: info - You can also enable the modules in default builds by adding these lines to your [board configuration](../hardware/porting_guide_config.md) (e.g. for fmu-v6x you might add them to [`main/boards/px4/fmu-v6x/default.px4board`](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)): +Rover is built as the `rover` [firmware variant](../dev_setup/building_px4.md#px4-make-build-targets). +What this means is that when building the firmware with the `make` command, you replace the `_default` suffix in the configuration target with `_rover`. - ```sh - CONFIG_MODULES_ROVER_ACKERMANN=y - CONFIG_MODULES_ROVER_DIFFERENTIAL=y - CONFIG_MODULES_ROVER_MECANUM=y - ``` +For example, to build rover for `px4_fmu-v6x` boards, you would use the following command: - Note that adding the rover modules may lead to flash overflow, in which case you will need to disable modules that you do not plan to use (such as those related to multicopter or fixed wing). +```sh +make px4_fmu-v6x_rover +``` +Note that configuration targets are constructed with the format "VENDOR_MODEL_VARIANT". + +The built firmware can be installed as custom firmware, as shown above in in [Flashing the Rover Build](#flashing-the-rover-build). + +:::info +You can also enable the modules in default builds by adding these lines to your [board configuration](../hardware/porting_guide_config.md) (e.g. for fmu-v6x you might add them to [`main/boards/px4/fmu-v6x/default.px4board`](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)): + +```sh +CONFIG_MODULES_ROVER_ACKERMANN=y +CONFIG_MODULES_ROVER_DIFFERENTIAL=y +CONFIG_MODULES_ROVER_MECANUM=y +``` + +Adding the rover modules may lead to flash overflow, in which case you will need to disable modules that you do not plan to use (such as those related to multicopter or fixed wing). ::: - -2. Load the **custom firmware** that you just built onto your flight controller (see [Loading Firmware > Installing PX4 Main, Beta or Custom Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware)). diff --git a/docs/ko/dev_airframes/adding_a_new_frame.md b/docs/ko/dev_airframes/adding_a_new_frame.md index 98f1f6869d..59aece9838 100644 --- a/docs/ko/dev_airframes/adding_a_new_frame.md +++ b/docs/ko/dev_airframes/adding_a_new_frame.md @@ -307,7 +307,6 @@ If the airframe is for a **new group** you additionally need to: ``` 3. Update _QGroundControl_: - - Add the svg image for the group into: [src/AutopilotPlugins/Common/images](https://github.com/mavlink/qgroundcontrol/tree/master/src/AutoPilotPlugins/Common/Images) - Add reference to the svg image into [qgcimages.qrc](https://github.com/mavlink/qgroundcontrol/blob/master/qgcimages.qrc), following the pattern below: diff --git a/docs/ko/dev_setup/building_px4.md b/docs/ko/dev_setup/building_px4.md index 4dec499bad..19f4a787fd 100644 --- a/docs/ko/dev_setup/building_px4.md +++ b/docs/ko/dev_setup/building_px4.md @@ -39,16 +39,6 @@ Navigate into the **PX4-Autopilot** directory and start [Gazebo SITL](../sim_gaz make px4_sitl gz_x500 ``` -:::details -If you installed Gazebo Classic -Start [Gazebo Classic SITL](../sim_gazebo_classic/index.md) using the following command: - -```sh -make px4_sitl gazebo-classic -``` - -::: - This will bring up the PX4 console: ![PX4 Console](../../assets/toolchain/console_gazebo.png) @@ -89,6 +79,16 @@ cd PX4-Autopilot make px4_fmu-v4_default ``` +:::tip +You can also build using the [px4-dev Docker container](../test_and_ci/docker.md) without installing the toolchain locally. +From the PX4-Autopilot directory: + +```sh +./Tools/docker_run.sh 'make px4_fmu-v5_default' +``` + +::: + A successful run will end with similar output to: ```sh @@ -145,7 +145,8 @@ The following list shows the build commands for the [Pixhawk standard](../flight - [Pixhawk 1 (FMUv2)](../flight_controller/pixhawk.md): `make px4_fmu-v2_default` :::warning - You **must** use a supported version of GCC to build this board (e.g. the same as used by [CI/docker](../test_and_ci/docker.md)) or remove modules from the build. PX4가 보드의 1MB 플래시 제한에 가깝기 때문에, 지원되지 않는 GCC로 빌드가 실패할 수 있습니다. + You **must** use a supported version of GCC to build this board (e.g. the `gcc-arm-none-eabi` package from the current Ubuntu LTS, which is the same toolchain used by CI) or remove modules from the build. + PX4가 보드의 1MB 플래시 제한에 가깝기 때문에, 지원되지 않는 GCC로 빌드가 실패할 수 있습니다. ::: @@ -211,7 +212,7 @@ The `region 'flash' overflowed by XXXX bytes` error indicates that the firmware This is common for `make px4_fmu-v2_default` builds, where the flash size is limited to 1MB. If you're building the _vanilla_ master branch, the most likely cause is using an unsupported version of GCC. -In this case, install the version specified in the [Developer Toolchain](../dev_setup/dev_env.md) instructions. +In this case, install the `gcc-arm-none-eabi` package from the current Ubuntu LTS as described in the [Developer Toolchain](../dev_setup/dev_env.md) instructions. If building your own branch, it is possible that you have increased the firmware size over the 1MB limit. PX4 빌드 시스템은 많은 수의 파일을 오픈하므로, 이 갯수를 초과할 수 있습니다. @@ -224,7 +225,7 @@ The PX4 build system opens a large number of files, so you may exceed this numbe The build toolchain will then report `Too many open files` for many files, as shown below: ```sh -/usr/local/Cellar/gcc-arm-none-eabi/20171218/bin/../lib/gcc/arm-none-eabi/7.2.1/../../../../arm-none-eabi/bin/ld: cannot find NuttX/nuttx/fs/libfs.a: Too many open files +arm-none-eabi-ld: cannot find NuttX/nuttx/fs/libfs.a: Too many open files ``` The solution is to increase the maximum allowed number of open files (e.g. to 300). @@ -247,34 +248,9 @@ xcode-select --install sudo ln -s /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/* /usr/local/include/ ``` -### Ubuntu 18.04: arm_none_eabi_gcc와 관련된 컴파일 오류 - -Build issues related to `arm_none_eabi_gcc`may be due to a broken g++ toolchain installation. -You can verify that this is the case by checking for missing dependencies using: - -```sh -arm-none-eabi-gcc --version -arm-none-eabi-g++ --version -arm-none-eabi-gdb --version -arm-none-eabi-size --version -``` - -Example of bash output with missing dependencies: - -```sh -arm-none-eabi-gdb --version -arm-none-eabi-gdb: command not found -``` - -This can be resolved by removing and [reinstalling the compiler](https://askubuntu.com/questions/1243252/how-to-install-arm-none-eabi-gdb-on-ubuntu-20-04-lts-focal-fossa). - -### Ubuntu 18.04: Visual Studio Code는 이 큰 작업 영역에서 파일 변경 사항을 감시할 수 없습니다. - -See [Visual Studio Code IDE (VSCode) > Troubleshooting](../dev_setup/vscode.md#troubleshooting). - ### Python 패키지를 가져오지 못했습니다. -"Failed to import" errors when running the `make px4_sitl jmavsim` command indicates that some Python packages are not installed (where expected). +"Failed to import" errors when running the `make px4_sitl gz_x500` command indicates that some Python packages are not installed (where expected). ```sh Failed to import jinja2: No module named 'jinja2' @@ -282,12 +258,12 @@ You may need to install it using: pip3 install --user jinja2 ``` -다음과 같이 종속성을 명시적으로 설치하여, 이 문제를 해결할 수 있습니다. +If you have already installed these dependencies this may be because there is more than one Python version on the computer (e.g. Python 2.7.16 and Python 3.8.3), and the module is not present in the version used by the build toolchain. -You should be able to fix this by explicitly installing the dependencies as shown: +You should be able to fix this by installing the dependencies from the repository's requirements file: ```sh -pip3 install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging +pip3 install --user -r Tools/setup/requirements.txt ``` ## PX4 빌드 타겟 만들기 diff --git a/docs/ko/dev_setup/config_initial.md b/docs/ko/dev_setup/config_initial.md index 83fc3131a8..693f6b3069 100644 --- a/docs/ko/dev_setup/config_initial.md +++ b/docs/ko/dev_setup/config_initial.md @@ -23,7 +23,7 @@ A Taranis RC and a mid-range Android tablet make a very inexpensive field kit. - Lenovo Thinkpad with i5-core running Windows 11 - MacBook Pro (early 2015 and later) with macOS 10.15 or later - - Lenovo Thinkpad i5 with Ubuntu Linux 20.04 or later + - Lenovo Thinkpad i5 with Ubuntu Linux 22.04 or later - **Ground control station** (computer or tablet): - iPad (may require Wifi telemetry adapter) diff --git a/docs/ko/dev_setup/dev_env.md b/docs/ko/dev_setup/dev_env.md index 9ed3e0cfd8..69d749fe4d 100644 --- a/docs/ko/dev_setup/dev_env.md +++ b/docs/ko/dev_setup/dev_env.md @@ -2,7 +2,7 @@ The _supported platforms_ for PX4 development are: -- [Ubuntu Linux (24.04/22.04)](../dev_setup/dev_env_linux_ubuntu.md) — Recommended +- [Ubuntu Linux (24.04/22.04)](../dev_setup/dev_env_linux_ubuntu.md) - [Windows (10/11)](../dev_setup/dev_env_windows_wsl.md) — via WSL2 - [macOS](../dev_setup/dev_env_mac.md) @@ -15,9 +15,9 @@ The _supported platforms_ for PX4 development are: | **NuttX based hardware:** [Pixhawk Series](../flight_controller/pixhawk_series.md), [Crazyflie](../complete_vehicles_mc/crazyflie2.md) | ✓ | ✓ | ✓ | | **Linux-based hardware:** [Raspberry Pi 2/3](../flight_controller/raspberry_pi_navio2.md) | ✓ | | | | **Simulation:** [Gazebo SITL](../sim_gazebo_gz/index.md) | ✓ | ✓ | ✓ | -| **Simulation:** [Gazebo Classic SITL](../sim_gazebo_classic/index.md) | ✓ | ✓ | ✓ | -| **Simulation:** [ROS with Gazebo Classic](../simulation/ros_interface.md) | ✓ | | ✓ | | **Simulation:** ROS 2 with Gazebo | ✓ | | ✓ | +| **Simulation:** [Gazebo Classic SITL](../sim_gazebo_classic/index.md) | | ✓ | ✓ | +| **Simulation:** [ROS with Gazebo Classic](../simulation/ros_interface.md) | | | ✓ | Experienced Docker users can also build with the containers used by our continuous integration system: [Docker Containers](../test_and_ci/docker.md) diff --git a/docs/ko/dev_setup/dev_env_linux_centos.md b/docs/ko/dev_setup/dev_env_linux_centos.md index ec9989c908..f31e1f894c 100644 --- a/docs/ko/dev_setup/dev_env_linux_centos.md +++ b/docs/ko/dev_setup/dev_env_linux_centos.md @@ -39,8 +39,9 @@ You may want to also install `python-pip` and `screen`. 아래 스크립트로 GCC 7-2017-q4를 설치합니다. :::warning -This version of GCC is out of date. -At time of writing the current version on Ubuntu is `9-2020-q2-update` (see [focal nuttx docker file](https://github.com/PX4/PX4-containers/blob/master/docker/Dockerfile_nuttx-focal#L28)) +This version of GCC is very outdated. +PX4 now uses the `gcc-arm-none-eabi` package from the current Ubuntu LTS (GCC 13.2.1 on Ubuntu 24.04). +This CentOS guide is community-maintained and may not produce working builds. ::: ```sh diff --git a/docs/ko/dev_setup/dev_env_linux_ubuntu.md b/docs/ko/dev_setup/dev_env_linux_ubuntu.md index f9602445b4..83518ac420 100644 --- a/docs/ko/dev_setup/dev_env_linux_ubuntu.md +++ b/docs/ko/dev_setup/dev_env_linux_ubuntu.md @@ -4,21 +4,14 @@ The following instructions use a bash script to set up the PX4 development envir The environment includes: -- [Gazebo Simulator](../sim_gazebo_gz/index.md) ("Harmonic") -- [Build toolchain for Pixhawk (and other NuttX-based hardware)](../dev_setup/building_px4.md#nuttx-pixhawk-based-boards). - -On Ubuntu 22.04: - -- [Gazebo Classic Simulator](../sim_gazebo_classic/index.md) can be used instead of Gazebo. - Gazebo is nearing feature-parity with Gazebo-Classic on PX4, and will soon replace it for all use cases. +- [Gazebo Simulator](../sim_gazebo_gz/index.md) (Gazebo Harmonic) +- [Build toolchain for Pixhawk (and other NuttX-based hardware)](../dev_setup/building_px4.md#nuttx-pixhawk-based-boards) using the `gcc-arm-none-eabi` compiler from the Ubuntu package manager. The build toolchain for other flight controllers, simulators, and working with ROS are discussed in the [Other Targets](#other-targets) section below. -:::details -Can I use an older version of Ubuntu? -PX4 supports the current and last Ubuntu LTS release where possible. -Older releases are not supported (so you can't raise defects against them), but may still work. -For example, Gazebo Classic setup is included in our standard build instructions for macOS, Ubuntu 18.04 and 20.04, and Windows on WSL2 for the same hosts. +:::info +PX4 targets the **current Ubuntu LTS** (24.04) for CI and release builds, with the **previous LTS** (22.04) also supported. +Older Ubuntu versions are not supported and may not work. ::: ## Simulation and NuttX (Pixhawk) Targets @@ -52,9 +45,7 @@ The script is intended to be run on _clean_ Ubuntu LTS installations, and may no - 스크립트가 진행되는 동안 모든 프롬프트를 확인합니다. - You can use the `--no-nuttx` and `--no-sim-tools` options to omit the NuttX and/or simulation tools. -3. If you need Gazebo Classic (Ubuntu 22.04 only) then you can manually remove Gazebo and install it by following the instructions in [Gazebo Classic > Installation](../sim_gazebo_classic/index.md#installation). - -4. 완료되면 컴퓨터를 재부팅합니다. +3. 완료되면 컴퓨터를 재부팅합니다. :::details Additional notes @@ -63,10 +54,11 @@ These notes are provided "for information only": - This setup is supported by the PX4 Dev Team. The instructions may also work on other Debian Linux based systems. -- You can verify the NuttX installation by confirming the `gcc` version as shown: +- You can verify the NuttX installation by confirming `gcc` is available. + The version depends on your Ubuntu release (e.g. GCC 13.2.1 on Ubuntu 24.04): ```sh - $arm-none-eabi-gcc --version + $ arm-none-eabi-gcc --version arm-none-eabi-gcc (15:13.2.rel1-2) 13.2.1 20231009 Copyright (C) 2023 Free Software Foundation, Inc. diff --git a/docs/ko/dev_setup/dev_env_windows_wsl.md b/docs/ko/dev_setup/dev_env_windows_wsl.md index fe782c5baa..5e5150386b 100644 --- a/docs/ko/dev_setup/dev_env_windows_wsl.md +++ b/docs/ko/dev_setup/dev_env_windows_wsl.md @@ -61,20 +61,20 @@ To install WSL2 with Ubuntu on a new installation of Windows 10 or 11: wsl --install ``` - - Ubuntu 20.04 ([Gazebo-Classic Simulation](../sim_gazebo_classic/index.md)) - - ```sh - wsl --install -d Ubuntu-20.04 - ``` - - Ubuntu 22.04 ([Gazebo Simulation](../sim_gazebo_gz/index.md)) ```sh wsl --install -d Ubuntu-22.04 ``` + - Ubuntu 24.04 ([Gazebo Simulation](../sim_gazebo_gz/index.md)) + + ```sh + wsl --install -d Ubuntu-24.04 + ``` + ::: info - You can also install[Ubuntu 20.04](https://www.microsoft.com/store/productId/9MTTCL66CPXJ) and [Ubuntu 22.04](https://www.microsoft.com/store/productId/9PN20MSR04DW) from the store, which allows you to delete the application using the normal Windows Add/Remove settings: + You can also [Ubuntu 24.04](https://www.microsoft.com/store/productId/9nz3klhxdjp5) or [Ubuntu 22.04](https://www.microsoft.com/store/productId/9PN20MSR04DW) from Microsoft Store, which allows you to delete the application using the normal Windows Add/Remove settings. ::: @@ -110,7 +110,7 @@ To open a WSL shell using a command prompt: ``` ```sh - wsl -d Ubuntu-20.04 + wsl -d Ubuntu-24.04 ``` If you only have one version of Ubuntu, you can just use `wsl`. diff --git a/docs/ko/dev_setup/vscode.md b/docs/ko/dev_setup/vscode.md index 75ac6d2cdd..3d618c8aaa 100644 --- a/docs/ko/dev_setup/vscode.md +++ b/docs/ko/dev_setup/vscode.md @@ -61,7 +61,6 @@ You must already have installed the command line [PX4 developer environment](../ 빌드를 진행하려면: 1. Select your build target ("cmake build config"): - - The current _cmake build target_ is shown on the blue _config_ bar at the bottom (if this is already your desired target, skip to next step). ![Select Cmake build target](../../assets/toolchain/vscode/cmake_build_config.jpg) @@ -134,10 +133,10 @@ In order for the code completion to work (and other IntelliSense magic) you need 이 섹션에는 설정 및 빌드 오류에 대한 지침이 포함되어 있습니다. -### Ubuntu 18.04: "Visual Studio Code는 이 큰 작업 영역에서 파일 변경 사항을 감시할 수 없습니다." +### "Visual Studio Code is unable to watch for file changes in this large workspace" 이 오류는 시작시에 나타납니다. -On some systems, there is an upper-limit of 8192 file handles imposed on applications, which means that VSCode might not be able to detect file modifications in `/PX4-Autopilot`. +On some systems, there is an upper-limit on file handles imposed on applications, which means that VSCode might not be able to detect file modifications in `/PX4-Autopilot`. 메모리 소비를 희생시키면서 오류를 방지하기 위해 이 제한을 늘릴 수 있습니다. Follow the [instructions here](https://code.visualstudio.com/docs/setup/linux#_visual-studio-code-is-unable-to-watch-for-file-changes-in-this-large-workspace-error-enospc). diff --git a/docs/ko/dronecan/holybro_h_rtk_zed_f9p_gps.md b/docs/ko/dronecan/holybro_h_rtk_zed_f9p_gps.md index 41302b0a1d..18d6915235 100644 --- a/docs/ko/dronecan/holybro_h_rtk_zed_f9p_gps.md +++ b/docs/ko/dronecan/holybro_h_rtk_zed_f9p_gps.md @@ -100,7 +100,6 @@ In order to use dual ZED-F9P GPS heading in PX4, follow these steps: 3. Components should be visible on the left panel. Click on the first `_Component_` that maps to the ZED-F9P DroneCAN node (below shown as _Component 124_). 4. Click on the _GPS_ subsection and configure the parameters listed below: - - `GPS_TYPE`: Either set to `17` for moving baseline _base_, or set to `18` to be the moving baseline _rover_. One F9P MUST be _rover_, and the other MUST be _base_. - `GPS_AUTO_CONFIG`: set to 1 for both the rover and base diff --git a/docs/ko/esc/ark_4in1_esc.md b/docs/ko/esc/ark_4in1_esc.md index e558bb5668..21ed5bd061 100644 --- a/docs/ko/esc/ark_4in1_esc.md +++ b/docs/ko/esc/ark_4in1_esc.md @@ -39,12 +39,10 @@ Order this module from: - 10 Pin JST-SH Debug - Motor & Battery Connectors (with-connector version) - - MR30 Connector Limit Per Motor: 30A Continuous, 40A Burst - Four MR30 Motor Connectors - Dimensions (with connectors) - - Size: 77.00mm x 42.00mm x 9.43mm - Mounting Pattern: 30.5mm - Weight: 24g diff --git a/docs/ko/flight_controller/airlink.md b/docs/ko/flight_controller/airlink.md index 5392cab76b..de1a5dddb5 100644 --- a/docs/ko/flight_controller/airlink.md +++ b/docs/ko/flight_controller/airlink.md @@ -26,7 +26,6 @@ AIRLink has two computers and integrated LTE Module: ## 사양 - **Sensors** - - 3x Accelerometers, 3x Gyroscopes, 3x Magnetometers, 3x Pressure sensorss - GNSS, Rangefinders, Lidars, Optical Flow, Cameras - 3x-redundant IMU @@ -34,7 +33,6 @@ AIRLink has two computers and integrated LTE Module: - Temperature stabilization - **Flight Controller** - - STM32F7, ARM Cortex M7 with FPU, 216 MHz, 2MB Flash, 512 kB RAM - STM32F1, I/O co-processor - Ethernet, 10/100 Mbps @@ -51,7 +49,6 @@ AIRLink has two computers and integrated LTE Module: - Safety switch / LED option - **AI Mission Computer** - - 6-Core CPU: Dual-Core Cortex-A72 + Quad-Core Cortex-A53 - GPU Mali-T864, OpenGL ES1.1/2.0/3.0/3.1 - VPU with 4K VP8/9, 4K 10bits H265/H264 60fps Decoding @@ -65,7 +62,6 @@ AIRLink has two computers and integrated LTE Module: - 2x Video: 4-Lane MIPI CSI (FPV Camera) and 4-Lane MIPI CSI with HMDI Input (Payload Camera) - **LTE/5G Connectivity Module** - - Up to 600 Mbps bandwidth - 5G sub-6 and mmWave, SA and NSA operations - 4G Cat 20, up to 7xCA, 256-QAM DL/UL, 2xCA UL @@ -142,7 +138,6 @@ SmartAP AIRLink's Core edition is intended for medium to high volume production ![Left side](../../assets/flight_controller/airlink/airlink-interfaces-left.jpg) - **Left side interfaces:** - - Power input with voltage & current monitoring - AI Mission Computer micro SD card - Flight Controller micro SD card @@ -170,13 +165,13 @@ SmartAP AIRLink's Core edition is intended for medium to high volume production - **RC Connector - JST GH SM06B-GHS-TB** - | Pin number | Pin name | 방향 | 전압 | 기능 | | | | - | ---------- | ----------------------------- | --- | --------------------- | ----------- | - | --- | -- | - | 1 | 5V | OUT | +5V | 5V output | | | | - | 2 | PPM_IN | IN | +3.3V | PPM 입력 | | | | - | 3 | RSSI_IN | IN | +3.3V | RSSI 입력 | | | | - | 4 | FAN_OUT | OUT | +5V | Fan output | | | | - | 5 | SBUS_OUT | OUT | +3.3V | SBUS output | 6 | GND | 접지 | + \| Pin number | Pin name | Direction | Voltage | Function | + \| ---------- | -------- | --------- | ------- | ----------- | --- | --- | ------ | + \| 1 | 5V | OUT | +5V | 5V output | + \| 2 | PPM_IN | IN | +3.3V | PPM input | + \| 3 | RSSI_IN | IN | +3.3V | RSSI input | + \| 4 | FAN_OUT | OUT | +5V | Fan output | + \| 5 | SBUS_OUT | OUT | +3.3V | SBUS output | 6 | GND | Ground | * **FMU SD card - microSD** @@ -185,7 +180,6 @@ SmartAP AIRLink's Core edition is intended for medium to high volume production ![Right side](../../assets/flight_controller/airlink/airlink-interfaces-right.jpg) - **Right side interfaces:** - - Ethernet port with power output - Telemetry port - Second GPS port @@ -251,7 +245,6 @@ SmartAP AIRLink's Core edition is intended for medium to high volume production ![Front side](../../assets/flight_controller/airlink/airlink-interfaces-front.jpg) - **Front side interfaces:** - - Main GNSS and compass port - Main telemetry port - CSI camera input @@ -309,7 +302,6 @@ SmartAP AIRLink's Core edition is intended for medium to high volume production ![Back side](../../assets/flight_controller/airlink/airlink-interfaces-back.jpg) - **Rear side interfaces:** - - SBUS input - 16 PWM output channels - 2x LTE antenna sockets (MIMO) diff --git a/docs/ko/flight_controller/autopilot_manufacturer_supported.md b/docs/ko/flight_controller/autopilot_manufacturer_supported.md index 780c5bcf81..0d9b0ca603 100644 --- a/docs/ko/flight_controller/autopilot_manufacturer_supported.md +++ b/docs/ko/flight_controller/autopilot_manufacturer_supported.md @@ -25,6 +25,7 @@ This category includes boards that are not fully compliant with the pixhawk stan - [CubePilot Cube Orange+](../flight_controller/cubepilot_cube_orangeplus.md) - [CubePilot Cube Orange](../flight_controller/cubepilot_cube_orange.md) - [CubePilot Cube Yellow](../flight_controller/cubepilot_cube_yellow.md) +- [Gear Up AirBrainH743](../flight_controller/gearup_airbrainh743.md) - [Holybro Kakute H7v2](../flight_controller/kakuteh7v2.md) - [Holybro Kakute H7mini](../flight_controller/kakuteh7mini.md) - [Holybro Kakute H7](../flight_controller/kakuteh7.md) diff --git a/docs/ko/flight_controller/gearup_airbrainh743.md b/docs/ko/flight_controller/gearup_airbrainh743.md new file mode 100644 index 0000000000..a1fcf95a4c --- /dev/null +++ b/docs/ko/flight_controller/gearup_airbrainh743.md @@ -0,0 +1,96 @@ +# Gear Up AirBrainH743 + +:::warning +PX4 does not manufacture this (or any) autopilot. +Contact the [manufacturer](https://takeyourgear.com/) for hardware support. +::: + +:::info +This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). +::: + +Purchase from [takeyourgear.com](https://takeyourgear.com/pages/products/airbrain). + +For more information and pinout, check the [GitHub documentation](https://github.com/GearUp-Company/AirBrainH743). + +## 주요 특징 + +- MCU: STM32H743 32-bit processor running at 480 MHz +- IMU: ICM42688P +- Barometer: DPS310 +- Magnetometer: LIS2MDL (internal) +- 128MB NAND Flash for logging (W25N) +- 7x UARTs +- I2C, SPI +- 9x PWM Outputs (8 Motor outputs, 1 LED strip) +- Battery input voltage: 3S-10S +- Battery voltage/current monitoring +- 5V@2A and 10V@2.5A BEC outputs +- USB Type-C (IP68) +- EMC and ESD protection + +## 커넥터 및 핀 + +:::warning +The pin order is different from the Pixhawk standard (compatible to the Betaflight standard). +::: + +### UART + +Current UART configuration: + +| UART | 장치 | 기능 | +| ------ | ---------- | --------------------------------------- | +| USART1 | /dev/ttyS0 | Console/Debug | +| USART2 | /dev/ttyS1 | RC Input | +| USART3 | /dev/ttyS2 | TEL4 (DJI/MSP) | +| UART4 | /dev/ttyS3 | TEL1 | +| UART5 | /dev/ttyS4 | TEL2 | +| UART7 | /dev/ttyS5 | TEL3 (ESC Telemetry) | +| UART8 | /dev/ttyS6 | GPS1 | + +### Motor/Servo Outputs + +| 커넥터 | 핀 | 기능 | +| --- | -- | ---------------------------- | +| ESC | M1 | Motor 1 | +| ESC | M2 | Motor 2 | +| ESC | M3 | Motor 3 | +| ESC | M4 | Motor 4 | +| PWM | M5 | Motor 5 | +| PWM | M6 | Motor 6 | +| PWM | M7 | Motor 7 | +| PWM | M8 | Motor 8 | +| AUX | M9 | LED/PWM/etc. | + + + +## 부트로더 업데이트 + +Before PX4 firmware can be installed, the _PX4 bootloader_ must be flashed. +Download the [gearup_airbrainh743_bootloader.bin](https://github.com/PX4/PX4-Autopilot/blob/main/boards/gearup/airbrainh743/extras/gearup_airbrainh743_bootloader.bin) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions. + +## 펌웨어 빌드 + +To [build PX4](../dev_setup/building_px4.md) for this target: + +``` +make gearup_airbrainh743_default +``` + +## 펌웨어 설치 + +Firmware can be installed in any of the normal ways: + +- Build and upload the source: + + ``` + make gearup_airbrainh743_default upload + ``` + +- [Load the firmware](../config/firmware.md) using _QGroundControl_. + 미리 빌드된 펌웨어나 사용자 지정 펌웨어를 사용할 수 있습니다. + +### 시스템 콘솔 + +UART1 (ttyS0) is configured for use as the [System Console](../debug/system_console.md). diff --git a/docs/ko/flight_modes/offboard.md b/docs/ko/flight_modes/offboard.md index 42d4c0c2df..008b779940 100644 --- a/docs/ko/flight_modes/offboard.md +++ b/docs/ko/flight_modes/offboard.md @@ -231,7 +231,7 @@ The following MAVLink messages and their particular fields and field values are - Position setpoint **and** velocity setpoint (the velocity setpoint is used as feedforward; it is added to the output of the position controller and the result is used as the input to the velocity controller). - - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL). + - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT). - [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET) - 다음 입력 조합이 지원됩니다. @@ -278,7 +278,7 @@ The following MAVLink messages and their particular fields and field values are - 12288 : Loiter 설정점 (설정점을 중심으로 선회 비행합니다). - 16384 : 유휴 설정점 (제로 스로틀, 제로 롤/피치). - - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL). + - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT). - [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET) - 다음 입력 조합이 지원됩니다. @@ -287,7 +287,29 @@ The following MAVLink messages and their particular fields and field values are ### 탐사선 -Rover does not support a MAVLink offboard API (ROS2 is supported). +Rover supports offboard control using the generic MAVLink position/velocity setpoint messages listed below. +These are converted into a [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) internally, and then into rover setpoints by the rover offboard modes. +For rover-specific control setpoints and better behaviour we recommend using the [Rover Setpoints](#rover-setpoints) via ROS 2. + +:::info +Rover MAVLink setpoints are gated by the MAVLink parameter [MAV_FWDEXTSP](../advanced_config/parameter_reference.md#MAV_FWDEXTSP) (Forward external setpoint messages). +::: + +- [SET_POSITION_TARGET_LOCAL_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED) + - Position setpoint: `x`, `y` in [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) (`z` is ignored by rover modules). + - Velocity setpoint: `vx`, `vy` in [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) or [MAV_FRAME_BODY_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_BODY_NED). + - `yaw`/`yaw_rate`: + - Ackermann/Differential: ignored (in velocity control the yaw setpoint is derived from the velocity direction). + - Mecanum: can be controlled independently (decoupled) using `yaw`/`yaw_rate`. + - Acceleration setpoints (`afx`, `afy`, `afz`) are ignored by rover modules. + +- [SET_POSITION_TARGET_GLOBAL_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT) + - Position setpoint: `lat_int`, `lon_int`, `alt` (converted into local NED internally; rover modules only use the horizontal components). + - Velocity setpoint: `vx`, `vy`, `vz` (rover modules use only the horizontal components). + - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT). + +- [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET) + - Not supported for rover offboard control. ## 오프보드 매개변수 diff --git a/docs/ko/flight_modes_fw/mission.md b/docs/ko/flight_modes_fw/mission.md index 0d5f695af6..fe14d439ae 100644 --- a/docs/ko/flight_modes_fw/mission.md +++ b/docs/ko/flight_modes_fw/mission.md @@ -28,7 +28,6 @@ Missions are uploaded onto a SD card that needs to be inserted **before** bootin At high level all vehicle types behave in the same way when MISSION mode is engaged: 1. If no mission is stored, or if PX4 has finished executing all mission commands, or if the [mission is not feasible](#mission-feasibility-checks): - - If flying the vehicle will loiter. - If landed the vehicle will "wait". diff --git a/docs/ko/flight_modes_mc/follow_me.md b/docs/ko/flight_modes_mc/follow_me.md index c5ca434e6e..154a7a2636 100644 --- a/docs/ko/flight_modes_mc/follow_me.md +++ b/docs/ko/flight_modes_mc/follow_me.md @@ -115,7 +115,6 @@ The altitude control mode determine whether the vehicle altitude is relative to The relative distance to the drone to the target will change as you ascend and descend (use with care in hilly terrain). - `2D + Terrain` makes the drone follow at a fixed height relative to the terrain underneath it, using information from a distance sensor. - - If the vehicle does not have a distance sensor following will be identical to `2D tracking`. - Distance sensors aren't always accurate and vehicles may be "jumpy" when flying in this mode. - Note that that height is relative to the ground underneath the vehicle, not the follow target. diff --git a/docs/ko/flight_modes_mc/mission.md b/docs/ko/flight_modes_mc/mission.md index 313aabcb18..630e542ee5 100644 --- a/docs/ko/flight_modes_mc/mission.md +++ b/docs/ko/flight_modes_mc/mission.md @@ -30,7 +30,6 @@ Missions are uploaded onto a SD card that needs to be inserted **before** bootin At high level all vehicle types behave in the same way when MISSION mode is engaged: 1. If no mission is stored, or if PX4 has finished executing all mission commands, or if the [mission is not feasible](#mission-feasibility-checks): - - If flying the vehicle will hold. - If landed the vehicle will "wait". diff --git a/docs/ko/flight_modes_vtol/return.md b/docs/ko/flight_modes_vtol/return.md index 929cc8e64d..eb60a47d0e 100644 --- a/docs/ko/flight_modes_vtol/return.md +++ b/docs/ko/flight_modes_vtol/return.md @@ -49,7 +49,6 @@ If returning as a fixed-wing, the vehicle: A mission landing pattern for a VTOL vehicle consists of a [MAV_CMD_DO_LAND_START](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_LAND_START), one or more position waypoints, and a [MAV_CMD_NAV_VTOL_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_VTOL_LAND). - If the destination is a rally point or home it will: - - Loiter/spiral down to [RTL_DESCEND_ALT](#RTL_DESCEND_ALT). - Circle for a short time, as defined by [RTL_LAND_DELAY](#RTL_LAND_DELAY). - Yaw towards the destination (centre of loiter). diff --git a/docs/ko/flight_stack/controller_diagrams.md b/docs/ko/flight_stack/controller_diagrams.md index b6c1d87c11..fa12f0e50e 100644 --- a/docs/ko/flight_stack/controller_diagrams.md +++ b/docs/ko/flight_stack/controller_diagrams.md @@ -30,7 +30,7 @@ The diagrams use the standard [PX4 notation](../contribute/notation.md) (and eac ::: info The IMU pipeline is: - gyro data > apply calibration parameters > remove estimated bias > notch filter (`IMU_GYRO_NF0_BW` and `IMU_GYRO_NF0_FRQ`) > low-pass filter (`IMU_GYRO_CUTOFF`) > vehicle_angular_velocity (_filtered angular rate used by the P and I controllers_) > derivative -> low-pass filter (`IMU_DGYRO_CUTOFF`) > vehicle_angular_acceleration (_filtered angular acceleration used by the D controller_) + gyro data > apply calibration parameters > remove estimated bias > notch filter (`IMU_GYRO_NF0_BW` and `IMU_GYRO_NF0_FRQ`) > low-pass filter (`IMU_GYRO_CUTOFF`) > vehicle_angular_velocity (\_filtered angular rate used by the P and I controllers_) > derivative -> low-pass filter (`IMU_DGYRO_CUTOFF`) > vehicle_angular_acceleration (\_filtered angular acceleration used by the D controller_) ![IMU pipeline](../../assets/diagrams/px4_imu_pipeline.png) @@ -177,7 +177,7 @@ The angular position of the control effectors (ailerons, elevators, rudders, ... 또한 제어 표면은 고속에서 더 효과적이고 저속에서는 덜 효과적이기 때문에, 순항 속도에 맞게 조정된 컨트롤러는 속도 측정을 사용하여 조정됩니다(이러한 센서가 사용되는 경우). :::info -If no airspeed sensor is used then gain scheduling for the FW attitude controller is disabled (it's open loop); no correction is/can be made in TECS using airspeed feedback. +If no airspeed sensor is used then gain scheduling for the FW attitude controller is disabled (it's open loop); no correction is/can be made in TECS using airspeed feedback. ::: 피드포워드 이득은 공기역학적 감쇠를 보상합니다. @@ -187,7 +187,7 @@ If no airspeed sensor is used then gain scheduling for the FW attitude controlle ### Turn coordination 롤 및 피치 컨트롤러는 동일한 구조를 가지며, 종방향 역학과 횡방향 역학은 독립적으로 작동하기에 충분히 분리되어 있다고 가정합니다. -그러나, 요 콘트롤러는 항공기가 미끄러질 때 생성되는 측면 가속도를 최소화하기 위해 선회 조정 제약 조건을 사용하여 요 각속도 설정점을 계산합니다. The turn coordination algorithm is based solely on coordinated turn geometry calculation. +그러나, 요 콘트롤러는 항공기가 미끄러질 때 생성되는 측면 가속도를 최소화하기 위해 선회 조정 제약 조건을 사용하여 요 각속도 설정점을 계산합니다. The turn coordination algorithm is based solely on coordinated turn geometry calculation. $$\dot{\Psi}_{sp} = \frac{g}{V_T} \tan{\phi_{sp}} \cos{\theta_{sp}}$$ diff --git a/docs/ko/flying/package_delivery_mission.md b/docs/ko/flying/package_delivery_mission.md index 3d1390abf5..65ca21e2de 100644 --- a/docs/ko/flying/package_delivery_mission.md +++ b/docs/ko/flying/package_delivery_mission.md @@ -33,7 +33,6 @@ To create a package delivery mission (with a Gripper): 1. Create a normal mission with a `Takeoff` mission item, and additional waypoints for your required flight path. 2. Add a waypoint on the map for where you'd like to release the package. - - To drop the package while flying set an appropriate altitude for the waypoint (and ensure the waypoint is at a safe location to drop the package). - If you'd like to land the vehicle to make the delivery you will need to change the `Waypoint` to a `Land` mission item. diff --git a/docs/ko/frames_rover/index.md b/docs/ko/frames_rover/index.md index 7cf786c054..66028513fd 100644 --- a/docs/ko/frames_rover/index.md +++ b/docs/ko/frames_rover/index.md @@ -7,6 +7,12 @@ Support for rover is [experimental](../airframes/index.md#experimental-vehicles) Maintainer volunteers, [contribution](../contribute/index.md) of new features, new frame configurations, or other improvements would all be very welcome! ::: +:::tip +Rover is not in the default PX4 firmware downloaded from QGC. +Unlike for other vehicle types you will need to install it as custom firmware. +For more information see [Flashing the Rover Build](../config_rover/index.md#flashing-the-rover-build). +::: + ![Rovers](../../assets/airframes/rover/rovers.png) PX4 provides support for the three most common types of rovers: diff --git a/docs/ko/getting_started/led_meanings.md b/docs/ko/getting_started/led_meanings.md index 82412cfe82..57e098b79e 100644 --- a/docs/ko/getting_started/led_meanings.md +++ b/docs/ko/getting_started/led_meanings.md @@ -20,7 +20,7 @@ It is possible to have a GPS lock (Green LED) and still not be able to arm the v ::: :::tip -In the event of an error (blinking red), or if the vehicle can't achieve GPS lock (change from blue to green), check for more detailed status information in _QGroundControl_ including calibration status, and errors messages reported by the [Preflight Checks (Internal)](../flying/pre_flight_checks.md). +In the event of an error (blinking red), or if the vehicle can't achieve GPS lock (change from blue to green), check for more detailed status information in _QGroundControl_ including calibration status, and errors messages reported by the [Preflight Checks (Internal)](../flying/pre_flight_checks.md). 또한 GPS 모듈이 연결 여부, Pixhawk와 GPS 연동 여부, 정확한 GPS 위치를 전송 여부를 확인하십시오. ::: @@ -47,7 +47,8 @@ In the event of an error (blinking red), or if the vehicle can't achieve GPS loc 사고 방지 모드에서는 기체는 이륙 위치로 복귀하거나, 현재 위치에 착륙할 수 있습니다. - **[Solid Amber] Low Battery Warning:** Indicates your vehicle's battery is running dangerously low. - 특정 시점이 지나면, 차량은 안전 방지 모드로 전환됩니다. 그러나, 이 모드는 종료시점에는 경고 메시지를 표시합니다. + 특정 시점이 지나면, 차량은 안전 방지 모드로 전환됩니다. However, this mode should signal caution that it's time to end + this flight. - **[Blinking Red] Error / Setup Required:** Indicates that your autopilot needs to be configured or calibrated before flying. 자동조종장치를 지상관제국에 연결하여 무슨 문제인지를 확인하십시오. @@ -77,11 +78,11 @@ The LED labels shown above are commonly used, but might differ on some boards. LED가 의미하는 메시지에 관한 자세한 정보는 아래에서 설명합니다( "x"는 "모든 상태"를 의미). -| 적색/황색 | 청색 | 녹색 | 설명 | -| ----- | --- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -| 10Hz | x | x | Overload CPU load > 80%, or RAM usage > 98% | -| OFF | x | x | Overload CPU load <= 80%, or RAM usage <= 98% | -| NA | OFF | 4 Hz | actuator_armed->armed && failsafe | -| NA | ON | 4 Hz | actuator_armed->armed && !failsafe | -| NA | OFF | 1 Hz | !actuator_armed-> armed && actuator_armed->ready_to_arm | -| NA | OFF | 10 Hz | !actuator_armed->armed && !actuator_armed->ready_to_arm | +| 적색/황색 | 청색 | 녹색 | 설명 | +| ----- | --- | ----- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| 10Hz | x | x | Overload CPU load > 80%, or RAM usage > 98% | +| OFF | x | x | Overload CPU load <= 80%, or RAM usage <= 98% | +| NA | OFF | 4 Hz | actuator_armed->armed && failsafe | +| NA | ON | 4 Hz | actuator_armed->armed && !failsafe | +| NA | OFF | 1 Hz | !actuator_armed-> armed && actuator_armed->ready_to_arm | +| NA | OFF | 10 Hz | !actuator_armed->armed && !actuator_armed->ready_to_arm | diff --git a/docs/ko/getting_started/tunes.md b/docs/ko/getting_started/tunes.md index 82f41d6feb..e85c4c6b63 100644 --- a/docs/ko/getting_started/tunes.md +++ b/docs/ko/getting_started/tunes.md @@ -13,7 +13,7 @@ You can search for tune use using the string `TUNE_ID_name`(e.g. \`TUNE_ID_PARAC 부팅중에 재생되는 톤들입니다. - + #### 시작 톤 diff --git a/docs/ko/gps_compass/rtk_gps.md b/docs/ko/gps_compass/rtk_gps.md index 07270685a5..8b0e09ca86 100644 --- a/docs/ko/gps_compass/rtk_gps.md +++ b/docs/ko/gps_compass/rtk_gps.md @@ -153,7 +153,6 @@ RTK GPS 연결은 기본적으로 플러그앤플레이입니다. ![survey-in](../../assets/qgc/setup/rtk/qgc_rtk_survey-in.png) 4. Survey-in이 완료되면 : - - The RTK GPS icon changes to white and _QGroundControl_ starts to stream position data to the vehicle: ![RTK streaming](../../assets/qgc/setup/rtk/qgc_rtk_streaming.png) diff --git a/docs/ko/index.md b/docs/ko/index.md index 4ae116f0c7..339b6ecf6c 100644 --- a/docs/ko/index.md +++ b/docs/ko/index.md @@ -3,20 +3,11 @@ import { useData } from 'vitepress' const { site } = useData(); -
- # PX4 Autopilot 사용자 안내서 [![Releases](https://img.shields.io/badge/release-main-blue.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![Discuss](https://img.shields.io/badge/discuss-px4-ff69b4.svg)](https://discuss.px4.io//) [![Discord](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode) -PX4 is the _Professional Autopilot_. -세계적인 수준의 개발자들이 산업계와 학계에서 참여하여 개발하였으며, -세계 각국에서 활동중인 여러 단체들의 지원을 받을 수 있습니다. PX4는 레이싱 드론, 운송용 드론, 자동차와 선박 등의 다양한 운송체에 적용하여 사용할 수 있습니다. - -:::tip -This guide contains everything you need to assemble, configure, and safely fly a PX4-based vehicle. -이 프로젝트에 기여하시려면, Check out the [Development](development/development.md) section. -::: +PX4 is an open-source autopilot for drones and autonomous vehicles. It runs on multirotors, fixed-wing, VTOL, helicopters, rovers, and more. This guide covers everything from assembly and configuration to flight operations and development.
@@ -30,83 +21,43 @@ Documented changes since the stable release are captured in the evolving [releas
+## For Developers + +:::tip +Building on PX4 or extending the platform? Start here: [Development Guide](development/development.md). Set up your [dev environment](dev_setup/config_initial.md), [build from source](dev_setup/building_px4.md), run [SITL simulation](simulation/index.md), or integrate via [ROS 2](ros2/index.md) and [MAVSDK](https://mavsdk.mavlink.io/). +::: + ## 시작하기 -[Basic Concepts](getting_started/px4_basic_concepts.md) should be read by all users! -비행 스택(비행 모드 및 안전 기능)과 지원 하드웨어(비행 제어장치, 기체 형식, 텔레메트리, 원격 제어 시스템) 등 PX4의 전반적인 내용을 설명합니다. +Start with [Basic Concepts](getting_started/px4_basic_concepts.md) for an overview of the flight stack, flight modes, safety features, and supported hardware. -이 안내서를 위한 팁들은 아래과 같습니다. +## Build a Vehicle -### PX4로 동작하는 기체를 만들려고 합니다 +Pick your frame type: [Multicopter](frames_multicopter/index.md), [Fixed-Wing](frames_plane/index.md), [VTOL](frames_vtol/index.md), [Helicopter](frames_helicopter/index.md), or [Rover](frames_rover/index.md). Each section covers complete vehicles, kits, and DIY builds. For assembly instructions see [Assembling a Multicopter](assembly/assembly_mc.md) or the equivalent for your frame. -In the [Multicopter](frames_multicopter/index.md), [VTOL](frames_vtol/index.md), and [Plane (Fixed-Wing)](frames_plane/index.md) sections you'll find topics like the following (these links are for multicopter): +## Configure and Tune -- [Complete Vehicles](complete_vehicles_mc/index.md) list "Ready to Fly" (RTF) pre-built vehicles -- [Kits](frames_multicopter/kits.md) lists drones that you have to build yourself from a set of preselected parts -- [DIY Builds](frames_multicopter/diy_builds.md) shows some examples of drones that have been built using parts that were sourced individually +Once assembled, follow the configuration guide for your vehicle type (e.g. [Multicopter Configuration](config_mc/index.md)). This covers sensor calibration, flight mode setup, and tuning. -Both kits and complete vehicles usually include everything you need except for a battery and RC System. -Kits are usually not hard to build, provide a good introduction to how drones fit together, and are relatively inexpensive. -We provide generic instructions for assembly, such as [Assembling a Multicopter](assembly/assembly_mc.md), and most kits come with specific instructions too. +## 하드웨어 -If the kits and complete drones aren't quite right for you then you can build a vehicle from scratch, but this requires more knowledge. -[Airframe Builds](airframes/index.md) lists the supported frame starting points to give you some idea of what is possible. +The [Hardware Selection & Setup](hardware/drone_parts.md) section covers flight controllers, sensors, telemetry, RC systems, and payloads. See [Payloads](payloads/index.md) for camera and delivery integrations. -Once you have a vehicle that supports PX4 you will need to configure it and calibrate the sensors. -Each vehicle type has its own configuration section that explains the main steps, such as [Multicopter Configuration/Tuning](config_mc/index.md). +## Fly -### I want to add a payload/camera +Read [Operations](config/operations.md) to understand safety features and failsafe behavior before your first flight. Then see [Basic Flying (Multicopter)](flying/basic_flying_mc.md) or the equivalent for your frame type. -The [Payloads](payloads/index.md) section describes how to add a camera and how to configure PX4 to enable you to deliver packages. +## 지원 -### I am modifying a supported vehicle - -The [Hardware Selection & Setup](hardware/drone_parts.md) section provides both high level and product-specific information about hardware that you might use with PX4 and its configuration. -This is the first place you should look if you want to modify a drone and add new components. - -### I want to fly - -Before you fly you should read [Operations](config/operations.md) to understand how to set up the safety features of your vehicle and the common behaviours of all frame types. -Once you've done that you're ready to fly. - -Basic instructions for flying each vehicle type are provided in the respective sections, such as [Basic Flying (Multicopter)](flying/basic_flying_mc.md). - -### I want to run PX4 on a new Flight Controller and extend the platform - -The [Development](development/development.md) section explains how to support new airframes and types of vehicles, modify flight algorithms, add new modes, integrate new hardware, communicate with PX4 from outside the flight controller, and contribute to PX4. - -## 도움 받기 - -The [Support](contribute/support.md) page explains how to get help from the core dev team and the wider community. - -다음과 같은 내용을 다룹니다. - -- [Forums where you can get help](contribute/support.md#forums-and-chat) -- [Diagnosing issues](contribute/support.md#diagnosing-problems) -- [How to report bugs](contribute/support.md#issue-bug-reporting) -- [Weekly dev call](contribute/support.md#weekly-dev-call) - -## Reporting Bugs & Issues - -If you have any problems using PX4 first post them on the [support forums](contribute/support.md#forums-and-chat) (as they may be caused by vehicle configuration). - -If directed by the development team, code issues may be raised on [Github here](https://github.com/PX4/PX4-Autopilot/issues). -Where possible provide [flight logs](getting_started/flight_reporting.md) and other information requested in the issue template. +Get help on the [discussion forums](https://discuss.px4.io/) or [Discord](https://discord.gg/dronecode). See the [Support](contribute/support.md) page for diagnosing problems, reporting bugs, and joining the [weekly dev call](contribute/dev_call.md). ## 기여 -Information on how to contribute to code and documentation can be found in the [Contributing](contribute/index.md) section: - -- [Code](contribute/index.md) -- [Documentation](contribute/docs.md) -- [Translation](contribute/translation.md) +See the [Contributing](contribute/index.md) section for code, [documentation](contribute/docs.md), and [translation](contribute/translation.md) guidelines. ## 번역 -There are several [translations](contribute/translation.md) of this guide. -우상단의 언어 메뉴에서 원하시는 번역본을 선택할 수 있습니다: - -![Language Selector](../assets/vuepress/language_selector.png) +There are several [translations](contribute/translation.md) of this guide. Use the language selector in the top navigation. @@ -143,9 +94,9 @@ The calendar default timezone is Central European Time (CET). ## 운영 방법 -The PX4 flight stack is hosted under the governance of the [Dronecode Project](https://dronecode.org/). +The PX4 Autopilot project is hosted by the [Dronecode Foundation](https://www.dronecode.org/), a [Linux Foundation](https://www.linuxfoundation.org/) Collaborative Project. Dronecode holds all PX4 trademarks and serves as the project's legal guardian, ensuring vendor-neutral stewardship. No single company owns the name or controls the roadmap. The source code is licensed under the [BSD 3-Clause](https://opensource.org/license/BSD-3-Clause) license, so you are free to use, modify, and distribute it in your own projects. -Dronecode Logo Linux Foundation Logo +Dronecode Logo Linux Foundation Logo
 
diff --git a/docs/ko/middleware/dds_topics.md b/docs/ko/middleware/dds_topics.md index 95784b2227..642635db4c 100644 --- a/docs/ko/middleware/dds_topics.md +++ b/docs/ko/middleware/dds_topics.md @@ -95,192 +95,200 @@ They are not build into the module, and hence are neither published or subscribe :::details See messages -- [BatteryInfo](../msg_docs/BatteryInfo.md) -- [TakeoffStatus](../msg_docs/TakeoffStatus.md) -- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md) -- [Airspeed](../msg_docs/Airspeed.md) -- [PpsCapture](../msg_docs/PpsCapture.md) -- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md) -- [CameraCapture](../msg_docs/CameraCapture.md) -- [Px4ioStatus](../msg_docs/Px4ioStatus.md) -- [FuelTankStatus](../msg_docs/FuelTankStatus.md) -- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md) -- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md) -- [AirspeedWind](../msg_docs/AirspeedWind.md) -- [OrbTest](../msg_docs/OrbTest.md) -- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md) -- [GpioOut](../msg_docs/GpioOut.md) -- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md) -- [Gripper](../msg_docs/Gripper.md) -- [VehicleAirData](../msg_docs/VehicleAirData.md) -- [TuneControl](../msg_docs/TuneControl.md) -- [DebugVect](../msg_docs/DebugVect.md) -- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md) -- [HomePositionV0](../msg_docs/HomePositionV0.md) -- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md) -- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md) -- [EstimatorBias](../msg_docs/EstimatorBias.md) -- [GpioConfig](../msg_docs/GpioConfig.md) -- [SystemPower](../msg_docs/SystemPower.md) -- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md) -- [MissionResult](../msg_docs/MissionResult.md) -- [PowerButtonState](../msg_docs/PowerButtonState.md) -- [EscStatus](../msg_docs/EscStatus.md) -- [HealthReport](../msg_docs/HealthReport.md) -- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md) -- [SensorGyro](../msg_docs/SensorGyro.md) -- [GpioRequest](../msg_docs/GpioRequest.md) -- [DebugKeyValue](../msg_docs/DebugKeyValue.md) -- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md) -- [ParameterUpdate](../msg_docs/ParameterUpdate.md) -- [SensorAirflow](../msg_docs/SensorAirflow.md) -- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md) -- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md) -- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md) -- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md) -- [ActionRequest](../msg_docs/ActionRequest.md) -- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md) -- [PwmInput](../msg_docs/PwmInput.md) -- [PowerMonitor](../msg_docs/PowerMonitor.md) -- [Mission](../msg_docs/Mission.md) -- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md) -- [FigureEightStatus](../msg_docs/FigureEightStatus.md) -- [RadioStatus](../msg_docs/RadioStatus.md) -- [VehicleRoi](../msg_docs/VehicleRoi.md) -- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md) -- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md) -- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md) -- [Rpm](../msg_docs/Rpm.md) -- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md) -- [Ping](../msg_docs/Ping.md) -- [QshellReq](../msg_docs/QshellReq.md) -- [SensorMag](../msg_docs/SensorMag.md) -- [EstimatorStates](../msg_docs/EstimatorStates.md) -- [SensorUwb](../msg_docs/SensorUwb.md) -- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md) -- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md) -- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md) -- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md) -- [SensorHygrometer](../msg_docs/SensorHygrometer.md) -- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md) -- [AdcReport](../msg_docs/AdcReport.md) -- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md) -- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md) -- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md) -- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) -- [SensorCorrection](../msg_docs/SensorCorrection.md) -- [UlogStream](../msg_docs/UlogStream.md) -- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md) -- [GpsInjectData](../msg_docs/GpsInjectData.md) -- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md) -- [LoggerStatus](../msg_docs/LoggerStatus.md) -- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md) -- [SensorBaro](../msg_docs/SensorBaro.md) -- [OrbTestMedium](../msg_docs/OrbTestMedium.md) -- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) -- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md) -- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md) -- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md) -- [UlogStreamAck](../msg_docs/UlogStreamAck.md) -- [DatamanRequest](../msg_docs/DatamanRequest.md) -- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md) -- [PositionSetpoint](../msg_docs/PositionSetpoint.md) -- [DatamanResponse](../msg_docs/DatamanResponse.md) -- [LedControl](../msg_docs/LedControl.md) -- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md) -- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md) -- [Event](../msg_docs/Event.md) -- [ActuatorArmed](../msg_docs/ActuatorArmed.md) - [GpioIn](../msg_docs/GpioIn.md) -- [SensorGyroFft](../msg_docs/SensorGyroFft.md) -- [SensorAccel](../msg_docs/SensorAccel.md) -- [SensorsStatus](../msg_docs/SensorsStatus.md) -- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md) -- [GeneratorStatus](../msg_docs/GeneratorStatus.md) -- [DifferentialPressure](../msg_docs/DifferentialPressure.md) -- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md) -- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md) -- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md) -- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md) -- [RoverRateStatus](../msg_docs/RoverRateStatus.md) -- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md) -- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md) -- [VelocityLimits](../msg_docs/VelocityLimits.md) -- [MagWorkerData](../msg_docs/MagWorkerData.md) -- [Cpuload](../msg_docs/Cpuload.md) -- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md) -- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md) -- [MavlinkLog](../msg_docs/MavlinkLog.md) -- [SensorTemp](../msg_docs/SensorTemp.md) -- [LandingGearWheel](../msg_docs/LandingGearWheel.md) -- [OrbTestLarge](../msg_docs/OrbTestLarge.md) -- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md) -- [CellularStatus](../msg_docs/CellularStatus.md) -- [QshellRetval](../msg_docs/QshellRetval.md) -- [OrbitStatus](../msg_docs/OrbitStatus.md) -- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md) -- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md) -- [LogMessage](../msg_docs/LogMessage.md) -- [SatelliteInfo](../msg_docs/SatelliteInfo.md) -- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md) -- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md) -- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md) -- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md) -- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md) -- [EstimatorStatus](../msg_docs/EstimatorStatus.md) -- [NeuralControl](../msg_docs/NeuralControl.md) -- [TaskStackInfo](../msg_docs/TaskStackInfo.md) -- [RcParameterMap](../msg_docs/RcParameterMap.md) -- [SensorSelection](../msg_docs/SensorSelection.md) -- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md) -- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md) -- [ActuatorTest](../msg_docs/ActuatorTest.md) -- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md) -- [MountOrientation](../msg_docs/MountOrientation.md) -- [CameraStatus](../msg_docs/CameraStatus.md) -- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md) -- [FollowTarget](../msg_docs/FollowTarget.md) -- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md) -- [ButtonEvent](../msg_docs/ButtonEvent.md) -- [DebugArray](../msg_docs/DebugArray.md) -- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md) -- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md) -- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md) -- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md) -- [VehicleImu](../msg_docs/VehicleImu.md) -- [GpsDump](../msg_docs/GpsDump.md) -- [WheelEncoders](../msg_docs/WheelEncoders.md) -- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md) -- [DebugValue](../msg_docs/DebugValue.md) +- [SystemPower](../msg_docs/SystemPower.md) +- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md) +- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md) - [LandingTargetPose](../msg_docs/LandingTargetPose.md) -- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md) -- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md) -- [RtlStatus](../msg_docs/RtlStatus.md) -- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md) -- [GimbalControls](../msg_docs/GimbalControls.md) -- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md) -- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md) -- [HeaterStatus](../msg_docs/HeaterStatus.md) -- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md) -- [RcChannels](../msg_docs/RcChannels.md) -- [TecsStatus](../msg_docs/TecsStatus.md) -- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md) -- [InputRc](../msg_docs/InputRc.md) -- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md) -- [GeofenceResult](../msg_docs/GeofenceResult.md) -- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md) -- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md) -- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md) -- [NavigatorStatus](../msg_docs/NavigatorStatus.md) -- [CameraTrigger](../msg_docs/CameraTrigger.md) -- [EscReport](../msg_docs/EscReport.md) -- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md) -- [GeofenceStatus](../msg_docs/GeofenceStatus.md) -- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md) -- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md) -- [EventV0](../msg_docs/EventV0.md) -- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md) +- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md) +- [EstimatorBias](../msg_docs/EstimatorBias.md) +- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md) +- [LogMessage](../msg_docs/LogMessage.md) +- [PowerMonitor](../msg_docs/PowerMonitor.md) - [VehicleConstraints](../msg_docs/VehicleConstraints.md) +- [SensorAirflow](../msg_docs/SensorAirflow.md) +- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md) +- [ActuatorArmed](../msg_docs/ActuatorArmed.md) +- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md) +- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md) +- [DifferentialPressure](../msg_docs/DifferentialPressure.md) +- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md) +- [PwmInput](../msg_docs/PwmInput.md) +- [OrbTestMedium](../msg_docs/OrbTestMedium.md) +- [QshellReq](../msg_docs/QshellReq.md) +- [GeofenceStatus](../msg_docs/GeofenceStatus.md) +- [RcChannels](../msg_docs/RcChannels.md) +- [Cpuload](../msg_docs/Cpuload.md) +- [DebugArray](../msg_docs/DebugArray.md) +- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md) +- [Mission](../msg_docs/Mission.md) +- [Airspeed](../msg_docs/Airspeed.md) +- [LedControl](../msg_docs/LedControl.md) +- [HealthReport](../msg_docs/HealthReport.md) +- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md) +- [FigureEightStatus](../msg_docs/FigureEightStatus.md) +- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md) +- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md) +- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md) +- [InputRc](../msg_docs/InputRc.md) +- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md) +- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md) +- [SensorCorrection](../msg_docs/SensorCorrection.md) +- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md) +- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md) +- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md) +- [SensorSelection](../msg_docs/SensorSelection.md) +- [DeviceInformation](../msg_docs/DeviceInformation.md) +- [CameraTrigger](../msg_docs/CameraTrigger.md) +- [SensorAccel](../msg_docs/SensorAccel.md) +- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md) +- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md) +- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md) +- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md) +- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md) +- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md) +- [VehicleImu](../msg_docs/VehicleImu.md) +- [MissionResult](../msg_docs/MissionResult.md) +- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md) +- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md) +- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md) +- [OrbTest](../msg_docs/OrbTest.md) +- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md) +- [FuelTankStatus](../msg_docs/FuelTankStatus.md) +- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md) +- [OrbitStatus](../msg_docs/OrbitStatus.md) +- [Px4ioStatus](../msg_docs/Px4ioStatus.md) +- [RtlStatus](../msg_docs/RtlStatus.md) +- [ButtonEvent](../msg_docs/ButtonEvent.md) +- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md) +- [DebugValue](../msg_docs/DebugValue.md) +- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md) +- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) +- [SensorHygrometer](../msg_docs/SensorHygrometer.md) +- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md) +- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md) +- [GpioOut](../msg_docs/GpioOut.md) +- [ActuatorTest](../msg_docs/ActuatorTest.md) +- [SensorBaro](../msg_docs/SensorBaro.md) +- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md) +- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md) +- [RoverRateStatus](../msg_docs/RoverRateStatus.md) +- [TecsStatus](../msg_docs/TecsStatus.md) +- [PpsCapture](../msg_docs/PpsCapture.md) +- [RaptorStatus](../msg_docs/RaptorStatus.md) +- [EventV0](../msg_docs/EventV0.md) +- [GpioRequest](../msg_docs/GpioRequest.md) +- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md) +- [MagWorkerData](../msg_docs/MagWorkerData.md) +- [FollowTarget](../msg_docs/FollowTarget.md) +- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md) +- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md) +- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md) +- [ActionRequest](../msg_docs/ActionRequest.md) +- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md) +- [GpsInjectData](../msg_docs/GpsInjectData.md) +- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md) +- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md) +- [UlogStream](../msg_docs/UlogStream.md) +- [DebugKeyValue](../msg_docs/DebugKeyValue.md) +- [NavigatorStatus](../msg_docs/NavigatorStatus.md) +- [MountOrientation](../msg_docs/MountOrientation.md) +- [RcParameterMap](../msg_docs/RcParameterMap.md) +- [AdcReport](../msg_docs/AdcReport.md) +- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md) +- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md) +- [MavlinkLog](../msg_docs/MavlinkLog.md) +- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md) +- [GpioConfig](../msg_docs/GpioConfig.md) +- [GainCompression](../msg_docs/GainCompression.md) +- [DebugVect](../msg_docs/DebugVect.md) +- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md) +- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md) +- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md) +- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md) +- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) +- [SensorUwb](../msg_docs/SensorUwb.md) +- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md) +- [VelocityLimits](../msg_docs/VelocityLimits.md) +- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md) +- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md) +- [EscStatus](../msg_docs/EscStatus.md) +- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md) +- [HeaterStatus](../msg_docs/HeaterStatus.md) +- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md) +- [GeofenceResult](../msg_docs/GeofenceResult.md) +- [PowerButtonState](../msg_docs/PowerButtonState.md) +- [Rpm](../msg_docs/Rpm.md) +- [WheelEncoders](../msg_docs/WheelEncoders.md) +- [LoggerStatus](../msg_docs/LoggerStatus.md) +- [CellularStatus](../msg_docs/CellularStatus.md) +- [TuneControl](../msg_docs/TuneControl.md) +- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md) +- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md) +- [OrbTestLarge](../msg_docs/OrbTestLarge.md) +- [BatteryInfo](../msg_docs/BatteryInfo.md) +- [CameraStatus](../msg_docs/CameraStatus.md) +- [QshellRetval](../msg_docs/QshellRetval.md) +- [SensorMag](../msg_docs/SensorMag.md) +- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md) +- [TaskStackInfo](../msg_docs/TaskStackInfo.md) +- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md) +- [AirspeedWind](../msg_docs/AirspeedWind.md) +- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md) +- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md) +- [GpsDump](../msg_docs/GpsDump.md) +- [SensorTemp](../msg_docs/SensorTemp.md) +- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md) +- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md) +- [SensorsStatus](../msg_docs/SensorsStatus.md) +- [EstimatorStatus](../msg_docs/EstimatorStatus.md) +- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md) +- [VehicleAirData](../msg_docs/VehicleAirData.md) +- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md) +- [TakeoffStatus](../msg_docs/TakeoffStatus.md) +- [GeneratorStatus](../msg_docs/GeneratorStatus.md) +- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md) +- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md) +- [LandingGearWheel](../msg_docs/LandingGearWheel.md) +- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md) +- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md) +- [RaptorInput](../msg_docs/RaptorInput.md) +- [SensorGyro](../msg_docs/SensorGyro.md) +- [ParameterUpdate](../msg_docs/ParameterUpdate.md) +- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md) +- [PositionSetpoint](../msg_docs/PositionSetpoint.md) +- [EstimatorStates](../msg_docs/EstimatorStates.md) +- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md) +- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md) +- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md) +- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md) +- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md) +- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md) +- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md) +- [HomePositionV0](../msg_docs/HomePositionV0.md) +- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md) +- [SatelliteInfo](../msg_docs/SatelliteInfo.md) - [IrlockReport](../msg_docs/IrlockReport.md) +- [Ping](../msg_docs/Ping.md) +- [CameraCapture](../msg_docs/CameraCapture.md) +- [Vtx](../msg_docs/Vtx.md) +- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md) +- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md) +- [EscReport](../msg_docs/EscReport.md) +- [Gripper](../msg_docs/Gripper.md) +- [UlogStreamAck](../msg_docs/UlogStreamAck.md) +- [SensorGyroFft](../msg_docs/SensorGyroFft.md) +- [VehicleRoi](../msg_docs/VehicleRoi.md) +- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md) +- [NeuralControl](../msg_docs/NeuralControl.md) +- [DatamanResponse](../msg_docs/DatamanResponse.md) +- [GimbalControls](../msg_docs/GimbalControls.md) +- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md) +- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md) +- [DatamanRequest](../msg_docs/DatamanRequest.md) +- [Event](../msg_docs/Event.md) +- [RadioStatus](../msg_docs/RadioStatus.md) +- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md) +- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md) ::: diff --git a/docs/ko/modules/module_template.md b/docs/ko/modules/module_template.md index 761257acc6..79c3b14655 100644 --- a/docs/ko/modules/module_template.md +++ b/docs/ko/modules/module_template.md @@ -35,8 +35,8 @@ PX4-Autopilot contains a template for writing a new application (module) that ru ```cpp WorkItemExample::WorkItemExample() : - ModuleParams(nullptr), - ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::test1) + ModuleParams(nullptr), + ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::test1) { } ``` diff --git a/docs/ko/modules/modules_driver.md b/docs/ko/modules/modules_driver.md index cbcd7b8448..eaa588cf0e 100644 --- a/docs/ko/modules/modules_driver.md +++ b/docs/ko/modules/modules_driver.md @@ -45,6 +45,26 @@ atxxxx [arguments...] status print status info ``` +## auterion_autostarter + +Source: [drivers/auterion_autostarter](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/auterion_autostarter) + +### 설명 + +Driver for starting and auto-detecting different power monitors. + +### Usage {#auterion_autostarter_usage} + +``` +auterion_autostarter [arguments...] + Commands: + start + + stop + + status print status info +``` + ## batmon Source: [drivers/smart_battery/batmon](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/smart_battery/batmon) @@ -925,26 +945,6 @@ pca9685_pwm_out [arguments...] status print status info ``` -## pm_selector_auterion - -Source: [drivers/power_monitor/pm_selector_auterion](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/power_monitor/pm_selector_auterion) - -### 설명 - -Driver for starting and auto-detecting different power monitors. - -### Usage {#pm_selector_auterion_usage} - -``` -pm_selector_auterion [arguments...] - Commands: - start - - stop - - status print status info -``` - ## pmw3901 Source: [drivers/optical_flow/pmw3901](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/optical_flow/pmw3901) @@ -1109,7 +1109,7 @@ px4io [arguments...] ## rgbled -Source: [drivers/lights/rgbled_ncp5623c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled_ncp5623c) +Source: [drivers/lights/rgbled](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled) ### Usage {#rgbled_usage} @@ -1124,9 +1124,7 @@ rgbled [arguments...] [-f ] bus frequency in kHz [-q] quiet startup (no message if no device found) [-a ] I2C address - default: 57 - [-o ] RGB PWM Assignment - default: 123 + default: 85 stop @@ -1438,6 +1436,30 @@ tap_esc [arguments...] default: 4 ``` +## tmp102 + +Source: [drivers/temperature_sensor/tmp102](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/temperature_sensor/tmp102) + +### Usage {#tmp102_usage} + +``` +tmp102 [arguments...] + Commands: + start + [-I] Internal I2C bus(es) + [-X] External I2C bus(es) + [-b ] board-specific bus (default=all) (external SPI: n-th bus + (default=1)) + [-f ] bus frequency in kHz + [-q] quiet startup (no message if no device found) + [-a ] I2C address + default: 72 + + stop + + status print status info +``` + ## tone_alarm Source: [drivers/tone_alarm](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/tone_alarm) @@ -1627,6 +1649,76 @@ voxlpm [arguments...] status print status info ``` +## vtx + +Source: [drivers/vtx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/vtx) + +### 설명 + +This module communicates with a VTX camera via serial port. It can be used to +configure the camera settings and to control the camera's video transmission. +Supported protocols are: + +- SmartAudio v1, v2.0, v2.1 +- Tramp + +### Usage {#vtx_usage} + +``` +vtx [arguments...] + Commands: + start + -d VTX device + values: + + Sets an entry in the mapping table: + + + stop + + status print status info +``` + +## vtxtable + +Source: [drivers/vtxtable](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/vtxtable) + +### 설명 + +Manages the VTX frequency, power level and RC mapping table for VTX configuration. + +### Usage {#vtxtable_usage} + +``` +vtxtable [arguments...] + Commands: + status Shows the current VTX table configuration. + + name Sets the VTX table name: + + bands Sets the number of bands: + + band Sets the band frequencies: <1-index> + + + channels Sets the number of channels: + + powerlevels Sets number of power levels: + + powervalues Sets the power level values: + + powerlabels Sets the power level labels: <3 chars...> + + Sets an entry in the mapping table: <0-index> + + + clear Clears the VTX table configuration. + + save Saves the VTX config to a file: + + load Loads the VTX config from a file: +``` + ## zenoh Source: [modules/zenoh](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/zenoh) diff --git a/docs/ko/modules/modules_template.md b/docs/ko/modules/modules_template.md index aad61d7aa0..76a15000e0 100644 --- a/docs/ko/modules/modules_template.md +++ b/docs/ko/modules/modules_template.md @@ -1,5 +1,36 @@ # 모듈 참고: 템플릿 +## mc_raptor + +Source: [modules/mc_raptor](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_raptor) + +### 설명 + +RAPTOR Policy Flight Mode + +### Usage {#mc_raptor_usage} + +``` +mc_raptor [arguments...] + Commands: + start + + intref Modify internal reference + lissajous Set Lissajous trajectory parameters + Amplitude X [m] + Amplitude Y [m] + Amplitude Z [m] + Frequency a + Frequency b + Frequency c + Total duration [s] + Ramp duration [s] + + stop + + status print status info +``` + ## module Source: [templates/template_module](https://github.com/PX4/PX4-Autopilot/tree/main/src/templates/template_module) diff --git a/docs/ko/msg_docs/ActionRequest.md b/docs/ko/msg_docs/ActionRequest.md index 1c724dabb7..94f8d7d693 100644 --- a/docs/ko/msg_docs/ActionRequest.md +++ b/docs/ko/msg_docs/ActionRequest.md @@ -1,12 +1,57 @@ +--- +pageClass: is-wide-page +--- + # ActionRequest (UORB message) -Action request for the vehicle's main state +Action request for the vehicle's main state. Message represents actions requested by a PX4 internal component towards the main state machine such as a request to arm or switch mode. It allows mapping triggers from various external interfaces like RC channels or MAVLink to cause an action. Request are published by `manual_control` and subscribed by the `commander` and `vtol_att_control` modules. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActionRequest.msg) +**TOPICS:** action_request + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------- | -------- | ---------------------------------------------------------------- | ----------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| action | `uint8` | | [ACTION](#ACTION) | Requested action | +| source | `uint8` | | [SOURCE](#SOURCE) | Request trigger type, such as a switch, button or gesture | +| mode | `uint8` | | | Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration. | + +## Enums + +### ACTION {#ACTION} + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ---------------------------------------------------------------------------------------- | +| ACTION_DISARM | `uint8` | 0 | Disarm vehicle | +| ACTION_ARM | `uint8` | 1 | Arm vehicle | +| ACTION_TOGGLE_ARMING | `uint8` | 2 | Toggle arming | +| ACTION_UNKILL | `uint8` | 3 | Revert a kill action | +| ACTION_KILL | `uint8` | 4 | Kill vehicle (instantly stop the motors) | +| ACTION_SWITCH_MODE | `uint8` | 5 | Switch mode. The target mode is set in the `mode` field. | +| ACTION_VTOL_TRANSITION_TO_MULTICOPTER | `uint8` | 6 | Transition to hover flight | +| ACTION_VTOL_TRANSITION_TO_FIXEDWING | `uint8` | 7 | Transition to fast forward flight | +| ACTION_TERMINATION | `uint8` | 8 | Irreversibly output failsafe values on all outputs, trigger parachute | + +### SOURCE {#SOURCE} + +| 명칭 | 형식 | Value | 설명 | +| ---------------------------------------------------------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------------- | +| SOURCE_STICK_GESTURE | `uint8` | 0 | Triggered by holding the sticks in a certain position | +| SOURCE_RC_SWITCH | `uint8` | 1 | Triggered by an RC switch moving into a certain position | +| SOURCE_RC_BUTTON | `uint8` | 2 | Triggered by a momentary button on the RC being pressed or held | +| SOURCE_RC_MODE_SLOT | `uint8` | 3 | Mode change through the RC mode selection mechanism | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActionRequest.msg) + +:::details +Click here to see original file ```c # Action request for the vehicle's main state @@ -35,5 +80,6 @@ uint8 SOURCE_RC_BUTTON = 2 # Triggered by a momentary button on the RC bein uint8 SOURCE_RC_MODE_SLOT = 3 # Mode change through the RC mode selection mechanism uint8 mode # Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration. - ``` + +::: diff --git a/docs/ko/msg_docs/ActuatorArmed.md b/docs/ko/msg_docs/ActuatorArmed.md index adee89cb21..947c633568 100644 --- a/docs/ko/msg_docs/ActuatorArmed.md +++ b/docs/ko/msg_docs/ActuatorArmed.md @@ -1,6 +1,30 @@ +--- +pageClass: is-wide-page +--- + # ActuatorArmed (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorArmed.msg) +**TOPICS:** actuator_armed + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| -------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| armed | `bool` | | | Set to true if system is armed | +| prearmed | `bool` | | | Set to true if the actuator safety is disabled but motors are not armed | +| ready_to_arm | `bool` | | | Set to true if system is ready to be armed | +| lockdown | `bool` | | | Set to true if actuators are forced to being disabled (due to emergency or HIL) | +| kill | `bool` | | | Set to true if manual throttle kill switch is engaged | +| termination | `bool` | | | Send out failsafe (by default same as disarmed) output | +| in_esc_calibration_mode | `bool` | | | IO/FMU should ignore messages from the actuator controls topics | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorArmed.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -12,5 +36,6 @@ bool lockdown # Set to true if actuators are forced to being disabled (due to e bool kill # Set to true if manual throttle kill switch is engaged bool termination # Send out failsafe (by default same as disarmed) output bool in_esc_calibration_mode # IO/FMU should ignore messages from the actuator controls topics - ``` + +::: diff --git a/docs/ko/msg_docs/ActuatorControlsStatus.md b/docs/ko/msg_docs/ActuatorControlsStatus.md index e8b30d6132..7949287110 100644 --- a/docs/ko/msg_docs/ActuatorControlsStatus.md +++ b/docs/ko/msg_docs/ActuatorControlsStatus.md @@ -1,6 +1,24 @@ +--- +pageClass: is-wide-page +--- + # ActuatorControlsStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorControlsStatus.msg) +**TOPICS:** actuator_controls_status_0 actuator_controls_status_1 + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| control_power | `float32[3]` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorControlsStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -8,5 +26,6 @@ uint64 timestamp # time since system start (microseconds) float32[3] control_power # TOPICS actuator_controls_status_0 actuator_controls_status_1 - ``` + +::: diff --git a/docs/ko/msg_docs/ActuatorMotors.md b/docs/ko/msg_docs/ActuatorMotors.md index 701465d6ea..eb794ef1c6 100644 --- a/docs/ko/msg_docs/ActuatorMotors.md +++ b/docs/ko/msg_docs/ActuatorMotors.md @@ -1,11 +1,39 @@ +--- +pageClass: is-wide-page +--- + # ActuatorMotors (UORB message) -Motor control message +Motor control message. Normalised thrust setpoint for up to 12 motors. Published by the vehicle's allocation and consumed by the ESC protocol drivers e.g. PWM, DSHOT, UAVCAN. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg) +**TOPICS:** actuator_motors + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------- | ------------- | ---------------------------------------------------------------- | ---------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on | +| reversible_flags | `uint16` | | | Bitset indicating which motors are configured to be reversible | +| control | `float32[12]` | | [-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) | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ----------------------------------------------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | +| ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | | +| NUM_CONTROLS | `uint8` | 12 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg) + +:::details +Click here to see original file ```c # Motor control message @@ -24,5 +52,6 @@ uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 # 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) - ``` + +::: diff --git a/docs/ko/msg_docs/ActuatorOutputs.md b/docs/ko/msg_docs/ActuatorOutputs.md index cf89004982..cbdaacf727 100644 --- a/docs/ko/msg_docs/ActuatorOutputs.md +++ b/docs/ko/msg_docs/ActuatorOutputs.md @@ -1,6 +1,32 @@ +--- +pageClass: is-wide-page +--- + # ActuatorOutputs (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorOutputs.msg) +**TOPICS:** actuator_outputs actuator_outputs_sim actuator_outputs_debug + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------- | ------------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| noutputs | `uint32` | | | valid outputs | +| output | `float32[16]` | | | output data, in natural output units | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ------------------- | +| NUM_ACTUATOR_OUTPUTS | `uint8` | 16 | | +| NUM_ACTUATOR_OUTPUT_GROUPS | `uint8` | 4 | for sanity checking | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorOutputs.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -11,5 +37,6 @@ float32[16] output # output data, in natural output units # actuator_outputs_sim is used for SITL, HITL & SIH (with an output range of [-1, 1]) # TOPICS actuator_outputs actuator_outputs_sim actuator_outputs_debug - ``` + +::: diff --git a/docs/ko/msg_docs/ActuatorServos.md b/docs/ko/msg_docs/ActuatorServos.md index ea053f67a3..41776a04f5 100644 --- a/docs/ko/msg_docs/ActuatorServos.md +++ b/docs/ko/msg_docs/ActuatorServos.md @@ -1,11 +1,37 @@ +--- +pageClass: is-wide-page +--- + # ActuatorServos (UORB message) -Servo control message +Servo control message. Normalised output setpoint for up to 8 servos. Published by the vehicle's allocation and consumed by the actuator output drivers. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorServos.msg) +**TOPICS:** actuator_servos + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on | +| control | `float32[8]` | | [-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. | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | +| NUM_CONTROLS | `uint8` | 8 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorServos.msg) + +:::details +Click here to see original file ```c # Servo control message @@ -20,5 +46,6 @@ uint64 timestamp_sample # [us] Sampling timestamp of the data this control resp 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. - ``` + +::: diff --git a/docs/ko/msg_docs/ActuatorServosTrim.md b/docs/ko/msg_docs/ActuatorServosTrim.md index 07f42a43ce..f507eb06b5 100644 --- a/docs/ko/msg_docs/ActuatorServosTrim.md +++ b/docs/ko/msg_docs/ActuatorServosTrim.md @@ -1,8 +1,32 @@ +--- +pageClass: is-wide-page +--- + # ActuatorServosTrim (UORB message) -Servo trims, added as offset to servo outputs +Servo trims, added as offset to servo outputs. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorServosTrim.msg) +**TOPICS:** actuator_servostrim + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------- | ------------ | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| trim | `float32[8]` | | | range: [-1, 1] | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------- | ------- | ----- | -- | +| NUM_CONTROLS | `uint8` | 8 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorServosTrim.msg) + +:::details +Click here to see original file ```c # Servo trims, added as offset to servo outputs @@ -10,5 +34,6 @@ uint64 timestamp # time since system start (microseconds) uint8 NUM_CONTROLS = 8 float32[8] trim # range: [-1, 1] - ``` + +::: diff --git a/docs/ko/msg_docs/ActuatorTest.md b/docs/ko/msg_docs/ActuatorTest.md index 16d1523c9d..ffb159486c 100644 --- a/docs/ko/msg_docs/ActuatorTest.md +++ b/docs/ko/msg_docs/ActuatorTest.md @@ -1,6 +1,39 @@ +--- +pageClass: is-wide-page +--- + # ActuatorTest (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorTest.msg) +**TOPICS:** actuator_test + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| action | `uint8` | | | one of ACTION\_\* | +| function | `uint16` | | | actuator output function | +| value | `float32` | | | range: [-1, 1], where 1 means maximum positive output, | +| timeout_ms | `uint32` | | | timeout in ms after which to exit test mode (if 0, do not time out) | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------------- | ------- | ----- | -------------------------------------------------------------------------------------------------------------------- | +| ACTION_RELEASE_CONTROL | `uint8` | 0 | exit test mode for the given function | +| ACTION_DO_CONTROL | `uint8` | 1 | enable actuator test mode | +| FUNCTION_MOTOR1 | `uint8` | 101 | | +| MAX_NUM_MOTORS | `uint8` | 12 | | +| FUNCTION_SERVO1 | `uint8` | 201 | | +| MAX_NUM_SERVOS | `uint8` | 8 | | +| ORB_QUEUE_LENGTH | `uint8` | 16 | > = MAX_NUM_MOTORS to support code in esc_calibration | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorTest.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -24,5 +57,6 @@ float32 value # range: [-1, 1], where 1 means maximum positive output, uint32 timeout_ms # timeout in ms after which to exit test mode (if 0, do not time out) uint8 ORB_QUEUE_LENGTH = 16 # >= MAX_NUM_MOTORS to support code in esc_calibration - ``` + +::: diff --git a/docs/ko/msg_docs/AdcReport.md b/docs/ko/msg_docs/AdcReport.md index 50fde63ff5..e872f5eb88 100644 --- a/docs/ko/msg_docs/AdcReport.md +++ b/docs/ko/msg_docs/AdcReport.md @@ -1,10 +1,32 @@ +--- +pageClass: is-wide-page +--- + # AdcReport (UORB message) ADC raw data. Communicates raw data from an analog-to-digital converter (ADC) to other modules, such as battery status. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AdcReport.msg) +**TOPICS:** adc_report + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| channel_id | `int16[16]` | | | ADC channel IDs, negative for non-existent, TODO: should be kept same as array index | +| raw_data | `int32[16]` | | | ADC channel raw value, accept negative value, valid if channel ID is positive | +| resolution | `uint32` | | | ADC channel resolution | +| v_ref | `float32` | V | | ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AdcReport.msg) + +:::details +Click here to see original file ```c # ADC raw data. @@ -17,5 +39,6 @@ int16[16] channel_id # [-] ADC channel IDs, negative for non-existent, TODO: sh int32[16] raw_data # [-] ADC channel raw value, accept negative value, valid if channel ID is positive uint32 resolution # [-] ADC channel resolution float32 v_ref # [V] ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution) - ``` + +::: diff --git a/docs/ko/msg_docs/Airspeed.md b/docs/ko/msg_docs/Airspeed.md index 949af8d5e7..9baed000a6 100644 --- a/docs/ko/msg_docs/Airspeed.md +++ b/docs/ko/msg_docs/Airspeed.md @@ -1,11 +1,32 @@ +--- +pageClass: is-wide-page +--- + # Airspeed (UORB message) -Airspeed data from sensors +Airspeed data from sensors. This is published by airspeed sensor drivers, CAN airspeed sensors, simulators. It is subscribed by the airspeed selector module, which validates the data from multiple sensors and passes on a single estimation to the EKF, controllers and telemetry providers. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Airspeed.msg) +**TOPICS:** airspeed + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | --------------------------------------------------------------------------- | -------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Timestamp of the raw data | +| indicated_airspeed_m_s | `float32` | m/s | | Indicated airspeed | +| true_airspeed_m_s | `float32` | m/s | | True airspeed | +| confidence | `float32` | | [0 : 1] | Confidence value for this sensor | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Airspeed.msg) + +:::details +Click here to see original file ```c # Airspeed data from sensors @@ -18,5 +39,6 @@ uint64 timestamp_sample # [us] Timestamp of the raw data float32 indicated_airspeed_m_s # [m/s] Indicated airspeed float32 true_airspeed_m_s # [m/s] True airspeed float32 confidence # [@range 0,1] Confidence value for this sensor - ``` + +::: diff --git a/docs/ko/msg_docs/AirspeedValidated.md b/docs/ko/msg_docs/AirspeedValidated.md index 61f607e7fa..aeffcc6904 100644 --- a/docs/ko/msg_docs/AirspeedValidated.md +++ b/docs/ko/msg_docs/AirspeedValidated.md @@ -1,11 +1,56 @@ +--- +pageClass: is-wide-page +--- + # AirspeedValidated (UORB message) -Validated airspeed +Validated airspeed. Provides information about airspeed (indicated, true, calibrated) and the source of the data. Used by controllers, estimators and for airspeed reporting to operator. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/AirspeedValidated.msg) +**TOPICS:** airspeed_validated + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ----------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| indicated_airspeed_m_s | `float32` | m/s | | Indicated airspeed (IAS) (Invalid: NaN) | +| calibrated_airspeed_m_s | `float32` | m/s | | Calibrated airspeed (CAS) (Invalid: NaN) | +| true_airspeed_m_s | `float32` | m/s | | True airspeed (TAS) (Invalid: NaN) | +| airspeed_source | `int8` | | [SOURCE](#SOURCE) | Source of currently published airspeed values | +| calibrated_ground_minus_wind_m_s | `float32` | m/s | | CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption (Invalid: NaN) | +| calibraded_airspeed_synth_m_s | `float32` | m/s | | Synthetic airspeed (Invalid: NaN) | +| airspeed_derivative_filtered | `float32` | m/s^2 | | Filtered indicated airspeed derivative | +| throttle_filtered | `float32` | | | Filtered fixed-wing throttle | +| pitch_filtered | `float32` | rad | | Filtered pitch | + +## Enums + +### SOURCE {#SOURCE} + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------------------------------------------------------------------- | ------ | ----- | ----------------------- | +| SOURCE_DISABLED | `int8` | -1 | Disabled | +| SOURCE_GROUND_MINUS_WIND | `int8` | 0 | Ground speed minus wind | +| SOURCE_SENSOR_1 | `int8` | 1 | Sensor 1 | +| SOURCE_SENSOR_2 | `int8` | 2 | Sensor 2 | +| SOURCE_SENSOR_3 | `int8` | 3 | Sensor 3 | +| SOURCE_SYNTHETIC | `int8` | 4 | Synthetic airspeed | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 1 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/AirspeedValidated.msg) + +:::details +Click here to see original file ```c # Validated airspeed @@ -35,5 +80,6 @@ float32 calibraded_airspeed_synth_m_s # [m/s] [@invalid NaN] Synthetic airsp float32 airspeed_derivative_filtered # [m/s^2] Filtered indicated airspeed derivative float32 throttle_filtered # [-] Filtered fixed-wing throttle float32 pitch_filtered # [rad] Filtered pitch - ``` + +::: diff --git a/docs/ko/msg_docs/AirspeedValidatedV0.md b/docs/ko/msg_docs/AirspeedValidatedV0.md index 8bca98a224..e311b1e496 100644 --- a/docs/ko/msg_docs/AirspeedValidatedV0.md +++ b/docs/ko/msg_docs/AirspeedValidatedV0.md @@ -1,6 +1,39 @@ +--- +pageClass: is-wide-page +--- + # AirspeedValidatedV0 (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/AirspeedValidatedV0.msg) +**TOPICS:** airspeed_validatedv0 + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| indicated_airspeed_m_s | `float32` | | | indicated airspeed in m/s (IAS), set to NAN if invalid | +| calibrated_airspeed_m_s | `float32` | | | calibrated airspeed in m/s (CAS, accounts for instrumentation errors), set to NAN if invalid | +| true_airspeed_m_s | `float32` | | | true filtered airspeed in m/s (TAS), set to NAN if invalid | +| calibrated_ground_minus_wind_m_s | `float32` | | | CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid | +| true_ground_minus_wind_m_s | `float32` | | | TAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid | +| airspeed_sensor_measurement_valid | `bool` | | | True if data from at least one airspeed sensor is declared valid. | +| selected_airspeed_index | `int8` | | | 1-3: airspeed sensor index, 0: groundspeed-windspeed, -1: airspeed invalid | +| airspeed_derivative_filtered | `float32` | | | filtered indicated airspeed derivative [m/s/s] | +| throttle_filtered | `float32` | | | filtered fixed-wing throttle [-] | +| pitch_filtered | `float32` | | | filtered pitch [rad] | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/AirspeedValidatedV0.msg) + +:::details +Click here to see original file ```c uint32 MESSAGE_VERSION = 0 @@ -21,5 +54,6 @@ int8 selected_airspeed_index # 1-3: airspeed sensor index, 0: groundspeed-win float32 airspeed_derivative_filtered # filtered indicated airspeed derivative [m/s/s] float32 throttle_filtered # filtered fixed-wing throttle [-] float32 pitch_filtered # filtered pitch [rad] - ``` + +::: diff --git a/docs/ko/msg_docs/AirspeedWind.md b/docs/ko/msg_docs/AirspeedWind.md index 23e91399b0..a3aaf9ab46 100644 --- a/docs/ko/msg_docs/AirspeedWind.md +++ b/docs/ko/msg_docs/AirspeedWind.md @@ -1,6 +1,10 @@ +--- +pageClass: is-wide-page +--- + # AirspeedWind (UORB message) -Wind estimate (from airspeed_selector) +Wind estimate (from airspeed_selector). Contains wind estimation and airspeed innovation information estimated by the WindEstimator in the airspeed selector module. @@ -8,7 +12,42 @@ in the airspeed selector module. This message is published by the airspeed selector for debugging purposes, and is not subscribed to by any other modules. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AirspeedWind.msg) +**TOPICS:** airspeed_wind + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| -------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Timestamp of the raw data | +| windspeed_north | `float32` | m/s | | Wind component in north / X direction | +| windspeed_east | `float32` | m/s | | Wind component in east / Y direction | +| variance_north | `float32` | (m/s)^2 | | Wind estimate error variance in north / X direction (Invalid: 0 if not estimated) | +| variance_east | `float32` | (m/s)^2 | | Wind estimate error variance in east / Y direction (Invalid: 0 if not estimated) | +| tas_innov | `float32` | m/s | | True airspeed innovation | +| tas_innov_var | `float32` | m/s | | True airspeed innovation variance | +| tas_scale_raw | `float32` | | | Estimated true airspeed scale factor (not validated) | +| tas_scale_raw_var | `float32` | | | True airspeed scale factor variance | +| tas_scale_validated | `float32` | | | Estimated true airspeed scale factor after validation | +| beta_innov | `float32` | rad | | Sideslip measurement innovation | +| beta_innov_var | `float32` | rad^2 | | Sideslip measurement innovation variance | +| source | `uint8` | | | source of wind estimate | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ---------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ----------------------------------------------------------------------------------------------------- | +| SOURCE_AS_BETA_ONLY | `uint8` | 0 | Wind estimate only based on synthetic sideslip fusion | +| SOURCE_AS_SENSOR_1 | `uint8` | 1 | Combined synthetic sideslip and airspeed fusion (data from first airspeed sensor) | +| SOURCE_AS_SENSOR_2 | `uint8` | 2 | Combined synthetic sideslip and airspeed fusion (data from second airspeed sensor) | +| SOURCE_AS_SENSOR_3 | `uint8` | 3 | Combined synthetic sideslip and airspeed fusion (data from third airspeed sensor) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AirspeedWind.msg) + +:::details +Click here to see original file ```c # Wind estimate (from airspeed_selector) @@ -45,5 +84,6 @@ uint8 SOURCE_AS_BETA_ONLY = 0 # Wind estimate only based on synthetic sideslip f uint8 SOURCE_AS_SENSOR_1 = 1 # Combined synthetic sideslip and airspeed fusion (data from first airspeed sensor) uint8 SOURCE_AS_SENSOR_2 = 2 # Combined synthetic sideslip and airspeed fusion (data from second airspeed sensor) uint8 SOURCE_AS_SENSOR_3 = 3 # Combined synthetic sideslip and airspeed fusion (data from third airspeed sensor) - ``` + +::: diff --git a/docs/ko/msg_docs/ArmingCheckReply.md b/docs/ko/msg_docs/ArmingCheckReply.md index 14af54f0d1..bf5e6d21d7 100644 --- a/docs/ko/msg_docs/ArmingCheckReply.md +++ b/docs/ko/msg_docs/ArmingCheckReply.md @@ -1,6 +1,10 @@ +--- +pageClass: is-wide-page +--- + # 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. 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). @@ -9,7 +13,55 @@ The request is sent regularly to all registered ROS modes, even while armed, so Note that the external component is identified by its registration_id, which is allocated to the component during registration (arming_check_id in RegisterExtComponentReply). The message is not used by internal/FMU components, as their mode requirements are known at compile time. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg) +**TOPICS:** arming_checkreply + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| -------------------------------------------------------------------------------------------------------------------- | ---------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start. | +| request_id | `uint8` | | | Id of ArmingCheckRequest for which this is a response | +| registration_id | `uint8` | | | Id of external component emitting this response | +| health_component_index | `uint8` | | [HEALTH_COMPONENT_INDEX](#HEALTH_COMPONENT_INDEX) | | +| health_component_is_present | `bool` | | | Unused. Intended for use with health events interface (health_component_t in events.json) | +| health_component_warning | `bool` | | | Unused. Intended for use with health events interface (health_component_t in events.json) | +| health_component_error | `bool` | | | Unused. Intended for use with health events interface (health_component_t in events.json) | +| can_arm_and_run | `bool` | | | 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 | +| num_events | `uint8` | | | Number of queued failure messages (Event) in the events field | +| events | `Event[5]` | | | Arming failure reasons (Queue of events to report to GCS) | +| mode_req_angular_velocity | `bool` | | | Requires angular velocity estimate (e.g. from gyroscope) | +| mode_req_attitude | `bool` | | | Requires an attitude estimate | +| mode_req_local_alt | `bool` | | | Requires a local altitude estimate | +| mode_req_local_position | `bool` | | | Requires a local position estimate | +| mode_req_local_position_relaxed | `bool` | | | Requires a more relaxed global position estimate | +| mode_req_global_position | `bool` | | | Requires a global position estimate | +| mode_req_global_position_relaxed | `bool` | | | Requires a relaxed global position estimate | +| mode_req_mission | `bool` | | | Requires an uploaded mission | +| mode_req_home_position | `bool` | | | Requires a home position (such as RTL/Return mode) | +| mode_req_prevent_arming | `bool` | | | Prevent arming (such as in Land mode) | +| mode_req_manual_control | `bool` | | | Requires a manual controller | + +## Enums + +### HEALTH_COMPONENT_INDEX {#HEALTH_COMPONENT_INDEX} + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------- | +| HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 | Index of health component for which this response applies | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 1 | | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg) + +:::details +Click here to see original file ```c # Arming check reply @@ -55,5 +107,6 @@ bool mode_req_prevent_arming # Prevent arming (such as in Land mode) bool mode_req_manual_control # Requires a manual controller uint8 ORB_QUEUE_LENGTH = 4 - ``` + +::: diff --git a/docs/ko/msg_docs/ArmingCheckReplyV0.md b/docs/ko/msg_docs/ArmingCheckReplyV0.md index 48917da802..10a7bd8602 100644 --- a/docs/ko/msg_docs/ArmingCheckReplyV0.md +++ b/docs/ko/msg_docs/ArmingCheckReplyV0.md @@ -1,6 +1,50 @@ +--- +pageClass: is-wide-page +--- + # ArmingCheckReplyV0 (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckReplyV0.msg) +**TOPICS:** arming_checkreplyv0 + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| request_id | `uint8` | | | | +| registration_id | `uint8` | | | | +| health_component_index | `uint8` | | | HEALTH_COMPONENT_INDEX_\* | +| health_component_is_present | `bool` | | | | +| health_component_warning | `bool` | | | | +| health_component_error | `bool` | | | | +| can_arm_and_run | `bool` | | | whether arming is possible, and if it's a navigation mode, if it can run | +| num_events | `uint8` | | | | +| events | `EventV0[5]` | | | | +| mode_req_angular_velocity | `bool` | | | | +| mode_req_attitude | `bool` | | | | +| mode_req_local_alt | `bool` | | | | +| mode_req_local_position | `bool` | | | | +| mode_req_local_position_relaxed | `bool` | | | | +| mode_req_global_position | `bool` | | | | +| mode_req_mission | `bool` | | | | +| mode_req_home_position | `bool` | | | | +| mode_req_prevent_arming | `bool` | | | | +| mode_req_manual_control | `bool` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | +| HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 | | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckReplyV0.msg) + +:::details +Click here to see original file ```c uint32 MESSAGE_VERSION = 0 @@ -37,5 +81,6 @@ bool mode_req_manual_control uint8 ORB_QUEUE_LENGTH = 4 - ``` + +::: diff --git a/docs/ko/msg_docs/ArmingCheckRequest.md b/docs/ko/msg_docs/ArmingCheckRequest.md index d093dfb5e1..d67cf35311 100644 --- a/docs/ko/msg_docs/ArmingCheckRequest.md +++ b/docs/ko/msg_docs/ArmingCheckRequest.md @@ -1,6 +1,10 @@ +--- +pageClass: is-wide-page +--- + # 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. All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information. @@ -9,7 +13,28 @@ The request is sent regularly, even while armed, so that the FMU always knows th The reply will include the published request_id, allowing correlation of all arming check information for a particular request. The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply). -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg) +**TOPICS:** arming_checkrequest + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| request_id | `uint8` | | | Id of this request. Allows correlation with associated ArmingCheckReply messages. | +| valid_registrations_mask | `uint32` | | | Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive) | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 1 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg) + +:::details +Click here to see original file ```c # Arming check request @@ -28,5 +53,6 @@ uint64 timestamp # [us] Time since system start 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) - ``` + +::: diff --git a/docs/ko/msg_docs/ArmingCheckRequestV0.md b/docs/ko/msg_docs/ArmingCheckRequestV0.md index f5680c11f2..1014b8f53e 100644 --- a/docs/ko/msg_docs/ArmingCheckRequestV0.md +++ b/docs/ko/msg_docs/ArmingCheckRequestV0.md @@ -1,3 +1,7 @@ +--- +pageClass: is-wide-page +--- + # ArmingCheckRequestV0 (UORB message) Arming check request. @@ -9,7 +13,27 @@ The request is sent regularly, even while armed, so that the FMU always knows th The reply will include the published request_id, allowing correlation of all arming check information for a particular request. The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply). -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckRequestV0.msg) +**TOPICS:** arming_checkrequestv0 + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start. | +| request_id | `uint8` | | | Id of this request. Allows correlation with associated ArmingCheckReply messages. | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckRequestV0.msg) + +:::details +Click here to see original file ```c # Arming check request. @@ -26,5 +50,6 @@ uint32 MESSAGE_VERSION = 0 uint64 timestamp # [us] Time since system start. uint8 request_id # Id of this request. Allows correlation with associated ArmingCheckReply messages. - ``` + +::: diff --git a/docs/ko/msg_docs/AutotuneAttitudeControlStatus.md b/docs/ko/msg_docs/AutotuneAttitudeControlStatus.md index 31a47ef204..6831460328 100644 --- a/docs/ko/msg_docs/AutotuneAttitudeControlStatus.md +++ b/docs/ko/msg_docs/AutotuneAttitudeControlStatus.md @@ -1,13 +1,68 @@ +--- +pageClass: is-wide-page +--- + # AutotuneAttitudeControlStatus (UORB message) -Autotune attitude control status +Autotune attitude control status. This message is published by the fw_autotune_attitude_control and mc_autotune_attitude_control modules when the user engages autotune, and is subscribed to by the respective attitude controllers to command rate setpoints. The rate_sp field is consumed by the controllers, while the remaining fields (model coefficients, gains, filters, and autotune state) are used for logging and debugging. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AutotuneAttitudeControlStatus.msg) +**TOPICS:** autotune_attitudecontrol_status + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------ | ------------ | ---------------------------------------------------------------- | --------------- | -------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| coeff | `float32[5]` | | | Coefficients of the identified discrete-time model | +| coeff_var | `float32[5]` | | | Coefficients' variance of the identified discrete-time model | +| fitness | `float32` | | | Fitness of the parameter estimate | +| innov | `float32` | rad/s | | Innovation (residual error between model and measured output) | +| dt_model | `float32` | s | | Model sample time used for identification | +| kc | `float32` | | | Proportional rate-loop gain (ideal form) | +| ki | `float32` | | | Integral rate-loop gain (ideal form) | +| kd | `float32` | | | Derivative rate-loop gain (ideal form) | +| kff | `float32` | | | Feedforward rate-loop gain | +| att_p | `float32` | | | Proportional attitude gain | +| rate_sp | `float32[3]` | rad/s | | Rate setpoint commanded to the attitude controller. | +| u_filt | `float32` | | | Filtered input signal (normalized torque setpoint) used in system identification. | +| y_filt | `float32` | rad/s | | Filtered output signal (angular velocity) used in system identification. | +| state | `uint8` | | [STATE](#STATE) | Current state of the autotune procedure. | + +## Enums + +### STATE {#STATE} + +| 명칭 | 형식 | Value | 설명 | +| ---------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------------- | +| STATE_IDLE | `uint8` | 0 | Idle (not running) | +| STATE_INIT | `uint8` | 1 | Initialize filters and setup | +| STATE_ROLL_AMPLITUDE_DETECTION | `uint8` | 2 | FW only: determine required excitation amplitude (roll) | +| STATE_ROLL | `uint8` | 3 | Roll-axis excitation and model identification | +| STATE_ROLL_PAUSE | `uint8` | 4 | Pause to return to level flight | +| STATE_PITCH_AMPLITUDE_DETECTION | `uint8` | 5 | FW only: determine required excitation amplitude (pitch) | +| STATE_PITCH | `uint8` | 6 | Pitch-axis excitation and model identification | +| STATE_PITCH_PAUSE | `uint8` | 7 | Pause to return to level flight | +| STATE_YAW_AMPLITUDE_DETECTION | `uint8` | 8 | FW only: determine required excitation amplitude (yaw) | +| STATE_YAW | `uint8` | 9 | Yaw-axis excitation and model identification | +| STATE_YAW_PAUSE | `uint8` | 10 | Pause to return to level flight | +| STATE_VERIFICATION | `uint8` | 11 | Verify model and candidate gains | +| STATE_APPLY | `uint8` | 12 | Apply gains | +| STATE_TEST | `uint8` | 13 | Test gains in closed-loop | +| STATE_COMPLETE | `uint8` | 14 | Tuning completed successfully | +| STATE_FAIL | `uint8` | 15 | Tuning failed (model invalid or controller unstable) | +| STATE_WAIT_FOR_DISARM | `uint8` | 16 | Waiting for disarm before finalizing | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AutotuneAttitudeControlStatus.msg) + +:::details +Click here to see original file ```c # Autotune attitude control status @@ -55,5 +110,6 @@ uint8 STATE_TEST = 13 # Test gains in closed-loop uint8 STATE_COMPLETE = 14 # Tuning completed successfully uint8 STATE_FAIL = 15 # Tuning failed (model invalid or controller unstable) uint8 STATE_WAIT_FOR_DISARM = 16 # Waiting for disarm before finalizing - ``` + +::: diff --git a/docs/ko/msg_docs/BatteryInfo.md b/docs/ko/msg_docs/BatteryInfo.md index 4b0c2823ce..35f5175ced 100644 --- a/docs/ko/msg_docs/BatteryInfo.md +++ b/docs/ko/msg_docs/BatteryInfo.md @@ -1,11 +1,30 @@ +--- +pageClass: is-wide-page +--- + # BatteryInfo (UORB message) -Battery information +Battery information. Static or near-invariant battery information. Should be streamed at low rate. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/BatteryInfo.msg) +**TOPICS:** battery_info + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| id | `uint8` | | | Must match the id in the battery_status message for the same battery | +| serial_number | `char[32]` | | | Serial number of the battery pack in ASCII characters, 0 terminated (Invalid: 0 All bytes) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/BatteryInfo.msg) + +:::details +Click here to see original file ```c # Battery information @@ -17,5 +36,6 @@ uint64 timestamp # [us] Time since system start uint8 id # Must match the id in the battery_status message for the same battery char[32] serial_number # [@invalid 0 All bytes] Serial number of the battery pack in ASCII characters, 0 terminated - ``` + +::: diff --git a/docs/ko/msg_docs/BatteryStatus.md b/docs/ko/msg_docs/BatteryStatus.md index ec2c19c59e..9058d50080 100644 --- a/docs/ko/msg_docs/BatteryStatus.md +++ b/docs/ko/msg_docs/BatteryStatus.md @@ -1,12 +1,117 @@ +--- +pageClass: is-wide-page +--- + # BatteryStatus (UORB message) -Battery status +Battery status. Battery status information for up to 3 battery instances. These are populated from power module and smart battery device drivers, and one battery updated from MAVLink. Battery instance information is also logged and streamed in MAVLink telemetry. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/BatteryStatus.msg) +**TOPICS:** battery_status + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| -------------------------------------------------------------------------------------- | ------------- | ---------------------------------------------------------------- | ----------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| connected | `bool` | | | Whether or not a battery is connected. For power modules this is based on a voltage threshold. | +| voltage_v | `float32` | V | | Battery voltage (Invalid: 0) | +| current_a | `float32` | A | | Battery current (Invalid: -1) | +| current_average_a | `float32` | A | | Battery current average (for FW average in level flight) (Invalid: -1) | +| discharged_mah | `float32` | mAh | | Discharged amount (Invalid: -1) | +| remaining | `float32` | | [0 : 1] | Remaining capacity (Invalid: -1) | +| scale | `float32` | | [1 : -] | Scaling factor to compensate for lower actuation power caused by voltage sag (Invalid: -1) | +| time_remaining_s | `float32` | s | | Predicted time remaining until battery is empty under previous averaged load (Invalid: NaN) | +| temperature | `float32` | °C | | Temperature of the battery (Invalid: NaN) | +| cell_count | `uint8` | | | Number of cells (Invalid: 0) | +| source | `uint8` | | [SOURCE](#SOURCE) | Battery source | +| priority | `uint8` | | | Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 | +| capacity | `uint16` | mAh | | Capacity of the battery when fully charged | +| cycle_count | `uint16` | | | Number of discharge cycles the battery has experienced | +| average_time_to_empty | `uint16` | minutes | | Predicted remaining battery capacity based on the average rate of discharge | +| manufacture_date | `uint16` | | | Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512 | +| state_of_health | `uint16` | % | [0 : 100] | State of health. FullChargeCapacity/DesignCapacity | +| max_error | `uint16` | % | [1 : 100] | Max error, expected margin of error in the state-of-charge calculation | +| id | `uint8` | | | ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed | +| interface_error | `uint16` | | | Interface error counter | +| voltage_cell_v | `float32[14]` | V | | Battery individual cell voltages (Invalid: 0) | +| max_cell_voltage_delta | `float32` | V | | Max difference between individual cell voltages | +| is_powering_off | `bool` | | | Power off event imminent indication, false if unknown | +| is_required | `bool` | | | Set if the battery is explicitly required before arming | +| warning | `uint8` | | [WARNING](#WARNING)[STATE](#STATE) | Current battery warning | +| faults | `uint16` | | [FAULT](#FAULT) | Smart battery supply status/fault flags (bitmask) for health indication | +| full_charge_capacity_wh | `float32` | Wh | | Compensated battery capacity | +| remaining_capacity_wh | `float32` | Wh | | Compensated battery capacity remaining | +| over_discharge_count | `uint16` | | | Number of battery overdischarge | +| nominal_voltage | `float32` | V | | Nominal voltage of the battery pack | +| internal_resistance_estimate | `float32` | Ohm | | Internal resistance per cell estimate | +| ocv_estimate | `float32` | V | | Open circuit voltage estimate | +| ocv_estimate_filtered | `float32` | V | | Filtered open circuit voltage estimate | +| volt_based_soc_estimate | `float32` | | [0 : 1] | Normalized volt based state of charge estimate | +| voltage_prediction | `float32` | V | | Predicted voltage | +| prediction_error | `float32` | V | | Prediction error | +| estimation_covariance_norm | `float32` | | | Norm of the covariance matrix | + +## Enums + +### SOURCE {#SOURCE} + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------- | ------- | ----- | ----------------------------------------------------------------- | +| SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) | +| SOURCE_EXTERNAL | `uint8` | 1 | External (MAVLink, CAN, or external driver) | +| SOURCE_ESCS | `uint8` | 2 | ESCs (via ESC telemetry) | + +### WARNING {#WARNING} + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------ | ------- | ----- | -------------------------------------------- | +| WARNING_NONE | `uint8` | 0 | No battery low voltage warning active | +| WARNING_LOW | `uint8` | 1 | Low voltage warning | +| WARNING_CRITICAL | `uint8` | 2 | Critical voltage, return / abort immediately | +| WARNING_EMERGENCY | `uint8` | 3 | Immediate landing required | +| WARNING_FAILED | `uint8` | 4 | Battery has failed completely | + +### STATE {#STATE} + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field | +| STATE_CHARGING | `uint8` | 7 | Battery is charging | + +### FAULT {#FAULT} + +| 명칭 | 형식 | Value | 설명 | +| ---------------------------------------------------------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------------------------------------------------------------------------------- | +| FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged | +| FAULT_SPIKES | `uint8` | 1 | Voltage spikes | +| FAULT_CELL_FAIL | `uint8` | 2 | One or more cells have failed | +| FAULT_OVER_CURRENT | `uint8` | 3 | Over-current | +| FAULT_OVER_TEMPERATURE | `uint8` | 4 | Over-temperature | +| FAULT_UNDER_TEMPERATURE | `uint8` | 5 | Under-temperature fault | +| FAULT_INCOMPATIBLE_VOLTAGE | `uint8` | 6 | Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) | +| FAULT_INCOMPATIBLE_FIRMWARE | `uint8` | 7 | Battery firmware is not compatible with current autopilot firmware | +| FAULT_INCOMPATIBLE_MODEL | `uint8` | 8 | Battery model is not supported by the system | +| FAULT_HARDWARE_FAILURE | `uint8` | 9 | Hardware problem | +| FAULT_FAILED_TO_ARM | `uint8` | 10 | Battery had a problem while arming | +| FAULT_COUNT | `uint8` | 11 | Counter. Keep this as last element | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 1 | | +| MAX_INSTANCES | `uint8` | 3 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/BatteryStatus.msg) + +:::details +Click here to see original file ```c # Battery status @@ -88,5 +193,6 @@ float32 volt_based_soc_estimate # [-] [@range 0, 1] Normalized volt based float32 voltage_prediction # [V] Predicted voltage float32 prediction_error # [V] Prediction error float32 estimation_covariance_norm # [-] Norm of the covariance matrix - ``` + +::: diff --git a/docs/ko/msg_docs/BatteryStatusV0.md b/docs/ko/msg_docs/BatteryStatusV0.md index cd900a1f17..569b955594 100644 --- a/docs/ko/msg_docs/BatteryStatusV0.md +++ b/docs/ko/msg_docs/BatteryStatusV0.md @@ -1,12 +1,118 @@ +--- +pageClass: is-wide-page +--- + # BatteryStatusV0 (UORB message) -Battery status +Battery status. Battery status information for up to 4 battery instances. These are populated from power module and smart battery device drivers, and one battery updated from MAVLink. Battery instance information is also logged and streamed in MAVLink telemetry. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/BatteryStatusV0.msg) +**TOPICS:** battery_statusv0 + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| -------------------------------------------------------------------------------------- | ------------- | ---------------------------------------------------------------- | ----------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| connected | `bool` | | | Whether or not a battery is connected. For power modules this is based on a voltage threshold. | +| voltage_v | `float32` | V | | Battery voltage (Invalid: 0) | +| current_a | `float32` | A | | Battery current (Invalid: -1) | +| current_average_a | `float32` | A | | Battery current average (for FW average in level flight) (Invalid: -1) | +| discharged_mah | `float32` | mAh | | Discharged amount (Invalid: -1) | +| remaining | `float32` | | [0 : 1] | Remaining capacity (Invalid: -1) | +| scale | `float32` | | [1 : -] | Scaling factor to compensate for lower actuation power caused by voltage sag (Invalid: -1) | +| time_remaining_s | `float32` | s | | Predicted time remaining until battery is empty under previous averaged load (Invalid: NaN) | +| temperature | `float32` | °C | | Temperature of the battery (Invalid: NaN) | +| cell_count | `uint8` | | | Number of cells (Invalid: 0) | +| source | `uint8` | | [SOURCE](#SOURCE) | Battery source | +| priority | `uint8` | | | Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 | +| capacity | `uint16` | mAh | | Capacity of the battery when fully charged | +| cycle_count | `uint16` | | | Number of discharge cycles the battery has experienced | +| average_time_to_empty | `uint16` | minutes | | Predicted remaining battery capacity based on the average rate of discharge | +| serial_number | `uint16` | | | Serial number of the battery pack | +| manufacture_date | `uint16` | | | Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512 | +| state_of_health | `uint16` | % | [0 : 100] | State of health. FullChargeCapacity/DesignCapacity | +| max_error | `uint16` | % | [1 : 100] | Max error, expected margin of error in the state-of-charge calculation | +| id | `uint8` | | | ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed | +| interface_error | `uint16` | | | Interface error counter | +| voltage_cell_v | `float32[14]` | V | | Battery individual cell voltages (Invalid: 0) | +| max_cell_voltage_delta | `float32` | | | Max difference between individual cell voltages | +| is_powering_off | `bool` | | | Power off event imminent indication, false if unknown | +| is_required | `bool` | | | Set if the battery is explicitly required before arming | +| warning | `uint8` | | [WARNING](#WARNING)[STATE](#STATE) | Current battery warning | +| faults | `uint16` | | [FAULT](#FAULT) | Smart battery supply status/fault flags (bitmask) for health indication | +| full_charge_capacity_wh | `float32` | Wh | | Compensated battery capacity | +| remaining_capacity_wh | `float32` | Wh | | Compensated battery capacity remaining | +| over_discharge_count | `uint16` | | | Number of battery overdischarge | +| nominal_voltage | `float32` | V | | Nominal voltage of the battery pack | +| internal_resistance_estimate | `float32` | Ohm | | Internal resistance per cell estimate | +| ocv_estimate | `float32` | V | | Open circuit voltage estimate | +| ocv_estimate_filtered | `float32` | V | | Filtered open circuit voltage estimate | +| volt_based_soc_estimate | `float32` | | [0 : 1] | Normalized volt based state of charge estimate | +| voltage_prediction | `float32` | V | | Predicted voltage | +| prediction_error | `float32` | V | | Prediction error | +| estimation_covariance_norm | `float32` | | | Norm of the covariance matrix | + +## Enums + +### SOURCE {#SOURCE} + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------- | ------- | ----- | ----------------------------------------------------------------- | +| SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) | +| SOURCE_EXTERNAL | `uint8` | 1 | External (MAVLink, CAN, or external driver) | +| SOURCE_ESCS | `uint8` | 2 | ESCs (via ESC telemetry) | + +### WARNING {#WARNING} + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------ | ------- | ----- | -------------------------------------------- | +| WARNING_NONE | `uint8` | 0 | No battery low voltage warning active | +| WARNING_LOW | `uint8` | 1 | Low voltage warning | +| WARNING_CRITICAL | `uint8` | 2 | Critical voltage, return / abort immediately | +| WARNING_EMERGENCY | `uint8` | 3 | Immediate landing required | +| WARNING_FAILED | `uint8` | 4 | Battery has failed completely | + +### STATE {#STATE} + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field | +| STATE_CHARGING | `uint8` | 7 | Battery is charging | + +### FAULT {#FAULT} + +| 명칭 | 형식 | Value | 설명 | +| ---------------------------------------------------------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------------------------------------------------------------------------------- | +| FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged | +| FAULT_SPIKES | `uint8` | 1 | Voltage spikes | +| FAULT_CELL_FAIL | `uint8` | 2 | One or more cells have failed | +| FAULT_OVER_CURRENT | `uint8` | 3 | Over-current | +| FAULT_OVER_TEMPERATURE | `uint8` | 4 | Over-temperature | +| FAULT_UNDER_TEMPERATURE | `uint8` | 5 | Under-temperature fault | +| FAULT_INCOMPATIBLE_VOLTAGE | `uint8` | 6 | Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) | +| FAULT_INCOMPATIBLE_FIRMWARE | `uint8` | 7 | Battery firmware is not compatible with current autopilot firmware | +| FAULT_INCOMPATIBLE_MODEL | `uint8` | 8 | Battery model is not supported by the system | +| FAULT_HARDWARE_FAILURE | `uint8` | 9 | Hardware problem | +| FAULT_FAILED_TO_ARM | `uint8` | 10 | Battery had a problem while arming | +| FAULT_COUNT | `uint8` | 11 | Counter. Keep this as last element | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | +| MAX_INSTANCES | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/BatteryStatusV0.msg) + +:::details +Click here to see original file ```c # Battery status @@ -88,5 +194,6 @@ float32 volt_based_soc_estimate # [@range 0, 1] Normalized volt based state of c float32 voltage_prediction # [V] Predicted voltage float32 prediction_error # [V] Prediction error float32 estimation_covariance_norm # Norm of the covariance matrix - ``` + +::: diff --git a/docs/ko/msg_docs/ButtonEvent.md b/docs/ko/msg_docs/ButtonEvent.md index 8c22ff2491..26b8256910 100644 --- a/docs/ko/msg_docs/ButtonEvent.md +++ b/docs/ko/msg_docs/ButtonEvent.md @@ -1,6 +1,30 @@ +--- +pageClass: is-wide-page +--- + # ButtonEvent (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ButtonEvent.msg) +**TOPICS:** button_event safety_button + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| triggered | `bool` | | | Set to true if the event is triggered | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------- | ------- | ----- | -- | +| ORB_QUEUE_LENGTH | `uint8` | 2 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ButtonEvent.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -9,5 +33,6 @@ bool triggered # Set to true if the event is triggered # TOPICS button_event safety_button uint8 ORB_QUEUE_LENGTH = 2 - ``` + +::: diff --git a/docs/ko/msg_docs/CameraCapture.md b/docs/ko/msg_docs/CameraCapture.md index cafef27922..54c0b56e29 100644 --- a/docs/ko/msg_docs/CameraCapture.md +++ b/docs/ko/msg_docs/CameraCapture.md @@ -1,6 +1,31 @@ +--- +pageClass: is-wide-page +--- + # CameraCapture (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CameraCapture.msg) +**TOPICS:** camera_capture + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------ | ------------ | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_utc | `uint64` | | | Capture time in UTC / GPS time | +| seq | `uint32` | | | Image sequence number | +| lat | `float64` | | | Latitude in degrees (WGS84) | +| lon | `float64` | | | Longitude in degrees (WGS84) | +| alt | `float32` | | | Altitude (AMSL) | +| ground_distance | `float32` | | | Altitude above ground (meters) | +| q | `float32[4]` | | | Attitude of the camera relative to NED earth-fixed frame when using a gimbal, otherwise vehicle attitude | +| result | `int8` | | | 1 for success, 0 for failure, -1 if camera does not provide feedback | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CameraCapture.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -12,5 +37,6 @@ float32 alt # Altitude (AMSL) float32 ground_distance # Altitude above ground (meters) float32[4] q # Attitude of the camera relative to NED earth-fixed frame when using a gimbal, otherwise vehicle attitude int8 result # 1 for success, 0 for failure, -1 if camera does not provide feedback - ``` + +::: diff --git a/docs/ko/msg_docs/CameraStatus.md b/docs/ko/msg_docs/CameraStatus.md index 2ed1011c50..58b4e76ae4 100644 --- a/docs/ko/msg_docs/CameraStatus.md +++ b/docs/ko/msg_docs/CameraStatus.md @@ -1,11 +1,31 @@ +--- +pageClass: is-wide-page +--- + # CameraStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CameraStatus.msg) +**TOPICS:** camera_status + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| -------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| active_sys_id | `uint8` | | | mavlink system id of the currently active camera | +| active_comp_id | `uint8` | | | mavlink component id of currently active camera | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CameraStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) uint8 active_sys_id # mavlink system id of the currently active camera uint8 active_comp_id # mavlink component id of currently active camera - ``` + +::: diff --git a/docs/ko/msg_docs/CameraTrigger.md b/docs/ko/msg_docs/CameraTrigger.md index edd07edd5a..c59b50d542 100644 --- a/docs/ko/msg_docs/CameraTrigger.md +++ b/docs/ko/msg_docs/CameraTrigger.md @@ -1,6 +1,32 @@ +--- +pageClass: is-wide-page +--- + # CameraTrigger (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CameraTrigger.msg) +**TOPICS:** camera_trigger + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_utc | `uint64` | | | UTC timestamp | +| seq | `uint32` | | | Image sequence number | +| feedback | `bool` | | | Trigger feedback from camera | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------- | -------- | ----- | -- | +| ORB_QUEUE_LENGTH | `uint32` | 2 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CameraTrigger.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -10,5 +36,6 @@ uint32 seq # Image sequence number bool feedback # Trigger feedback from camera uint32 ORB_QUEUE_LENGTH = 2 - ``` + +::: diff --git a/docs/ko/msg_docs/CanInterfaceStatus.md b/docs/ko/msg_docs/CanInterfaceStatus.md index 1d0f618f8d..e00ec7c3ae 100644 --- a/docs/ko/msg_docs/CanInterfaceStatus.md +++ b/docs/ko/msg_docs/CanInterfaceStatus.md @@ -1,6 +1,27 @@ +--- +pageClass: is-wide-page +--- + # CanInterfaceStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CanInterfaceStatus.msg) +**TOPICS:** can_interfacestatus + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| interface | `uint8` | | | | +| io_errors | `uint64` | | | | +| frames_tx | `uint64` | | | | +| frames_rx | `uint64` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CanInterfaceStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -9,5 +30,6 @@ uint8 interface uint64 io_errors uint64 frames_tx uint64 frames_rx - ``` + +::: diff --git a/docs/ko/msg_docs/CellularStatus.md b/docs/ko/msg_docs/CellularStatus.md index 04ca0a65dc..d5a547f472 100644 --- a/docs/ko/msg_docs/CellularStatus.md +++ b/docs/ko/msg_docs/CellularStatus.md @@ -1,10 +1,73 @@ +--- +pageClass: is-wide-page +--- + # CellularStatus (UORB message) -Cellular status +Cellular status. This is currently used only for logging cell status from MAVLink. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CellularStatus.msg) +**TOPICS:** cellular_status + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------- | -------- | ---------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| status | `uint16` | | [STATUS_FLAG](#STATUS_FLAG) | Status bitmap | +| failure_reason | `uint8` | | [FAILURE_REASON](#FAILURE_REASON) | Failure reason | +| type | `uint8` | | [CELLULAR_NETWORK_RADIO_TYPE](#CELLULAR_NETWORK_RADIO_TYPE) | Cellular network radio type | +| quality | `uint8` | dBm | | Cellular network RSSI/RSRP, absolute value | +| mcc | `uint16` | | | Mobile country code (Invalid: UINT16_MAX) | +| mnc | `uint16` | | | Mobile network code (Invalid: UINT16_MAX) | +| lac | `uint16` | | | Location area code (Invalid: 0) | + +## Enums + +### STATUS_FLAG {#STATUS_FLAG} + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------------------- | -------- | ----- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| STATUS_FLAG_UNKNOWN | `uint16` | 1 | State unknown or not reportable | +| STATUS_FLAG_FAILED | `uint16` | 2 | Modem is unusable | +| STATUS_FLAG_INITIALIZING | `uint16` | 4 | Modem is being initialized | +| STATUS_FLAG_LOCKED | `uint16` | 8 | Modem is locked | +| STATUS_FLAG_DISABLED | `uint16` | 16 | Modem is not enabled and is powered down | +| STATUS_FLAG_DISABLING | `uint16` | 32 | Modem is currently transitioning to the STATUS_FLAG_DISABLED state | +| STATUS_FLAG_ENABLING | `uint16` | 64 | Modem is currently transitioning to the STATUS_FLAG_ENABLED state | +| STATUS_FLAG_ENABLED | `uint16` | 128 | Modem is enabled and powered on but not registered with a network provider and not available for data connections | +| STATUS_FLAG_SEARCHING | `uint16` | 256 | Modem is searching for a network provider to register | +| STATUS_FLAG_REGISTERED | `uint16` | 512 | Modem is registered with a network provider, and data connections and messaging may be available for use | +| STATUS_FLAG_DISCONNECTING | `uint16` | 1024 | Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated | +| STATUS_FLAG_CONNECTING | `uint16` | 2048 | Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered | +| STATUS_FLAG_CONNECTED | `uint16` | 4096 | One or more packet data bearers is active and connected | + +### FAILURE_REASON {#FAILURE_REASON} + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | ----- | ----------------------------------------------- | +| FAILURE_REASON_NONE | `uint8` | 0 | No error | +| FAILURE_REASON_UNKNOWN | `uint8` | 1 | Error state is unknown | +| FAILURE_REASON_SIM_MISSING | `uint8` | 2 | SIM is required for the modem but missing | +| FAILURE_REASON_SIM_ERROR | `uint8` | 3 | SIM is available, but not usable for connection | + +### CELLULAR_NETWORK_RADIO_TYPE {#CELLULAR_NETWORK_RADIO_TYPE} + +| 명칭 | 형식 | Value | 설명 | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ----- | +| CELLULAR_NETWORK_RADIO_TYPE_NONE | `uint8` | 0 | None | +| CELLULAR_NETWORK_RADIO_TYPE_GSM | `uint8` | 1 | GSM | +| CELLULAR_NETWORK_RADIO_TYPE_CDMA | `uint8` | 2 | CDMA | +| CELLULAR_NETWORK_RADIO_TYPE_WCDMA | `uint8` | 3 | WCDMA | +| CELLULAR_NETWORK_RADIO_TYPE_LTE | `uint8` | 4 | LTE | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CellularStatus.msg) + +:::details +Click here to see original file ```c # Cellular status @@ -45,5 +108,6 @@ uint8 quality # [dBm] Cellular network RSSI/RSRP, absolute value uint16 mcc # [@invalid UINT16_MAX] Mobile country code uint16 mnc # [@invalid UINT16_MAX] Mobile network code uint16 lac # [@invalid 0] Location area code - ``` + +::: diff --git a/docs/ko/msg_docs/CollisionConstraints.md b/docs/ko/msg_docs/CollisionConstraints.md index fd0f562886..59d4a7ee01 100644 --- a/docs/ko/msg_docs/CollisionConstraints.md +++ b/docs/ko/msg_docs/CollisionConstraints.md @@ -1,9 +1,27 @@ +--- +pageClass: is-wide-page +--- + # CollisionConstraints (UORB message) -Local setpoint constraints in NED frame -setting something to NaN means that no limit is provided +Local setpoint constraints in NED frame. setting something to NaN means that no limit is provided. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CollisionConstraints.msg) +**TOPICS:** collision_constraints + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| -------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| original_setpoint | `float32[2]` | | | velocities demanded | +| adapted_setpoint | `float32[2]` | | | velocities allowed | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CollisionConstraints.msg) + +:::details +Click here to see original file ```c # Local setpoint constraints in NED frame @@ -13,5 +31,6 @@ uint64 timestamp # time since system start (microseconds) float32[2] original_setpoint # velocities demanded float32[2] adapted_setpoint # velocities allowed - ``` + +::: diff --git a/docs/ko/msg_docs/ConfigOverrides.md b/docs/ko/msg_docs/ConfigOverrides.md index caa4d0816b..cb1c45cbee 100644 --- a/docs/ko/msg_docs/ConfigOverrides.md +++ b/docs/ko/msg_docs/ConfigOverrides.md @@ -1,8 +1,40 @@ +--- +pageClass: is-wide-page +--- + # ConfigOverrides (UORB message) -Configurable overrides by (external) modes or mode executors +Configurable overrides by (external) modes or mode executors. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ConfigOverrides.msg) +**TOPICS:** config_overrides config_overrides_request + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| disable_auto_disarm | `bool` | | | Prevent the drone from automatically disarming after landing (if configured) | +| defer_failsafes | `bool` | | | Defer all failsafes that can be deferred (until the flag is cleared) | +| defer_failsafes_timeout_s | `int16` | | | Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout | +| disable_auto_set_home | `bool` | | | Prevent the drone from automatically setting the home position on arm or takeoff | +| source_type | `int8` | | | | +| source_id | `uint8` | | | ID depending on source_type | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ---------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 1 | | +| SOURCE_TYPE_MODE | `int8` | 0 | | +| SOURCE_TYPE_MODE_EXECUTOR | `int8` | 1 | | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ConfigOverrides.msg) + +:::details +Click here to see original file ```c # Configurable overrides by (external) modes or mode executors @@ -26,5 +58,6 @@ uint8 source_id # ID depending on source_type uint8 ORB_QUEUE_LENGTH = 4 # TOPICS config_overrides config_overrides_request - ``` + +::: diff --git a/docs/ko/msg_docs/ConfigOverridesV0.md b/docs/ko/msg_docs/ConfigOverridesV0.md index 91e2cf5b48..a7dcaf2a98 100644 --- a/docs/ko/msg_docs/ConfigOverridesV0.md +++ b/docs/ko/msg_docs/ConfigOverridesV0.md @@ -1,8 +1,39 @@ +--- +pageClass: is-wide-page +--- + # ConfigOverridesV0 (UORB message) -Configurable overrides by (external) modes or mode executors +Configurable overrides by (external) modes or mode executors. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ConfigOverridesV0.msg) +**TOPICS:** config_overrides config_overrides_request + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| disable_auto_disarm | `bool` | | | Prevent the drone from automatically disarming after landing (if configured) | +| defer_failsafes | `bool` | | | Defer all failsafes that can be deferred (until the flag is cleared) | +| defer_failsafes_timeout_s | `int16` | | | Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout | +| source_type | `int8` | | | | +| source_id | `uint8` | | | ID depending on source_type | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ---------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | +| SOURCE_TYPE_MODE | `int8` | 0 | | +| SOURCE_TYPE_MODE_EXECUTOR | `int8` | 1 | | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ConfigOverridesV0.msg) + +:::details +Click here to see original file ```c # Configurable overrides by (external) modes or mode executors @@ -26,5 +57,6 @@ uint8 source_id # ID depending on source_type uint8 ORB_QUEUE_LENGTH = 4 # TOPICS config_overrides config_overrides_request - ``` + +::: diff --git a/docs/ko/msg_docs/ControlAllocatorStatus.md b/docs/ko/msg_docs/ControlAllocatorStatus.md index 4068e7b4f4..4239807f5a 100644 --- a/docs/ko/msg_docs/ControlAllocatorStatus.md +++ b/docs/ko/msg_docs/ControlAllocatorStatus.md @@ -1,6 +1,40 @@ +--- +pageClass: is-wide-page +--- + # ControlAllocatorStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ControlAllocatorStatus.msg) +**TOPICS:** control_allocatorstatus + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| torque_setpoint_achieved | `bool` | | | Boolean indicating whether the 3D torque setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved. | +| unallocated_torque | `float32[3]` | | | Unallocated torque. Equal to 0 if the setpoint was achieved. | +| thrust_setpoint_achieved | `bool` | | | Boolean indicating whether the 3D thrust setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved. | +| unallocated_thrust | `float32[3]` | | | Unallocated thrust. Equal to 0 if the setpoint was achieved. | +| actuator_saturation | `int8[16]` | | | Indicates actuator saturation status. | +| handled_motor_failure_mask | `uint16` | | | Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector | +| motor_stop_mask | `uint16` | | | Bitmaks of motors stopped by failure injection | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------------------------------------------------ | ------ | ----- | ----------------------------------------------------------------------------------------------------------------------------------------------------- | +| ACTUATOR_SATURATION_OK | `int8` | 0 | The actuator is not saturated | +| ACTUATOR_SATURATION_UPPER_DYN | `int8` | 1 | The actuator is saturated (with a value <= the desired value) because it cannot increase its value faster | +| ACTUATOR_SATURATION_UPPER | `int8` | 2 | The actuator is saturated (with a value <= the desired value) because it has reached its maximum value | +| ACTUATOR_SATURATION_LOWER_DYN | `int8` | -1 | The actuator is saturated (with a value >= the desired value) because it cannot decrease its value faster | +| ACTUATOR_SATURATION_LOWER | `int8` | -2 | The actuator is saturated (with a value >= the desired value) because it has reached its minimum value | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ControlAllocatorStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -25,5 +59,6 @@ int8[16] actuator_saturation # Indicates actuator saturation status. uint16 handled_motor_failure_mask # Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector uint16 motor_stop_mask # Bitmaks of motors stopped by failure injection - ``` + +::: diff --git a/docs/ko/msg_docs/Cpuload.md b/docs/ko/msg_docs/Cpuload.md index fd865702a8..824c8e5841 100644 --- a/docs/ko/msg_docs/Cpuload.md +++ b/docs/ko/msg_docs/Cpuload.md @@ -1,10 +1,30 @@ +--- +pageClass: is-wide-page +--- + # Cpuload (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Cpuload.msg) +**TOPICS:** cpuload + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------ | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| load | `float32` | | | processor load from 0 to 1 | +| ram_usage | `float32` | | | RAM usage from 0 to 1 | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Cpuload.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) float32 load # processor load from 0 to 1 float32 ram_usage # RAM usage from 0 to 1 - ``` + +::: diff --git a/docs/ko/msg_docs/DatamanRequest.md b/docs/ko/msg_docs/DatamanRequest.md index ae8701f157..0c2daa6029 100644 --- a/docs/ko/msg_docs/DatamanRequest.md +++ b/docs/ko/msg_docs/DatamanRequest.md @@ -1,6 +1,29 @@ +--- +pageClass: is-wide-page +--- + # DatamanRequest (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DatamanRequest.msg) +**TOPICS:** dataman_request + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| client_id | `uint8` | | | | +| request_type | `uint8` | | | id/read/write/clear | +| item | `uint8` | | | dm_item_t | +| index | `uint32` | | | | +| data | `uint8[56]` | | | | +| data_length | `uint32` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DatamanRequest.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -11,5 +34,6 @@ uint8 item # dm_item_t uint32 index uint8[56] data uint32 data_length - ``` + +::: diff --git a/docs/ko/msg_docs/DatamanResponse.md b/docs/ko/msg_docs/DatamanResponse.md index e8cd9f5c71..fd41bf5a34 100644 --- a/docs/ko/msg_docs/DatamanResponse.md +++ b/docs/ko/msg_docs/DatamanResponse.md @@ -1,6 +1,40 @@ +--- +pageClass: is-wide-page +--- + # DatamanResponse (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DatamanResponse.msg) +**TOPICS:** dataman_response + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| client_id | `uint8` | | | | +| request_type | `uint8` | | | id/read/write/clear | +| item | `uint8` | | | dm_item_t | +| index | `uint32` | | | | +| data | `uint8[56]` | | | | +| status | `uint8` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | -- | +| STATUS_SUCCESS | `uint8` | 0 | | +| STATUS_FAILURE_ID_ERR | `uint8` | 1 | | +| STATUS_FAILURE_NO_DATA | `uint8` | 2 | | +| STATUS_FAILURE_READ_FAILED | `uint8` | 3 | | +| STATUS_FAILURE_WRITE_FAILED | `uint8` | 4 | | +| STATUS_FAILURE_CLEAR_FAILED | `uint8` | 5 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DatamanResponse.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -18,5 +52,6 @@ uint8 STATUS_FAILURE_READ_FAILED = 3 uint8 STATUS_FAILURE_WRITE_FAILED = 4 uint8 STATUS_FAILURE_CLEAR_FAILED = 5 uint8 status - ``` + +::: diff --git a/docs/ko/msg_docs/DebugArray.md b/docs/ko/msg_docs/DebugArray.md index 1e1cacd739..80918ae97f 100644 --- a/docs/ko/msg_docs/DebugArray.md +++ b/docs/ko/msg_docs/DebugArray.md @@ -1,6 +1,32 @@ +--- +pageClass: is-wide-page +--- + # DebugArray (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugArray.msg) +**TOPICS:** debug_array + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------- | ------------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| id | `uint16` | | | unique ID of debug array, used to discriminate between arrays | +| name | `char[10]` | | | name of the debug array (max. 10 characters) | +| data | `float32[58]` | | | data | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ---------------------------------------------------------- | ------- | ----- | -- | +| ARRAY_SIZE | `uint8` | 58 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugArray.msg) + +:::details +Click here to see original file ```c uint8 ARRAY_SIZE = 58 @@ -8,5 +34,6 @@ uint64 timestamp # time since system start (microseconds) uint16 id # unique ID of debug array, used to discriminate between arrays char[10] name # name of the debug array (max. 10 characters) float32[58] data # data - ``` + +::: diff --git a/docs/ko/msg_docs/DebugKeyValue.md b/docs/ko/msg_docs/DebugKeyValue.md index f9d6a5bde2..1ed3816e57 100644 --- a/docs/ko/msg_docs/DebugKeyValue.md +++ b/docs/ko/msg_docs/DebugKeyValue.md @@ -1,10 +1,30 @@ +--- +pageClass: is-wide-page +--- + # DebugKeyValue (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugKeyValue.msg) +**TOPICS:** debug_keyvalue + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------- | ---------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| 키 | `char[10]` | | | max. 10 characters as key / name | +| value | `float32` | | | the value to send as debug output | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugKeyValue.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) char[10] key # max. 10 characters as key / name float32 value # the value to send as debug output - ``` + +::: diff --git a/docs/ko/msg_docs/DebugValue.md b/docs/ko/msg_docs/DebugValue.md index 04457e37cc..1ec9f0c460 100644 --- a/docs/ko/msg_docs/DebugValue.md +++ b/docs/ko/msg_docs/DebugValue.md @@ -1,10 +1,30 @@ +--- +pageClass: is-wide-page +--- + # DebugValue (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugValue.msg) +**TOPICS:** debug_value + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| ind | `int8` | | | index of debug variable | +| value | `float32` | | | the value to send as debug output | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugValue.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) int8 ind # index of debug variable float32 value # the value to send as debug output - ``` + +::: diff --git a/docs/ko/msg_docs/DebugVect.md b/docs/ko/msg_docs/DebugVect.md index ec009e7279..c9ee73e7b9 100644 --- a/docs/ko/msg_docs/DebugVect.md +++ b/docs/ko/msg_docs/DebugVect.md @@ -1,6 +1,27 @@ +--- +pageClass: is-wide-page +--- + # DebugVect (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugVect.msg) +**TOPICS:** debug_vect + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------- | ---------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| name | `char[10]` | | | max. 10 characters as key / name | +| x | `float32` | | | x value | +| y | `float32` | | | y value | +| z | `float32` | | | z value | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugVect.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -8,5 +29,6 @@ char[10] name # max. 10 characters as key / name float32 x # x value float32 y # y value float32 z # z value - ``` + +::: diff --git a/docs/ko/msg_docs/DeviceInformation.md b/docs/ko/msg_docs/DeviceInformation.md index d415461f94..af01a4f244 100644 --- a/docs/ko/msg_docs/DeviceInformation.md +++ b/docs/ko/msg_docs/DeviceInformation.md @@ -1,11 +1,58 @@ +--- +pageClass: is-wide-page +--- + # DeviceInformation (UORB message) -Device information +Device information. Can be used to uniquely associate a device_id from a sensor topic with a physical device using serial number. as well as tracking of the used firmware versions on the devices. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DeviceInformation.msg) +**TOPICS:** device_information + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------- | ---------- | ---------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_type | `uint8` | | [DEVICE_TYPE](#DEVICE_TYPE) | Type of the device. Matches MAVLink DEVICE_TYPE enum | +| vendor_name | `char[32]` | | | Name of the device vendor | +| model_name | `char[32]` | | | Name of the device model | +| `uint32` | | | Unique device ID for the sensor. Does not change between power cycles. (Invalid: 0 if not available) | | +| firmware_version | `char[24]` | | | Firmware version. (Invalid: empty if not available) | +| hardware_version | `char[24]` | | | Hardware version. (Invalid: empty if not available) | +| serial_number | `char[33]` | | | Device serial number or unique identifier. (Invalid: empty if not available) | + +## Enums + +### DEVICE_TYPE {#DEVICE_TYPE} + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ---------------------- | +| DEVICE_TYPE_GENERIC | `uint8` | 0 | Generic/unknown sensor | +| DEVICE_TYPE_AIRSPEED | `uint8` | 1 | 풍속 센서 | +| DEVICE_TYPE_ESC | `uint8` | 2 | ESC | +| DEVICE_TYPE_SERVO | `uint8` | 3 | Servo | +| DEVICE_TYPE_GPS | `uint8` | 4 | GPS | +| DEVICE_TYPE_MAGNETOMETER | `uint8` | 5 | 자기 센서 | +| DEVICE_TYPE_PARACHUTE | `uint8` | 6 | 낙하산 | +| DEVICE_TYPE_RANGEFINDER | `uint8` | 7 | Rangefinder | +| DEVICE_TYPE_WINCH | `uint8` | 8 | Winch | +| DEVICE_TYPE_BAROMETER | `uint8` | 9 | 기압계 | +| DEVICE_TYPE_OPTICAL_FLOW | `uint8` | 10 | Optical flow | +| DEVICE_TYPE_ACCELEROMETER | `uint8` | 11 | Accelerometer | +| DEVICE_TYPE_GYROSCOPE | `uint8` | 12 | Gyroscope | +| DEVICE_TYPE_DIFFERENTIAL_PRESSURE | `uint8` | 13 | Differential pressure | +| DEVICE_TYPE_BATTERY | `uint8` | 14 | Battery | +| DEVICE_TYPE_HYGROMETER | `uint8` | 15 | Hygrometer | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DeviceInformation.msg) + +:::details +Click here to see original file ```c # Device information @@ -41,5 +88,6 @@ uint32 device_id # [-] [@invalid 0 if not available] Unique device ID char[24] firmware_version # [-] [@invalid empty if not available] Firmware version. char[24] hardware_version # [-] [@invalid empty if not available] Hardware version. char[33] serial_number # [-] [@invalid empty if not available] Device serial number or unique identifier. - ``` + +::: diff --git a/docs/ko/msg_docs/DifferentialPressure.md b/docs/ko/msg_docs/DifferentialPressure.md index 83adb2d03e..09d07faadf 100644 --- a/docs/ko/msg_docs/DifferentialPressure.md +++ b/docs/ko/msg_docs/DifferentialPressure.md @@ -1,11 +1,33 @@ +--- +pageClass: is-wide-page +--- + # DifferentialPressure (UORB message) -Differential-pressure (airspeed) sensor +Differential-pressure (airspeed) sensor. This is populated by airspeed sensor drivers and used by the sensor module to calculate airspeed. The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding `SensorBaro` instance). -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DifferentialPressure.msg) +**TOPICS:** differential_pressure + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------ | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time of publication (since system start) | +| timestamp_sample | `uint64` | us | | Time of raw data capture | +| device_id | `uint32` | | | Unique device ID for the sensor that does not change between power cycles | +| differential_pressure_pa | `float32` | Pa | | Differential pressure reading (may be negative) | +| temperature | `float32` | degC | | Temperature (Invalid: NaN if unknown) | +| error_count | `uint32` | | | Number of errors detected by driver | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DifferentialPressure.msg) + +:::details +Click here to see original file ```c # Differential-pressure (airspeed) sensor @@ -20,5 +42,6 @@ uint32 device_id # [-] Unique device ID for the sensor that doe float32 differential_pressure_pa # [Pa] Differential pressure reading (may be negative) float32 temperature # [degC] [@invalid NaN if unknown] Temperature uint32 error_count # [-] Number of errors detected by driver - ``` + +::: diff --git a/docs/ko/msg_docs/DistanceSensor.md b/docs/ko/msg_docs/DistanceSensor.md index c4d5bbc2c0..d66f400c91 100644 --- a/docs/ko/msg_docs/DistanceSensor.md +++ b/docs/ko/msg_docs/DistanceSensor.md @@ -1,8 +1,64 @@ +--- +pageClass: is-wide-page +--- + # DistanceSensor (UORB message) -DISTANCE_SENSOR message data +DISTANCE_SENSOR message data. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DistanceSensor.msg) +**TOPICS:** distance_sensor + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| min_distance | `float32` | | | Minimum distance the sensor can measure (in m) | +| max_distance | `float32` | | | Maximum distance the sensor can measure (in m) | +| current_distance | `float32` | | | Current distance reading (in m) | +| variance | `float32` | | | Measurement variance (in m^2), 0 for unknown / invalid readings | +| signal_quality | `int8` | | | Signal quality in percent (0...100%), where 0 = invalid signal, 100 = perfect signal, and -1 = unknown signal quality. | +| type | `uint8` | | | Type from MAV_DISTANCE_SENSOR enum | +| h_fov | `float32` | | | Sensor horizontal field of view (rad) | +| v_fov | `float32` | | | Sensor vertical field of view (rad) | +| q | `float32[4]` | | | Quaterion sensor orientation with respect to the vehicle body frame to specify the orientation ROTATION_CUSTOM | +| orientation | `uint8` | | | Direction the sensor faces from MAV_SENSOR_ORIENTATION enum | +| mode | `uint8` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ----------------------------------------------------------------------------------------------------------------- | +| MAV_DISTANCE_SENSOR_LASER | `uint8` | 0 | | +| MAV_DISTANCE_SENSOR_ULTRASOUND | `uint8` | 1 | | +| MAV_DISTANCE_SENSOR_INFRARED | `uint8` | 2 | | +| MAV_DISTANCE_SENSOR_RADAR | `uint8` | 3 | | +| ROTATION_YAW_0 | `uint8` | 0 | MAV_SENSOR_ROTATION_NONE | +| ROTATION_YAW_45 | `uint8` | 1 | MAV_SENSOR_ROTATION_YAW_45 | +| ROTATION_YAW_90 | `uint8` | 2 | MAV_SENSOR_ROTATION_YAW_90 | +| ROTATION_YAW_135 | `uint8` | 3 | MAV_SENSOR_ROTATION_YAW_135 | +| ROTATION_YAW_180 | `uint8` | 4 | MAV_SENSOR_ROTATION_YAW_180 | +| ROTATION_YAW_225 | `uint8` | 5 | MAV_SENSOR_ROTATION_YAW_225 | +| ROTATION_YAW_270 | `uint8` | 6 | MAV_SENSOR_ROTATION_YAW_270 | +| ROTATION_YAW_315 | `uint8` | 7 | MAV_SENSOR_ROTATION_YAW_315 | +| ROTATION_FORWARD_FACING | `uint8` | 0 | MAV_SENSOR_ROTATION_NONE | +| ROTATION_RIGHT_FACING | `uint8` | 2 | MAV_SENSOR_ROTATION_YAW_90 | +| ROTATION_BACKWARD_FACING | `uint8` | 4 | MAV_SENSOR_ROTATION_YAW_180 | +| ROTATION_LEFT_FACING | `uint8` | 6 | MAV_SENSOR_ROTATION_YAW_270 | +| ROTATION_UPWARD_FACING | `uint8` | 24 | MAV_SENSOR_ROTATION_PITCH_90 | +| ROTATION_DOWNWARD_FACING | `uint8` | 25 | MAV_SENSOR_ROTATION_PITCH_270 | +| ROTATION_CUSTOM | `uint8` | 100 | MAV_SENSOR_ROTATION_CUSTOM | +| MODE_UNKNOWN | `uint8` | 0 | | +| MODE_ENABLED | `uint8` | 1 | | +| MODE_DISABLED | `uint8` | 2 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DistanceSensor.msg) + +:::details +Click here to see original file ```c # DISTANCE_SENSOR message data @@ -52,5 +108,6 @@ uint8 mode uint8 MODE_UNKNOWN = 0 uint8 MODE_ENABLED = 1 uint8 MODE_DISABLED = 2 - ``` + +::: diff --git a/docs/ko/msg_docs/DistanceSensorModeChangeRequest.md b/docs/ko/msg_docs/DistanceSensorModeChangeRequest.md index ab957de133..8c222c5d97 100644 --- a/docs/ko/msg_docs/DistanceSensorModeChangeRequest.md +++ b/docs/ko/msg_docs/DistanceSensorModeChangeRequest.md @@ -1,6 +1,31 @@ +--- +pageClass: is-wide-page +--- + # DistanceSensorModeChangeRequest (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DistanceSensorModeChangeRequest.msg) +**TOPICS:** distance_sensormode_changerequest + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| -------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| request_on_off | `uint8` | | | request to disable/enable the distance sensor | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------ | ------- | ----- | -- | +| REQUEST_OFF | `uint8` | 0 | | +| REQUEST_ON | `uint8` | 1 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DistanceSensorModeChangeRequest.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -8,5 +33,6 @@ uint64 timestamp # time since system start (microseconds) uint8 request_on_off # request to disable/enable the distance sensor uint8 REQUEST_OFF = 0 uint8 REQUEST_ON = 1 - ``` + +::: diff --git a/docs/ko/msg_docs/DronecanNodeStatus.md b/docs/ko/msg_docs/DronecanNodeStatus.md index 5c8a8d7862..7a4cbd8f7a 100644 --- a/docs/ko/msg_docs/DronecanNodeStatus.md +++ b/docs/ko/msg_docs/DronecanNodeStatus.md @@ -1,6 +1,43 @@ +--- +pageClass: is-wide-page +--- + # DronecanNodeStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DronecanNodeStatus.msg) +**TOPICS:** dronecan_nodestatus + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| node_id | `uint16` | | | The node ID which this data comes from | +| uptime_sec | `uint32` | | | Node uptime | +| health | `uint8` | | | | +| mode | `uint8` | | | | +| sub_mode | `uint8` | | | | +| vendor_specific_status_code | `uint16` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| --------------------------------------------------------------------------------------------------- | ------- | ----- | ----------------------------------------------------------------------------------------------- | +| HEALTH_OK | `uint8` | 0 | The node is functioning properly. | +| HEALTH_WARNING | `uint8` | 1 | A critical parameter went out of range or the node encountered a minor failure. | +| HEALTH_ERROR | `uint8` | 2 | The node encountered a major failure. | +| HEALTH_CRITICAL | `uint8` | 3 | The node suffered a fatal malfunction. | +| MODE_OPERATIONAL | `uint8` | 0 | Normal operating mode. | +| MODE_INITIALIZATION | `uint8` | 1 | Initialization is in progress; this mode is entered immediately after startup. | +| MODE_MAINTENANCE | `uint8` | 2 | 예: calibration, the bootloader is running, etc. | +| MODE_SOFTWARE_UPDATE | `uint8` | 3 | New software/firmware is being loaded. | +| MODE_OFFLINE | `uint8` | 7 | The node is no longer available. | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DronecanNodeStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -44,5 +81,6 @@ uint8 sub_mode # Optional, vendor-specific node status code, e.g. a fault code or a status bitmask. # uint16 vendor_specific_status_code - ``` + +::: diff --git a/docs/ko/msg_docs/Ekf2Timestamps.md b/docs/ko/msg_docs/Ekf2Timestamps.md index 8de695f523..844d062050 100644 --- a/docs/ko/msg_docs/Ekf2Timestamps.md +++ b/docs/ko/msg_docs/Ekf2Timestamps.md @@ -1,12 +1,38 @@ +--- +pageClass: is-wide-page +--- + # Ekf2Timestamps (UORB message) -this message contains the (relative) timestamps of the sensor inputs used by EKF2. -It can be used for reproducible replay. +this message contains the (relative) timestamps of the sensor inputs used by EKF2. It can be used for reproducible replay. -the timestamp field is the ekf2 reference time and matches the timestamp of -the sensor_combined topic. +**TOPICS:** ekf2_timestamps -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Ekf2Timestamps.msg) +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------------------------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| airspeed_timestamp_rel | `int16` | | | | +| airspeed_validated_timestamp_rel | `int16` | | | | +| distance_sensor_timestamp_rel | `int16` | | | | +| optical_flow_timestamp_rel | `int16` | | | | +| vehicle_air_data_timestamp_rel | `int16` | | | | +| vehicle_magnetometer_timestamp_rel | `int16` | | | | +| visual_odometry_timestamp_rel | `int16` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| --------------------------------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------- | +| RELATIVE_TIMESTAMP_INVALID | `int16` | 32767 | (0x7fff) If one of the relative timestamps | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Ekf2Timestamps.msg) + +:::details +Click here to see original file ```c # this message contains the (relative) timestamps of the sensor inputs used by EKF2. @@ -33,5 +59,6 @@ int16 vehicle_magnetometer_timestamp_rel int16 visual_odometry_timestamp_rel # Note: this is a high-rate logged topic, so it needs to be as small as possible - ``` + +::: diff --git a/docs/ko/msg_docs/EscReport.md b/docs/ko/msg_docs/EscReport.md index 277402ae69..9ad39f92cd 100644 --- a/docs/ko/msg_docs/EscReport.md +++ b/docs/ko/msg_docs/EscReport.md @@ -1,6 +1,62 @@ +--- +pageClass: is-wide-page +--- + # EscReport (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscReport.msg) +**TOPICS:** esc_report + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| -------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| esc_errorcount | `uint32` | | | Number of reported errors by ESC - if supported | +| esc_rpm | `int32` | | | Motor RPM, negative for reverse rotation [RPM] - if supported | +| esc_voltage | `float32` | | | Voltage measured from current ESC [V] - if supported | +| esc_current | `float32` | | | Current measured from current ESC [A] - if supported | +| esc_temperature | `float32` | | | Temperature measured from current ESC [degC] - if supported | +| esc_address | `uint8` | | | Address of current ESC (in most cases 1-8 / must be set by driver) | +| esc_cmdcount | `uint8` | | | Counter of number of commands | +| esc_state | `uint8` | | | State of ESC - depend on Vendor | +| actuator_function | `uint8` | | | actuator output function (one of Motor1...MotorN) | +| failures | `uint16` | | | Bitmask to indicate the internal ESC faults | +| esc_power | `int8` | | | Applied power 0-100 in % (negative values reserved) | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | | +| ACTUATOR_FUNCTION_MOTOR2 | `uint8` | 102 | | +| ACTUATOR_FUNCTION_MOTOR3 | `uint8` | 103 | | +| ACTUATOR_FUNCTION_MOTOR4 | `uint8` | 104 | | +| ACTUATOR_FUNCTION_MOTOR5 | `uint8` | 105 | | +| ACTUATOR_FUNCTION_MOTOR6 | `uint8` | 106 | | +| ACTUATOR_FUNCTION_MOTOR7 | `uint8` | 107 | | +| ACTUATOR_FUNCTION_MOTOR8 | `uint8` | 108 | | +| ACTUATOR_FUNCTION_MOTOR9 | `uint8` | 109 | | +| ACTUATOR_FUNCTION_MOTOR10 | `uint8` | 110 | | +| ACTUATOR_FUNCTION_MOTOR11 | `uint8` | 111 | | +| ACTUATOR_FUNCTION_MOTOR12 | `uint8` | 112 | | +| FAILURE_OVER_CURRENT | `uint8` | 0 | (1 << 0) | +| FAILURE_OVER_VOLTAGE | `uint8` | 1 | (1 << 1) | +| FAILURE_MOTOR_OVER_TEMPERATURE | `uint8` | 2 | (1 << 2) | +| FAILURE_OVER_RPM | `uint8` | 3 | (1 << 3) | +| FAILURE_INCONSISTENT_CMD | `uint8` | 4 | (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries) | +| FAILURE_MOTOR_STUCK | `uint8` | 5 | (1 << 5) | +| FAILURE_GENERIC | `uint8` | 6 | (1 << 6) | +| FAILURE_MOTOR_WARN_TEMPERATURE | `uint8` | 7 | (1 << 7) | +| FAILURE_WARN_ESC_TEMPERATURE | `uint8` | 8 | (1 << 8) | +| FAILURE_OVER_ESC_TEMPERATURE | `uint8` | 9 | (1 << 9) | +| ESC_FAILURE_COUNT | `uint8` | 10 | Counter - keep it as last element! | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscReport.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -43,5 +99,6 @@ uint8 FAILURE_MOTOR_WARN_TEMPERATURE = 7 # (1 << 7) uint8 FAILURE_WARN_ESC_TEMPERATURE = 8 # (1 << 8) uint8 FAILURE_OVER_ESC_TEMPERATURE = 9 # (1 << 9) uint8 ESC_FAILURE_COUNT = 10 # Counter - keep it as last element! - ``` + +::: diff --git a/docs/ko/msg_docs/EscStatus.md b/docs/ko/msg_docs/EscStatus.md index 97ca475568..e3678d9ff0 100644 --- a/docs/ko/msg_docs/EscStatus.md +++ b/docs/ko/msg_docs/EscStatus.md @@ -1,6 +1,41 @@ +--- +pageClass: is-wide-page +--- + # EscStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscStatus.msg) +**TOPICS:** esc_status + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------- | -------------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| counter | `uint16` | | | incremented by the writing thread everytime new data is stored | +| esc_count | `uint8` | | | number of connected ESCs | +| esc_connectiontype | `uint8` | | | how ESCs connected to the system | +| esc_online_flags | `uint8` | | | Bitmask indicating which ESC is online/offline | +| esc_armed_flags | `uint8` | | | Bitmask indicating which ESC is armed. For ESC's where the arming state is not known (returned by the ESC), the arming bits should always be set. | +| esc | `EscReport[8]` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ---------------------------------------------------------------------------------------------------- | +| CONNECTED_ESC_MAX | `uint8` | 8 | The number of ESCs supported. Current (Q2/2013) we support 8 ESCs | +| ESC_CONNECTION_TYPE_PPM | `uint8` | 0 | Traditional PPM ESC | +| ESC_CONNECTION_TYPE_SERIAL | `uint8` | 1 | Serial Bus connected ESC | +| ESC_CONNECTION_TYPE_ONESHOT | `uint8` | 2 | One Shot PPM | +| ESC_CONNECTION_TYPE_I2C | `uint8` | 3 | I2C | +| ESC_CONNECTION_TYPE_CAN | `uint8` | 4 | CAN-Bus | +| ESC_CONNECTION_TYPE_DSHOT | `uint8` | 5 | DShot | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -31,5 +66,6 @@ uint8 esc_online_flags # Bitmask indicating which ESC is online/offline uint8 esc_armed_flags # Bitmask indicating which ESC is armed. For ESC's where the arming state is not known (returned by the ESC), the arming bits should always be set. EscReport[8] esc - ``` + +::: diff --git a/docs/ko/msg_docs/EstimatorAidSource1d.md b/docs/ko/msg_docs/EstimatorAidSource1d.md index da73b0859f..d2ea0e4575 100644 --- a/docs/ko/msg_docs/EstimatorAidSource1d.md +++ b/docs/ko/msg_docs/EstimatorAidSource1d.md @@ -1,6 +1,36 @@ +--- +pageClass: is-wide-page +--- + # EstimatorAidSource1d (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource1d.msg) +**TOPICS:** estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt estimator_aid_src_airspeed estimator_aid_src_sideslip estimator_aid_src_fake_hgt estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| estimator_instance | `uint8` | | | | +| device_id | `uint32` | | | | +| time_last_fuse | `uint64` | | | | +| observation | `float32` | | | | +| observation_variance | `float32` | | | | +| innovation | `float32` | | | | +| innovation_filtered | `float32` | | | | +| innovation_variance | `float32` | | | | +| test_ratio | `float32` | | | normalized innovation squared | +| test_ratio_filtered | `float32` | | | signed filtered test ratio | +| innovation_rejected | `bool` | | | true if the observation has been rejected | +| fused | `bool` | | | true if the sample was successfully fused | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource1d.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -30,5 +60,6 @@ bool fused # true if the sample was successfully fused # TOPICS estimator_aid_src_airspeed estimator_aid_src_sideslip # TOPICS estimator_aid_src_fake_hgt # TOPICS estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw - ``` + +::: diff --git a/docs/ko/msg_docs/EstimatorAidSource2d.md b/docs/ko/msg_docs/EstimatorAidSource2d.md index 9714e3491d..24d6ab62b2 100644 --- a/docs/ko/msg_docs/EstimatorAidSource2d.md +++ b/docs/ko/msg_docs/EstimatorAidSource2d.md @@ -1,6 +1,36 @@ +--- +pageClass: is-wide-page +--- + # EstimatorAidSource2d (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource2d.msg) +**TOPICS:** estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos estimator_aid_src_aux_global_position estimator_aid_src_aux_vel estimator_aid_src_optical_flow estimator_aid_src_drag + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| estimator_instance | `uint8` | | | | +| device_id | `uint32` | | | | +| time_last_fuse | `uint64` | | | | +| observation | `float64[2]` | | | | +| observation_variance | `float32[2]` | | | | +| innovation | `float32[2]` | | | | +| innovation_filtered | `float32[2]` | | | | +| innovation_variance | `float32[2]` | | | | +| test_ratio | `float32[2]` | | | normalized innovation squared | +| test_ratio_filtered | `float32[2]` | | | signed filtered test ratio | +| innovation_rejected | `bool` | | | true if the observation has been rejected | +| fused | `bool` | | | true if the sample was successfully fused | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource2d.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -29,5 +59,6 @@ bool fused # true if the sample was successfully fused # TOPICS estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos estimator_aid_src_aux_global_position # TOPICS estimator_aid_src_aux_vel estimator_aid_src_optical_flow # TOPICS estimator_aid_src_drag - ``` + +::: diff --git a/docs/ko/msg_docs/EstimatorAidSource3d.md b/docs/ko/msg_docs/EstimatorAidSource3d.md index 69b38719a3..4f756a8c4f 100644 --- a/docs/ko/msg_docs/EstimatorAidSource3d.md +++ b/docs/ko/msg_docs/EstimatorAidSource3d.md @@ -1,6 +1,36 @@ +--- +pageClass: is-wide-page +--- + # EstimatorAidSource3d (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource3d.msg) +**TOPICS:** estimator_aid_src_ev_vel estimator_aid_src_gnss_vel estimator_aid_src_gravity estimator_aid_src_mag + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| estimator_instance | `uint8` | | | | +| device_id | `uint32` | | | | +| time_last_fuse | `uint64` | | | | +| observation | `float32[3]` | | | | +| observation_variance | `float32[3]` | | | | +| innovation | `float32[3]` | | | | +| innovation_filtered | `float32[3]` | | | | +| innovation_variance | `float32[3]` | | | | +| test_ratio | `float32[3]` | | | normalized innovation squared | +| test_ratio_filtered | `float32[3]` | | | signed filtered test ratio | +| innovation_rejected | `bool` | | | true if the observation has been rejected | +| fused | `bool` | | | true if the sample was successfully fused | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource3d.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -27,5 +57,6 @@ bool innovation_rejected # true if the observation has been rejected bool fused # true if the sample was successfully fused # TOPICS estimator_aid_src_ev_vel estimator_aid_src_gnss_vel estimator_aid_src_gravity estimator_aid_src_mag - ``` + +::: diff --git a/docs/ko/msg_docs/EstimatorBias.md b/docs/ko/msg_docs/EstimatorBias.md index fa911d05b8..be5bd57dad 100644 --- a/docs/ko/msg_docs/EstimatorBias.md +++ b/docs/ko/msg_docs/EstimatorBias.md @@ -1,6 +1,30 @@ +--- +pageClass: is-wide-page +--- + # EstimatorBias (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorBias.msg) +**TOPICS:** estimator_baro_bias estimator_gnss_hgt_bias + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| bias | `float32` | | | estimated barometric altitude bias (m) | +| bias_var | `float32` | | | estimated barometric altitude bias variance (m^2) | +| innov | `float32` | | | innovation of the last measurement fusion (m) | +| innov_var | `float32` | | | innovation variance of the last measurement fusion (m^2) | +| innov_test_ratio | `float32` | | | normalized innovation squared test ratio | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorBias.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -15,5 +39,6 @@ float32 innov_var # innovation variance of the last measurement fusion (m^2) float32 innov_test_ratio # normalized innovation squared test ratio # TOPICS estimator_baro_bias estimator_gnss_hgt_bias - ``` + +::: diff --git a/docs/ko/msg_docs/EstimatorBias3d.md b/docs/ko/msg_docs/EstimatorBias3d.md index 7fff18ae25..d2dfe2c464 100644 --- a/docs/ko/msg_docs/EstimatorBias3d.md +++ b/docs/ko/msg_docs/EstimatorBias3d.md @@ -1,6 +1,30 @@ +--- +pageClass: is-wide-page +--- + # EstimatorBias3d (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorBias3d.msg) +**TOPICS:** estimator_bias3d estimator_ev_pos_bias + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| bias | `float32[3]` | | | estimated barometric altitude bias (m) | +| bias_var | `float32[3]` | | | estimated barometric altitude bias variance (m^2) | +| innov | `float32[3]` | | | innovation of the last measurement fusion (m) | +| innov_var | `float32[3]` | | | innovation variance of the last measurement fusion (m^2) | +| innov_test_ratio | `float32[3]` | | | normalized innovation squared test ratio | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorBias3d.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -17,5 +41,6 @@ float32[3] innov_test_ratio # normalized innovation squared test ratio # TOPICS estimator_bias3d # TOPICS estimator_ev_pos_bias - ``` + +::: diff --git a/docs/ko/msg_docs/EstimatorEventFlags.md b/docs/ko/msg_docs/EstimatorEventFlags.md index 54f333d788..f4f6350ab1 100644 --- a/docs/ko/msg_docs/EstimatorEventFlags.md +++ b/docs/ko/msg_docs/EstimatorEventFlags.md @@ -1,6 +1,42 @@ +--- +pageClass: is-wide-page +--- + # EstimatorEventFlags (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorEventFlags.msg) +**TOPICS:** estimator_eventflags + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| information_event_changes | `uint32` | | | number of information event changes | +| gps_checks_passed | `bool` | | | 0 - true when gps quality checks are passing passed | +| reset_vel_to_gps | `bool` | | | 1 - true when the velocity states are reset to the gps measurement | +| reset_vel_to_flow | `bool` | | | 2 - true when the velocity states are reset using the optical flow measurement | +| reset_vel_to_vision | `bool` | | | 3 - true when the velocity states are reset to the vision system measurement | +| reset_vel_to_zero | `bool` | | | 4 - true when the velocity states are reset to zero | +| reset_pos_to_last_known | `bool` | | | 5 - true when the position states are reset to the last known position | +| reset_pos_to_gps | `bool` | | | 6 - true when the position states are reset to the gps measurement | +| reset_pos_to_vision | `bool` | | | 7 - true when the position states are reset to the vision system measurement | +| starting_gps_fusion | `bool` | | | 8 - true when the filter starts using gps measurements to correct the state estimates | +| starting_vision_pos_fusion | `bool` | | | 9 - true when the filter starts using vision system position measurements to correct the state estimates | +| starting_vision_vel_fusion | `bool` | | | 10 - true when the filter starts using vision system velocity measurements to correct the state estimates | +| starting_vision_yaw_fusion | `bool` | | | 11 - true when the filter starts using vision system yaw measurements to correct the state estimates | +| yaw_aligned_to_imu_gps | `bool` | | | 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data | +| reset_hgt_to_baro | `bool` | | | 13 - true when the vertical position state is reset to the baro measurement | +| reset_hgt_to_gps | `bool` | | | 14 - true when the vertical position state is reset to the gps measurement | +| reset_hgt_to_rng | `bool` | | | 15 - true when the vertical position state is reset to the rng measurement | +| reset_hgt_to_ev | `bool` | | | 16 - true when the vertical position state is reset to the ev measurement | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorEventFlags.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -25,5 +61,6 @@ bool reset_hgt_to_baro # 13 - true when the vertical position s bool reset_hgt_to_gps # 14 - true when the vertical position state is reset to the gps measurement bool reset_hgt_to_rng # 15 - true when the vertical position state is reset to the rng measurement bool reset_hgt_to_ev # 16 - true when the vertical position state is reset to the ev measurement - ``` + +::: diff --git a/docs/ko/msg_docs/EstimatorGpsStatus.md b/docs/ko/msg_docs/EstimatorGpsStatus.md index 1833682def..b7a4b3c9ff 100644 --- a/docs/ko/msg_docs/EstimatorGpsStatus.md +++ b/docs/ko/msg_docs/EstimatorGpsStatus.md @@ -1,6 +1,39 @@ +--- +pageClass: is-wide-page +--- + # EstimatorGpsStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorGpsStatus.msg) +**TOPICS:** estimator_gpsstatus + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| checks_passed | `bool` | | | | +| check_fail_gps_fix | `bool` | | | 0 : insufficient fix type (no 3D solution) | +| check_fail_min_sat_count | `bool` | | | 1 : minimum required sat count fail | +| check_fail_max_pdop | `bool` | | | 2 : maximum allowed PDOP fail | +| check_fail_max_horz_err | `bool` | | | 3 : maximum allowed horizontal position error fail | +| check_fail_max_vert_err | `bool` | | | 4 : maximum allowed vertical position error fail | +| check_fail_max_spd_err | `bool` | | | 5 : maximum allowed speed error fail | +| check_fail_max_horz_drift | `bool` | | | 6 : maximum allowed horizontal position drift fail - requires stationary vehicle | +| check_fail_max_vert_drift | `bool` | | | 7 : maximum allowed vertical position drift fail - requires stationary vehicle | +| check_fail_max_horz_spd_err | `bool` | | | 8 : maximum allowed horizontal speed fail - requires stationary vehicle | +| check_fail_max_vert_spd_err | `bool` | | | 9 : maximum allowed vertical velocity discrepancy fail | +| check_fail_spoofed_gps | `bool` | | | 10 : GPS signal is spoofed | +| position_drift_rate_horizontal_m_s | `float32` | | | Horizontal position rate magnitude (m/s) | +| position_drift_rate_vertical_m_s | `float32` | | | Vertical position rate magnitude (m/s) | +| filtered_horizontal_speed_m_s | `float32` | | | Filtered horizontal velocity magnitude (m/s) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorGpsStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -23,5 +56,6 @@ bool check_fail_spoofed_gps # 10 : GPS signal is spoofed float32 position_drift_rate_horizontal_m_s # Horizontal position rate magnitude (m/s) float32 position_drift_rate_vertical_m_s # Vertical position rate magnitude (m/s) float32 filtered_horizontal_speed_m_s # Filtered horizontal velocity magnitude (m/s) - ``` + +::: diff --git a/docs/ko/msg_docs/EstimatorInnovations.md b/docs/ko/msg_docs/EstimatorInnovations.md index 59014ef15b..87c3692da4 100644 --- a/docs/ko/msg_docs/EstimatorInnovations.md +++ b/docs/ko/msg_docs/EstimatorInnovations.md @@ -1,6 +1,44 @@ +--- +pageClass: is-wide-page +--- + # EstimatorInnovations (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorInnovations.msg) +**TOPICS:** estimator_innovations estimator_innovation_variances estimator_innovation_test_ratios + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| gps_hvel | `float32[2]` | | | horizontal GPS velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) | +| `float32` | | | vertical GPS velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) | | +| gps_hpos | `float32[2]` | | | horizontal GPS position innovation (m) and innovation variance (m\*\*2) | +| `float32` | | | vertical GPS position innovation (m) and innovation variance (m\*\*2) | | +| ev_hvel | `float32[2]` | | | horizontal external vision velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) | +| `float32` | | | vertical external vision velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) | | +| ev_hpos | `float32[2]` | | | horizontal external vision position innovation (m) and innovation variance (m\*\*2) | +| `float32` | | | vertical external vision position innovation (m) and innovation variance (m\*\*2) | | +| rng_vpos | `float32` | | | range sensor height innovation (m) and innovation variance (m\*\*2) | +| baro_vpos | `float32` | | | barometer height innovation (m) and innovation variance (m\*\*2) | +| aux_hvel | `float32[2]` | | | horizontal auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)\*\*2) | +| flow | `float32[2]` | | | flow innvoation (rad/sec) and innovation variance ((rad/sec)\*\*2) | +| heading | `float32` | | | heading innovation (rad) and innovation variance (rad\*\*2) | +| mag_field | `float32[3]` | | | earth magnetic field innovation (Gauss) and innovation variance (Gauss\*\*2) | +| gravity | `float32[3]` | | | gravity innovation from accelerometerr vector (m/s\*\*2) | +| drag | `float32[2]` | | | drag specific force innovation (m/sec\*\*2) and innovation variance ((m/sec)\*\*2) | +| airspeed | `float32` | | | airspeed innovation (m/sec) and innovation variance ((m/sec)\*\*2) | +| beta | `float32` | | | synthetic sideslip innovation (rad) and innovation variance (rad\*\*2) | +| hagl | `float32` | | | height of ground innovation (m) and innovation variance (m\*\*2) | +| hagl_rate | `float32` | | | height of ground rate innovation (m/s) and innovation variance ((m/s)\*\*2) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorInnovations.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -42,5 +80,6 @@ float32 hagl_rate # height of ground rate innovation (m/s) and innovation varian # the test ratio will be put in the first component of the vector. # TOPICS estimator_innovations estimator_innovation_variances estimator_innovation_test_ratios - ``` + +::: diff --git a/docs/ko/msg_docs/EstimatorSelectorStatus.md b/docs/ko/msg_docs/EstimatorSelectorStatus.md index fd1145e2dc..a908697306 100644 --- a/docs/ko/msg_docs/EstimatorSelectorStatus.md +++ b/docs/ko/msg_docs/EstimatorSelectorStatus.md @@ -1,6 +1,38 @@ +--- +pageClass: is-wide-page +--- + # EstimatorSelectorStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorSelectorStatus.msg) +**TOPICS:** estimator_selectorstatus + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| primary_instance | `uint8` | | | | +| instances_available | `uint8` | | | | +| instance_changed_count | `uint32` | | | | +| last_instance_change | `uint64` | | | | +| accel_device_id | `uint32` | | | | +| baro_device_id | `uint32` | | | | +| gyro_device_id | `uint32` | | | | +| mag_device_id | `uint32` | | | | +| combined_test_ratio | `float32[9]` | | | | +| relative_test_ratio | `float32[9]` | | | | +| healthy | `bool[9]` | | | | +| accumulated_gyro_error | `float32[4]` | | | | +| accumulated_accel_error | `float32[4]` | | | | +| gyro_fault_detected | `bool` | | | | +| accel_fault_detected | `bool` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorSelectorStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -25,5 +57,6 @@ float32[4] accumulated_gyro_error float32[4] accumulated_accel_error bool gyro_fault_detected bool accel_fault_detected - ``` + +::: diff --git a/docs/ko/msg_docs/EstimatorSensorBias.md b/docs/ko/msg_docs/EstimatorSensorBias.md index 9b4a1d66c2..babb6a5532 100644 --- a/docs/ko/msg_docs/EstimatorSensorBias.md +++ b/docs/ko/msg_docs/EstimatorSensorBias.md @@ -1,9 +1,44 @@ +--- +pageClass: is-wide-page +--- + # EstimatorSensorBias (UORB message) -Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets, -scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available). +Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets,. scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available). -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorSensorBias.msg) +**TOPICS:** estimator_sensorbias + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| gyro_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| gyro_bias | `float32[3]` | | | gyroscope in-run bias in body frame (rad/s) | +| gyro_bias_limit | `float32` | | | magnitude of maximum gyroscope in-run bias in body frame (rad/s) | +| gyro_bias_variance | `float32[3]` | | | | +| gyro_bias_valid | `bool` | | | | +| gyro_bias_stable | `bool` | | | true when the gyro bias estimate is stable enough to use for calibration | +| accel_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| accel_bias | `float32[3]` | | | accelerometer in-run bias in body frame (m/s^2) | +| accel_bias_limit | `float32` | | | magnitude of maximum accelerometer in-run bias in body frame (m/s^2) | +| accel_bias_variance | `float32[3]` | | | | +| accel_bias_valid | `bool` | | | | +| accel_bias_stable | `bool` | | | true when the accel bias estimate is stable enough to use for calibration | +| mag_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| mag_bias | `float32[3]` | | | magnetometer in-run bias in body frame (Gauss) | +| mag_bias_limit | `float32` | | | magnitude of maximum magnetometer in-run bias in body frame (Gauss) | +| mag_bias_variance | `float32[3]` | | | | +| mag_bias_valid | `bool` | | | | +| mag_bias_stable | `bool` | | | true when the mag bias estimate is stable enough to use for calibration | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorSensorBias.msg) + +:::details +Click here to see original file ```c # @@ -36,5 +71,6 @@ float32 mag_bias_limit # magnitude of maximum magnetometer in-run bias float32[3] mag_bias_variance bool mag_bias_valid bool mag_bias_stable # true when the mag bias estimate is stable enough to use for calibration - ``` + +::: diff --git a/docs/ko/msg_docs/EstimatorStates.md b/docs/ko/msg_docs/EstimatorStates.md index 7d13493ca9..5ec8193d09 100644 --- a/docs/ko/msg_docs/EstimatorStates.md +++ b/docs/ko/msg_docs/EstimatorStates.md @@ -1,6 +1,27 @@ +--- +pageClass: is-wide-page +--- + # EstimatorStates (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStates.msg) +**TOPICS:** estimator_states + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------- | ------------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| states | `float32[25]` | | | Internal filter states | +| n_states | `uint8` | | | Number of states effectively used | +| covariances | `float32[24]` | | | Diagonal Elements of Covariance Matrix | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStates.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -10,5 +31,6 @@ float32[25] states # Internal filter states uint8 n_states # Number of states effectively used float32[24] covariances # Diagonal Elements of Covariance Matrix - ``` + +::: diff --git a/docs/ko/msg_docs/EstimatorStatus.md b/docs/ko/msg_docs/EstimatorStatus.md index aca77484b9..bbc1a2b612 100644 --- a/docs/ko/msg_docs/EstimatorStatus.md +++ b/docs/ko/msg_docs/EstimatorStatus.md @@ -1,6 +1,109 @@ +--- +pageClass: is-wide-page +--- + # EstimatorStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg) +**TOPICS:** estimator_status + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| output_tracking_error | `float32[3]` | | | return a vector containing the output predictor angular, velocity and position tracking error magnitudes (rad), (m/s), (m) | +| gps_check_fail_flags | `uint16` | | | Bitmask to indicate status of GPS checks - see definition below | +| control_mode_flags | `uint64` | | | Bitmask to indicate EKF logic state | +| filter_fault_flags | `uint32` | | | Bitmask to indicate EKF internal faults | +| pos_horiz_accuracy | `float32` | | | 1-Sigma estimated horizontal position accuracy relative to the estimators origin (m) | +| pos_vert_accuracy | `float32` | | | 1-Sigma estimated vertical position accuracy relative to the estimators origin (m) | +| hdg_test_ratio | `float32` | | | low-pass filtered ratio of the largest heading innovation component to the innovation test limit | +| vel_test_ratio | `float32` | | | low-pass filtered ratio of the largest velocity innovation component to the innovation test limit | +| pos_test_ratio | `float32` | | | low-pass filtered ratio of the largest horizontal position innovation component to the innovation test limit | +| hgt_test_ratio | `float32` | | | low-pass filtered ratio of the vertical position innovation to the innovation test limit | +| tas_test_ratio | `float32` | | | low-pass filtered ratio of the true airspeed innovation to the innovation test limit | +| hagl_test_ratio | `float32` | | | low-pass filtered ratio of the height above ground innovation to the innovation test limit | +| beta_test_ratio | `float32` | | | low-pass filtered ratio of the synthetic sideslip innovation to the innovation test limit | +| solution_status_flags | `uint16` | | | Bitmask indicating which filter kinematic state outputs are valid for flight control use. | +| reset_count_vel_ne | `uint8` | | | number of horizontal position reset events (allow to wrap if count exceeds 255) | +| reset_count_vel_d | `uint8` | | | number of vertical velocity reset events (allow to wrap if count exceeds 255) | +| reset_count_pos_ne | `uint8` | | | number of horizontal position reset events (allow to wrap if count exceeds 255) | +| reset_count_pod_d | `uint8` | | | number of vertical position reset events (allow to wrap if count exceeds 255) | +| reset_count_quat | `uint8` | | | number of quaternion reset events (allow to wrap if count exceeds 255) | +| time_slip | `float32` | | | cumulative amount of time in seconds that the EKF inertial calculation has slipped relative to system time | +| pre_flt_fail_innov_heading | `bool` | | | | +| pre_flt_fail_innov_height | `bool` | | | | +| pre_flt_fail_innov_pos_horiz | `bool` | | | | +| pre_flt_fail_innov_vel_horiz | `bool` | | | | +| pre_flt_fail_innov_vel_vert | `bool` | | | | +| pre_flt_fail_mag_field_disturbed | `bool` | | | | +| accel_device_id | `uint32` | | | | +| gyro_device_id | `uint32` | | | | +| baro_device_id | `uint32` | | | | +| mag_device_id | `uint32` | | | | +| health_flags | `uint8` | | | Bitmask to indicate sensor health states (vel, pos, hgt) | +| timeout_flags | `uint8` | | | Bitmask to indicate timeout flags (vel, pos, hgt) | +| mag_inclination_deg | `float32` | | | | +| mag_inclination_ref_deg | `float32` | | | | +| mag_strength_gs | `float32` | | | | +| mag_strength_ref_gs | `float32` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------------------- | +| GPS_CHECK_FAIL_GPS_FIX | `uint8` | 0 | 0 : insufficient fix type (no 3D solution) | +| GPS_CHECK_FAIL_MIN_SAT_COUNT | `uint8` | 1 | 1 : minimum required sat count fail | +| GPS_CHECK_FAIL_MAX_PDOP | `uint8` | 2 | 2 : maximum allowed PDOP fail | +| GPS_CHECK_FAIL_MAX_HORZ_ERR | `uint8` | 3 | 3 : maximum allowed horizontal position error fail | +| GPS_CHECK_FAIL_MAX_VERT_ERR | `uint8` | 4 | 4 : maximum allowed vertical position error fail | +| GPS_CHECK_FAIL_MAX_SPD_ERR | `uint8` | 5 | 5 : maximum allowed speed error fail | +| GPS_CHECK_FAIL_MAX_HORZ_DRIFT | `uint8` | 6 | 6 : maximum allowed horizontal position drift fail - requires stationary vehicle | +| GPS_CHECK_FAIL_MAX_VERT_DRIFT | `uint8` | 7 | 7 : maximum allowed vertical position drift fail - requires stationary vehicle | +| GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR | `uint8` | 8 | 8 : maximum allowed horizontal speed fail - requires stationary vehicle | +| GPS_CHECK_FAIL_MAX_VERT_SPD_ERR | `uint8` | 9 | 9 : maximum allowed vertical velocity discrepancy fail | +| GPS_CHECK_FAIL_SPOOFED | `uint8` | 10 | 10 : GPS signal is spoofed | +| GPS_CHECK_FAIL_JAMMED | `uint8` | 11 | 11 : GPS signal is jammed | +| CS_TILT_ALIGN | `uint8` | 0 | 0 - true if the filter tilt alignment is complete | +| CS_YAW_ALIGN | `uint8` | 1 | 1 - true if the filter yaw alignment is complete | +| CS_GNSS_POS | `uint8` | 2 | 2 - true if GNSS position measurements are being fused | +| CS_OPT_FLOW | `uint8` | 3 | 3 - true if optical flow measurements are being fused | +| CS_MAG_HDG | `uint8` | 4 | 4 - true if a simple magnetic yaw heading is being fused | +| CS_MAG_3D | `uint8` | 5 | 5 - true if 3-axis magnetometer measurement are being fused | +| CS_MAG_DEC | `uint8` | 6 | 6 - true if synthetic magnetic declination measurements are being fused | +| CS_IN_AIR | `uint8` | 7 | 7 - true when thought to be airborne | +| CS_WIND | `uint8` | 8 | 8 - true when wind velocity is being estimated | +| CS_BARO_HGT | `uint8` | 9 | 9 - true when baro data is being fused | +| CS_RNG_HGT | `uint8` | 10 | 10 - true when range finder data is being fused for height aiding | +| CS_GPS_HGT | `uint8` | 11 | 11 - true when GPS altitude is being fused | +| CS_EV_POS | `uint8` | 12 | 12 - true when local position data from external vision is being fused | +| CS_EV_YAW | `uint8` | 13 | 13 - true when yaw data from external vision measurements is being fused | +| CS_EV_HGT | `uint8` | 14 | 14 - true when height data from external vision measurements is being fused | +| CS_BETA | `uint8` | 15 | 15 - true when synthetic sideslip measurements are being fused | +| CS_MAG_FIELD | `uint8` | 16 | 16 - true when only the magnetic field states are updated by the magnetometer | +| CS_FIXED_WING | `uint8` | 17 | 17 - true when thought to be operating as a fixed wing vehicle with constrained sideslip | +| CS_MAG_FAULT | `uint8` | 18 | 18 - true when the magnetometer has been declared faulty and is no longer being used | +| CS_ASPD | `uint8` | 19 | 19 - true when airspeed measurements are being fused | +| CS_GND_EFFECT | `uint8` | 20 | 20 - true when when protection from ground effect induced static pressure rise is active | +| CS_RNG_STUCK | `uint8` | 21 | 21 - true when a stuck range finder sensor has been detected | +| CS_GPS_YAW | `uint8` | 22 | 22 - true when yaw (not ground course) data from a GPS receiver is being fused | +| CS_MAG_ALIGNED | `uint8` | 23 | 23 - true when the in-flight mag field alignment has been completed | +| CS_EV_VEL | `uint8` | 24 | 24 - true when local frame velocity data fusion from external vision measurements is intended | +| CS_SYNTHETIC_MAG_Z | `uint8` | 25 | 25 - true when we are using a synthesized measurement for the magnetometer Z component | +| CS_VEHICLE_AT_REST | `uint8` | 26 | 26 - true when the vehicle is at rest | +| CS_GPS_YAW_FAULT | `uint8` | 27 | 27 - true when the GNSS heading has been declared faulty and is no longer being used | +| CS_RNG_FAULT | `uint8` | 28 | 28 - true when the range finder has been declared faulty and is no longer being used | +| CS_GNSS_VEL | `uint8` | 44 | 44 - true if GNSS velocity measurement fusion is intended | +| CS_GNSS_FAULT | `uint8` | 45 | 45 - true if GNSS measurements have been declared faulty and are no longer used | +| CS_YAW_MANUAL | `uint8` | 46 | 46 - true if yaw has been set manually | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -130,5 +233,6 @@ float32 mag_inclination_deg float32 mag_inclination_ref_deg float32 mag_strength_gs float32 mag_strength_ref_gs - ``` + +::: diff --git a/docs/ko/msg_docs/EstimatorStatusFlags.md b/docs/ko/msg_docs/EstimatorStatusFlags.md index aa7250fe1e..0b907904f0 100644 --- a/docs/ko/msg_docs/EstimatorStatusFlags.md +++ b/docs/ko/msg_docs/EstimatorStatusFlags.md @@ -1,6 +1,85 @@ +--- +pageClass: is-wide-page +--- + # EstimatorStatusFlags (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatusFlags.msg) +**TOPICS:** estimator_statusflags + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------------------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| control_status_changes | `uint32` | | | number of filter control status (cs) changes | +| cs_tilt_align | `bool` | | | 0 - true if the filter tilt alignment is complete | +| cs_yaw_align | `bool` | | | 1 - true if the filter yaw alignment is complete | +| cs_gnss_pos | `bool` | | | 2 - true if GNSS position measurement fusion is intended | +| cs_opt_flow | `bool` | | | 3 - true if optical flow measurements fusion is intended | +| cs_mag_hdg | `bool` | | | 4 - true if a simple magnetic yaw heading fusion is intended | +| cs_mag_3d | `bool` | | | 5 - true if 3-axis magnetometer measurement fusion is intended | +| cs_mag_dec | `bool` | | | 6 - true if synthetic magnetic declination measurements fusion is intended | +| cs_in_air | `bool` | | | 7 - true when the vehicle is airborne | +| cs_wind | `bool` | | | 8 - true when wind velocity is being estimated | +| cs_baro_hgt | `bool` | | | 9 - true when baro data is being fused | +| cs_rng_hgt | `bool` | | | 10 - true when range finder data is being fused for height aiding | +| cs_gps_hgt | `bool` | | | 11 - true when GPS altitude is being fused | +| cs_ev_pos | `bool` | | | 12 - true when local position data fusion from external vision is intended | +| cs_ev_yaw | `bool` | | | 13 - true when yaw data from external vision measurements fusion is intended | +| cs_ev_hgt | `bool` | | | 14 - true when height data from external vision measurements is being fused | +| cs_fuse_beta | `bool` | | | 15 - true when synthetic sideslip measurements are being fused | +| cs_mag_field_disturbed | `bool` | | | 16 - true when the mag field does not match the expected strength | +| cs_fixed_wing | `bool` | | | 17 - true when the vehicle is operating as a fixed wing vehicle | +| cs_mag_fault | `bool` | | | 18 - true when the magnetometer has been declared faulty and is no longer being used | +| cs_fuse_aspd | `bool` | | | 19 - true when airspeed measurements are being fused | +| cs_gnd_effect | `bool` | | | 20 - true when protection from ground effect induced static pressure rise is active | +| cs_rng_stuck | `bool` | | | 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough | +| cs_gnss_yaw | `bool` | | | 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended | +| cs_mag_aligned_in_flight | `bool` | | | 23 - true when the in-flight mag field alignment has been completed | +| cs_ev_vel | `bool` | | | 24 - true when local frame velocity data fusion from external vision measurements is intended | +| cs_synthetic_mag_z | `bool` | | | 25 - true when we are using a synthesized measurement for the magnetometer Z component | +| cs_vehicle_at_rest | `bool` | | | 26 - true when the vehicle is at rest | +| cs_gnss_yaw_fault | `bool` | | | 27 - true when the GNSS heading has been declared faulty and is no longer being used | +| cs_rng_fault | `bool` | | | 28 - true when the range finder has been declared faulty and is no longer being used | +| cs_inertial_dead_reckoning | `bool` | | | 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift | +| cs_wind_dead_reckoning | `bool` | | | 30 - true if we are navigationg reliant on wind relative measurements | +| cs_rng_kin_consistent | `bool` | | | 31 - true when the range finder kinematic consistency check is passing | +| cs_fake_pos | `bool` | | | 32 - true when fake position measurements are being fused | +| cs_fake_hgt | `bool` | | | 33 - true when fake height measurements are being fused | +| cs_gravity_vector | `bool` | | | 34 - true when gravity vector measurements are being fused | +| cs_mag | `bool` | | | 35 - true if 3-axis magnetometer measurement fusion (mag states only) is intended | +| cs_ev_yaw_fault | `bool` | | | 36 - true when the EV heading has been declared faulty and is no longer being used | +| cs_mag_heading_consistent | `bool` | | | 37 - true when the heading obtained from mag data is declared consistent with the filter | +| cs_aux_gpos | `bool` | | | 38 - true if auxiliary global position measurement fusion is intended | +| cs_rng_terrain | `bool` | | | 39 - true if we are fusing range finder data for terrain | +| cs_opt_flow_terrain | `bool` | | | 40 - true if we are fusing flow data for terrain | +| cs_valid_fake_pos | `bool` | | | 41 - true if a valid constant position is being fused | +| cs_constant_pos | `bool` | | | 42 - true if the vehicle is at a constant position | +| cs_baro_fault | `bool` | | | 43 - true when the current baro has been declared faulty and is no longer being used | +| cs_gnss_vel | `bool` | | | 44 - true if GNSS velocity measurement fusion is intended | +| cs_gnss_fault | `bool` | | | 45 - true if GNSS true if GNSS measurements (lat, lon, vel) have been declared faulty | +| cs_yaw_manual | `bool` | | | 46 - true if yaw has been set manually | +| cs_gnss_hgt_fault | `bool` | | | 47 - true if GNSS true if GNSS measurements (alt) have been declared faulty | +| fault_status_changes | `uint32` | | | number of filter fault status (fs) changes | +| fs_bad_mag_x | `bool` | | | 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error | +| fs_bad_mag_y | `bool` | | | 1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error | +| fs_bad_mag_z | `bool` | | | 2 - true if the fusion of the magnetometer Z-axis has encountered a numerical error | +| fs_bad_hdg | `bool` | | | 3 - true if the fusion of the heading angle has encountered a numerical error | +| fs_bad_mag_decl | `bool` | | | 4 - true if the fusion of the magnetic declination has encountered a numerical error | +| fs_bad_airspeed | `bool` | | | 5 - true if fusion of the airspeed has encountered a numerical error | +| fs_bad_sideslip | `bool` | | | 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error | +| fs_bad_optflow_x | `bool` | | | 7 - true if fusion of the optical flow X axis has encountered a numerical error | +| fs_bad_optflow_y | `bool` | | | 8 - true if fusion of the optical flow Y axis has encountered a numerical error | +| fs_bad_acc_vertical | `bool` | | | 10 - true if bad vertical accelerometer data has been detected | +| fs_bad_acc_clipping | `bool` | | | 11 - true if delta velocity data contains clipping (asymmetric railing) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatusFlags.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -71,19 +150,6 @@ bool fs_bad_optflow_x # 7 - true if fusion of the optical flow X axis h bool fs_bad_optflow_y # 8 - true if fusion of the optical flow Y axis has encountered a numerical error bool fs_bad_acc_vertical # 10 - true if bad vertical accelerometer data has been detected bool fs_bad_acc_clipping # 11 - true if delta velocity data contains clipping (asymmetric railing) - - -# innovation test failures -uint32 innovation_fault_status_changes # number of innovation fault status (reject) changes -bool reject_hor_vel # 0 - true if horizontal velocity observations have been rejected -bool reject_ver_vel # 1 - true if vertical velocity observations have been rejected -bool reject_hor_pos # 2 - true if horizontal position observations have been rejected -bool reject_ver_pos # 3 - true if vertical position observations have been rejected -bool reject_yaw # 7 - true if the yaw observation has been rejected -bool reject_airspeed # 8 - true if the airspeed observation has been rejected -bool reject_sideslip # 9 - true if the synthetic sideslip observation has been rejected -bool reject_hagl # 10 - true if the height above ground observation has been rejected -bool reject_optflow_x # 11 - true if the X optical flow observation has been rejected -bool reject_optflow_y # 12 - true if the Y optical flow observation has been rejected - ``` + +::: diff --git a/docs/ko/msg_docs/Event.md b/docs/ko/msg_docs/Event.md index 5d22f337f5..6fa988c3fd 100644 --- a/docs/ko/msg_docs/Event.md +++ b/docs/ko/msg_docs/Event.md @@ -1,8 +1,36 @@ +--- +pageClass: is-wide-page +--- + # Event (UORB message) -Events interface +Events interface. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/Event.msg) +**TOPICS:** event + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| id | `uint32` | | | Event ID | +| event_sequence | `uint16` | | | Event sequence number | +| arguments | `uint8[25]` | | | (optional) arguments, depend on event id | +| log_levels | `uint8` | | | Log levels: 4 bits MSB: internal, 4 bits LSB: external | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 1 | | +| ORB_QUEUE_LENGTH | `uint8` | 16 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/Event.msg) + +:::details +Click here to see original file ```c # Events interface @@ -17,5 +45,6 @@ uint8[25] arguments # (optional) arguments, depend on event id uint8 log_levels # Log levels: 4 bits MSB: internal, 4 bits LSB: external uint8 ORB_QUEUE_LENGTH = 16 - ``` + +::: diff --git a/docs/ko/msg_docs/EventV0.md b/docs/ko/msg_docs/EventV0.md index 19cfa7b70c..4bc23e839a 100644 --- a/docs/ko/msg_docs/EventV0.md +++ b/docs/ko/msg_docs/EventV0.md @@ -1,9 +1,36 @@ +--- +pageClass: is-wide-page +--- + # EventV0 (UORB message) -this message is required here in the msg_old folder because other msg are depending on it -Events interface +this message is required here in the msg_old folder because other msg are depending on it. Events interface. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/EventV0.msg) +**TOPICS:** eventv0 + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| id | `uint32` | | | Event ID | +| event_sequence | `uint16` | | | Event sequence number | +| arguments | `uint8[25]` | | | (optional) arguments, depend on event id | +| log_levels | `uint8` | | | Log levels: 4 bits MSB: internal, 4 bits LSB: external | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | +| ORB_QUEUE_LENGTH | `uint8` | 16 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/EventV0.msg) + +:::details +Click here to see original file ```c # this message is required here in the msg_old folder because other msg are depending on it @@ -20,5 +47,6 @@ uint8[25] arguments # (optional) arguments, depend on event id uint8 log_levels # Log levels: 4 bits MSB: internal, 4 bits LSB: external uint8 ORB_QUEUE_LENGTH = 16 - ``` + +::: diff --git a/docs/ko/msg_docs/FailsafeFlags.md b/docs/ko/msg_docs/FailsafeFlags.md index a9e0079ae8..04514b37ba 100644 --- a/docs/ko/msg_docs/FailsafeFlags.md +++ b/docs/ko/msg_docs/FailsafeFlags.md @@ -1,3 +1,7 @@ +--- +pageClass: is-wide-page +--- + # FailsafeFlags (UORB message) Input flags for the failsafe state machine set by the arming & health checks. @@ -5,7 +9,61 @@ Input flags for the failsafe state machine set by the arming & health checks. Flags must be named such that false == no failure (e.g. \_invalid, \_unhealthy, \_lost) The flag comments are used as label for the failsafe state machine simulation -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FailsafeFlags.msg) +**TOPICS:** failsafe_flags + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| mode_req_angular_velocity | `uint32` | | | | +| mode_req_attitude | `uint32` | | | | +| mode_req_local_alt | `uint32` | | | | +| mode_req_local_position | `uint32` | | | | +| mode_req_local_position_relaxed | `uint32` | | | | +| mode_req_global_position | `uint32` | | | | +| mode_req_global_position_relaxed | `uint32` | | | | +| mode_req_mission | `uint32` | | | | +| mode_req_offboard_signal | `uint32` | | | | +| mode_req_home_position | `uint32` | | | | +| mode_req_wind_and_flight_time_compliance | `uint32` | | | if set, mode cannot be entered if wind or flight time limit exceeded | +| mode_req_prevent_arming | `uint32` | | | if set, cannot arm while in this mode | +| mode_req_manual_control | `uint32` | | | | +| mode_req_other | `uint32` | | | other requirements, not covered above (for external modes) | +| angular_velocity_invalid | `bool` | | | Angular velocity invalid | +| attitude_invalid | `bool` | | | Attitude invalid | +| local_altitude_invalid | `bool` | | | Local altitude invalid | +| local_position_invalid | `bool` | | | Local position estimate invalid | +| local_position_invalid_relaxed | `bool` | | | Local position with reduced accuracy requirements invalid (e.g. flying with optical flow) | +| local_velocity_invalid | `bool` | | | Local velocity estimate invalid | +| global_position_invalid | `bool` | | | Global position estimate invalid | +| global_position_invalid_relaxed | `bool` | | | Global position estimate invalid with relaxed accuracy requirements | +| auto_mission_missing | `bool` | | | No mission available | +| offboard_control_signal_lost | `bool` | | | Offboard signal lost | +| home_position_invalid | `bool` | | | No home position available | +| manual_control_signal_lost | `bool` | | | Manual control (RC) signal lost | +| gcs_connection_lost | `bool` | | | GCS connection lost | +| battery_warning | `uint8` | | | Battery warning level (see BatteryStatus.msg) | +| battery_low_remaining_time | `bool` | | | Low battery based on remaining flight time | +| battery_unhealthy | `bool` | | | Battery unhealthy | +| geofence_breached | `bool` | | | Geofence breached (one or multiple) | +| mission_failure | `bool` | | | Mission failure | +| vtol_fixed_wing_system_failure | `bool` | | | vehicle in fixed-wing system failure failsafe mode (after quad-chute) | +| wind_limit_exceeded | `bool` | | | Wind limit exceeded | +| flight_time_limit_exceeded | `bool` | | | Maximum flight time exceeded | +| position_accuracy_low | `bool` | | | Position estimate has dropped below threshold, but is currently still declared valid | +| navigator_failure | `bool` | | | Navigator failed to execute a mode | +| fd_critical_failure | `bool` | | | Critical failure (attitude/altitude limit exceeded, or external ATS) | +| fd_esc_arming_failure | `bool` | | | ESC failed to arm | +| fd_imbalanced_prop | `bool` | | | Imbalanced propeller detected | +| fd_motor_failure | `bool` | | | Motor failure | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FailsafeFlags.msg) + +:::details +Click here to see original file ```c # Input flags for the failsafe state machine set by the arming & health checks. @@ -68,5 +126,6 @@ bool fd_critical_failure # Critical failure (attitude/altitude limi bool fd_esc_arming_failure # ESC failed to arm bool fd_imbalanced_prop # Imbalanced propeller detected bool fd_motor_failure # Motor failure - ``` + +::: diff --git a/docs/ko/msg_docs/FailureDetectorStatus.md b/docs/ko/msg_docs/FailureDetectorStatus.md index a112a1e642..9b4de32cae 100644 --- a/docs/ko/msg_docs/FailureDetectorStatus.md +++ b/docs/ko/msg_docs/FailureDetectorStatus.md @@ -1,6 +1,34 @@ +--- +pageClass: is-wide-page +--- + # FailureDetectorStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FailureDetectorStatus.msg) +**TOPICS:** failure_detectorstatus + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| fd_roll | `bool` | | | | +| fd_pitch | `bool` | | | | +| fd_alt | `bool` | | | | +| fd_ext | `bool` | | | | +| fd_arm_escs | `bool` | | | | +| fd_battery | `bool` | | | | +| fd_imbalanced_prop | `bool` | | | | +| fd_motor | `bool` | | | | +| imbalanced_prop_metric | `float32` | | | Metric of the imbalanced propeller check (low-passed) | +| motor_failure_mask | `uint16` | | | Bit-mask with motor indices, indicating critical motor failures | +| motor_stop_mask | `uint16` | | | Bitmaks of motors stopped by failure injection | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FailureDetectorStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -18,5 +46,6 @@ bool fd_motor float32 imbalanced_prop_metric # Metric of the imbalanced propeller check (low-passed) uint16 motor_failure_mask # Bit-mask with motor indices, indicating critical motor failures uint16 motor_stop_mask # Bitmaks of motors stopped by failure injection - ``` + +::: diff --git a/docs/ko/msg_docs/FigureEightStatus.md b/docs/ko/msg_docs/FigureEightStatus.md index 7a8ae760c2..375d856181 100644 --- a/docs/ko/msg_docs/FigureEightStatus.md +++ b/docs/ko/msg_docs/FigureEightStatus.md @@ -1,6 +1,30 @@ +--- +pageClass: is-wide-page +--- + # FigureEightStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FigureEightStatus.msg) +**TOPICS:** figure_eightstatus + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| major_radius | `float32` | | | Major axis radius of the figure eight [m]. Positive values orbit clockwise, negative values orbit counter-clockwise. | +| minor_radius | `float32` | | | Minor axis radius of the figure eight [m]. | +| orientation | `float32` | | | Orientation of the major axis of the figure eight [rad]. | +| frame | `uint8` | | | The coordinate system of the fields: x, y, z. | +| x | `int32` | | | X coordinate of center point. Coordinate system depends on frame field: local = x position in meters _ 1e4, global = latitude in degrees _ 1e7. | +| y | `int32` | | | Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters _ 1e4, global = latitude in degrees _ 1e7. | +| z | `float32` | | | Altitude of center point. Coordinate system depends on frame field. | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FigureEightStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -11,5 +35,6 @@ uint8 frame # The coordinate system of the fields: x, y, z. int32 x # X coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7. int32 y # Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters * 1e4, global = latitude in degrees * 1e7. float32 z # Altitude of center point. Coordinate system depends on frame field. - ``` + +::: diff --git a/docs/ko/msg_docs/FixedWingLateralGuidanceStatus.md b/docs/ko/msg_docs/FixedWingLateralGuidanceStatus.md index 02dc50b410..c8f636e377 100644 --- a/docs/ko/msg_docs/FixedWingLateralGuidanceStatus.md +++ b/docs/ko/msg_docs/FixedWingLateralGuidanceStatus.md @@ -1,9 +1,33 @@ +--- +pageClass: is-wide-page +--- + # FixedWingLateralGuidanceStatus (UORB message) -Fixed Wing Lateral Guidance Status message -Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs +Fixed Wing Lateral Guidance Status message. Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FixedWingLateralGuidanceStatus.msg) +**TOPICS:** fixed_winglateral_guidancestatus + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------------------------ | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| course_setpoint | `float32` | rad | [-pi : pi] | Desired direction of travel over ground w.r.t (true) North. Set by guidance law | +| lateral_acceleration_ff | `float32` | FRD | | lateral acceleration demand only for maintaining curvature | +| bearing_feas | `float32` | | [0 : 1] | bearing feasibility | +| bearing_feas_on_track | `float32` | | [0 : 1] | on-track bearing feasibility | +| signed_track_error | `float32` | m | | signed track error | +| track_error_bound | `float32` | m | | track error bound | +| adapted_period | `float32` | s | | adapted period (if auto-tuning enabled) | +| wind_est_valid | `uint8` | boolean | | true = wind estimate is valid and/or being used by controller (also indicates if wind estimate usage is disabled despite being valid) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FixedWingLateralGuidanceStatus.msg) + +:::details +Click here to see original file ```c # Fixed Wing Lateral Guidance Status message @@ -19,5 +43,6 @@ float32 signed_track_error # [m] signed track error float32 track_error_bound # [m] track error bound float32 adapted_period # [s] adapted period (if auto-tuning enabled) uint8 wind_est_valid # [boolean] true = wind estimate is valid and/or being used by controller (also indicates if wind estimate usage is disabled despite being valid) - ``` + +::: diff --git a/docs/ko/msg_docs/FixedWingLateralSetpoint.md b/docs/ko/msg_docs/FixedWingLateralSetpoint.md index 153167bb62..c0ecdb3a9e 100644 --- a/docs/ko/msg_docs/FixedWingLateralSetpoint.md +++ b/docs/ko/msg_docs/FixedWingLateralSetpoint.md @@ -1,10 +1,34 @@ +--- +pageClass: is-wide-page +--- + # FixedWingLateralSetpoint (UORB message) -Fixed Wing Lateral Setpoint message -Used by the fw_lateral_longitudinal_control module -At least one of course, airspeed_direction, or lateral_acceleration must be finite. +Fixed Wing Lateral Setpoint message. Used by the fw_lateral_longitudinal_control module. At least one of course, airspeed_direction, or lateral_acceleration must be finite. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/FixedWingLateralSetpoint.msg) +**TOPICS:** fixed_winglateral_setpoint + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| course | `float32` | rad | [-pi : pi] | Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly. | +| airspeed_direction | `float32` | rad | [-pi : pi] | Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite. | +| lateral_acceleration | `float32` | FRD | | Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite. | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/FixedWingLateralSetpoint.msg) + +:::details +Click here to see original file ```c # Fixed Wing Lateral Setpoint message @@ -18,5 +42,6 @@ uint64 timestamp # time since system start (microseconds) float32 course # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly. float32 airspeed_direction # [rad] [@range -pi, pi] Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite. float32 lateral_acceleration # [m/s^2] [FRD] Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite. - ``` + +::: diff --git a/docs/ko/msg_docs/FixedWingLateralStatus.md b/docs/ko/msg_docs/FixedWingLateralStatus.md index 9214d1e9e0..442146c4d8 100644 --- a/docs/ko/msg_docs/FixedWingLateralStatus.md +++ b/docs/ko/msg_docs/FixedWingLateralStatus.md @@ -1,9 +1,27 @@ +--- +pageClass: is-wide-page +--- + # FixedWingLateralStatus (UORB message) -Fixed Wing Lateral Status message -Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint +Fixed Wing Lateral Status message. Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FixedWingLateralStatus.msg) +**TOPICS:** fixed_winglateral_status + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | --------------------------------------------------------------------------- | ---------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| lateral_acceleration_setpoint | `float32` | FRD | | resultant lateral acceleration setpoint | +| can_run_factor | `float32` | norm | [0 : 1] | estimate of certainty of the correct functionality of the npfg roll setpoint | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FixedWingLateralStatus.msg) + +:::details +Click here to see original file ```c # Fixed Wing Lateral Status message @@ -13,5 +31,6 @@ uint64 timestamp # time since system start (microseconds float32 lateral_acceleration_setpoint # [m/s^2] [FRD] resultant lateral acceleration setpoint float32 can_run_factor # [norm] [@range 0, 1] estimate of certainty of the correct functionality of the npfg roll setpoint - ``` + +::: diff --git a/docs/ko/msg_docs/FixedWingLongitudinalSetpoint.md b/docs/ko/msg_docs/FixedWingLongitudinalSetpoint.md index 6b8fb29e5b..2ba24c7f5f 100644 --- a/docs/ko/msg_docs/FixedWingLongitudinalSetpoint.md +++ b/docs/ko/msg_docs/FixedWingLongitudinalSetpoint.md @@ -1,11 +1,36 @@ +--- +pageClass: is-wide-page +--- + # FixedWingLongitudinalSetpoint (UORB message) -Fixed Wing Longitudinal Setpoint message -Used by the fw_lateral_longitudinal_control module -If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion. -If both altitude and height_rate are NAN, the controller maintains the current altitude. +Fixed Wing Longitudinal Setpoint message. Used by the fw_lateral_longitudinal_control module. If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion. If both altitude and height_rate are NAN, the controller maintains the current altitude. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/FixedWingLongitudinalSetpoint.msg) +**TOPICS:** fixed_winglongitudinal_setpoint + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| altitude | `float32` | m | | Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite | +| height_rate | `float32` | ENU | | Scalar height rate setpoint. NAN if not controlled directly | +| equivalent_airspeed | `float32` | m/s | [0 : inf] | Scalar equivalent airspeed setpoint. NAN if system default should be used | +| pitch_direct | `float32` | FRD | [-pi : pi] | NAN if not controlled, overrides total energy controller | +| throttle_direct | `float32` | norm | [0 : 1] | NAN if not controlled, overrides total energy controller | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/FixedWingLongitudinalSetpoint.msg) + +:::details +Click here to see original file ```c # Fixed Wing Longitudinal Setpoint message @@ -22,5 +47,6 @@ float32 height_rate # [m/s] [ENU] Scalar height rate setpoint. NAN if not con float32 equivalent_airspeed # [m/s] [@range 0, inf] Scalar equivalent airspeed setpoint. NAN if system default should be used float32 pitch_direct # [rad] [@range -pi, pi] [FRD] NAN if not controlled, overrides total energy controller float32 throttle_direct # [norm] [@range 0,1] NAN if not controlled, overrides total energy controller - ``` + +::: diff --git a/docs/ko/msg_docs/FixedWingRunwayControl.md b/docs/ko/msg_docs/FixedWingRunwayControl.md index 9e9f5ff428..b05ac86b18 100644 --- a/docs/ko/msg_docs/FixedWingRunwayControl.md +++ b/docs/ko/msg_docs/FixedWingRunwayControl.md @@ -1,19 +1,54 @@ +--- +pageClass: is-wide-page +--- + # FixedWingRunwayControl (UORB message) -Auxiliary control fields for fixed-wing runway takeoff/landing +Auxiliary control fields for fixed-wing runway takeoff/landing. -Passes information from the FixedWingModeManager to the FixedWingAttitudeController +**TOPICS:** fixed_wingrunway_control -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FixedWingRunwayControl.msg) +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------------------------------ | --------- | ---------------------------------------------------------------- | ---------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | time since system start | +| runway_takeoff_state | `uint8` | | | Current state of runway takeoff state machine | +| wheel_steering_enabled | `bool` | | | Flag that enables the wheel steering. | +| wheel_steering_nudging_rate | `float32` | FRD | [-1 : 1] | Manual wheel nudging, added to controller output. NAN is interpreted as 0. | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------------------------------------ | ------- | ----- | -------------------------------------------------------------------------------- | +| STATE_THROTTLE_RAMP | `uint8` | 0 | ramping up throttle | +| STATE_CLAMPED_TO_RUNWAY | `uint8` | 1 | clamped to runway, controlling yaw directly (wheel or rudder) | +| STATE_CLIMBOUT | `uint8` | 2 | climbout to safe height before navigation | +| STATE_FLYING | `uint8` | 3 | navigate freely | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FixedWingRunwayControl.msg) + +:::details +Click here to see original file ```c # Auxiliary control fields for fixed-wing runway takeoff/landing -# Passes information from the FixedWingModeManager to the FixedWingAttitudeController +# Passes information from the FixedWingModeManager to the FixedWingAttitudeController (wheel control) and FixedWingLandDetector (takeoff state) uint64 timestamp # [us] time since system start +uint8 STATE_THROTTLE_RAMP = 0 # ramping up throttle +uint8 STATE_CLAMPED_TO_RUNWAY = 1 # clamped to runway, controlling yaw directly (wheel or rudder) +uint8 STATE_CLIMBOUT = 2 # climbout to safe height before navigation +uint8 STATE_FLYING = 3 # navigate freely + +uint8 runway_takeoff_state # Current state of runway takeoff state machine + bool wheel_steering_enabled # Flag that enables the wheel steering. float32 wheel_steering_nudging_rate # [norm] [@range -1, 1] [FRD] Manual wheel nudging, added to controller output. NAN is interpreted as 0. - ``` + +::: diff --git a/docs/ko/msg_docs/FlightPhaseEstimation.md b/docs/ko/msg_docs/FlightPhaseEstimation.md index 51561e39e3..b859adfc27 100644 --- a/docs/ko/msg_docs/FlightPhaseEstimation.md +++ b/docs/ko/msg_docs/FlightPhaseEstimation.md @@ -1,6 +1,33 @@ +--- +pageClass: is-wide-page +--- + # FlightPhaseEstimation (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FlightPhaseEstimation.msg) +**TOPICS:** flight_phaseestimation + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| flight_phase | `uint8` | | | Estimate of current flight phase | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| --------------------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------- | +| FLIGHT_PHASE_UNKNOWN | `uint8` | 0 | vehicle flight phase is unknown | +| FLIGHT_PHASE_LEVEL | `uint8` | 1 | Vehicle is in level flight | +| FLIGHT_PHASE_DESCEND | `uint8` | 2 | vehicle is in descend | +| FLIGHT_PHASE_CLIMB | `uint8` | 3 | vehicle is climbing | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FlightPhaseEstimation.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -11,5 +38,6 @@ uint8 FLIGHT_PHASE_UNKNOWN = 0 # vehicle flight phase is unknown uint8 FLIGHT_PHASE_LEVEL = 1 # Vehicle is in level flight uint8 FLIGHT_PHASE_DESCEND = 2 # vehicle is in descend uint8 FLIGHT_PHASE_CLIMB = 3 # vehicle is climbing - ``` + +::: diff --git a/docs/ko/msg_docs/FollowTarget.md b/docs/ko/msg_docs/FollowTarget.md index ae194a6019..34a85fcda4 100644 --- a/docs/ko/msg_docs/FollowTarget.md +++ b/docs/ko/msg_docs/FollowTarget.md @@ -1,6 +1,30 @@ +--- +pageClass: is-wide-page +--- + # FollowTarget (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FollowTarget.msg) +**TOPICS:** follow_target + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| lat | `float64` | | | target position (deg \* 1e7) | +| lon | `float64` | | | target position (deg \* 1e7) | +| alt | `float32` | | | target position | +| vy | `float32` | | | target vel in y | +| vx | `float32` | | | target vel in x | +| vz | `float32` | | | target vel in z | +| est_cap | `uint8` | | | target reporting capabilities | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FollowTarget.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -14,5 +38,6 @@ float32 vx # target vel in x float32 vz # target vel in z uint8 est_cap # target reporting capabilities - ``` + +::: diff --git a/docs/ko/msg_docs/FollowTargetEstimator.md b/docs/ko/msg_docs/FollowTargetEstimator.md index 00d5760b36..799cab3655 100644 --- a/docs/ko/msg_docs/FollowTargetEstimator.md +++ b/docs/ko/msg_docs/FollowTargetEstimator.md @@ -1,6 +1,34 @@ +--- +pageClass: is-wide-page +--- + # FollowTargetEstimator (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FollowTargetEstimator.msg) +**TOPICS:** follow_targetestimator + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------------------------------ | ------------ | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| last_filter_reset_timestamp | `uint64` | | | time of last filter reset (microseconds) | +| valid | `bool` | | | True if estimator states are okay to be used | +| stale | `bool` | | | True if estimator stopped receiving follow_target messages for some time. The estimate can still be valid, though it might be inaccurate. | +| lat_est | `float64` | | | Estimated target latitude | +| lon_est | `float64` | | | Estimated target longitude | +| alt_est | `float32` | | | Estimated target altitude | +| pos_est | `float32[3]` | | | Estimated target NED position (m) | +| vel_est | `float32[3]` | | | Estimated target NED velocity (m/s) | +| acc_est | `float32[3]` | | | Estimated target NED acceleration (m^2/s) | +| prediction_count | `uint64` | | | | +| fusion_count | `uint64` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FollowTargetEstimator.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -19,5 +47,6 @@ float32[3] acc_est # Estimated target NED acceleration (m^2/s) uint64 prediction_count uint64 fusion_count - ``` + +::: diff --git a/docs/ko/msg_docs/FollowTargetStatus.md b/docs/ko/msg_docs/FollowTargetStatus.md index 99594c5fcb..7fe978c12a 100644 --- a/docs/ko/msg_docs/FollowTargetStatus.md +++ b/docs/ko/msg_docs/FollowTargetStatus.md @@ -1,6 +1,30 @@ +--- +pageClass: is-wide-page +--- + # FollowTargetStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FollowTargetStatus.msg) +**TOPICS:** follow_targetstatus + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | microseconds | | time since system start | +| tracked_target_course | `float32` | rad | | Tracked target course in NED local frame (North is course zero) | +| follow_angle | `float32` | rad | | Current follow angle setting | +| orbit_angle_setpoint | `float32` | rad | | Current orbit angle setpoint from the smooth trajectory generator | +| angular_rate_setpoint | `float32` | rad/s | | Angular rate commanded from Jerk-limited Orbit Angle trajectory for Orbit Angle | +| desired_position_raw | `float32[3]` | m | | Raw 'idealistic' desired drone position if a drone could teleport from place to places | +| in_emergency_ascent | `bool` | bool | | True when doing emergency ascent (when distance to ground is below safety altitude) | +| gimbal_pitch | `float32` | rad | | Gimbal pitch commanded to track target in the center of the frame | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FollowTargetStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # [microseconds] time since system start @@ -15,5 +39,6 @@ float32[3] desired_position_raw # [m] Raw 'idealistic' desired drone position bool in_emergency_ascent # [bool] True when doing emergency ascent (when distance to ground is below safety altitude) float32 gimbal_pitch # [rad] Gimbal pitch commanded to track target in the center of the frame - ``` + +::: diff --git a/docs/ko/msg_docs/FuelTankStatus.md b/docs/ko/msg_docs/FuelTankStatus.md index f36eaff6dc..82da178157 100644 --- a/docs/ko/msg_docs/FuelTankStatus.md +++ b/docs/ko/msg_docs/FuelTankStatus.md @@ -1,6 +1,39 @@ +--- +pageClass: is-wide-page +--- + # FuelTankStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FuelTankStatus.msg) +**TOPICS:** fuel_tankstatus + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| maximum_fuel_capacity | `float32` | | | maximum fuel capacity. Must always be provided, either from the driver or a parameter | +| consumed_fuel | `float32` | | | consumed fuel, NaN if not measured. Should not be inferred from the max fuel capacity | +| fuel_consumption_rate | `float32` | | | fuel consumption rate, NaN if not measured | +| percent_remaining | `uint8` | | | percentage of remaining fuel, UINT8_MAX if not provided | +| remaining_fuel | `float32` | | | remaining fuel, NaN if not measured. Should not be inferred from the max fuel capacity | +| fuel_tank_id | `uint8` | | | identifier for the fuel tank. Must match ID of other messages for same fuel system. 0 by default when only a single tank exists | +| fuel_type | `uint32` | | | type of fuel based on MAV_FUEL_TYPE enum. Set to MAV_FUEL_TYPE_UNKNOWN if unknown or it does not fit the provided types | +| temperature | `float32` | | | fuel temperature in Kelvin, NaN if not measured | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| MAV_FUEL_TYPE_UNKNOWN | `uint8` | 0 | fuel type not specified. Fuel levels are normalized (i.e., maximum is 1, and other levels are relative to 1). | +| MAV_FUEL_TYPE_LIQUID | `uint8` | 1 | represents generic liquid fuels, such as gasoline or diesel. Fuel levels are measured in millilitres (ml), and flow rates in millilitres per second (ml/s). | +| MAV_FUEL_TYPE_GAS | `uint8` | 2 | represents a gas fuel, such as hydrogen, methane, or propane. Fuel levels are in kilo-Pascal (kPa), and flow rates are in milliliters per second (ml/s). | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FuelTankStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -20,5 +53,6 @@ uint8 MAV_FUEL_TYPE_LIQUID = 1 # represents generic liquid fuels, such as gasol uint8 MAV_FUEL_TYPE_GAS = 2 # represents a gas fuel, such as hydrogen, methane, or propane. Fuel levels are in kilo-Pascal (kPa), and flow rates are in milliliters per second (ml/s). float32 temperature # fuel temperature in Kelvin, NaN if not measured - ``` + +::: diff --git a/docs/ko/msg_docs/GainCompression.md b/docs/ko/msg_docs/GainCompression.md index e26c1e8fcc..77a96793ab 100644 --- a/docs/ko/msg_docs/GainCompression.md +++ b/docs/ko/msg_docs/GainCompression.md @@ -1,6 +1,26 @@ +--- +pageClass: is-wide-page +--- + # GainCompression (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GainCompression.msg) +**TOPICS:** gain_compression + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | --------------------------------------------------------------------------- | ------------------------------------------------------------------- | +| timestamp | `uint64` | | | Time since system start (microseconds) | +| compression_gains | `float32[3]` | [FRD] | [0 : 1] | Multiplicative gain to modify the output of the controller per axis | +| spectral_damper_hpf | `float32[3]` | [FRD] | | Squared output of spectral damper high-pass filter | +| spectral_damper_out | `float32[3]` | [FRD] | | Spectral damper output squared | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GainCompression.msg) + +:::details +Click here to see original file ```c uint64 timestamp # Time since system start (microseconds) @@ -8,5 +28,6 @@ uint64 timestamp # Time since system start (microseconds) float32[3] compression_gains # [-] [@frame FRD] [@range 0, 1] Multiplicative gain to modify the output of the controller per axis float32[3] spectral_damper_hpf # [-] [@frame FRD] Squared output of spectral damper high-pass filter float32[3] spectral_damper_out # [-] [@frame FRD] Spectral damper output squared - ``` + +::: diff --git a/docs/ko/msg_docs/GeneratorStatus.md b/docs/ko/msg_docs/GeneratorStatus.md index b21bc9852a..838563a7c9 100644 --- a/docs/ko/msg_docs/GeneratorStatus.md +++ b/docs/ko/msg_docs/GeneratorStatus.md @@ -1,6 +1,62 @@ +--- +pageClass: is-wide-page +--- + # GeneratorStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GeneratorStatus.msg) +**TOPICS:** generator_status + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| status | `uint64` | | | Status flags | +| battery_current | `float32` | A | | Current into/out of battery. Positive for out. Negative for in. NaN: field not provided. | +| load_current | `float32` | A | | Current going to the UAV. If battery current not available this is the DC current from the generator. Positive for out. Negative for in. NaN: field not provided | +| power_generated | `float32` | W | | The power being generated. NaN: field not provided | +| bus_voltage | `float32` | V | | Voltage of the bus seen at the generator, or battery bus if battery bus is controlled by generator and at a different voltage to main bus. | +| bat_current_setpoint | `float32` | A | | The target battery current. Positive for out. Negative for in. NaN: field not provided | +| runtime | `uint32` | s | | Seconds this generator has run since it was rebooted. UINT32_MAX: field not provided. | +| time_until_maintenance | `int32` | s | | Seconds until this generator requires maintenance. A negative value indicates maintenance is past-due. INT32_MAX: field not provided. | +| generator_speed | `uint16` | rpm | | Speed of electrical generator or alternator. UINT16_MAX: field not provided. | +| rectifier_temperature | `int16` | degC | | The temperature of the rectifier or power converter. INT16_MAX: field not provided. | +| generator_temperature | `int16` | degC | | The temperature of the mechanical motor, fuel cell core or generator. INT16_MAX: field not provided. | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | ------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| STATUS_FLAG_OFF | `uint64` | 1 | Generator is off. | +| STATUS_FLAG_READY | `uint64` | 2 | Generator is ready to start generating power. | +| STATUS_FLAG_GENERATING | `uint64` | 4 | Generator is generating power. | +| STATUS_FLAG_CHARGING | `uint64` | 8 | Generator is charging the batteries (generating enough power to charge and provide the load). | +| STATUS_FLAG_REDUCED_POWER | `uint64` | 16 | Generator is operating at a reduced maximum power. | +| STATUS_FLAG_MAXPOWER | `uint64` | 32 | Generator is providing the maximum output. | +| STATUS_FLAG_OVERTEMP_WARNING | `uint64` | 64 | Generator is near the maximum operating temperature, cooling is insufficient. | +| STATUS_FLAG_OVERTEMP_FAULT | `uint64` | 128 | Generator hit the maximum operating temperature and shutdown. | +| STATUS_FLAG_ELECTRONICS_OVERTEMP_WARNING | `uint64` | 256 | Power electronics are near the maximum operating temperature, cooling is insufficient. | +| STATUS_FLAG_ELECTRONICS_OVERTEMP_FAULT | `uint64` | 512 | Power electronics hit the maximum operating temperature and shutdown. | +| STATUS_FLAG_ELECTRONICS_FAULT | `uint64` | 1024 | Power electronics experienced a fault and shutdown. | +| STATUS_FLAG_POWERSOURCE_FAULT | `uint64` | 2048 | The power source supplying the generator failed e.g. mechanical generator stopped, tether is no longer providing power, solar cell is in shade, hydrogen reaction no longer happening. | +| STATUS_FLAG_COMMUNICATION_WARNING | `uint64` | 4096 | Generator controller having communication problems. | +| STATUS_FLAG_COOLING_WARNING | `uint64` | 8192 | Power electronic or generator cooling system error. | +| STATUS_FLAG_POWER_RAIL_FAULT | `uint64` | 16384 | Generator controller power rail experienced a fault. | +| STATUS_FLAG_OVERCURRENT_FAULT | `uint64` | 32768 | Generator controller exceeded the overcurrent threshold and shutdown to prevent damage. | +| STATUS_FLAG_BATTERY_OVERCHARGE_CURRENT_FAULT | `uint64` | 65536 | Generator controller detected a high current going into the batteries and shutdown to prevent battery damage. | +| STATUS_FLAG_OVERVOLTAGE_FAULT | `uint64` | 131072 | Generator controller exceeded it's overvoltage threshold and shutdown to prevent it exceeding the voltage rating. | +| STATUS_FLAG_BATTERY_UNDERVOLT_FAULT | `uint64` | 262144 | Batteries are under voltage (generator will not start). | +| STATUS_FLAG_START_INHIBITED | `uint64` | 524288 | Generator start is inhibited by e.g. a safety switch. | +| STATUS_FLAG_MAINTENANCE_REQUIRED | `uint64` | 1048576 | Generator requires maintenance. | +| STATUS_FLAG_WARMING_UP | `uint64` | 2097152 | Generator is not ready to generate yet. | +| STATUS_FLAG_IDLE | `uint64` | 4194304 | Generator is idle. | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GeneratorStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -47,5 +103,6 @@ uint16 generator_speed # [rpm] Speed of electrical generator or alte int16 rectifier_temperature # [degC] The temperature of the rectifier or power converter. INT16_MAX: field not provided. int16 generator_temperature # [degC] The temperature of the mechanical motor, fuel cell core or generator. INT16_MAX: field not provided. - ``` + +::: diff --git a/docs/ko/msg_docs/GeofenceResult.md b/docs/ko/msg_docs/GeofenceResult.md index 1259594be7..f6c650b707 100644 --- a/docs/ko/msg_docs/GeofenceResult.md +++ b/docs/ko/msg_docs/GeofenceResult.md @@ -1,6 +1,38 @@ +--- +pageClass: is-wide-page +--- + # GeofenceResult (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GeofenceResult.msg) +**TOPICS:** geofence_result + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| geofence_max_dist_triggered | `bool` | | | true the check for max distance from Home is triggered | +| geofence_max_alt_triggered | `bool` | | | true the check for max altitude above Home is triggered | +| geofence_custom_fence_triggered | `bool` | | | true the check for custom inclusion/exclusion geofence(s) is triggered | +| geofence_action | `uint8` | | | action to take when the geofence is breached | + +## Constants + +\| Name | Type | Value | Description | +\| ------------------------------------------------------- | ------- | ----- | ------------------------------- | ------ | +\| GF_ACTION_NONE | `uint8` | 0 | no action on geofence violation | +\| GF_ACTION_WARN | `uint8` | 1 | critical mavlink message | +\| GF_ACTION_LOITER | `uint8` | 2 | switch to AUTO | LOITER | +\| GF_ACTION_RTL | `uint8` | 3 | switch to AUTO | RTL | +\| GF_ACTION_TERMINATE | `uint8` | 4 | flight termination | +\| GF_ACTION_LAND | `uint8` | 5 | switch to AUTO | LAND | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GeofenceResult.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -16,5 +48,6 @@ bool geofence_max_alt_triggered # true the check for max altitude above Home is bool geofence_custom_fence_triggered # true the check for custom inclusion/exclusion geofence(s) is triggered uint8 geofence_action # action to take when the geofence is breached - ``` + +::: diff --git a/docs/ko/msg_docs/GeofenceStatus.md b/docs/ko/msg_docs/GeofenceStatus.md index 9918290e4d..a12563d15e 100644 --- a/docs/ko/msg_docs/GeofenceStatus.md +++ b/docs/ko/msg_docs/GeofenceStatus.md @@ -1,6 +1,32 @@ +--- +pageClass: is-wide-page +--- + # GeofenceStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GeofenceStatus.msg) +**TOPICS:** geofence_status + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| -------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| geofence_id | `uint32` | | | loaded geofence id | +| status | `uint8` | | | Current geofence status | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| --------------------------------------------------------------------------------------------- | ------- | ----- | -- | +| GF_STATUS_LOADING | `uint8` | 0 | | +| GF_STATUS_READY | `uint8` | 1 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GeofenceStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -10,5 +36,6 @@ uint8 status # Current geofence status uint8 GF_STATUS_LOADING = 0 uint8 GF_STATUS_READY = 1 - ``` + +::: diff --git a/docs/ko/msg_docs/GimbalControls.md b/docs/ko/msg_docs/GimbalControls.md index bc8408cffa..2757e77784 100644 --- a/docs/ko/msg_docs/GimbalControls.md +++ b/docs/ko/msg_docs/GimbalControls.md @@ -1,6 +1,33 @@ +--- +pageClass: is-wide-page +--- + # GimbalControls (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalControls.msg) +**TOPICS:** gimbal_controls + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp the data this control response is based on was sampled | +| control | `float32[3]` | | | Normalized output. 1 means maximum positive position. -1 maximum negative position. 0 means no deflection. NaN maps to disarmed. | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------ | ------- | ----- | -- | +| INDEX_ROLL | `uint8` | 0 | | +| INDEX_PITCH | `uint8` | 1 | | +| INDEX_YAW | `uint8` | 2 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalControls.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -9,6 +36,7 @@ uint8 INDEX_PITCH = 1 uint8 INDEX_YAW = 2 uint64 timestamp_sample # the timestamp the data this control response is based on was sampled -float32[3] control - +float32[3] control # Normalized output. 1 means maximum positive position. -1 maximum negative position. 0 means no deflection. NaN maps to disarmed. ``` + +::: diff --git a/docs/ko/msg_docs/GimbalDeviceAttitudeStatus.md b/docs/ko/msg_docs/GimbalDeviceAttitudeStatus.md index 0935029087..83ee93aa44 100644 --- a/docs/ko/msg_docs/GimbalDeviceAttitudeStatus.md +++ b/docs/ko/msg_docs/GimbalDeviceAttitudeStatus.md @@ -1,6 +1,47 @@ +--- +pageClass: is-wide-page +--- + # GimbalDeviceAttitudeStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalDeviceAttitudeStatus.msg) +**TOPICS:** gimbal_deviceattitude_status + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| target_system | `uint8` | | | | +| target_component | `uint8` | | | | +| device_flags | `uint16` | | | | +| q | `float32[4]` | | | | +| angular_velocity_x | `float32` | | | | +| angular_velocity_y | `float32` | | | | +| angular_velocity_z | `float32` | | | | +| failure_flags | `uint32` | | | | +| delta_yaw | `float32` | | | | +| delta_yaw_velocity | `float32` | | | | +| gimbal_device_id | `uint8` | | | | +| received_from_mavlink | `bool` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | -- | +| DEVICE_FLAGS_RETRACT | `uint16` | 1 | | +| DEVICE_FLAGS_NEUTRAL | `uint16` | 2 | | +| DEVICE_FLAGS_ROLL_LOCK | `uint16` | 4 | | +| DEVICE_FLAGS_PITCH_LOCK | `uint16` | 8 | | +| DEVICE_FLAGS_YAW_LOCK | `uint16` | 16 | | +| DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME | `uint16` | 32 | | +| DEVICE_FLAGS_YAW_IN_EARTH_FRAME | `uint16` | 64 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalDeviceAttitudeStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -29,5 +70,6 @@ float32 delta_yaw_velocity uint8 gimbal_device_id bool received_from_mavlink - ``` + +::: diff --git a/docs/ko/msg_docs/GimbalDeviceInformation.md b/docs/ko/msg_docs/GimbalDeviceInformation.md index d06837a049..19b6db7b88 100644 --- a/docs/ko/msg_docs/GimbalDeviceInformation.md +++ b/docs/ko/msg_docs/GimbalDeviceInformation.md @@ -1,6 +1,55 @@ +--- +pageClass: is-wide-page +--- + # GimbalDeviceInformation (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalDeviceInformation.msg) +**TOPICS:** gimbal_deviceinformation + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| vendor_name | `uint8[32]` | | | | +| model_name | `uint8[32]` | | | | +| custom_name | `uint8[32]` | | | | +| firmware_version | `uint32` | | | | +| hardware_version | `uint32` | | | | +| uid | `uint64` | | | | +| cap_flags | `uint16` | | | | +| custom_cap_flags | `uint16` | | | | +| roll_min | `float32` | rad | | | +| roll_max | `float32` | rad | | | +| pitch_min | `float32` | rad | | | +| pitch_max | `float32` | rad | | | +| yaw_min | `float32` | rad | | | +| yaw_max | `float32` | rad | | | +| gimbal_device_id | `uint8` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | -- | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT | `uint32` | 1 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL | `uint32` | 2 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS | `uint32` | 4 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW | `uint32` | 8 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK | `uint32` | 16 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS | `uint32` | 32 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW | `uint32` | 64 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK | `uint32` | 128 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS | `uint32` | 256 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW | `uint32` | 512 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK | `uint32` | 1024 | | +| GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW | `uint32` | 2048 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalDeviceInformation.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -39,5 +88,6 @@ float32 yaw_min # [rad] float32 yaw_max # [rad] uint8 gimbal_device_id - ``` + +::: diff --git a/docs/ko/msg_docs/GimbalDeviceSetAttitude.md b/docs/ko/msg_docs/GimbalDeviceSetAttitude.md index d47cdf4689..4ddac878bb 100644 --- a/docs/ko/msg_docs/GimbalDeviceSetAttitude.md +++ b/docs/ko/msg_docs/GimbalDeviceSetAttitude.md @@ -1,6 +1,40 @@ +--- +pageClass: is-wide-page +--- + # GimbalDeviceSetAttitude (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalDeviceSetAttitude.msg) +**TOPICS:** gimbal_deviceset_attitude + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------ | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| target_system | `uint8` | | | | +| target_component | `uint8` | | | | +| flags | `uint16` | | | | +| q | `float32[4]` | | | | +| angular_velocity_x | `float32` | | | | +| angular_velocity_y | `float32` | | | | +| angular_velocity_z | `float32` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | -- | +| GIMBAL_DEVICE_FLAGS_RETRACT | `uint32` | 1 | | +| GIMBAL_DEVICE_FLAGS_NEUTRAL | `uint32` | 2 | | +| GIMBAL_DEVICE_FLAGS_ROLL_LOCK | `uint32` | 4 | | +| GIMBAL_DEVICE_FLAGS_PITCH_LOCK | `uint32` | 8 | | +| GIMBAL_DEVICE_FLAGS_YAW_LOCK | `uint32` | 16 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalDeviceSetAttitude.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -20,5 +54,6 @@ float32[4] q float32 angular_velocity_x float32 angular_velocity_y float32 angular_velocity_z - ``` + +::: diff --git a/docs/ko/msg_docs/GimbalManagerInformation.md b/docs/ko/msg_docs/GimbalManagerInformation.md index fab5d6a87e..bbc7286498 100644 --- a/docs/ko/msg_docs/GimbalManagerInformation.md +++ b/docs/ko/msg_docs/GimbalManagerInformation.md @@ -1,6 +1,50 @@ +--- +pageClass: is-wide-page +--- + # GimbalManagerInformation (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerInformation.msg) +**TOPICS:** gimbal_managerinformation + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| cap_flags | `uint32` | | | | +| gimbal_device_id | `uint8` | | | | +| roll_min | `float32` | rad | | | +| roll_max | `float32` | rad | | | +| pitch_min | `float32` | rad | | | +| pitch_max | `float32` | rad | | | +| yaw_min | `float32` | rad | | | +| yaw_max | `float32` | rad | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | ------ | -- | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_RETRACT | `uint32` | 1 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRAL | `uint32` | 2 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_AXIS | `uint32` | 4 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_FOLLOW | `uint32` | 8 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCK | `uint32` | 16 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXIS | `uint32` | 32 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_FOLLOW | `uint32` | 64 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCK | `uint32` | 128 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXIS | `uint32` | 256 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_FOLLOW | `uint32` | 512 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCK | `uint32` | 1024 | | +| GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_INFINITE_YAW | `uint32` | 2048 | | +| GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_LOCAL | `uint32` | 65536 | | +| GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBAL | `uint32` | 131072 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerInformation.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -32,5 +76,6 @@ float32 pitch_max # [rad] float32 yaw_min # [rad] float32 yaw_max # [rad] - ``` + +::: diff --git a/docs/ko/msg_docs/GimbalManagerSetAttitude.md b/docs/ko/msg_docs/GimbalManagerSetAttitude.md index 1415f34b42..538cb79b54 100644 --- a/docs/ko/msg_docs/GimbalManagerSetAttitude.md +++ b/docs/ko/msg_docs/GimbalManagerSetAttitude.md @@ -1,6 +1,44 @@ +--- +pageClass: is-wide-page +--- + # GimbalManagerSetAttitude (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerSetAttitude.msg) +**TOPICS:** gimbal_managerset_attitude + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------ | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| origin_sysid | `uint8` | | | | +| origin_compid | `uint8` | | | | +| target_system | `uint8` | | | | +| target_component | `uint8` | | | | +| flags | `uint32` | | | | +| gimbal_device_id | `uint8` | | | | +| q | `float32[4]` | | | | +| angular_velocity_x | `float32` | | | | +| angular_velocity_y | `float32` | | | | +| angular_velocity_z | `float32` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | -- | +| GIMBAL_MANAGER_FLAGS_RETRACT | `uint32` | 1 | | +| GIMBAL_MANAGER_FLAGS_NEUTRAL | `uint32` | 2 | | +| GIMBAL_MANAGER_FLAGS_ROLL_LOCK | `uint32` | 4 | | +| GIMBAL_MANAGER_FLAGS_PITCH_LOCK | `uint32` | 8 | | +| GIMBAL_MANAGER_FLAGS_YAW_LOCK | `uint32` | 16 | | +| ORB_QUEUE_LENGTH | `uint8` | 2 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerSetAttitude.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -27,5 +65,6 @@ float32 angular_velocity_y float32 angular_velocity_z uint8 ORB_QUEUE_LENGTH = 2 - ``` + +::: diff --git a/docs/ko/msg_docs/GimbalManagerSetManualControl.md b/docs/ko/msg_docs/GimbalManagerSetManualControl.md index 10ec822415..b3bca540a0 100644 --- a/docs/ko/msg_docs/GimbalManagerSetManualControl.md +++ b/docs/ko/msg_docs/GimbalManagerSetManualControl.md @@ -1,6 +1,43 @@ +--- +pageClass: is-wide-page +--- + # GimbalManagerSetManualControl (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerSetManualControl.msg) +**TOPICS:** gimbal_managerset_manualcontrol + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| origin_sysid | `uint8` | | | | +| origin_compid | `uint8` | | | | +| target_system | `uint8` | | | | +| target_component | `uint8` | | | | +| flags | `uint32` | | | | +| gimbal_device_id | `uint8` | | | | +| pitch | `float32` | | | unitless -1..1, can be NAN | +| yaw | `float32` | | | unitless -1..1, can be NAN | +| pitch_rate | `float32` | | | unitless -1..1, can be NAN | +| yaw_rate | `float32` | | | unitless -1..1, can be NAN | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | -- | +| GIMBAL_MANAGER_FLAGS_RETRACT | `uint32` | 1 | | +| GIMBAL_MANAGER_FLAGS_NEUTRAL | `uint32` | 2 | | +| GIMBAL_MANAGER_FLAGS_ROLL_LOCK | `uint32` | 4 | | +| GIMBAL_MANAGER_FLAGS_PITCH_LOCK | `uint32` | 8 | | +| GIMBAL_MANAGER_FLAGS_YAW_LOCK | `uint32` | 16 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerSetManualControl.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -24,5 +61,6 @@ float32 pitch # unitless -1..1, can be NAN float32 yaw # unitless -1..1, can be NAN float32 pitch_rate # unitless -1..1, can be NAN float32 yaw_rate # unitless -1..1, can be NAN - ``` + +::: diff --git a/docs/ko/msg_docs/GimbalManagerStatus.md b/docs/ko/msg_docs/GimbalManagerStatus.md index 317e1d3538..a664c44f05 100644 --- a/docs/ko/msg_docs/GimbalManagerStatus.md +++ b/docs/ko/msg_docs/GimbalManagerStatus.md @@ -1,6 +1,29 @@ +--- +pageClass: is-wide-page +--- + # GimbalManagerStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerStatus.msg) +**TOPICS:** gimbal_managerstatus + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| flags | `uint32` | | | | +| gimbal_device_id | `uint8` | | | | +| primary_control_sysid | `uint8` | | | | +| primary_control_compid | `uint8` | | | | +| secondary_control_sysid | `uint8` | | | | +| secondary_control_compid | `uint8` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -11,5 +34,6 @@ uint8 primary_control_sysid uint8 primary_control_compid uint8 secondary_control_sysid uint8 secondary_control_compid - ``` + +::: diff --git a/docs/ko/msg_docs/GotoSetpoint.md b/docs/ko/msg_docs/GotoSetpoint.md index 746d15eb00..eca8aaf6cf 100644 --- a/docs/ko/msg_docs/GotoSetpoint.md +++ b/docs/ko/msg_docs/GotoSetpoint.md @@ -1,13 +1,40 @@ +--- +pageClass: is-wide-page +--- + # GotoSetpoint (UORB message) -Position and (optional) heading setpoints with corresponding speed constraints -Setpoints are intended as inputs to position and heading smoothers, respectively -Setpoints do not need to be kinematically consistent -Optional heading setpoints may be specified as controlled by the respective flag -Unset optional setpoints are not controlled -Unset optional constraints default to vehicle specifications +Position and (optional) heading setpoints with corresponding speed constraints. Setpoints are intended as inputs to position and heading smoothers, respectively. Setpoints do not need to be kinematically consistent. Optional heading setpoints may be specified as controlled by the respective flag. Unset optional setpoints are not controlled. Unset optional constraints default to vehicle specifications. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/GotoSetpoint.msg) +**TOPICS:** goto_setpoint + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| position | `float32[3]` | m | | NED local world frame | +| flag_control_heading | `bool` | | | true if heading is to be controlled | +| heading | `float32` | | | (optional) [rad] [-pi,pi] from North | +| flag_set_max_horizontal_speed | `bool` | | | true if setting a non-default horizontal speed limit | +| max_horizontal_speed | `float32` | | | (optional) [m/s] maximum speed (absolute) in the NE-plane | +| flag_set_max_vertical_speed | `bool` | | | true if setting a non-default vertical speed limit | +| max_vertical_speed | `float32` | | | (optional) [m/s] maximum speed (absolute) in the D-axis | +| flag_set_max_heading_rate | `bool` | | | true if setting a non-default heading rate limit | +| max_heading_rate | `float32` | | | (optional) [rad/s] maximum heading rate (absolute) | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/GotoSetpoint.msg) + +:::details +Click here to see original file ```c # Position and (optional) heading setpoints with corresponding speed constraints @@ -36,5 +63,6 @@ float32 max_vertical_speed # (optional) [m/s] maximum speed (absolute) in the D- bool flag_set_max_heading_rate # true if setting a non-default heading rate limit float32 max_heading_rate # (optional) [rad/s] maximum heading rate (absolute) - ``` + +::: diff --git a/docs/ko/msg_docs/GpioConfig.md b/docs/ko/msg_docs/GpioConfig.md index 0d21b3ce66..fba68b892d 100644 --- a/docs/ko/msg_docs/GpioConfig.md +++ b/docs/ko/msg_docs/GpioConfig.md @@ -1,8 +1,45 @@ +--- +pageClass: is-wide-page +--- + # GpioConfig (UORB message) -GPIO configuration +GPIO configuration. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioConfig.msg) +**TOPICS:** gpio_config + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | Device id | +| mask | `uint32` | | | Pin mask | +| state | `uint32` | | | Initial pin output state | +| config | `uint32` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ---------------------------------------------------------------------------------------------------------- | -------- | ----- | ------ | +| INPUT | `uint32` | 0 | 0x0000 | +| OUTPUT | `uint32` | 1 | 0x0001 | +| PULLUP | `uint32` | 16 | 0x0010 | +| PULLDOWN | `uint32` | 32 | 0x0020 | +| OPENDRAIN | `uint32` | 256 | 0x0100 | +| INPUT_FLOATING | `uint32` | 0 | 0x0000 | +| INPUT_PULLUP | `uint32` | 16 | 0x0010 | +| INPUT_PULLDOWN | `uint32` | 32 | 0x0020 | +| OUTPUT_PUSHPULL | `uint32` | 0 | 0x0000 | +| OUTPUT_OPENDRAIN | `uint32` | 256 | 0x0100 | +| OUTPUT_OPENDRAIN_PULLUP | `uint32` | 272 | 0x0110 | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioConfig.msg) + +:::details +Click here to see original file ```c # GPIO configuration @@ -33,5 +70,6 @@ uint32 OUTPUT_OPENDRAIN = 256 # 0x0100 uint32 OUTPUT_OPENDRAIN_PULLUP = 272 # 0x0110 uint32 config - ``` + +::: diff --git a/docs/ko/msg_docs/GpioIn.md b/docs/ko/msg_docs/GpioIn.md index 589e7d7841..5bbaf4ae51 100644 --- a/docs/ko/msg_docs/GpioIn.md +++ b/docs/ko/msg_docs/GpioIn.md @@ -1,8 +1,33 @@ +--- +pageClass: is-wide-page +--- + # GpioIn (UORB message) -GPIO mask and state +GPIO mask and state. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioIn.msg) +**TOPICS:** gpio_in + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | Device id | +| state | `uint32` | | | pin state mask | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ---------------------------------------------------------------- | ------- | ----- | -- | +| MAX_INSTANCES | `uint8` | 8 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioIn.msg) + +:::details +Click here to see original file ```c # GPIO mask and state @@ -12,5 +37,6 @@ uint64 timestamp # time since system start (microseconds) uint32 device_id # Device id uint32 state # pin state mask - ``` + +::: diff --git a/docs/ko/msg_docs/GpioOut.md b/docs/ko/msg_docs/GpioOut.md index fd77f0be3b..ae09019de4 100644 --- a/docs/ko/msg_docs/GpioOut.md +++ b/docs/ko/msg_docs/GpioOut.md @@ -1,8 +1,28 @@ +--- +pageClass: is-wide-page +--- + # GpioOut (UORB message) -GPIO mask and state +GPIO mask and state. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioOut.msg) +**TOPICS:** gpio_out + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | Device id | +| mask | `uint32` | | | pin mask | +| state | `uint32` | | | pin state mask | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioOut.msg) + +:::details +Click here to see original file ```c # GPIO mask and state @@ -12,5 +32,6 @@ uint32 device_id # Device id uint32 mask # pin mask uint32 state # pin state mask - ``` + +::: diff --git a/docs/ko/msg_docs/GpioRequest.md b/docs/ko/msg_docs/GpioRequest.md index 027b84c685..20f323a774 100644 --- a/docs/ko/msg_docs/GpioRequest.md +++ b/docs/ko/msg_docs/GpioRequest.md @@ -1,13 +1,32 @@ +--- +pageClass: is-wide-page +--- + # GpioRequest (UORB message) -Request GPIO mask to be read +Request GPIO mask to be read. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioRequest.msg) +**TOPICS:** gpio_request + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | Device id | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioRequest.msg) + +:::details +Click here to see original file ```c # Request GPIO mask to be read uint64 timestamp # time since system start (microseconds) uint32 device_id # Device id - ``` + +::: diff --git a/docs/ko/msg_docs/GpsDump.md b/docs/ko/msg_docs/GpsDump.md index 03910da906..a0afd2f854 100644 --- a/docs/ko/msg_docs/GpsDump.md +++ b/docs/ko/msg_docs/GpsDump.md @@ -1,8 +1,37 @@ +--- +pageClass: is-wide-page +--- + # GpsDump (UORB message) This message is used to dump the raw gps communication to the log. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpsDump.msg) +**TOPICS:** gps_dump + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------ | ----------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| instance | `uint8` | | | Instance of GNSS receiver | +| device_id | `uint32` | | | | +| len | `uint8` | | | length of data, MSB bit set = message to the gps device, | +| data | `uint8[79]` | | | data to write to the log | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------- | ------- | ----- | -- | +| INSTANCE_MAIN | `uint8` | 0 | | +| INSTANCE_SECONDARY | `uint8` | 1 | | +| ORB_QUEUE_LENGTH | `uint8` | 16 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpsDump.msg) + +:::details +Click here to see original file ```c # This message is used to dump the raw gps communication to the log. @@ -19,5 +48,6 @@ uint8 len # length of data, MSB bit set = message to the gps device, uint8[79] data # data to write to the log uint8 ORB_QUEUE_LENGTH = 16 - ``` + +::: diff --git a/docs/ko/msg_docs/GpsInjectData.md b/docs/ko/msg_docs/GpsInjectData.md index 2eda49d0c4..041afba713 100644 --- a/docs/ko/msg_docs/GpsInjectData.md +++ b/docs/ko/msg_docs/GpsInjectData.md @@ -1,6 +1,34 @@ +--- +pageClass: is-wide-page +--- + # GpsInjectData (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpsInjectData.msg) +**TOPICS:** gps_injectdata + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------ | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| len | `uint16` | | | length of data | +| flags | `uint8` | | | LSB: 1=fragmented | +| data | `uint8[300]` | | | data to write to GPS device (RTCM message) | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------- | ------- | ----- | -- | +| ORB_QUEUE_LENGTH | `uint8` | 8 | | +| MAX_INSTANCES | `uint8` | 2 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpsInjectData.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -14,5 +42,6 @@ uint8[300] data # data to write to GPS device (RTCM message) uint8 ORB_QUEUE_LENGTH = 8 uint8 MAX_INSTANCES = 2 - ``` + +::: diff --git a/docs/ko/msg_docs/Gripper.md b/docs/ko/msg_docs/Gripper.md index eb888e2017..86e1393f8e 100644 --- a/docs/ko/msg_docs/Gripper.md +++ b/docs/ko/msg_docs/Gripper.md @@ -1,8 +1,33 @@ +--- +pageClass: is-wide-page +--- + # Gripper (UORB message) -# Used to command an actuation in the gripper, which is mapped to a specific output in the control allocation module +# Used to command an actuation in the gripper, which is mapped to a specific output in the control allocation module. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Gripper.msg) +**TOPICS:** gripper + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------- | -------- | ---------------------------------------------------------------- | ---------- | ------------------------------- | +| timestamp | `uint64` | | | | +| command | `int8` | | | Commanded state for the gripper | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | ------ | ----- | -- | +| COMMAND_GRAB | `int8` | 0 | | +| COMMAND_RELEASE | `int8` | 1 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Gripper.msg) + +:::details +Click here to see original file ```c ## Used to command an actuation in the gripper, which is mapped to a specific output in the control allocation module @@ -12,5 +37,6 @@ uint64 timestamp int8 command # Commanded state for the gripper int8 COMMAND_GRAB = 0 int8 COMMAND_RELEASE = 1 - ``` + +::: diff --git a/docs/ko/msg_docs/HealthReport.md b/docs/ko/msg_docs/HealthReport.md index f69de0b179..9d8eb7ab83 100644 --- a/docs/ko/msg_docs/HealthReport.md +++ b/docs/ko/msg_docs/HealthReport.md @@ -1,6 +1,30 @@ +--- +pageClass: is-wide-page +--- + # HealthReport (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/HealthReport.msg) +**TOPICS:** health_report + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| can_arm_mode_flags | `uint64` | | | bitfield for each flight mode (NAVIGATION_STATE_\*) if arming is possible | +| can_run_mode_flags | `uint64` | | | bitfield for each flight mode if it can run | +| health_is_present_flags | `uint64` | | | flags for each health_component_t | +| health_warning_flags | `uint64` | | | | +| health_error_flags | `uint64` | | | | +| arming_check_warning_flags | `uint64` | | | | +| arming_check_error_flags | `uint64` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/HealthReport.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -15,5 +39,6 @@ uint64 health_error_flags uint64 arming_check_warning_flags uint64 arming_check_error_flags - ``` + +::: diff --git a/docs/ko/msg_docs/HeaterStatus.md b/docs/ko/msg_docs/HeaterStatus.md index 49194eed01..d587e119d5 100644 --- a/docs/ko/msg_docs/HeaterStatus.md +++ b/docs/ko/msg_docs/HeaterStatus.md @@ -1,6 +1,41 @@ +--- +pageClass: is-wide-page +--- + # HeaterStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/HeaterStatus.msg) +**TOPICS:** heater_status + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| -------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | | +| heater_on | `bool` | | | | +| temperature_target_met | `bool` | | | | +| temperature_sensor | `float32` | | | | +| temperature_target | `float32` | | | | +| controller_period_usec | `uint32` | | | | +| controller_time_on_usec | `uint32` | | | | +| proportional_value | `float32` | | | | +| integrator_value | `float32` | | | | +| feed_forward_value | `float32` | | | | +| mode | `uint8` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ---------------------------------------------------------- | ------- | ----- | -- | +| MODE_GPIO | `uint8` | 1 | | +| MODE_PX4IO | `uint8` | 2 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/HeaterStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -23,5 +58,6 @@ float32 feed_forward_value uint8 MODE_GPIO = 1 uint8 MODE_PX4IO = 2 uint8 mode - ``` + +::: diff --git a/docs/ko/msg_docs/HomePosition.md b/docs/ko/msg_docs/HomePosition.md index b48528de7e..1dca6ffb41 100644 --- a/docs/ko/msg_docs/HomePosition.md +++ b/docs/ko/msg_docs/HomePosition.md @@ -1,8 +1,45 @@ +--- +pageClass: is-wide-page +--- + # HomePosition (UORB message) GPS home position in WGS84 coordinates. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/HomePosition.msg) +**TOPICS:** home_position + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| lat | `float64` | | | Latitude in degrees | +| lon | `float64` | | | Longitude in degrees | +| alt | `float32` | | | Altitude in meters (AMSL) | +| x | `float32` | | | X coordinate in meters | +| y | `float32` | | | Y coordinate in meters | +| z | `float32` | | | Z coordinate in meters | +| roll | `float32` | | | Pitch angle in radians | +| pitch | `float32` | | | Roll angle in radians | +| yaw | `float32` | | | Yaw angle in radians | +| valid_alt | `bool` | | | true when the altitude has been set | +| valid_hpos | `bool` | | | true when the latitude and longitude have been set | +| valid_lpos | `bool` | | | true when the local position (xyz) has been set | +| manual_home | `bool` | | | true when home position was set manually | +| update_count | `uint32` | | | update counter of the home position | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 1 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/HomePosition.msg) + +:::details +Click here to see original file ```c # GPS home position in WGS84 coordinates. @@ -30,5 +67,6 @@ bool valid_lpos # true when the local position (xyz) has been set bool manual_home # true when home position was set manually uint32 update_count # update counter of the home position - ``` + +::: diff --git a/docs/ko/msg_docs/HomePositionV0.md b/docs/ko/msg_docs/HomePositionV0.md index 270d752337..8fcde53cb5 100644 --- a/docs/ko/msg_docs/HomePositionV0.md +++ b/docs/ko/msg_docs/HomePositionV0.md @@ -1,8 +1,43 @@ +--- +pageClass: is-wide-page +--- + # HomePositionV0 (UORB message) GPS home position in WGS84 coordinates. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/HomePositionV0.msg) +**TOPICS:** home_positionv0 + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| lat | `float64` | | | Latitude in degrees | +| lon | `float64` | | | Longitude in degrees | +| alt | `float32` | | | Altitude in meters (AMSL) | +| x | `float32` | | | X coordinate in meters | +| y | `float32` | | | Y coordinate in meters | +| z | `float32` | | | Z coordinate in meters | +| yaw | `float32` | | | Yaw angle in radians | +| valid_alt | `bool` | | | true when the altitude has been set | +| valid_hpos | `bool` | | | true when the latitude and longitude have been set | +| valid_lpos | `bool` | | | true when the local position (xyz) has been set | +| manual_home | `bool` | | | true when home position was set manually | +| update_count | `uint32` | | | update counter of the home position | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/HomePositionV0.msg) + +:::details +Click here to see original file ```c # GPS home position in WGS84 coordinates. @@ -28,5 +63,6 @@ bool valid_lpos # true when the local position (xyz) has been set bool manual_home # true when home position was set manually uint32 update_count # update counter of the home position - ``` + +::: diff --git a/docs/ko/msg_docs/HoverThrustEstimate.md b/docs/ko/msg_docs/HoverThrustEstimate.md index d84945da58..d39e2dea3d 100644 --- a/docs/ko/msg_docs/HoverThrustEstimate.md +++ b/docs/ko/msg_docs/HoverThrustEstimate.md @@ -1,6 +1,31 @@ +--- +pageClass: is-wide-page +--- + # HoverThrustEstimate (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/HoverThrustEstimate.msg) +**TOPICS:** hover_thrustestimate + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | time of corresponding sensor data last used for this estimate | +| hover_thrust | `float32` | | | estimated hover thrust [0.1, 0.9] | +| hover_thrust_var | `float32` | | | estimated hover thrust variance | +| accel_innov | `float32` | | | innovation of the last acceleration fusion | +| accel_innov_var | `float32` | | | innovation variance of the last acceleration fusion | +| accel_innov_test_ratio | `float32` | | | normalized innovation squared test ratio | +| accel_noise_var | `float32` | | | vertical acceleration noise variance estimated form innovation residual | +| valid | `bool` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/HoverThrustEstimate.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -16,5 +41,6 @@ float32 accel_innov_test_ratio # normalized innovation squared test ratio float32 accel_noise_var # vertical acceleration noise variance estimated form innovation residual bool valid - ``` + +::: diff --git a/docs/ko/msg_docs/InputRc.md b/docs/ko/msg_docs/InputRc.md index fbae6e0254..130ad9ada4 100644 --- a/docs/ko/msg_docs/InputRc.md +++ b/docs/ko/msg_docs/InputRc.md @@ -1,6 +1,60 @@ +--- +pageClass: is-wide-page +--- + # InputRc (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/InputRc.msg) +**TOPICS:** input_rc + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_last_signal | `uint64` | | | last valid reception time | +| channel_count | `uint8` | | | number of channels actually being seen | +| rssi | `int32` | | | receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 100: full reception | +| rc_failsafe | `bool` | | | explicit failsafe flag: true on TX failure or TX out of range , false otherwise. Only the true state is reliable, as there are some (PPM) receivers on the market going into failsafe without telling us explicitly. | +| rc_lost | `bool` | | | RC receiver connection status: True,if no frame has arrived in the expected time, false otherwise. True usually means that the receiver has been disconnected, but can also indicate a radio link loss on "stupid" systems. Will remain false, if a RX with failsafe option continues to transmit frames after a link loss. | +| rc_lost_frame_count | `uint16` | | | Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality. | +| rc_total_frame_count | `uint16` | | | Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality. | +| rc_ppm_frame_length | `uint16` | | | Length of a single PPM frame. Zero for non-PPM systems | +| rc_frame_rate | `uint16` | | | RC frame rate in msg/second. 0 = invalid | +| input_source | `uint8` | | | Input source | +| values | `uint16[18]` | | | measured pulse widths for each of the supported channels | +| link_quality | `int8` | | | link quality. Percentage 0-100%. -1 = invalid | +| rssi_dbm | `float32` | | | Actual rssi in units of dBm. NaN = invalid | +| link_snr | `int8` | | | link signal to noise ratio in units of dB. -1 = invalid | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | -------------------------------------------------------------------------------------------------------------------------------- | +| RC_INPUT_SOURCE_UNKNOWN | `uint8` | 0 | | +| RC_INPUT_SOURCE_PX4FMU_PPM | `uint8` | 1 | | +| RC_INPUT_SOURCE_PX4IO_PPM | `uint8` | 2 | | +| RC_INPUT_SOURCE_PX4IO_SPEKTRUM | `uint8` | 3 | | +| RC_INPUT_SOURCE_PX4IO_SBUS | `uint8` | 4 | | +| RC_INPUT_SOURCE_PX4IO_ST24 | `uint8` | 5 | | +| RC_INPUT_SOURCE_MAVLINK | `uint8` | 6 | | +| RC_INPUT_SOURCE_QURT | `uint8` | 7 | | +| RC_INPUT_SOURCE_PX4FMU_SPEKTRUM | `uint8` | 8 | | +| RC_INPUT_SOURCE_PX4FMU_SBUS | `uint8` | 9 | | +| RC_INPUT_SOURCE_PX4FMU_ST24 | `uint8` | 10 | | +| RC_INPUT_SOURCE_PX4FMU_SUMD | `uint8` | 11 | | +| RC_INPUT_SOURCE_PX4FMU_DSM | `uint8` | 12 | | +| RC_INPUT_SOURCE_PX4IO_SUMD | `uint8` | 13 | | +| RC_INPUT_SOURCE_PX4FMU_CRSF | `uint8` | 14 | | +| RC_INPUT_SOURCE_PX4FMU_GHST | `uint8` | 15 | | +| RC_INPUT_MAX_CHANNELS | `uint8` | 18 | Maximum number of R/C input channels in the system. S.Bus has up to 18 channels. | +| RSSI_MAX | `int8` | 100 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/InputRc.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -45,5 +99,6 @@ uint16[18] values # measured pulse widths for each of the supported channels int8 link_quality # link quality. Percentage 0-100%. -1 = invalid float32 rssi_dbm # Actual rssi in units of dBm. NaN = invalid int8 link_snr # link signal to noise ratio in units of dB. -1 = invalid - ``` + +::: diff --git a/docs/ko/msg_docs/InternalCombustionEngineControl.md b/docs/ko/msg_docs/InternalCombustionEngineControl.md index aacacd8973..a7d6822f00 100644 --- a/docs/ko/msg_docs/InternalCombustionEngineControl.md +++ b/docs/ko/msg_docs/InternalCombustionEngineControl.md @@ -1,6 +1,28 @@ +--- +pageClass: is-wide-page +--- + # InternalCombustionEngineControl (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/InternalCombustionEngineControl.msg) +**TOPICS:** internal_combustionengine_control + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| ignition_on | `bool` | | | activate/deactivate ignition (spark plug) | +| throttle_control | `float32` | | | setpoint for throttle actuator, with slew rate if enabled, idles with 0 [norm] [@range 0,1] [@uncontrolled NAN to stop motor] | +| choke_control | `float32` | | | setpoint for choke actuator, 1: fully closed [norm] [@range 0,1] | +| starter_engine_control | `float32` | | | setpoint for (electric) starter motor [norm] [@range 0,1] | +| user_request | `uint8` | | | user intent for the ICE being on/off | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/InternalCombustionEngineControl.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -11,5 +33,6 @@ float32 choke_control # setpoint for choke actuator, 1: fully closed [norm] [@ float32 starter_engine_control # setpoint for (electric) starter motor [norm] [@range 0,1] uint8 user_request # user intent for the ICE being on/off - ``` + +::: diff --git a/docs/ko/msg_docs/InternalCombustionEngineStatus.md b/docs/ko/msg_docs/InternalCombustionEngineStatus.md index 2ebb28ef4d..99fc9fae60 100644 --- a/docs/ko/msg_docs/InternalCombustionEngineStatus.md +++ b/docs/ko/msg_docs/InternalCombustionEngineStatus.md @@ -1,6 +1,78 @@ +--- +pageClass: is-wide-page +--- + # InternalCombustionEngineStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/InternalCombustionEngineStatus.msg) +**TOPICS:** internal_combustionengine_status + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| state | `uint8` | | | | +| flags | `uint32` | | | | +| engine_load_percent | `uint8` | | | Engine load estimate, percent, [0, 127] | +| engine_speed_rpm | `uint32` | | | Engine speed, revolutions per minute | +| spark_dwell_time_ms | `float32` | | | Spark dwell time, millisecond | +| atmospheric_pressure_kpa | `float32` | | | Atmospheric (barometric) pressure, kilopascal | +| intake_manifold_pressure_kpa | `float32` | | | Engine intake manifold pressure, kilopascal | +| intake_manifold_temperature | `float32` | | | Engine intake manifold temperature, kelvin | +| coolant_temperature | `float32` | | | Engine coolant temperature, kelvin | +| oil_pressure | `float32` | | | Oil pressure, kilopascal | +| oil_temperature | `float32` | | | Oil temperature, kelvin | +| fuel_pressure | `float32` | | | Fuel pressure, kilopascal | +| fuel_consumption_rate_cm3pm | `float32` | | | Instant fuel consumption estimate, (centimeter^3)/minute | +| estimated_consumed_fuel_volume_cm3 | `float32` | | | Estimate of the consumed fuel since the start of the engine, centimeter^3 | +| throttle_position_percent | `uint8` | | | Throttle position, percent | +| ecu_index | `uint8` | | | The index of the publishing ECU | +| spark_plug_usage | `uint8` | | | Spark plug activity report. | +| ignition_timing_deg | `float32` | | | Cylinder ignition timing, angular degrees of the crankshaft | +| injection_time_ms | `float32` | | | Fuel injection time, millisecond | +| cylinder_head_temperature | `float32` | | | Cylinder head temperature (CHT), kelvin | +| exhaust_gas_temperature | `float32` | | | Exhaust gas temperature (EGT), kelvin | +| lambda_coefficient | `float32` | | | Estimated lambda coefficient, dimensionless ratio | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ------ | -------------------------------------------------------------------------------------- | +| STATE_STOPPED | `uint8` | 0 | The engine is not running. This is the default state. | +| STATE_STARTING | `uint8` | 1 | The engine is starting. This is a transient state. | +| STATE_RUNNING | `uint8` | 2 | The engine is running normally. | +| STATE_FAULT | `uint8` | 3 | The engine can no longer function. | +| FLAG_GENERAL_ERROR | `uint32` | 1 | General error. | +| FLAG_CRANKSHAFT_SENSOR_ERROR_SUPPORTED | `uint32` | 2 | Error of the crankshaft sensor. This flag is optional. | +| FLAG_CRANKSHAFT_SENSOR_ERROR | `uint32` | 4 | | +| FLAG_TEMPERATURE_SUPPORTED | `uint32` | 8 | Temperature levels. These flags are optional | +| FLAG_TEMPERATURE_BELOW_NOMINAL | `uint32` | 16 | Under-temperature warning | +| FLAG_TEMPERATURE_ABOVE_NOMINAL | `uint32` | 32 | Over-temperature warning | +| FLAG_TEMPERATURE_OVERHEATING | `uint32` | 64 | Critical overheating | +| FLAG_TEMPERATURE_EGT_ABOVE_NOMINAL | `uint32` | 128 | Exhaust gas over-temperature warning | +| FLAG_FUEL_PRESSURE_SUPPORTED | `uint32` | 256 | Fuel pressure. These flags are optional | +| FLAG_FUEL_PRESSURE_BELOW_NOMINAL | `uint32` | 512 | Under-pressure warning | +| FLAG_FUEL_PRESSURE_ABOVE_NOMINAL | `uint32` | 1024 | Over-pressure warning | +| FLAG_DETONATION_SUPPORTED | `uint32` | 2048 | Detonation warning. This flag is optional. | +| FLAG_DETONATION_OBSERVED | `uint32` | 4096 | Detonation condition observed warning | +| FLAG_MISFIRE_SUPPORTED | `uint32` | 8192 | Misfire warning. This flag is optional. | +| FLAG_MISFIRE_OBSERVED | `uint32` | 16384 | Misfire condition observed warning | +| FLAG_OIL_PRESSURE_SUPPORTED | `uint32` | 32768 | Oil pressure. These flags are optional | +| FLAG_OIL_PRESSURE_BELOW_NOMINAL | `uint32` | 65536 | Under-pressure warning | +| FLAG_OIL_PRESSURE_ABOVE_NOMINAL | `uint32` | 131072 | Over-pressure warning | +| FLAG_DEBRIS_SUPPORTED | `uint32` | 262144 | Debris warning. This flag is optional | +| FLAG_DEBRIS_DETECTED | `uint32` | 524288 | Detection of debris warning | +| SPARK_PLUG_SINGLE | `uint8` | 0 | | +| SPARK_PLUG_FIRST_ACTIVE | `uint8` | 1 | | +| SPARK_PLUG_SECOND_ACTIVE | `uint8` | 2 | | +| SPARK_PLUG_BOTH_ACTIVE | `uint8` | 3 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/InternalCombustionEngineStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -67,5 +139,6 @@ float32 injection_time_ms # Fuel injection time, millisecond float32 cylinder_head_temperature # Cylinder head temperature (CHT), kelvin float32 exhaust_gas_temperature # Exhaust gas temperature (EGT), kelvin float32 lambda_coefficient # Estimated lambda coefficient, dimensionless ratio - ``` + +::: diff --git a/docs/ko/msg_docs/IridiumsbdStatus.md b/docs/ko/msg_docs/IridiumsbdStatus.md index 07355178c9..f762ba1fb8 100644 --- a/docs/ko/msg_docs/IridiumsbdStatus.md +++ b/docs/ko/msg_docs/IridiumsbdStatus.md @@ -1,6 +1,37 @@ +--- +pageClass: is-wide-page +--- + # IridiumsbdStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/IridiumsbdStatus.msg) +**TOPICS:** iridiumsbd_status + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| last_at_ok_timestamp | `uint64` | | | timestamp of the last "OK" received after the "AT" command | +| tx_buf_write_index | `uint16` | | | current size of the tx buffer | +| rx_buf_read_index | `uint16` | | | the rx buffer is parsed up to that index | +| rx_buf_end_index | `uint16` | | | current size of the rx buffer | +| failed_sbd_sessions | `uint16` | | | number of failed sbd sessions | +| successful_sbd_sessions | `uint16` | | | number of successful sbd sessions | +| num_tx_buf_reset | `uint16` | | | number of times the tx buffer was reset | +| signal_quality | `uint8` | | | current signal quality, 0 is no signal, 5 the best | +| state | `uint8` | | | current state of the driver, see the satcom_state of IridiumSBD.h for the definition | +| ring_pending | `bool` | | | indicates if a ring call is pending | +| tx_buf_write_pending | `bool` | | | indicates if a tx buffer write is pending | +| tx_session_pending | `bool` | | | indicates if a tx session is pending | +| rx_read_pending | `bool` | | | indicates if a rx read is pending | +| rx_session_pending | `bool` | | | indicates if a rx session is pending | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/IridiumsbdStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -18,5 +49,6 @@ bool tx_buf_write_pending # indicates if a tx buffer write is pending bool tx_session_pending # indicates if a tx session is pending bool rx_read_pending # indicates if a rx read is pending bool rx_session_pending # indicates if a rx session is pending - ``` + +::: diff --git a/docs/ko/msg_docs/IrlockReport.md b/docs/ko/msg_docs/IrlockReport.md index d850a0bb1e..9a437b1354 100644 --- a/docs/ko/msg_docs/IrlockReport.md +++ b/docs/ko/msg_docs/IrlockReport.md @@ -1,8 +1,30 @@ +--- +pageClass: is-wide-page +--- + # IrlockReport (UORB message) -IRLOCK_REPORT message data +IRLOCK_REPORT message data. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/IrlockReport.msg) +**TOPICS:** irlock_report + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| signature | `uint16` | | | | +| pos_x | `float32` | | | tan(theta), where theta is the angle between the target and the camera center of projection in camera x-axis | +| pos_y | `float32` | | | tan(theta), where theta is the angle between the target and the camera center of projection in camera y-axis | +| size_x | `float32` | | | /\*\* size of target along camera x-axis in units of tan(theta) \*\*/ | +| size_y | `float32` | | | /\*\* size of target along camera y-axis in units of tan(theta) \*\*/ | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/IrlockReport.msg) + +:::details +Click here to see original file ```c # IRLOCK_REPORT message data @@ -16,5 +38,6 @@ float32 pos_x # tan(theta), where theta is the angle between the target and the float32 pos_y # tan(theta), where theta is the angle between the target and the camera center of projection in camera y-axis float32 size_x #/** size of target along camera x-axis in units of tan(theta) **/ float32 size_y #/** size of target along camera y-axis in units of tan(theta) **/ - ``` + +::: diff --git a/docs/ko/msg_docs/LandingGear.md b/docs/ko/msg_docs/LandingGear.md index 25e803e461..3781f1816e 100644 --- a/docs/ko/msg_docs/LandingGear.md +++ b/docs/ko/msg_docs/LandingGear.md @@ -1,6 +1,32 @@ +--- +pageClass: is-wide-page +--- + # LandingGear (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LandingGear.msg) +**TOPICS:** landing_gear + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| landing_gear | `int8` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------- | ------ | ----- | ---------------------- | +| GEAR_UP | `int8` | 1 | landing gear up | +| GEAR_DOWN | `int8` | -1 | landing gear down | +| GEAR_KEEP | `int8` | 0 | keep the current state | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LandingGear.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -10,5 +36,6 @@ int8 GEAR_DOWN = -1 # landing gear down int8 GEAR_KEEP = 0 # keep the current state int8 landing_gear - ``` + +::: diff --git a/docs/ko/msg_docs/LandingGearWheel.md b/docs/ko/msg_docs/LandingGearWheel.md index 74da2943fd..a815e88f5f 100644 --- a/docs/ko/msg_docs/LandingGearWheel.md +++ b/docs/ko/msg_docs/LandingGearWheel.md @@ -1,10 +1,29 @@ +--- +pageClass: is-wide-page +--- + # LandingGearWheel (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LandingGearWheel.msg) +**TOPICS:** landing_gearwheel + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| normalized_wheel_setpoint | `float32` | | | negative is turning left, positive turning right [-1, 1] | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LandingGearWheel.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) float32 normalized_wheel_setpoint # negative is turning left, positive turning right [-1, 1] - ``` + +::: diff --git a/docs/ko/msg_docs/LandingTargetInnovations.md b/docs/ko/msg_docs/LandingTargetInnovations.md index 9c896092e3..e82715c4a9 100644 --- a/docs/ko/msg_docs/LandingTargetInnovations.md +++ b/docs/ko/msg_docs/LandingTargetInnovations.md @@ -1,6 +1,27 @@ +--- +pageClass: is-wide-page +--- + # LandingTargetInnovations (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LandingTargetInnovations.msg) +**TOPICS:** landing_targetinnovations + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| innov_x | `float32` | | | | +| innov_y | `float32` | | | | +| innov_cov_x | `float32` | | | | +| innov_cov_y | `float32` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LandingTargetInnovations.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -11,5 +32,6 @@ float32 innov_y # Innovation covariance of landing target position estimator float32 innov_cov_x float32 innov_cov_y - ``` + +::: diff --git a/docs/ko/msg_docs/LandingTargetPose.md b/docs/ko/msg_docs/LandingTargetPose.md index b4a76aeda7..404e715203 100644 --- a/docs/ko/msg_docs/LandingTargetPose.md +++ b/docs/ko/msg_docs/LandingTargetPose.md @@ -1,8 +1,41 @@ +--- +pageClass: is-wide-page +--- + # LandingTargetPose (UORB message) -Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames +Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LandingTargetPose.msg) +**TOPICS:** landing_targetpose + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| is_static | `bool` | | | Flag indicating whether the landing target is static or moving with respect to the ground | +| rel_pos_valid | `bool` | | | Flag showing whether relative position is valid | +| rel_vel_valid | `bool` | | | Flag showing whether relative velocity is valid | +| x_rel | `float32` | | | X/north position of target, relative to vehicle (navigation frame) [meters] | +| y_rel | `float32` | | | Y/east position of target, relative to vehicle (navigation frame) [meters] | +| z_rel | `float32` | | | Z/down position of target, relative to vehicle (navigation frame) [meters] | +| vx_rel | `float32` | | | X/north velocity of target, relative to vehicle (navigation frame) [meters/second] | +| vy_rel | `float32` | | | Y/east velocity of target, relative to vehicle (navigation frame) [meters/second] | +| cov_x_rel | `float32` | | | X/north position variance [meters^2] | +| cov_y_rel | `float32` | | | Y/east position variance [meters^2] | +| cov_vx_rel | `float32` | | | X/north velocity variance [(meters/second)^2] | +| cov_vy_rel | `float32` | | | Y/east velocity variance [(meters/second)^2] | +| abs_pos_valid | `bool` | | | Flag showing whether absolute position is valid | +| x_abs | `float32` | | | X/north position of target, relative to origin (navigation frame) [meters] | +| y_abs | `float32` | | | Y/east position of target, relative to origin (navigation frame) [meters] | +| z_abs | `float32` | | | Z/down position of target, relative to origin (navigation frame) [meters] | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LandingTargetPose.msg) + +:::details +Click here to see original file ```c # Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames @@ -31,5 +64,6 @@ bool abs_pos_valid # Flag showing whether absolute position is valid float32 x_abs # X/north position of target, relative to origin (navigation frame) [meters] float32 y_abs # Y/east position of target, relative to origin (navigation frame) [meters] float32 z_abs # Z/down position of target, relative to origin (navigation frame) [meters] - ``` + +::: diff --git a/docs/ko/msg_docs/LateralControlConfiguration.md b/docs/ko/msg_docs/LateralControlConfiguration.md index b0a03a6378..cac7d54072 100644 --- a/docs/ko/msg_docs/LateralControlConfiguration.md +++ b/docs/ko/msg_docs/LateralControlConfiguration.md @@ -1,9 +1,32 @@ +--- +pageClass: is-wide-page +--- + # LateralControlConfiguration (UORB message) -Fixed Wing Lateral Control Configuration message -Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages. +Fixed Wing Lateral Control Configuration message. Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/LateralControlConfiguration.msg) +**TOPICS:** lateral_controlconfiguration + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| lateral_accel_max | `float32` | m/s^2 | | currently maps to a maximum roll angle, accel_max = tan(roll_max) \* GRAVITY | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/LateralControlConfiguration.msg) + +:::details +Click here to see original file ```c # Fixed Wing Lateral Control Configuration message @@ -14,5 +37,6 @@ uint32 MESSAGE_VERSION = 0 uint64 timestamp # time since system start (microseconds) float32 lateral_accel_max # [m/s^2] currently maps to a maximum roll angle, accel_max = tan(roll_max) * GRAVITY - ``` + +::: diff --git a/docs/ko/msg_docs/LaunchDetectionStatus.md b/docs/ko/msg_docs/LaunchDetectionStatus.md index a85c63e4e8..5ef459164b 100644 --- a/docs/ko/msg_docs/LaunchDetectionStatus.md +++ b/docs/ko/msg_docs/LaunchDetectionStatus.md @@ -1,8 +1,34 @@ +--- +pageClass: is-wide-page +--- + # LaunchDetectionStatus (UORB message) -Status of the launch detection state machine (fixed-wing only) +Status of the launch detection state machine (fixed-wing only). -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LaunchDetectionStatus.msg) +**TOPICS:** launch_detectionstatus + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| launch_detection_state | `uint8` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| STATE_WAITING_FOR_LAUNCH | `uint8` | 0 | waiting for launch | +| STATE_LAUNCH_DETECTED_DISABLED_MOTOR | `uint8` | 1 | launch detected, but keep motor(s) disabled (e.g. because it can't spin freely while on catapult) | +| STATE_FLYING | `uint8` | 2 | launch detected, use normal takeoff/flying configuration | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LaunchDetectionStatus.msg) + +:::details +Click here to see original file ```c # Status of the launch detection state machine (fixed-wing only) @@ -14,5 +40,6 @@ uint8 STATE_LAUNCH_DETECTED_DISABLED_MOTOR = 1 # launch detected, but keep moto uint8 STATE_FLYING = 2 # launch detected, use normal takeoff/flying configuration uint8 launch_detection_state - ``` + +::: diff --git a/docs/ko/msg_docs/LedControl.md b/docs/ko/msg_docs/LedControl.md index 69590eb8a5..3ee8b926aa 100644 --- a/docs/ko/msg_docs/LedControl.md +++ b/docs/ko/msg_docs/LedControl.md @@ -1,9 +1,54 @@ +--- +pageClass: is-wide-page +--- + # LedControl (UORB message) -LED control: control a single or multiple LED's. -These are the externally visible LED's, not the board LED's +LED control: control a single or multiple LED's. These are the externally visible LED's, not the board LED's. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LedControl.msg) +**TOPICS:** led_control + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| led_mask | `uint8` | | | bitmask which LED(s) to control, set to 0xff for all | +| color | `uint8` | | | see COLOR\_\* | +| mode | `uint8` | | | see MODE\_\* | +| num_blinks | `uint8` | | | how many times to blink (number of on-off cycles if mode is one of MODE_BLINK_\*) . Set to 0 for infinite | +| priority | `uint8` | | | priority: higher priority events will override current lower priority events (see MAX_PRIORITY) | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| --------------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------ | +| COLOR_OFF | `uint8` | 0 | this is only used in the drivers | +| COLOR_RED | `uint8` | 1 | | +| COLOR_GREEN | `uint8` | 2 | | +| COLOR_BLUE | `uint8` | 3 | | +| COLOR_YELLOW | `uint8` | 4 | | +| COLOR_PURPLE | `uint8` | 5 | | +| COLOR_AMBER | `uint8` | 6 | | +| COLOR_CYAN | `uint8` | 7 | | +| COLOR_WHITE | `uint8` | 8 | | +| MODE_OFF | `uint8` | 0 | turn LED off | +| MODE_ON | `uint8` | 1 | turn LED on | +| MODE_DISABLED | `uint8` | 2 | disable this priority (switch to lower priority setting) | +| MODE_BLINK_SLOW | `uint8` | 3 | | +| MODE_BLINK_NORMAL | `uint8` | 4 | | +| MODE_BLINK_FAST | `uint8` | 5 | | +| MODE_BREATHE | `uint8` | 6 | continuously increase & decrease brightness (solid color if driver does not support it) | +| MODE_FLASH | `uint8` | 7 | two fast blinks (on/off) with timing as in MODE_BLINK_FAST and then off for a while | +| MAX_PRIORITY | `uint8` | 2 | maximum priority (minimum is 0) | +| ORB_QUEUE_LENGTH | `uint8` | 8 | needs to match BOARD_MAX_LEDS | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LedControl.msg) + +:::details +Click here to see original file ```c # LED control: control a single or multiple LED's. @@ -43,5 +88,6 @@ uint8 num_blinks # how many times to blink (number of on-off cycles if mode is o uint8 priority # priority: higher priority events will override current lower priority events (see MAX_PRIORITY) uint8 ORB_QUEUE_LENGTH = 8 # needs to match BOARD_MAX_LEDS - ``` + +::: diff --git a/docs/ko/msg_docs/LogMessage.md b/docs/ko/msg_docs/LogMessage.md index 5f640bae18..96b04eb262 100644 --- a/docs/ko/msg_docs/LogMessage.md +++ b/docs/ko/msg_docs/LogMessage.md @@ -1,8 +1,33 @@ +--- +pageClass: is-wide-page +--- + # LogMessage (UORB message) -A logging message, output with PX4_WARN, PX4_ERR, PX4_INFO +A logging message, output with PX4_WARN, PX4_ERR, PX4_INFO. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LogMessage.msg) +**TOPICS:** log_message + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------- | ----------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| severity | `uint8` | | | log level (same as in the linux kernel, starting with 0) | +| text | `char[127]` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------- | ------- | ----- | -- | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LogMessage.msg) + +:::details +Click here to see original file ```c # A logging message, output with PX4_WARN, PX4_ERR, PX4_INFO @@ -13,5 +38,6 @@ uint8 severity # log level (same as in the linux kernel, starting with 0) char[127] text uint8 ORB_QUEUE_LENGTH = 4 - ``` + +::: diff --git a/docs/ko/msg_docs/LoggerStatus.md b/docs/ko/msg_docs/LoggerStatus.md index 81dd11e035..59f5a9bb25 100644 --- a/docs/ko/msg_docs/LoggerStatus.md +++ b/docs/ko/msg_docs/LoggerStatus.md @@ -1,6 +1,43 @@ +--- +pageClass: is-wide-page +--- + # LoggerStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LoggerStatus.msg) +**TOPICS:** logger_status + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------------------ | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| type | `uint8` | | | | +| backend | `uint8` | | | | +| is_logging | `bool` | | | | +| total_written_kb | `float32` | | | total written to log in kiloBytes | +| write_rate_kb_s | `float32` | | | write rate in kiloBytes/s | +| dropouts | `uint32` | | | number of failed buffer writes due to buffer overflow | +| message_gaps | `uint32` | | | messages misssed | +| buffer_used_bytes | `uint32` | | | current buffer fill in Bytes | +| buffer_size_bytes | `uint32` | | | total buffer size in Bytes | +| num_messages | `uint8` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------- | ------- | ----- | -------------------------------------------------------------------------------------------- | +| LOGGER_TYPE_FULL | `uint8` | 0 | Normal, full size log | +| LOGGER_TYPE_MISSION | `uint8` | 1 | reduced mission log (e.g. for geotagging) | +| BACKEND_FILE | `uint8` | 1 | | +| BACKEND_MAVLINK | `uint8` | 2 | | +| BACKEND_ALL | `uint8` | 3 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LoggerStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -26,5 +63,6 @@ uint32 buffer_used_bytes # current buffer fill in Bytes uint32 buffer_size_bytes # total buffer size in Bytes uint8 num_messages - ``` + +::: diff --git a/docs/ko/msg_docs/LongitudinalControlConfiguration.md b/docs/ko/msg_docs/LongitudinalControlConfiguration.md index 901d5c23bc..a9d7c67f20 100644 --- a/docs/ko/msg_docs/LongitudinalControlConfiguration.md +++ b/docs/ko/msg_docs/LongitudinalControlConfiguration.md @@ -1,10 +1,40 @@ +--- +pageClass: is-wide-page +--- + # LongitudinalControlConfiguration (UORB message) -Fixed Wing Longitudinal Control Configuration message -Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages -and configure the resultant setpoints. +Fixed Wing Longitudinal Control Configuration message. Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages. and configure the resultant setpoints. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/LongitudinalControlConfiguration.msg) +**TOPICS:** longitudinal_controlconfiguration + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| pitch_min | `float32` | rad | [-pi : pi] | defaults to FW_P_LIM_MIN if NAN. | +| pitch_max | `float32` | rad | [-pi : pi] | defaults to FW_P_LIM_MAX if NAN. | +| throttle_min | `float32` | norm | [0 : 1] | deaults to FW_THR_MIN if NAN. | +| throttle_max | `float32` | norm | [0 : 1] | defaults to FW_THR_MAX if NAN. | +| climb_rate_target | `float32` | m/s | | target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. | +| sink_rate_target | `float32` | m/s | | target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. | +| speed_weight | `float32` | | [0 : 2] | , 0=pitch controls altitude only, 2=pitch controls airspeed only | +| enforce_low_height_condition | `bool` | boolean | | if true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking | +| disable_underspeed_protection | `bool` | boolean | | if true, underspeed handling is disabled in the altitude controller | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/LongitudinalControlConfiguration.msg) + +:::details +Click here to see original file ```c # Fixed Wing Longitudinal Control Configuration message @@ -24,5 +54,6 @@ float32 sink_rate_target # [m/s] target sinkrate to change altitude. Defaults float32 speed_weight # [@range 0,2], 0=pitch controls altitude only, 2=pitch controls airspeed only bool enforce_low_height_condition # [boolean] if true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking bool disable_underspeed_protection # [boolean] if true, underspeed handling is disabled in the altitude controller - ``` + +::: diff --git a/docs/ko/msg_docs/MagWorkerData.md b/docs/ko/msg_docs/MagWorkerData.md index d761c92843..d064f7b94c 100644 --- a/docs/ko/msg_docs/MagWorkerData.md +++ b/docs/ko/msg_docs/MagWorkerData.md @@ -1,6 +1,38 @@ +--- +pageClass: is-wide-page +--- + # MagWorkerData (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MagWorkerData.msg) +**TOPICS:** mag_workerdata + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | | +| done_count | `uint32` | | | | +| calibration_points_perside | `uint32` | | | | +| calibration_interval_perside_us | `uint64` | | | | +| calibration_counter_total | `uint32[4]` | | | | +| side_data_collected | `bool[4]` | | | | +| x | `float32[4]` | | | | +| y | `float32[4]` | | | | +| z | `float32[4]` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------ | ------- | ----- | -- | +| MAX_MAGS | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MagWorkerData.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -16,5 +48,6 @@ bool[4] side_data_collected float32[4] x float32[4] y float32[4] z - ``` + +::: diff --git a/docs/ko/msg_docs/MagnetometerBiasEstimate.md b/docs/ko/msg_docs/MagnetometerBiasEstimate.md index 0c8c28af9b..3b3ff1987c 100644 --- a/docs/ko/msg_docs/MagnetometerBiasEstimate.md +++ b/docs/ko/msg_docs/MagnetometerBiasEstimate.md @@ -1,6 +1,28 @@ +--- +pageClass: is-wide-page +--- + # MagnetometerBiasEstimate (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MagnetometerBiasEstimate.msg) +**TOPICS:** magnetometer_biasestimate + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| bias_x | `float32[4]` | | | estimated X-bias of all the sensors | +| bias_y | `float32[4]` | | | estimated Y-bias of all the sensors | +| bias_z | `float32[4]` | | | estimated Z-bias of all the sensors | +| valid | `bool[4]` | | | true if the estimator has converged | +| stable | `bool[4]` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MagnetometerBiasEstimate.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -11,5 +33,6 @@ float32[4] bias_z # estimated Z-bias of all the sensors bool[4] valid # true if the estimator has converged bool[4] stable - ``` + +::: diff --git a/docs/ko/msg_docs/ManualControlSetpoint.md b/docs/ko/msg_docs/ManualControlSetpoint.md index b96cb64322..7cbccf2f40 100644 --- a/docs/ko/msg_docs/ManualControlSetpoint.md +++ b/docs/ko/msg_docs/ManualControlSetpoint.md @@ -1,6 +1,53 @@ +--- +pageClass: is-wide-page +--- + # ManualControlSetpoint (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ManualControlSetpoint.msg) +**TOPICS:** manual_control_setpoint manual_control_input + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| valid | `bool` | | | | +| data_source | `uint8` | | | | +| roll | `float32` | | | move right, positive roll rotation, right side down | +| pitch | `float32` | | | move forward, negative pitch rotation, nose down | +| yaw | `float32` | | | positive yaw rotation, clockwise when seen top down | +| throttle | `float32` | | | move up, positive thrust, -1 is minimum available 0% or -100% +1 is 100% thrust | +| flaps | `float32` | | | position of flaps switch/knob/lever [-1, 1] | +| aux1 | `float32` | | | | +| aux2 | `float32` | | | | +| aux3 | `float32` | | | | +| aux4 | `float32` | | | | +| aux5 | `float32` | | | | +| aux6 | `float32` | | | | +| sticks_moving | `bool` | | | | +| buttons | `uint16` | | | From uint16 buttons field of Mavlink manual_control message | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------- | -------- | ----- | ---------------------------------------------------------------- | +| MESSAGE_VERSION | `uint32` | 0 | | +| SOURCE_UNKNOWN | `uint8` | 0 | | +| SOURCE_RC | `uint8` | 1 | radio control (input_rc) | +| SOURCE_MAVLINK_0 | `uint8` | 2 | mavlink instance 0 | +| SOURCE_MAVLINK_1 | `uint8` | 3 | mavlink instance 1 | +| SOURCE_MAVLINK_2 | `uint8` | 4 | mavlink instance 2 | +| SOURCE_MAVLINK_3 | `uint8` | 5 | mavlink instance 3 | +| SOURCE_MAVLINK_4 | `uint8` | 6 | mavlink instance 4 | +| SOURCE_MAVLINK_5 | `uint8` | 7 | mavlink instance 5 | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ManualControlSetpoint.msg) + +:::details +Click here to see original file ```c uint32 MESSAGE_VERSION = 0 @@ -51,5 +98,6 @@ uint16 buttons # From uint16 buttons field of Mavlink manual_control message # DEPRECATED: float32 y # DEPRECATED: float32 z # DEPRECATED: float32 r - ``` + +::: diff --git a/docs/ko/msg_docs/ManualControlSwitches.md b/docs/ko/msg_docs/ManualControlSwitches.md index 189682730f..e5bbf63d8a 100644 --- a/docs/ko/msg_docs/ManualControlSwitches.md +++ b/docs/ko/msg_docs/ManualControlSwitches.md @@ -1,6 +1,55 @@ +--- +pageClass: is-wide-page +--- + # ManualControlSwitches (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ManualControlSwitches.msg) +**TOPICS:** manual_controlswitches + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| mode_slot | `uint8` | | | the slot a specific model selector is in | +| arm_switch | `uint8` | | | arm/disarm switch: _DISARMED_, ARMED | +| return_switch | `uint8` | | | return to launch 2 position switch (mandatory): _NORMAL_, RTL | +| loiter_switch | `uint8` | | | loiter 2 position switch (optional): _MISSION_, LOITER | +| offboard_switch | `uint8` | | | offboard 2 position switch (optional): _NORMAL_, OFFBOARD | +| kill_switch | `uint8` | | | throttle kill: _NORMAL_, KILL | +| termination_switch | `uint8` | | | trigger termination which cannot be undone | +| gear_switch | `uint8` | | | landing gear switch: _DOWN_, UP | +| transition_switch | `uint8` | | | VTOL transition switch: \_HOVER, FORWARD_FLIGHT | +| photo_switch | `uint8` | | | Photo trigger switch | +| video_switch | `uint8` | | | Photo trigger switch | +| engage_main_motor_switch | `uint8` | | | Engage the main motor (for helicopters) | +| payload_power_switch | `uint8` | | | Payload power switch | +| switch_changes | `uint32` | | | number of switch changes | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| --------------------------------------------------------------------------------------------- | ------- | ----- | ---------------------------------------------------- | +| SWITCH_POS_NONE | `uint8` | 0 | switch is not mapped | +| SWITCH_POS_ON | `uint8` | 1 | switch activated (value = 1) | +| SWITCH_POS_MIDDLE | `uint8` | 2 | middle position (value = 0) | +| SWITCH_POS_OFF | `uint8` | 3 | switch not activated (value = -1) | +| MODE_SLOT_NONE | `uint8` | 0 | no mode slot assigned | +| MODE_SLOT_1 | `uint8` | 1 | mode slot 1 selected | +| MODE_SLOT_2 | `uint8` | 2 | mode slot 2 selected | +| MODE_SLOT_3 | `uint8` | 3 | mode slot 3 selected | +| MODE_SLOT_4 | `uint8` | 4 | mode slot 4 selected | +| MODE_SLOT_5 | `uint8` | 5 | mode slot 5 selected | +| MODE_SLOT_6 | `uint8` | 6 | mode slot 6 selected | +| MODE_SLOT_NUM | `uint8` | 6 | number of slots | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ManualControlSwitches.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -40,5 +89,6 @@ uint8 engage_main_motor_switch # Engage the main motor (for helicopters) uint8 payload_power_switch # Payload power switch uint32 switch_changes # number of switch changes - ``` + +::: diff --git a/docs/ko/msg_docs/MavlinkLog.md b/docs/ko/msg_docs/MavlinkLog.md index 64ab9a8085..ddc17e1344 100644 --- a/docs/ko/msg_docs/MavlinkLog.md +++ b/docs/ko/msg_docs/MavlinkLog.md @@ -1,6 +1,31 @@ +--- +pageClass: is-wide-page +--- + # MavlinkLog (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MavlinkLog.msg) +**TOPICS:** mavlink_log + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------- | ----------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| text | `char[127]` | | | | +| severity | `uint8` | | | log level (same as in the linux kernel, starting with 0) | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------- | ------- | ----- | -- | +| ORB_QUEUE_LENGTH | `uint8` | 8 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MavlinkLog.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -9,5 +34,6 @@ char[127] text uint8 severity # log level (same as in the linux kernel, starting with 0) uint8 ORB_QUEUE_LENGTH = 8 - ``` + +::: diff --git a/docs/ko/msg_docs/MavlinkTunnel.md b/docs/ko/msg_docs/MavlinkTunnel.md index 8775e82ae4..d32551de64 100644 --- a/docs/ko/msg_docs/MavlinkTunnel.md +++ b/docs/ko/msg_docs/MavlinkTunnel.md @@ -1,8 +1,46 @@ +--- +pageClass: is-wide-page +--- + # MavlinkTunnel (UORB message) -MAV_TUNNEL_PAYLOAD_TYPE enum +MAV_TUNNEL_PAYLOAD_TYPE enum. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MavlinkTunnel.msg) +**TOPICS:** mavlink_tunnel esc_serial_passthru io_serial_passthru + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | Time since system start (microseconds) | +| payload_type | `uint16` | | | A code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase. | +| target_system | `uint8` | | | System ID (can be 0 for broadcast, but this is discouraged) | +| target_component | `uint8` | | | Component ID (can be 0 for broadcast, but this is discouraged) | +| payload_length | `uint8` | | | Length of the data transported in payload | +| payload | `uint8[128]` | | | Data itself | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------- | ----- | ---------------------------------------- | +| MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWN | `uint8` | 0 | Encoding of payload unknown | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0 | `uint8` | 200 | Registered for STorM32 gimbal controller | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1 | `uint8` | 201 | Registered for STorM32 gimbal controller | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2 | `uint8` | 202 | Registered for STorM32 gimbal controller | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3 | `uint8` | 203 | Registered for STorM32 gimbal controller | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4 | `uint8` | 204 | Registered for STorM32 gimbal controller | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5 | `uint8` | 205 | Registered for STorM32 gimbal controller | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6 | `uint8` | 206 | Registered for STorM32 gimbal controller | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7 | `uint8` | 207 | Registered for STorM32 gimbal controller | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8 | `uint8` | 208 | Registered for STorM32 gimbal controller | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9 | `uint8` | 209 | Registered for STorM32 gimbal controller | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MavlinkTunnel.msg) + +:::details +Click here to see original file ```c # MAV_TUNNEL_PAYLOAD_TYPE enum @@ -27,6 +65,7 @@ uint8 payload_length # Length of the data transported in payload uint8[128] payload # Data itself # Topic aliases for known payload types -# TOPICS mavlink_tunnel esc_serial_passthru - +# TOPICS mavlink_tunnel esc_serial_passthru io_serial_passthru ``` + +::: diff --git a/docs/ko/msg_docs/MessageFormatRequest.md b/docs/ko/msg_docs/MessageFormatRequest.md index a141574434..e79150861c 100644 --- a/docs/ko/msg_docs/MessageFormatRequest.md +++ b/docs/ko/msg_docs/MessageFormatRequest.md @@ -1,6 +1,31 @@ +--- +pageClass: is-wide-page +--- + # MessageFormatRequest (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MessageFormatRequest.msg) +**TOPICS:** message_formatrequest + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| protocol_version | `uint16` | | | Must be set to LATEST_PROTOCOL_VERSION. Do not change this field, it must be the first field after the timestamp | +| topic_name | `char[50]` | | | 예: /fmu/in/vehicle_command | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| --------------------------------------------------------------------------------------------------------- | -------- | ----- | --------------------------------------------------------------------------------------------------------------------------------------------------- | +| LATEST_PROTOCOL_VERSION | `uint16` | 1 | Current version of this protocol. Increase this whenever the MessageFormatRequest or MessageFormatResponse changes. | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MessageFormatRequest.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -12,5 +37,6 @@ uint16 LATEST_PROTOCOL_VERSION = 1 # Current version of this protocol. Increase uint16 protocol_version # Must be set to LATEST_PROTOCOL_VERSION. Do not change this field, it must be the first field after the timestamp char[50] topic_name # E.g. /fmu/in/vehicle_command - ``` + +::: diff --git a/docs/ko/msg_docs/MessageFormatResponse.md b/docs/ko/msg_docs/MessageFormatResponse.md index 5b9bd86917..dab3670a29 100644 --- a/docs/ko/msg_docs/MessageFormatResponse.md +++ b/docs/ko/msg_docs/MessageFormatResponse.md @@ -1,6 +1,27 @@ +--- +pageClass: is-wide-page +--- + # MessageFormatResponse (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MessageFormatResponse.msg) +**TOPICS:** message_formatresponse + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| protocol_version | `uint16` | | | Must be set to LATEST_PROTOCOL_VERSION. Do not change this field, it must be the first field after the timestamp | +| topic_name | `char[50]` | | | 예: /fmu/in/vehicle_command | +| success | `bool` | | | | +| message_hash | `uint32` | | | hash over all message fields | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MessageFormatResponse.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -13,5 +34,6 @@ char[50] topic_name # E.g. /fmu/in/vehicle_command bool success uint32 message_hash # hash over all message fields - ``` + +::: diff --git a/docs/ko/msg_docs/Mission.md b/docs/ko/msg_docs/Mission.md index d878aba5a6..403f8eb668 100644 --- a/docs/ko/msg_docs/Mission.md +++ b/docs/ko/msg_docs/Mission.md @@ -1,6 +1,33 @@ +--- +pageClass: is-wide-page +--- + # Mission (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Mission.msg) +**TOPICS:** mission + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| -------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| mission_dataman_id | `uint8` | | | default 0, there are two offboard storage places in the dataman: 0 or 1 | +| fence_dataman_id | `uint8` | | | default 0, there are two offboard storage places in the dataman: 0 or 1 | +| safepoint_dataman_id | `uint8` | | | default 0, there are two offboard storage places in the dataman: 0 or 1 | +| count | `uint16` | | | count of the missions stored in the dataman | +| current_seq | `int32` | | | default -1, start at the one changed latest | +| land_start_index | `int32` | | | Index of the land start marker, if unavailable index of the land item, -1 otherwise | +| land_index | `int32` | | | Index of the land item, -1 otherwise | +| mission_id | `uint32` | | | indicates updates to the mission, reload from dataman if changed | +| geofence_id | `uint32` | | | indicates updates to the geofence, reload from dataman if changed | +| safe_points_id | `uint32` | | | indicates updates to the safe points, reload from dataman if changed | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Mission.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -17,5 +44,6 @@ int32 land_index # Index of the land item, -1 otherwise uint32 mission_id # indicates updates to the mission, reload from dataman if changed uint32 geofence_id # indicates updates to the geofence, reload from dataman if changed uint32 safe_points_id # indicates updates to the safe points, reload from dataman if changed - ``` + +::: diff --git a/docs/ko/msg_docs/MissionResult.md b/docs/ko/msg_docs/MissionResult.md index 60ee84c923..4f8c284558 100644 --- a/docs/ko/msg_docs/MissionResult.md +++ b/docs/ko/msg_docs/MissionResult.md @@ -1,6 +1,37 @@ +--- +pageClass: is-wide-page +--- + # MissionResult (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MissionResult.msg) +**TOPICS:** mission_result + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| mission_id | `uint32` | | | Id for the mission for which the result was generated | +| geofence_id | `uint32` | | | Id for the corresponding geofence for which the result was generated (used for mission feasibility) | +| home_position_counter | `uint32` | | | Counter of the home position for which the result was generated (used for mission feasibility) | +| seq_reached | `int32` | | | Sequence of the mission item which has been reached, default -1 | +| seq_current | `uint16` | | | Sequence of the current mission item | +| seq_total | `uint16` | | | Total number of mission items | +| valid | `bool` | | | true if mission is valid | +| warning | `bool` | | | true if mission is valid, but has potentially problematic items leading to safety warnings | +| finished | `bool` | | | true if mission has been completed | +| failure | `bool` | | | true if the mission cannot continue or be completed for some reason | +| item_do_jump_changed | `bool` | | | true if the number of do jumps remaining has changed | +| item_changed_index | `uint16` | | | indicate which item has changed | +| item_do_jump_remaining | `uint16` | | | set to the number of do jumps remaining for that item | +| execution_mode | `uint8` | | | indicates the mode in which the mission is executed | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MissionResult.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -23,5 +54,6 @@ uint16 item_changed_index # indicate which item has changed uint16 item_do_jump_remaining # set to the number of do jumps remaining for that item uint8 execution_mode # indicates the mode in which the mission is executed - ``` + +::: diff --git a/docs/ko/msg_docs/ModeCompleted.md b/docs/ko/msg_docs/ModeCompleted.md index 76c0c297e6..612c19d953 100644 --- a/docs/ko/msg_docs/ModeCompleted.md +++ b/docs/ko/msg_docs/ModeCompleted.md @@ -1,11 +1,35 @@ +--- +pageClass: is-wide-page +--- + # ModeCompleted (UORB message) -Mode completion result, published by an active mode. -The possible values of nav_state are defined in the VehicleStatus msg. -Note that this is not always published (e.g. when a user switches modes or on -failsafe activation) +Mode completion result, published by an active mode. The possible values of nav_state are defined in the VehicleStatus msg. Note that this is not always published (e.g. when a user switches modes or on. failsafe activation). -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ModeCompleted.msg) +**TOPICS:** mode_completed + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| result | `uint8` | | | One of RESULT\_\* | +| nav_state | `uint8` | | | Source mode (values in VehicleStatus) | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| --------------------------------------------------------------------------------------------------- | -------- | ----- | ---------------------------------------------- | +| MESSAGE_VERSION | `uint32` | 0 | | +| RESULT_SUCCESS | `uint8` | 0 | | +| RESULT_FAILURE_OTHER | `uint8` | 100 | Mode failed (generic error) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ModeCompleted.msg) + +:::details +Click here to see original file ```c # Mode completion result, published by an active mode. @@ -25,5 +49,6 @@ uint8 RESULT_FAILURE_OTHER = 100 # Mode failed (generic error) uint8 result # One of RESULT_* uint8 nav_state # Source mode (values in VehicleStatus) - ``` + +::: diff --git a/docs/ko/msg_docs/MountOrientation.md b/docs/ko/msg_docs/MountOrientation.md index 4ab3f5b3e4..986dc0db3d 100644 --- a/docs/ko/msg_docs/MountOrientation.md +++ b/docs/ko/msg_docs/MountOrientation.md @@ -1,9 +1,28 @@ +--- +pageClass: is-wide-page +--- + # MountOrientation (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MountOrientation.msg) +**TOPICS:** mount_orientation + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| -------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| attitude_euler_angle | `float32[3]` | | | Attitude/direction of the mount as euler angles in rad | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MountOrientation.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) float32[3] attitude_euler_angle # Attitude/direction of the mount as euler angles in rad - ``` + +::: diff --git a/docs/ko/msg_docs/NavigatorMissionItem.md b/docs/ko/msg_docs/NavigatorMissionItem.md index 0899681c54..93e9bd7529 100644 --- a/docs/ko/msg_docs/NavigatorMissionItem.md +++ b/docs/ko/msg_docs/NavigatorMissionItem.md @@ -1,6 +1,39 @@ +--- +pageClass: is-wide-page +--- + # NavigatorMissionItem (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/NavigatorMissionItem.msg) +**TOPICS:** navigator_missionitem + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| -------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| sequence_current | `uint16` | | | Sequence of the current mission item | +| nav_cmd | `uint16` | | | | +| latitude | `float32` | | | | +| longitude | `float32` | | | | +| time_inside | `float32` | | | time that the MAV should stay inside the radius before advancing in seconds | +| acceptance_radius | `float32` | | | default radius in which the mission is accepted as reached in meters | +| loiter_radius | `float32` | | | loiter radius in meters, 0 for a VTOL to hover, negative for counter-clockwise | +| yaw | `float32` | | | in radians NED -PI..+PI, NAN means don't change yaw | +| altitude | `float32` | | | altitude in meters (AMSL) | +| frame | `uint8` | | | mission frame | +| origin | `uint8` | | | mission item origin (onboard or mavlink) | +| loiter_exit_xtrack | `bool` | | | exit xtrack location: 0 for center of loiter wp, 1 for exit location | +| force_heading | `bool` | | | heading needs to be reached | +| altitude_is_relative | `bool` | | | true if altitude is relative from start point | +| autocontinue | `bool` | | | true if next waypoint should follow after this one | +| vtol_back_transition | `bool` | | | part of the vtol back transition sequence | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/NavigatorMissionItem.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -26,5 +59,6 @@ bool force_heading # heading needs to be reached bool altitude_is_relative # true if altitude is relative from start point bool autocontinue # true if next waypoint should follow after this one bool vtol_back_transition # part of the vtol back transition sequence - ``` + +::: diff --git a/docs/ko/msg_docs/NavigatorStatus.md b/docs/ko/msg_docs/NavigatorStatus.md index 4eb53a56c8..88f7cd48de 100644 --- a/docs/ko/msg_docs/NavigatorStatus.md +++ b/docs/ko/msg_docs/NavigatorStatus.md @@ -1,9 +1,34 @@ +--- +pageClass: is-wide-page +--- + # NavigatorStatus (UORB message) -Current status of a Navigator mode -The possible values of nav_state are defined in the VehicleStatus msg. +Current status of a Navigator mode. The possible values of nav_state are defined in the VehicleStatus msg. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/NavigatorStatus.msg) +**TOPICS:** navigator_status + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| nav_state | `uint8` | | | Source mode (values in VehicleStatus) | +| failure | `uint8` | | | Navigator failure enum | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------- | ------- | ----- | --------------------------------------------------- | +| FAILURE_NONE | `uint8` | 0 | | +| FAILURE_HAGL | `uint8` | 1 | Target altitude exceeds maximum height above ground | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/NavigatorStatus.msg) + +:::details +Click here to see original file ```c # Current status of a Navigator mode @@ -15,5 +40,6 @@ uint8 failure # Navigator failure enum uint8 FAILURE_NONE = 0 uint8 FAILURE_HAGL = 1 # Target altitude exceeds maximum height above ground - ``` + +::: diff --git a/docs/ko/msg_docs/NeuralControl.md b/docs/ko/msg_docs/NeuralControl.md index 3e99004fbc..280eb141c6 100644 --- a/docs/ko/msg_docs/NeuralControl.md +++ b/docs/ko/msg_docs/NeuralControl.md @@ -1,12 +1,33 @@ +--- +pageClass: is-wide-page +--- + # NeuralControl (UORB message) -Neural control +Neural control. Debugging topic for the Neural controller, logs the inputs and output vectors of the neural network, and the time it takes to run Publisher: mc_nn_control Subscriber: logger -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/NeuralControl.msg) +**TOPICS:** neural_control + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------ | ------------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| observation | `float32[15]` | | | Observation vector (pos error (3), att (6d), lin vel (3), ang vel (3)) | +| network_output | `float32[4]` | | | Output from neural network | +| controller_time | `int32` | us | | Time spent from input to output | +| inference_time | `int32` | us | | Time spent for NN inference | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/NeuralControl.msg) + +:::details +Click here to see original file ```c # Neural control @@ -22,5 +43,6 @@ float32[4] network_output # Output from neural network int32 controller_time # [us] Time spent from input to output int32 inference_time # [us] Time spent for NN inference - ``` + +::: diff --git a/docs/ko/msg_docs/NormalizedUnsignedSetpoint.md b/docs/ko/msg_docs/NormalizedUnsignedSetpoint.md index 8533b090ae..d3f7813aac 100644 --- a/docs/ko/msg_docs/NormalizedUnsignedSetpoint.md +++ b/docs/ko/msg_docs/NormalizedUnsignedSetpoint.md @@ -1,6 +1,24 @@ +--- +pageClass: is-wide-page +--- + # NormalizedUnsignedSetpoint (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/NormalizedUnsignedSetpoint.msg) +**TOPICS:** flaps_setpoint spoilers_setpoint + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| normalized_setpoint | `float32` | 0, 1 | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/NormalizedUnsignedSetpoint.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -8,5 +26,6 @@ uint64 timestamp # time since system start (microseconds) float32 normalized_setpoint # [0, 1] # TOPICS flaps_setpoint spoilers_setpoint - ``` + +::: diff --git a/docs/ko/msg_docs/ObstacleDistance.md b/docs/ko/msg_docs/ObstacleDistance.md index 622ba0a2ba..af0fa0246a 100644 --- a/docs/ko/msg_docs/ObstacleDistance.md +++ b/docs/ko/msg_docs/ObstacleDistance.md @@ -1,8 +1,44 @@ +--- +pageClass: is-wide-page +--- + # ObstacleDistance (UORB message) Obstacle distances in front of the sensor. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ObstacleDistance.msg) +**TOPICS:** obstacle_distance obstacle_distance_fused + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| frame | `uint8` | | | Coordinate frame of reference for the yaw rotation and offset of the sensor data. Defaults to MAV_FRAME_GLOBAL, which is North aligned. For body-mounted sensors use MAV_FRAME_BODY_FRD, which is vehicle front aligned. | +| sensor_type | `uint8` | | | Type from MAV_DISTANCE_SENSOR enum. | +| distances | `uint16[72]` | | | Distance of obstacles around the UAV with index 0 corresponding to local North. A value of 0 means that the obstacle is right in front of the sensor. A value of max_distance +1 means no obstacle is present. A value of UINT16_MAX for unknown/not used. In a array element, one unit corresponds to 1cm. | +| increment | `float32` | | | Angular width in degrees of each array element. | +| min_distance | `uint16` | | | Minimum distance the sensor can measure in centimeters. | +| max_distance | `uint16` | | | Maximum distance the sensor can measure in centimeters. | +| angle_offset | `float32` | | | Relative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive is clockwise direction, negative is counter-clockwise. | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | -- | +| MAV_FRAME_GLOBAL | `uint8` | 0 | | +| MAV_FRAME_LOCAL_NED | `uint8` | 1 | | +| MAV_FRAME_BODY_FRD | `uint8` | 12 | | +| MAV_DISTANCE_SENSOR_LASER | `uint8` | 0 | | +| MAV_DISTANCE_SENSOR_ULTRASOUND | `uint8` | 1 | | +| MAV_DISTANCE_SENSOR_INFRARED | `uint8` | 2 | | +| MAV_DISTANCE_SENSOR_RADAR | `uint8` | 3 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ObstacleDistance.msg) + +:::details +Click here to see original file ```c # Obstacle distances in front of the sensor. @@ -29,5 +65,6 @@ uint16 max_distance # Maximum distance the sensor can measure in centimeters. float32 angle_offset # Relative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive is clockwise direction, negative is counter-clockwise. # TOPICS obstacle_distance obstacle_distance_fused - ``` + +::: diff --git a/docs/ko/msg_docs/OffboardControlMode.md b/docs/ko/msg_docs/OffboardControlMode.md index 4499912d95..ebb818ef90 100644 --- a/docs/ko/msg_docs/OffboardControlMode.md +++ b/docs/ko/msg_docs/OffboardControlMode.md @@ -1,8 +1,32 @@ +--- +pageClass: is-wide-page +--- + # OffboardControlMode (UORB message) -Off-board control mode +Off-board control mode. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OffboardControlMode.msg) +**TOPICS:** offboard_controlmode + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| position | `bool` | | | | +| velocity | `bool` | | | | +| acceleration | `bool` | | | | +| attitude | `bool` | | | | +| body_rate | `bool` | | | | +| thrust_and_torque | `bool` | | | | +| direct_actuator | `bool` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OffboardControlMode.msg) + +:::details +Click here to see original file ```c # Off-board control mode @@ -16,5 +40,6 @@ bool attitude bool body_rate bool thrust_and_torque bool direct_actuator - ``` + +::: diff --git a/docs/ko/msg_docs/OnboardComputerStatus.md b/docs/ko/msg_docs/OnboardComputerStatus.md index fc60e6f789..faf2732f7a 100644 --- a/docs/ko/msg_docs/OnboardComputerStatus.md +++ b/docs/ko/msg_docs/OnboardComputerStatus.md @@ -1,8 +1,44 @@ +--- +pageClass: is-wide-page +--- + # OnboardComputerStatus (UORB message) -ONBOARD_COMPUTER_STATUS message data +ONBOARD_COMPUTER_STATUS message data. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OnboardComputerStatus.msg) +**TOPICS:** onboard_computerstatus + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------ | ----------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | time since system start (microseconds) | +| uptime | `uint32` | ms | | time since system boot of the companion (milliseconds) | +| type | `uint8` | | | type of onboard computer 0: Mission computer primary, 1: Mission computer backup 1, 2: Mission computer backup 2, 3: Compute node, 4-5: Compute spares, 6-9: Payload computers. | +| cpu_cores | `uint8[8]` | | | CPU usage on the component in percent | +| cpu_combined | `uint8[10]` | | | Combined CPU usage as the last 10 slices of 100 MS | +| gpu_cores | `uint8[4]` | | | GPU usage on the component in percent | +| gpu_combined | `uint8[10]` | | | Combined GPU usage as the last 10 slices of 100 MS | +| temperature_board | `int8` | degC | | Temperature of the board | +| temperature_core | `int8[8]` | degC | | Temperature of the CPU core | +| fan_speed | `int16[4]` | rpm | | Fan speeds | +| ram_usage | `uint32` | MB | | Amount of used RAM on the component system | +| ram_total | `uint32` | MB | | Total amount of RAM on the component system | +| storage_type | `uint32[4]` | | | Storage type: 0: HDD, 1: SSD, 2: EMMC, 3: SD card (non-removable), 4: SD card (removable) | +| storage_usage | `uint32[4]` | MB | | Amount of used storage space on the component system | +| storage_total | `uint32[4]` | MB | | Total amount of storage space on the component system | +| link_type | `uint32[6]` | Kb/s | | Link type: 0-9: UART, 10-19: Wired network, 20-29: Wifi, 30-39: Point-to-point proprietary, 40-49: Mesh proprietary | +| link_tx_rate | `uint32[6]` | Kb/s | | Network traffic from the component system | +| link_rx_rate | `uint32[6]` | Kb/s | | Network traffic to the component system | +| link_tx_max | `uint32[6]` | Kb/s | | Network capacity from the component system | +| link_rx_max | `uint32[6]` | Kb/s | | Network capacity to the component system | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OnboardComputerStatus.msg) + +:::details +Click here to see original file ```c # ONBOARD_COMPUTER_STATUS message data @@ -28,5 +64,6 @@ uint32[6] link_tx_rate # [Kb/s] Network traffic from the component system uint32[6] link_rx_rate # [Kb/s] Network traffic to the component system uint32[6] link_tx_max # [Kb/s] Network capacity from the component system uint32[6] link_rx_max # [Kb/s] Network capacity to the component system - ``` + +::: diff --git a/docs/ko/msg_docs/OpenDroneIdArmStatus.md b/docs/ko/msg_docs/OpenDroneIdArmStatus.md index 152d34a166..85005cc985 100644 --- a/docs/ko/msg_docs/OpenDroneIdArmStatus.md +++ b/docs/ko/msg_docs/OpenDroneIdArmStatus.md @@ -1,10 +1,30 @@ +--- +pageClass: is-wide-page +--- + # OpenDroneIdArmStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OpenDroneIdArmStatus.msg) +**TOPICS:** open_droneid_armstatus + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------- | ---------- | ---------------------------------------------------------------- | ---------- | -- | +| timestamp | `uint64` | | | | +| status | `uint8` | | | | +| error | `char[50]` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OpenDroneIdArmStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp uint8 status char[50] error - ``` + +::: diff --git a/docs/ko/msg_docs/OpenDroneIdOperatorId.md b/docs/ko/msg_docs/OpenDroneIdOperatorId.md index cafca0aa09..e1a879b49e 100644 --- a/docs/ko/msg_docs/OpenDroneIdOperatorId.md +++ b/docs/ko/msg_docs/OpenDroneIdOperatorId.md @@ -1,11 +1,32 @@ +--- +pageClass: is-wide-page +--- + # OpenDroneIdOperatorId (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OpenDroneIdOperatorId.msg) +**TOPICS:** open_droneid_operatorid + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | -- | +| timestamp | `uint64` | | | | +| id_or_mac | `uint8[20]` | | | | +| operator_id_type | `uint8` | | | | +| operator_id | `char[20]` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OpenDroneIdOperatorId.msg) + +:::details +Click here to see original file ```c uint64 timestamp uint8[20] id_or_mac uint8 operator_id_type char[20] operator_id - ``` + +::: diff --git a/docs/ko/msg_docs/OpenDroneIdSelfId.md b/docs/ko/msg_docs/OpenDroneIdSelfId.md index 493be28d9f..4c20d7a368 100644 --- a/docs/ko/msg_docs/OpenDroneIdSelfId.md +++ b/docs/ko/msg_docs/OpenDroneIdSelfId.md @@ -1,11 +1,32 @@ +--- +pageClass: is-wide-page +--- + # OpenDroneIdSelfId (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OpenDroneIdSelfId.msg) +**TOPICS:** open_droneid_selfid + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------------------------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | -- | +| timestamp | `uint64` | | | | +| id_or_mac | `uint8[20]` | | | | +| description_type | `uint8` | | | | +| description | `char[23]` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OpenDroneIdSelfId.msg) + +:::details +Click here to see original file ```c uint64 timestamp uint8[20] id_or_mac uint8 description_type char[23] description - ``` + +::: diff --git a/docs/ko/msg_docs/OpenDroneIdSystem.md b/docs/ko/msg_docs/OpenDroneIdSystem.md index 402b7d0baf..7e92821350 100644 --- a/docs/ko/msg_docs/OpenDroneIdSystem.md +++ b/docs/ko/msg_docs/OpenDroneIdSystem.md @@ -1,6 +1,35 @@ +--- +pageClass: is-wide-page +--- + # OpenDroneIdSystem (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OpenDroneIdSystem.msg) +**TOPICS:** open_droneid_system + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | -- | +| timestamp | `uint64` | | | | +| id_or_mac | `uint8[20]` | | | | +| operator_location_type | `uint8` | | | | +| classification_type | `uint8` | | | | +| operator_latitude | `int32` | | | | +| operator_longitude | `int32` | | | | +| area_count | `uint16` | | | | +| area_radius | `uint16` | | | | +| area_ceiling | `float32` | | | | +| area_floor | `float32` | | | | +| category_eu | `uint8` | | | | +| class_eu | `uint8` | | | | +| operator_altitude_geo | `float32` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OpenDroneIdSystem.msg) + +:::details +Click here to see original file ```c uint64 timestamp @@ -16,5 +45,6 @@ float32 area_floor uint8 category_eu uint8 class_eu float32 operator_altitude_geo - ``` + +::: diff --git a/docs/ko/msg_docs/OrbTest.md b/docs/ko/msg_docs/OrbTest.md index 3cd2460956..aecab002f8 100644 --- a/docs/ko/msg_docs/OrbTest.md +++ b/docs/ko/msg_docs/OrbTest.md @@ -1,6 +1,24 @@ +--- +pageClass: is-wide-page +--- + # OrbTest (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OrbTest.msg) +**TOPICS:** orb_test orb_multitest + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| val | `int32` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OrbTest.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -8,5 +26,6 @@ uint64 timestamp # time since system start (microseconds) int32 val # TOPICS orb_test orb_multitest - ``` + +::: diff --git a/docs/ko/msg_docs/OrbTestLarge.md b/docs/ko/msg_docs/OrbTestLarge.md index 3298811450..ad59a33640 100644 --- a/docs/ko/msg_docs/OrbTestLarge.md +++ b/docs/ko/msg_docs/OrbTestLarge.md @@ -1,6 +1,25 @@ +--- +pageClass: is-wide-page +--- + # OrbTestLarge (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OrbTestLarge.msg) +**TOPICS:** orb_testlarge + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| val | `int32` | | | | +| junk | `uint8[512]` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OrbTestLarge.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -8,5 +27,6 @@ uint64 timestamp # time since system start (microseconds) int32 val uint8[512] junk - ``` + +::: diff --git a/docs/ko/msg_docs/OrbTestMedium.md b/docs/ko/msg_docs/OrbTestMedium.md index e4a7bec7c0..8e7aaf27c3 100644 --- a/docs/ko/msg_docs/OrbTestMedium.md +++ b/docs/ko/msg_docs/OrbTestMedium.md @@ -1,6 +1,31 @@ +--- +pageClass: is-wide-page +--- + # OrbTestMedium (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OrbTestMedium.msg) +**TOPICS:** orb_test_medium orb_test_medium_multi orb_test_medium_wrap_around orb_test_medium_queue orb_test_medium_queue_poll + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------- | ----------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| val | `int32` | | | | +| junk | `uint8[64]` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------- | ------- | ----- | -- | +| ORB_QUEUE_LENGTH | `uint8` | 16 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OrbTestMedium.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -12,5 +37,6 @@ uint8[64] junk uint8 ORB_QUEUE_LENGTH = 16 # TOPICS orb_test_medium orb_test_medium_multi orb_test_medium_wrap_around orb_test_medium_queue orb_test_medium_queue_poll - ``` + +::: diff --git a/docs/ko/msg_docs/OrbitStatus.md b/docs/ko/msg_docs/OrbitStatus.md index 2cbeeec36b..4273d7f627 100644 --- a/docs/ko/msg_docs/OrbitStatus.md +++ b/docs/ko/msg_docs/OrbitStatus.md @@ -1,8 +1,42 @@ +--- +pageClass: is-wide-page +--- + # OrbitStatus (UORB message) -ORBIT_YAW_BEHAVIOUR +ORBIT_YAW_BEHAVIOUR. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OrbitStatus.msg) +**TOPICS:** orbit_status + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| radius | `float32` | | | Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise. [m] | +| frame | `uint8` | | | The coordinate system of the fields: x, y, z. | +| x | `float64` | | | X coordinate of center point. Coordinate system depends on frame field: local = x position in meters _ 1e4, global = latitude in degrees _ 1e7. | +| y | `float64` | | | Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters _ 1e4, global = latitude in degrees _ 1e7. | +| z | `float32` | | | Altitude of center point. Coordinate system depends on frame field. | +| yaw_behaviour | `uint8` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | -- | +| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER | `uint8` | 0 | | +| ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING | `uint8` | 1 | | +| ORBIT_YAW_BEHAVIOUR_UNCONTROLLED | `uint8` | 2 | | +| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE | `uint8` | 3 | | +| ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED | `uint8` | 4 | | +| ORBIT_YAW_BEHAVIOUR_UNCHANGED | `uint8` | 5 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OrbitStatus.msg) + +:::details +Click here to see original file ```c # ORBIT_YAW_BEHAVIOUR @@ -20,5 +54,6 @@ float64 x # X coordinate of center point. Coordinate system depends on fr float64 y # Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters * 1e4, global = latitude in degrees * 1e7. float32 z # Altitude of center point. Coordinate system depends on frame field. uint8 yaw_behaviour - ``` + +::: diff --git a/docs/ko/msg_docs/ParameterResetRequest.md b/docs/ko/msg_docs/ParameterResetRequest.md index 3c776a0faf..f945088419 100644 --- a/docs/ko/msg_docs/ParameterResetRequest.md +++ b/docs/ko/msg_docs/ParameterResetRequest.md @@ -1,8 +1,33 @@ +--- +pageClass: is-wide-page +--- + # ParameterResetRequest (UORB message) -ParameterResetRequest : Used by the primary to reset one or all parameter value(s) on the remote +ParameterResetRequest : Used by the primary to reset one or all parameter value(s) on the remote. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ParameterResetRequest.msg) +**TOPICS:** parameter_resetrequest + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------- | +| timestamp | `uint64` | | | | +| parameter_index | `uint16` | | | | +| reset_all | `bool` | | | If this is true then ignore parameter_index | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------- | ------- | ----- | -- | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ParameterResetRequest.msg) + +:::details +Click here to see original file ```c # ParameterResetRequest : Used by the primary to reset one or all parameter value(s) on the remote @@ -13,5 +38,6 @@ uint16 parameter_index bool reset_all # If this is true then ignore parameter_index uint8 ORB_QUEUE_LENGTH = 4 - ``` + +::: diff --git a/docs/ko/msg_docs/ParameterSetUsedRequest.md b/docs/ko/msg_docs/ParameterSetUsedRequest.md index 14684c0eed..1539fa0b2e 100644 --- a/docs/ko/msg_docs/ParameterSetUsedRequest.md +++ b/docs/ko/msg_docs/ParameterSetUsedRequest.md @@ -1,8 +1,32 @@ +--- +pageClass: is-wide-page +--- + # ParameterSetUsedRequest (UORB message) -ParameterSetUsedRequest : Used by a remote to update the used flag for a parameter on the primary +ParameterSetUsedRequest : Used by a remote to update the used flag for a parameter on the primary. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ParameterSetUsedRequest.msg) +**TOPICS:** parameter_setused_request + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | -- | +| timestamp | `uint64` | | | | +| parameter_index | `uint16` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------- | ------- | ----- | -- | +| ORB_QUEUE_LENGTH | `uint8` | 64 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ParameterSetUsedRequest.msg) + +:::details +Click here to see original file ```c # ParameterSetUsedRequest : Used by a remote to update the used flag for a parameter on the primary @@ -11,5 +35,6 @@ uint64 timestamp uint16 parameter_index uint8 ORB_QUEUE_LENGTH = 64 - ``` + +::: diff --git a/docs/ko/msg_docs/ParameterSetValueRequest.md b/docs/ko/msg_docs/ParameterSetValueRequest.md index b8322a952e..3a405780ef 100644 --- a/docs/ko/msg_docs/ParameterSetValueRequest.md +++ b/docs/ko/msg_docs/ParameterSetValueRequest.md @@ -1,8 +1,34 @@ +--- +pageClass: is-wide-page +--- + # ParameterSetValueRequest (UORB message) -ParameterSetValueRequest : Used by a remote or primary to update the value for a parameter at the other end +ParameterSetValueRequest : Used by a remote or primary to update the value for a parameter at the other end. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ParameterSetValueRequest.msg) +**TOPICS:** parameter_set_value_request parameter_remote_set_value_request parameter_primary_set_value_request + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------ | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------- | +| timestamp | `uint64` | | | | +| parameter_index | `uint16` | | | | +| int_value | `int32` | | | Optional value for an integer parameter | +| float_value | `float32` | | | Optional value for a float parameter | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------- | ------- | ----- | -- | +| ORB_QUEUE_LENGTH | `uint8` | 32 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ParameterSetValueRequest.msg) + +:::details +Click here to see original file ```c # ParameterSetValueRequest : Used by a remote or primary to update the value for a parameter at the other end @@ -16,5 +42,6 @@ float32 float_value # Optional value for a float parameter uint8 ORB_QUEUE_LENGTH = 32 # TOPICS parameter_set_value_request parameter_remote_set_value_request parameter_primary_set_value_request - ``` + +::: diff --git a/docs/ko/msg_docs/ParameterSetValueResponse.md b/docs/ko/msg_docs/ParameterSetValueResponse.md index dbb44d46ea..da1392e540 100644 --- a/docs/ko/msg_docs/ParameterSetValueResponse.md +++ b/docs/ko/msg_docs/ParameterSetValueResponse.md @@ -1,8 +1,33 @@ +--- +pageClass: is-wide-page +--- + # ParameterSetValueResponse (UORB message) -ParameterSetValueResponse : Response to a set value request by either primary or secondary +ParameterSetValueResponse : Response to a set value request by either primary or secondary. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ParameterSetValueResponse.msg) +**TOPICS:** parameter_set_value_response parameter_remote_set_value_response parameter_primary_set_value_response + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| -------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | -- | +| timestamp | `uint64` | | | | +| request_timestamp | `uint64` | | | | +| parameter_index | `uint16` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------- | ------- | ----- | -- | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ParameterSetValueResponse.msg) + +:::details +Click here to see original file ```c # ParameterSetValueResponse : Response to a set value request by either primary or secondary @@ -14,5 +39,6 @@ uint16 parameter_index uint8 ORB_QUEUE_LENGTH = 4 # TOPICS parameter_set_value_response parameter_remote_set_value_response parameter_primary_set_value_response - ``` + +::: diff --git a/docs/ko/msg_docs/ParameterUpdate.md b/docs/ko/msg_docs/ParameterUpdate.md index 29148e2b5b..1e59a6b8cc 100644 --- a/docs/ko/msg_docs/ParameterUpdate.md +++ b/docs/ko/msg_docs/ParameterUpdate.md @@ -1,8 +1,33 @@ +--- +pageClass: is-wide-page +--- + # ParameterUpdate (UORB message) -This message is used to notify the system about one or more parameter changes +This message is used to notify the system about one or more parameter changes. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ParameterUpdate.msg) +**TOPICS:** parameter_update + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| instance | `uint32` | | | Instance count - constantly incrementing | +| get_count | `uint32` | | | | +| set_count | `uint32` | | | | +| find_count | `uint32` | | | | +| export_count | `uint32` | | | | +| active | `uint16` | | | | +| changed | `uint16` | | | | +| custom_default | `uint16` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ParameterUpdate.msg) + +:::details +Click here to see original file ```c # This message is used to notify the system about one or more parameter changes @@ -19,5 +44,6 @@ uint32 export_count uint16 active uint16 changed uint16 custom_default - ``` + +::: diff --git a/docs/ko/msg_docs/Ping.md b/docs/ko/msg_docs/Ping.md index 1cb8ac5413..80c9f4e43c 100644 --- a/docs/ko/msg_docs/Ping.md +++ b/docs/ko/msg_docs/Ping.md @@ -1,6 +1,29 @@ +--- +pageClass: is-wide-page +--- + # Ping (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Ping.msg) +**TOPICS:** ping + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------ | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| ping_time | `uint64` | | | Timestamp of the ping packet | +| ping_sequence | `uint32` | | | Sequence number of the ping packet | +| dropped_packets | `uint32` | | | Number of dropped ping packets | +| rtt_ms | `float32` | | | Round trip time (in ms) | +| system_id | `uint8` | | | System ID of the remote system | +| component_id | `uint8` | | | Component ID of the remote system | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Ping.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -10,5 +33,6 @@ uint32 dropped_packets # Number of dropped ping packets float32 rtt_ms # Round trip time (in ms) uint8 system_id # System ID of the remote system uint8 component_id # Component ID of the remote system - ``` + +::: diff --git a/docs/ko/msg_docs/PositionControllerLandingStatus.md b/docs/ko/msg_docs/PositionControllerLandingStatus.md index 3e58676dc3..f91a4d7514 100644 --- a/docs/ko/msg_docs/PositionControllerLandingStatus.md +++ b/docs/ko/msg_docs/PositionControllerLandingStatus.md @@ -1,6 +1,36 @@ +--- +pageClass: is-wide-page +--- + # PositionControllerLandingStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PositionControllerLandingStatus.msg) +**TOPICS:** position_controllerlanding_status + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------ | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------- | +| timestamp | `uint64` | us | | time since system start | +| lateral_touchdown_offset | `float32` | m | | lateral touchdown position offset manually commanded during landing | +| flaring | `bool` | | | true if the aircraft is flaring | +| abort_status | `uint8` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| --------------------------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------------------------------------------------------ | +| NOT_ABORTED | `uint8` | 0 | | +| ABORTED_BY_OPERATOR | `uint8` | 1 | | +| TERRAIN_NOT_FOUND | `uint8` | 2 | FW_LND_ABORT (1 << 0) | +| TERRAIN_TIMEOUT | `uint8` | 3 | FW_LND_ABORT (1 << 1) | +| UNKNOWN_ABORT_CRITERION | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PositionControllerLandingStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # [us] time since system start @@ -19,5 +49,6 @@ uint8 ABORTED_BY_OPERATOR = 1 uint8 TERRAIN_NOT_FOUND = 2 # FW_LND_ABORT (1 << 0) uint8 TERRAIN_TIMEOUT = 3 # FW_LND_ABORT (1 << 1) uint8 UNKNOWN_ABORT_CRITERION = 4 - ``` + +::: diff --git a/docs/ko/msg_docs/PositionControllerStatus.md b/docs/ko/msg_docs/PositionControllerStatus.md index 2fadf80a9e..3b7dd545d9 100644 --- a/docs/ko/msg_docs/PositionControllerStatus.md +++ b/docs/ko/msg_docs/PositionControllerStatus.md @@ -1,6 +1,31 @@ +--- +pageClass: is-wide-page +--- + # PositionControllerStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PositionControllerStatus.msg) +**TOPICS:** position_controllerstatus + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| -------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| nav_roll | `float32` | | | Roll setpoint [rad] | +| nav_pitch | `float32` | | | Pitch setpoint [rad] | +| nav_bearing | `float32` | | | Bearing angle[rad] | +| target_bearing | `float32` | | | Bearing angle from aircraft to current target [rad] | +| xtrack_error | `float32` | | | Signed track error [m] | +| wp_dist | `float32` | | | Distance to active (next) waypoint [m] | +| acceptance_radius | `float32` | | | Current horizontal acceptance radius [m] | +| type | `uint8` | | | Current (applied) position setpoint type (see PositionSetpoint.msg) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PositionControllerStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -13,5 +38,6 @@ float32 xtrack_error # Signed track error [m] float32 wp_dist # Distance to active (next) waypoint [m] float32 acceptance_radius # Current horizontal acceptance radius [m] uint8 type # Current (applied) position setpoint type (see PositionSetpoint.msg) - ``` + +::: diff --git a/docs/ko/msg_docs/PositionSetpoint.md b/docs/ko/msg_docs/PositionSetpoint.md index b4e16681b7..a00b37083c 100644 --- a/docs/ko/msg_docs/PositionSetpoint.md +++ b/docs/ko/msg_docs/PositionSetpoint.md @@ -1,8 +1,57 @@ +--- +pageClass: is-wide-page +--- + # PositionSetpoint (UORB message) -this file is only used in the position_setpoint triple as a dependency +this file is only used in the position_setpoint triple as a dependency. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PositionSetpoint.msg) +**TOPICS:** position_setpoint + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | ---------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| valid | `bool` | | | true if setpoint is valid | +| type | `uint8` | | | setpoint type to adjust behavior of position controller | +| vx | `float32` | | | local velocity setpoint in m/s in NED | +| vy | `float32` | | | local velocity setpoint in m/s in NED | +| vz | `float32` | | | local velocity setpoint in m/s in NED | +| lat | `float64` | | | latitude, in deg | +| lon | `float64` | | | longitude, in deg | +| alt | `float32` | | | altitude AMSL, in m | +| yaw | `float32` | | | yaw (only in hover), in rad [-PI..PI), NaN = leave to flight task | +| loiter_radius | `float32` | m | [0 : INF] | loiter major axis radius | +| loiter_minor_radius | `float32` | m | [0 : INF] | loiter minor axis radius (used for non-circular loiter shapes) | +| loiter_direction_counter_clockwise | `bool` | | | loiter direction is clockwise by default and can be changed using this field | +| loiter_orientation | `float32` | rad | [-pi : pi] | orientation of the major axis with respect to true north | +| loiter_pattern | `uint8` | | | loitern pattern to follow | +| acceptance_radius | `float32` | | | horizontal acceptance_radius (meters) | +| alt_acceptance_radius | `float32` | | | vertical acceptance radius, only used for fixed wing guidance, NAN = let guidance choose (meters) | +| cruising_speed | `float32` | | | the generally desired cruising speed (not a hard constraint) | +| gliding_enabled | `bool` | | | commands the vehicle to glide if the capability is available (fixed wing only) | +| cruising_throttle | `float32` | | | the generally desired cruising throttle (not a hard constraint), only has an effect for rover | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| --------------------------------------------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------------------------- | +| SETPOINT_TYPE_POSITION | `uint8` | 0 | position setpoint | +| SETPOINT_TYPE_VELOCITY | `uint8` | 1 | velocity setpoint | +| SETPOINT_TYPE_LOITER | `uint8` | 2 | loiter setpoint | +| SETPOINT_TYPE_TAKEOFF | `uint8` | 3 | takeoff setpoint | +| SETPOINT_TYPE_LAND | `uint8` | 4 | land setpoint, altitude must be ignored, descend until landing | +| SETPOINT_TYPE_IDLE | `uint8` | 5 | do nothing, switch off motors or keep at idle speed (MC) | +| LOITER_TYPE_ORBIT | `uint8` | 0 | Circular pattern | +| LOITER_TYPE_FIGUREEIGHT | `uint8` | 1 | Pattern resembling an 8 | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PositionSetpoint.msg) + +:::details +Click here to see original file ```c # this file is only used in the position_setpoint triple as a dependency @@ -43,5 +92,6 @@ float32 alt_acceptance_radius # vertical acceptance radius, only used for fixed float32 cruising_speed # the generally desired cruising speed (not a hard constraint) bool gliding_enabled # commands the vehicle to glide if the capability is available (fixed wing only) float32 cruising_throttle # the generally desired cruising throttle (not a hard constraint), only has an effect for rover - ``` + +::: diff --git a/docs/ko/msg_docs/PositionSetpointTriplet.md b/docs/ko/msg_docs/PositionSetpointTriplet.md index d4de724bdd..52762394aa 100644 --- a/docs/ko/msg_docs/PositionSetpointTriplet.md +++ b/docs/ko/msg_docs/PositionSetpointTriplet.md @@ -1,9 +1,28 @@ +--- +pageClass: is-wide-page +--- + # PositionSetpointTriplet (UORB message) -Global position setpoint triplet in WGS84 coordinates. -This are the three next waypoints (or just the next two or one). +Global position setpoint triplet in WGS84 coordinates. This are the three next waypoints (or just the next two or one). -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PositionSetpointTriplet.msg) +**TOPICS:** position_setpointtriplet + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------- | ------------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| previous | `PositionSetpoint` | | | | +| current | `PositionSetpoint` | | | | +| next | `PositionSetpoint` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PositionSetpointTriplet.msg) + +:::details +Click here to see original file ```c # Global position setpoint triplet in WGS84 coordinates. @@ -14,5 +33,6 @@ uint64 timestamp # time since system start (microseconds) PositionSetpoint previous PositionSetpoint current PositionSetpoint next - ``` + +::: diff --git a/docs/ko/msg_docs/PowerButtonState.md b/docs/ko/msg_docs/PowerButtonState.md index 8d6f38461e..a28a40261c 100644 --- a/docs/ko/msg_docs/PowerButtonState.md +++ b/docs/ko/msg_docs/PowerButtonState.md @@ -1,8 +1,35 @@ +--- +pageClass: is-wide-page +--- + # PowerButtonState (UORB message) -power button state notification message +power button state notification message. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PowerButtonState.msg) +**TOPICS:** power_buttonstate + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| event | `uint8` | | | one of PWR_BUTTON_STATE_\* | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------------ | +| PWR_BUTTON_STATE_IDEL | `uint8` | 0 | Button went up without meeting shutdown button down time (delete event) | +| PWR_BUTTON_STATE_DOWN | `uint8` | 1 | Button went Down | +| PWR_BUTTON_STATE_UP | `uint8` | 2 | Button went Up | +| PWR_BUTTON_STATE_REQUEST_SHUTDOWN | `uint8` | 3 | Button went Up after meeting shutdown button down time | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PowerButtonState.msg) + +:::details +Click here to see original file ```c # power button state notification message @@ -15,5 +42,6 @@ uint8 PWR_BUTTON_STATE_UP = 2 # Button went Up uint8 PWR_BUTTON_STATE_REQUEST_SHUTDOWN = 3 # Button went Up after meeting shutdown button down time uint8 event # one of PWR_BUTTON_STATE_* - ``` + +::: diff --git a/docs/ko/msg_docs/PowerMonitor.md b/docs/ko/msg_docs/PowerMonitor.md index 5f38bb3d56..c305bf8f77 100644 --- a/docs/ko/msg_docs/PowerMonitor.md +++ b/docs/ko/msg_docs/PowerMonitor.md @@ -1,8 +1,36 @@ +--- +pageClass: is-wide-page +--- + # PowerMonitor (UORB message) -power monitor message +power monitor message. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PowerMonitor.msg) +**TOPICS:** power_monitor + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------ | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | Time since system start (microseconds) | +| voltage_v | `float32` | | | Voltage in volts, 0 if unknown | +| current_a | `float32` | | | Current in amperes, -1 if unknown | +| power_w | `float32` | | | power in watts, -1 if unknown | +| rconf | `int16` | | | | +| rsv | `int16` | | | | +| rbv | `int16` | | | | +| rp | `int16` | | | | +| rc | `int16` | | | | +| rcal | `int16` | | | | +| me | `int16` | | | | +| al | `int16` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PowerMonitor.msg) + +:::details +Click here to see original file ```c # power monitor message @@ -20,5 +48,6 @@ int16 rc int16 rcal int16 me int16 al - ``` + +::: diff --git a/docs/ko/msg_docs/PpsCapture.md b/docs/ko/msg_docs/PpsCapture.md index e566147389..e61fae3f3e 100644 --- a/docs/ko/msg_docs/PpsCapture.md +++ b/docs/ko/msg_docs/PpsCapture.md @@ -1,10 +1,30 @@ +--- +pageClass: is-wide-page +--- + # PpsCapture (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PpsCapture.msg) +**TOPICS:** pps_capture + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------- | -------- | ---------------------------------------------------------------- | ------------------------------------------------------ | ------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) at PPS capture event | +| rtc_timestamp | `uint64` | | | Corrected GPS UTC timestamp at PPS capture event | +| `uint8` | | | Increments when PPS dt < 50ms | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PpsCapture.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) at PPS capture event uint64 rtc_timestamp # Corrected GPS UTC timestamp at PPS capture event uint8 pps_rate_exceeded_counter # Increments when PPS dt < 50ms - ``` + +::: diff --git a/docs/ko/msg_docs/PurePursuitStatus.md b/docs/ko/msg_docs/PurePursuitStatus.md index 8d54ba473e..b099125813 100644 --- a/docs/ko/msg_docs/PurePursuitStatus.md +++ b/docs/ko/msg_docs/PurePursuitStatus.md @@ -1,8 +1,30 @@ +--- +pageClass: is-wide-page +--- + # PurePursuitStatus (UORB message) -Pure pursuit status +Pure pursuit status. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PurePursuitStatus.msg) +**TOPICS:** pure_pursuitstatus + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| -------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| lookahead_distance | `float32` | m | [0 : inf] | Lookahead distance of pure the pursuit controller | +| target_bearing | `float32` | rad [NED] | [-pi : pi] | Target bearing calculated by the pure pursuit controller | +| crosstrack_error | `float32` | m | [-inf (Left of the path) : inf (Right of the path)] | Shortest distance from the vehicle to the path | +| distance_to_waypoint | `float32` | m | [-inf : inf] | Distance from the vehicle to the current waypoint | +| bearing_to_waypoint | `float32` | rad [NED] | [-pi : pi] | Bearing towards current waypoint | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PurePursuitStatus.msg) + +:::details +Click here to see original file ```c # Pure pursuit status @@ -13,5 +35,6 @@ float32 target_bearing # [rad] [@range -pi, pi] [@frame NED] Target beari 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 - ``` + +::: diff --git a/docs/ko/msg_docs/PwmInput.md b/docs/ko/msg_docs/PwmInput.md index 9389ca3fb1..e88ae007fc 100644 --- a/docs/ko/msg_docs/PwmInput.md +++ b/docs/ko/msg_docs/PwmInput.md @@ -1,11 +1,32 @@ +--- +pageClass: is-wide-page +--- + # PwmInput (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PwmInput.msg) +**TOPICS:** pwm_input + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| -------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------- | +| timestamp | `uint64` | | | Time since system start (microseconds) | +| error_count | `uint64` | | | Timer overcapture error flag (AUX5 or MAIN5) | +| pulse_width | `uint32` | | | Pulse width, timer counts (microseconds) | +| period | `uint32` | | | Period, timer counts (microseconds) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PwmInput.msg) + +:::details +Click here to see original file ```c uint64 timestamp # Time since system start (microseconds) uint64 error_count # Timer overcapture error flag (AUX5 or MAIN5) uint32 pulse_width # Pulse width, timer counts (microseconds) uint32 period # Period, timer counts (microseconds) - ``` + +::: diff --git a/docs/ko/msg_docs/Px4ioStatus.md b/docs/ko/msg_docs/Px4ioStatus.md index 4b1fbb1314..b41313c584 100644 --- a/docs/ko/msg_docs/Px4ioStatus.md +++ b/docs/ko/msg_docs/Px4ioStatus.md @@ -1,6 +1,54 @@ +--- +pageClass: is-wide-page +--- + # Px4ioStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Px4ioStatus.msg) +**TOPICS:** px4io_status + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| free_memory_bytes | `uint16` | | | | +| voltage_v | `float32` | | | Servo rail voltage in volts | +| rssi_v | `float32` | | | RSSI pin voltage in volts | +| status_arm_sync | `bool` | | | | +| status_failsafe | `bool` | | | | +| status_fmu_initialized | `bool` | | | | +| status_fmu_ok | `bool` | | | | +| status_init_ok | `bool` | | | | +| status_outputs_armed | `bool` | | | | +| status_raw_pwm | `bool` | | | | +| status_rc_ok | `bool` | | | | +| status_rc_dsm | `bool` | | | | +| status_rc_ppm | `bool` | | | | +| status_rc_sbus | `bool` | | | | +| status_rc_st24 | `bool` | | | | +| status_rc_sumd | `bool` | | | | +| status_safety_button_event | `bool` | | | px4io safety button was pressed for longer than 1 second | +| alarm_pwm_error | `bool` | | | | +| alarm_rc_lost | `bool` | | | | +| arming_failsafe_custom | `bool` | | | | +| arming_fmu_armed | `bool` | | | | +| arming_fmu_prearmed | `bool` | | | | +| arming_termination | `bool` | | | | +| arming_io_arm_ok | `bool` | | | | +| arming_lockdown | `bool` | | | | +| arming_termination_failsafe | `bool` | | | | +| pwm | `uint16[8]` | | | | +| pwm_disarmed | `uint16[8]` | | | | +| pwm_failsafe | `uint16[8]` | | | | +| pwm_rate_hz | `uint16[8]` | | | | +| raw_inputs | `uint16[18]` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Px4ioStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -46,5 +94,6 @@ uint16[8] pwm_failsafe uint16[8] pwm_rate_hz uint16[18] raw_inputs - ``` + +::: diff --git a/docs/ko/msg_docs/QshellReq.md b/docs/ko/msg_docs/QshellReq.md index 7f8e38c701..451f900693 100644 --- a/docs/ko/msg_docs/QshellReq.md +++ b/docs/ko/msg_docs/QshellReq.md @@ -1,6 +1,32 @@ +--- +pageClass: is-wide-page +--- + # QshellReq (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/QshellReq.msg) +**TOPICS:** qshell_req + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| cmd | `char[100]` | | | | +| strlen | `uint32` | | | | +| request_sequence | `uint32` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ---------------------------------------------------------- | -------- | ----- | -- | +| MAX_STRLEN | `uint32` | 100 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/QshellReq.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -8,5 +34,6 @@ char[100] cmd uint32 MAX_STRLEN = 100 uint32 strlen uint32 request_sequence - ``` + +::: diff --git a/docs/ko/msg_docs/QshellRetval.md b/docs/ko/msg_docs/QshellRetval.md index 3a27b00e93..f1113846d0 100644 --- a/docs/ko/msg_docs/QshellRetval.md +++ b/docs/ko/msg_docs/QshellRetval.md @@ -1,10 +1,30 @@ +--- +pageClass: is-wide-page +--- + # QshellRetval (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/QshellRetval.msg) +**TOPICS:** qshell_retval + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| return_value | `int32` | | | | +| return_sequence | `uint32` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/QshellRetval.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) int32 return_value uint32 return_sequence - ``` + +::: diff --git a/docs/ko/msg_docs/RadioStatus.md b/docs/ko/msg_docs/RadioStatus.md index 58c320308e..407a291b68 100644 --- a/docs/ko/msg_docs/RadioStatus.md +++ b/docs/ko/msg_docs/RadioStatus.md @@ -1,9 +1,32 @@ +--- +pageClass: is-wide-page +--- + # RadioStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RadioStatus.msg) +**TOPICS:** radio_status + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| rssi | `uint8` | | | local signal strength | +| remote_rssi | `uint8` | | | remote signal strength | +| txbuf | `uint8` | | | how full the tx buffer is as a percentage | +| noise | `uint8` | | | background noise level | +| remote_noise | `uint8` | | | remote background noise level | +| rxerrors | `uint16` | | | receive errors | +| fix | `uint16` | | | count of error corrected packets | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RadioStatus.msg) + +:::details +Click here to see original file ```c - uint64 timestamp # time since system start (microseconds) uint8 rssi # local signal strength @@ -16,5 +39,6 @@ uint8 remote_noise # remote background noise level uint16 rxerrors # receive errors uint16 fix # count of error corrected packets - ``` + +::: diff --git a/docs/ko/msg_docs/RaptorInput.md b/docs/ko/msg_docs/RaptorInput.md new file mode 100644 index 0000000000..7089aae299 --- /dev/null +++ b/docs/ko/msg_docs/RaptorInput.md @@ -0,0 +1,59 @@ +--- +pageClass: is-wide-page +--- + +# RaptorInput (UORB message) + +Raptor Input. + +**TOPICS:** raptor_input + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on | +| active | `bool` | | | Signals if the policy is active (aka publishing actuator_motors) | +| position | `float32[3]` | m [FLU] | | Position of the vehicle_local_position frame | +| orientation | `float32[4]` | | | Orientation in the vehicle_attitude frame but using the FLU convention as a unit quaternion (w, x, y, z) | +| linear_velocity | `float32[3]` | m/s [FLU] | | Linear velocity in the vehicle_local_position frame | +| angular_velocity | `float32[3]` | rad/s [FLU] | | Angular velocity in the body frame | +| previous_action | `float32[4]` | | [-1 : 1] | Previous action. Motor commands normalized to [-1, 1] | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | -------- | ----- | ---------------------------------------------------------------- | +| MESSAGE_VERSION | `uint32` | 0 | | +| ACTION_DIM | `uint8` | 4 | Policy output dimensionality (for quadrotors) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/RaptorInput.msg) + +:::details +Click here to see original file + +```c +# Raptor Input + +# The exact inputs to the Raptor foundation policy. +# Having access to the exact inputs helps with debugging and post-hoc analysis. + +uint32 MESSAGE_VERSION = 0 + +uint64 timestamp # [us] Time since system start +uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on +bool active # Signals if the policy is active (aka publishing actuator_motors) +float32[3] position # [m] [@frame FLU] Position of the vehicle_local_position frame +float32[4] orientation # [-] Orientation in the vehicle_attitude frame but using the FLU convention as a unit quaternion (w, x, y, z) +float32[3] linear_velocity # [m/s] [@frame FLU] Linear velocity in the vehicle_local_position frame +float32[3] angular_velocity # [rad/s] [@frame FLU] Angular velocity in the body frame +uint8 ACTION_DIM = 4 # Policy output dimensionality (for quadrotors) +float32[4] previous_action # [@range -1, 1] Previous action. Motor commands normalized to [-1, 1] + +# TOPICS raptor_input +``` + +::: diff --git a/docs/ko/msg_docs/RaptorStatus.md b/docs/ko/msg_docs/RaptorStatus.md new file mode 100644 index 0000000000..0325c004db --- /dev/null +++ b/docs/ko/msg_docs/RaptorStatus.md @@ -0,0 +1,109 @@ +--- +pageClass: is-wide-page +--- + +# RaptorStatus (UORB message) + +Raptor Status. + +**TOPICS:** raptor_status + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------------------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on | +| subscription_update_angular_velocity | `bool` | bool | | Flag signalling if the vehicle_angular_velocity was updated | +| subscription_update_local_position | `bool` | bool | | Flag signalling if the vehicle_local_position was updated | +| subscription_update_attitude | `bool` | bool | | Flag signalling if the vehicle_attitude was updated | +| subscription_update_trajectory_setpoint | `bool` | bool | | Flag signalling if the trajectory_setpoint was updated | +| subscription_update_vehicle_status | `bool` | bool | | Flag signalling if the vehicle_status was updated | +| exit_reason | `uint8` | enum | | Exit reason identifier. Representing conditions that lead to the Raptor policy not being executed | +| timestamp_last_vehicle_angular_velocity | `uint32` | us | | Timestamp of the last received vehicle_angular_velocity message | +| timestamp_last_vehicle_local_position | `uint32` | us | | Timestamp of the last received vehicle_local_position message | +| timestamp_last_vehicle_attitude | `uint32` | us | | Timestamp of the last received vehicle_attitude message | +| timestamp_last_trajectory_setpoint | `uint32` | us | | Timestamp of the last received trajectory_setpoint message | +| vehicle_angular_velocity_stale | `bool` | bool | | True if vehicle_angular_velocity data is considered stale (exceeded timeout) | +| vehicle_local_position_stale | `bool` | bool | | True if vehicle_local_position data is considered stale (exceeded timeout) | +| vehicle_attitude_stale | `bool` | bool | | True if vehicle_attitude data is considered stale (exceeded timeout) | +| trajectory_setpoint_stale | `bool` | bool | | True if trajectory_setpoint data is considered stale (exceeded timeout) | +| active | `bool` | bool | | True if the Raptor policy is currently active (publishing actuator_motors) | +| substep | `uint8` | | | The policy is trained at a fixed frequency (e.g. 100 Hz) but we might want to use it for control at higher frequencies (e.g. 400 Hz), which leads to a number of intermediate steps before the actual policy state is advanced (in this case 4 = 400 Hz / 100 Hz). This field provides the current substep (e.g. 0-3). | +| control_interval | `float32` | s | | Time interval between control updates | +| trajectory_setpoint_dt_mean | `float32` | us | | The average trajectory setpoint arrival time interval (since Raptor mode activation within NUM_TRAJECTORY_SETPOINT_DTS received trajectory_setpoint messages) | +| trajectory_setpoint_dt_max | `float32` | us | | The max trajectory setpoint arrival time interval (since Raptor mode activation and within NUM_TRAJECTORY_SETPOINT_DTS received trajectory_setpoint messages) | +| trajectory_setpoint_dt_max_since_activation | `float32` | us | | The max trajectory setpoint arrival time interval (since Raptor mode activation) | +| internal_reference_position | `float32[3]` | m [FLU] | | Internal reference position | +| internal_reference_linear_velocity | `float32[3]` | m/s [FLU] | | Internal reference linear velocity | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| MESSAGE_VERSION | `uint32` | 0 | | +| EXIT_REASON_NONE | `uint8` | 0 | No exit reason => Raptor control step was executed (actuator_motors should have been published) | +| EXIT_REASON_NO_ANGULAR_VELOCITY_UPDATE | `uint8` | 1 | We synchronize the control onto the input observation with the highest update frequency, which is vehicle_angular_velocity. If there was no update, we do not need to execute the policy again | +| EXIT_REASON_NOT_ALL_OBSERVATIONS_SET | `uint8` | 2 | We can not execute the policy if not all observations are available | +| EXIT_REASON_ANGULAR_VELOCITY_STALE | `uint8` | 3 | If OBSERVATION_TIMEOUT_ANGULAR_VELOCITY is exceeded, we treat the vehicle_angular_velocity as stale and can not run the policy | +| EXIT_REASON_LOCAL_POSITION_STALE | `uint8` | 4 | If OBSERVATION_TIMEOUT_LOCAL_POSITION is exceeded, we treat the vehicle_local_position as stale and can not run the policy | +| EXIT_REASON_ATTITUDE_STALE | `uint8` | 5 | If OBSERVATION_TIMEOUT_ATTITUDE is exceeded, we treat the vehicle_attitude as stale and can not run the policy | +| EXIT_REASON_EXECUTOR_STATUS_SOURCE_NOT_CONTROL | `uint8` | 6 | The executor that runs the policy can run in oversampling mode, where it decides if the policy should be ran based on the timestamp and not based on fixed synchronization onto the vehicle_angular_velocity. In this case the executor can decide to skip running the policy if the interval is too small, in which case this flag is set. | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/RaptorStatus.msg) + +:::details +Click here to see original file + +```c +# Raptor Status + +# Diagnostic messages for the Raptor foundation policy. +# This diagnostic data is useful for debugging (e.g. identifying missing input information). + +uint32 MESSAGE_VERSION = 0 + +uint64 timestamp # [us] Time since system start +uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on +bool subscription_update_angular_velocity # [bool] Flag signalling if the vehicle_angular_velocity was updated +bool subscription_update_local_position # [bool] Flag signalling if the vehicle_local_position was updated +bool subscription_update_attitude # [bool] Flag signalling if the vehicle_attitude was updated +bool subscription_update_trajectory_setpoint # [bool] Flag signalling if the trajectory_setpoint was updated +bool subscription_update_vehicle_status # [bool] Flag signalling if the vehicle_status was updated + +uint8 exit_reason # [enum] Exit reason identifier. Representing conditions that lead to the Raptor policy not being executed +uint8 EXIT_REASON_NONE = 0 # No exit reason => Raptor control step was executed (actuator_motors should have been published) +uint8 EXIT_REASON_NO_ANGULAR_VELOCITY_UPDATE = 1 # We synchronize the control onto the input observation with the highest update frequency, which is vehicle_angular_velocity. If there was no update, we do not need to execute the policy again +uint8 EXIT_REASON_NOT_ALL_OBSERVATIONS_SET = 2 # We can not execute the policy if not all observations are available +uint8 EXIT_REASON_ANGULAR_VELOCITY_STALE = 3 # If OBSERVATION_TIMEOUT_ANGULAR_VELOCITY is exceeded, we treat the vehicle_angular_velocity as stale and can not run the policy +uint8 EXIT_REASON_LOCAL_POSITION_STALE = 4 # If OBSERVATION_TIMEOUT_LOCAL_POSITION is exceeded, we treat the vehicle_local_position as stale and can not run the policy +uint8 EXIT_REASON_ATTITUDE_STALE = 5 # If OBSERVATION_TIMEOUT_ATTITUDE is exceeded, we treat the vehicle_attitude as stale and can not run the policy +uint8 EXIT_REASON_EXECUTOR_STATUS_SOURCE_NOT_CONTROL = 6 # The executor that runs the policy can run in oversampling mode, where it decides if the policy should be ran based on the timestamp and not based on fixed synchronization onto the vehicle_angular_velocity. In this case the executor can decide to skip running the policy if the interval is too small, in which case this flag is set. + +uint32 timestamp_last_vehicle_angular_velocity # [us] Timestamp of the last received vehicle_angular_velocity message +uint32 timestamp_last_vehicle_local_position # [us] Timestamp of the last received vehicle_local_position message +uint32 timestamp_last_vehicle_attitude # [us] Timestamp of the last received vehicle_attitude message +uint32 timestamp_last_trajectory_setpoint # [us] Timestamp of the last received trajectory_setpoint message + +bool vehicle_angular_velocity_stale # [bool] True if vehicle_angular_velocity data is considered stale (exceeded timeout) +bool vehicle_local_position_stale # [bool] True if vehicle_local_position data is considered stale (exceeded timeout) +bool vehicle_attitude_stale # [bool] True if vehicle_attitude data is considered stale (exceeded timeout) +bool trajectory_setpoint_stale # [bool] True if trajectory_setpoint data is considered stale (exceeded timeout) + +bool active # [bool] True if the Raptor policy is currently active (publishing actuator_motors) +uint8 substep # [-] The policy is trained at a fixed frequency (e.g. 100 Hz) but we might want to use it for control at higher frequencies (e.g. 400 Hz), which leads to a number of intermediate steps before the actual policy state is advanced (in this case 4 = 400 Hz / 100 Hz). This field provides the current substep (e.g. 0-3). +float32 control_interval # [s] Time interval between control updates + +float32 trajectory_setpoint_dt_mean # [us] The average trajectory setpoint arrival time interval (since Raptor mode activation within NUM_TRAJECTORY_SETPOINT_DTS received trajectory_setpoint messages) +float32 trajectory_setpoint_dt_max # [us] The max trajectory setpoint arrival time interval (since Raptor mode activation and within NUM_TRAJECTORY_SETPOINT_DTS received trajectory_setpoint messages) +float32 trajectory_setpoint_dt_max_since_activation # [us] The max trajectory setpoint arrival time interval (since Raptor mode activation) + +float32[3] internal_reference_position # [m] [@frame FLU] Internal reference position +float32[3] internal_reference_linear_velocity # [m/s] [@frame FLU] Internal reference linear velocity + +# TOPICS raptor_status +``` + +::: diff --git a/docs/ko/msg_docs/RateCtrlStatus.md b/docs/ko/msg_docs/RateCtrlStatus.md index 90eaa1208f..9b297ca4a0 100644 --- a/docs/ko/msg_docs/RateCtrlStatus.md +++ b/docs/ko/msg_docs/RateCtrlStatus.md @@ -1,6 +1,26 @@ +--- +pageClass: is-wide-page +--- + # RateCtrlStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RateCtrlStatus.msg) +**TOPICS:** rate_ctrlstatus + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| rollspeed_integ | `float32` | | | | +| pitchspeed_integ | `float32` | | | | +| yawspeed_integ | `float32` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RateCtrlStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -9,5 +29,6 @@ uint64 timestamp # time since system start (microseconds) float32 rollspeed_integ float32 pitchspeed_integ float32 yawspeed_integ - ``` + +::: diff --git a/docs/ko/msg_docs/RcChannels.md b/docs/ko/msg_docs/RcChannels.md index 7abb87c0bc..90baf9744a 100644 --- a/docs/ko/msg_docs/RcChannels.md +++ b/docs/ko/msg_docs/RcChannels.md @@ -1,6 +1,66 @@ +--- +pageClass: is-wide-page +--- + # RcChannels (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RcChannels.msg) +**TOPICS:** rc_channels + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| -------------------------------------------------------------- | ------------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_last_valid | `uint64` | | | Timestamp of last valid RC signal | +| channels | `float32[18]` | | | Scaled to -1..1 (throttle: 0..1) | +| channel_count | `uint8` | | | Number of valid channels | +| function | `int8[30]` | | | Functions mapping | +| rssi | `uint8` | | | Receive signal strength index | +| signal_lost | `bool` | | | Control signal lost, should be checked together with topic timeout | +| frame_drop_count | `uint32` | | | Number of dropped frames | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | ----- | -- | +| FUNCTION_THROTTLE | `uint8` | 0 | | +| FUNCTION_ROLL | `uint8` | 1 | | +| FUNCTION_PITCH | `uint8` | 2 | | +| FUNCTION_YAW | `uint8` | 3 | | +| FUNCTION_RETURN | `uint8` | 4 | | +| FUNCTION_LOITER | `uint8` | 5 | | +| FUNCTION_OFFBOARD | `uint8` | 6 | | +| FUNCTION_FLAPS | `uint8` | 7 | | +| FUNCTION_AUX_1 | `uint8` | 8 | | +| FUNCTION_AUX_2 | `uint8` | 9 | | +| FUNCTION_AUX_3 | `uint8` | 10 | | +| FUNCTION_AUX_4 | `uint8` | 11 | | +| FUNCTION_AUX_5 | `uint8` | 12 | | +| FUNCTION_AUX_6 | `uint8` | 13 | | +| FUNCTION_PARAM_1 | `uint8` | 14 | | +| FUNCTION_PARAM_2 | `uint8` | 15 | | +| FUNCTION_PARAM_3_5 | `uint8` | 16 | | +| FUNCTION_KILLSWITCH | `uint8` | 17 | | +| FUNCTION_TRANSITION | `uint8` | 18 | | +| FUNCTION_GEAR | `uint8` | 19 | | +| FUNCTION_ARMSWITCH | `uint8` | 20 | | +| FUNCTION_FLTBTN_SLOT_1 | `uint8` | 21 | | +| FUNCTION_FLTBTN_SLOT_2 | `uint8` | 22 | | +| FUNCTION_FLTBTN_SLOT_3 | `uint8` | 23 | | +| FUNCTION_FLTBTN_SLOT_4 | `uint8` | 24 | | +| FUNCTION_FLTBTN_SLOT_5 | `uint8` | 25 | | +| FUNCTION_FLTBTN_SLOT_6 | `uint8` | 26 | | +| FUNCTION_ENGAGE_MAIN_MOTOR | `uint8` | 27 | | +| FUNCTION_PAYLOAD_POWER | `uint8` | 28 | | +| FUNCTION_TERMINATION | `uint8` | 29 | | +| FUNCTION_FLTBTN_SLOT_COUNT | `uint8` | 6 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RcChannels.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -45,5 +105,6 @@ int8[30] function # Functions mapping uint8 rssi # Receive signal strength index bool signal_lost # Control signal lost, should be checked together with topic timeout uint32 frame_drop_count # Number of dropped frames - ``` + +::: diff --git a/docs/ko/msg_docs/RcParameterMap.md b/docs/ko/msg_docs/RcParameterMap.md index e1ced1f8d1..52fbfddb41 100644 --- a/docs/ko/msg_docs/RcParameterMap.md +++ b/docs/ko/msg_docs/RcParameterMap.md @@ -1,6 +1,37 @@ +--- +pageClass: is-wide-page +--- + # RcParameterMap (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RcParameterMap.msg) +**TOPICS:** rc_parametermap + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| -------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| valid | `bool[3]` | | | true for RC-Param channels which are mapped to a param | +| param_index | `int32[3]` | | | corresponding param index, this field is ignored if set to -1, in this case param_id will be used | +| param_id | `char[51]` | | | MAP_NCHAN \* (ID_LEN + 1) chars, corresponding param id, null terminated | +| scale | `float32[3]` | | | scale to map the RC input [-1, 1] to a parameter value | +| value0 | `float32[3]` | | | initial value around which the parameter value is changed | +| value_min | `float32[3]` | | | minimal parameter value | +| value_max | `float32[3]` | | | minimal parameter value | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| RC_PARAM_MAP_NCHAN | `uint8` | 3 | This limit is also hardcoded in the enum RC_CHANNELS_FUNCTION in rc_channels.h | +| PARAM_ID_LEN | `uint8` | 16 | corresponds to MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RcParameterMap.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -14,5 +45,6 @@ float32[3] scale # scale to map the RC input [-1, 1] to a parameter value float32[3] value0 # initial value around which the parameter value is changed float32[3] value_min # minimal parameter value float32[3] value_max # minimal parameter value - ``` + +::: diff --git a/docs/ko/msg_docs/RegisterExtComponentReply.md b/docs/ko/msg_docs/RegisterExtComponentReply.md index 119703472a..0f210ccbef 100644 --- a/docs/ko/msg_docs/RegisterExtComponentReply.md +++ b/docs/ko/msg_docs/RegisterExtComponentReply.md @@ -1,6 +1,38 @@ +--- +pageClass: is-wide-page +--- + # RegisterExtComponentReply (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/RegisterExtComponentReply.msg) +**TOPICS:** register_extcomponent_reply + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| request_id | `uint64` | | | ID from the request | +| name | `char[25]` | | | name from the request | +| px4_ros2_api_version | `uint16` | | | | +| success | `bool` | | | | +| arming_check_id | `int8` | | | arming check registration ID (-1 if invalid) | +| mode_id | `int8` | | | assigned mode ID (-1 if invalid) | +| mode_executor_id | `int8` | | | assigned mode executor ID (-1 if invalid) | +| not_user_selectable | `bool` | | | mode cannot be selected by the user | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 1 | | +| ORB_QUEUE_LENGTH | `uint8` | 2 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/RegisterExtComponentReply.msg) + +:::details +Click here to see original file ```c uint32 MESSAGE_VERSION = 1 @@ -20,5 +52,6 @@ int8 mode_executor_id # assigned mode executor ID (-1 if invalid) bool not_user_selectable # mode cannot be selected by the user uint8 ORB_QUEUE_LENGTH = 2 - ``` + +::: diff --git a/docs/ko/msg_docs/RegisterExtComponentReplyV0.md b/docs/ko/msg_docs/RegisterExtComponentReplyV0.md index cceec88d5c..3266cff2ce 100644 --- a/docs/ko/msg_docs/RegisterExtComponentReplyV0.md +++ b/docs/ko/msg_docs/RegisterExtComponentReplyV0.md @@ -1,6 +1,37 @@ +--- +pageClass: is-wide-page +--- + # RegisterExtComponentReplyV0 (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/RegisterExtComponentReplyV0.msg) +**TOPICS:** register_extcomponent_replyv0 + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| request_id | `uint64` | | | ID from the request | +| name | `char[25]` | | | name from the request | +| px4_ros2_api_version | `uint16` | | | | +| success | `bool` | | | | +| arming_check_id | `int8` | | | arming check registration ID (-1 if invalid) | +| mode_id | `int8` | | | assigned mode ID (-1 if invalid) | +| mode_executor_id | `int8` | | | assigned mode executor ID (-1 if invalid) | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | +| ORB_QUEUE_LENGTH | `uint8` | 2 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/RegisterExtComponentReplyV0.msg) + +:::details +Click here to see original file ```c uint32 MESSAGE_VERSION = 0 @@ -18,5 +49,6 @@ int8 mode_id # assigned mode ID (-1 if invalid) int8 mode_executor_id # assigned mode executor ID (-1 if invalid) uint8 ORB_QUEUE_LENGTH = 2 - ``` + +::: diff --git a/docs/ko/msg_docs/RegisterExtComponentRequest.md b/docs/ko/msg_docs/RegisterExtComponentRequest.md index 814ea6e51b..c373dd7477 100644 --- a/docs/ko/msg_docs/RegisterExtComponentRequest.md +++ b/docs/ko/msg_docs/RegisterExtComponentRequest.md @@ -1,8 +1,43 @@ +--- +pageClass: is-wide-page +--- + # RegisterExtComponentRequest (UORB message) -Request to register an external component +Request to register an external component. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/RegisterExtComponentRequest.msg) +**TOPICS:** register_extcomponent_request + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| request_id | `uint64` | | | ID, set this to a random value | +| name | `char[25]` | | | either the requested mode name, or component name | +| px4_ros2_api_version | `uint16` | | | Set to LATEST_PX4_ROS2_API_VERSION | +| register_arming_check | `bool` | | | | +| register_mode | `bool` | | | registering a mode also requires arming_check to be set | +| register_mode_executor | `bool` | | | registering an executor also requires a mode to be registered (which is the owned mode by the executor) | +| enable_replace_internal_mode | `bool` | | | set to true if an internal mode should be replaced | +| replace_internal_mode | `uint8` | | | vehicle_status::NAVIGATION_STATE_\* | +| activate_mode_immediately | `bool` | | | switch to the registered mode (can only be set in combination with an executor) | +| not_user_selectable | `bool` | | | mode cannot be selected by the user | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| MESSAGE_VERSION | `uint32` | 1 | | +| LATEST_PX4_ROS2_API_VERSION | `uint16` | 1 | API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. | +| ORB_QUEUE_LENGTH | `uint8` | 2 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/RegisterExtComponentRequest.msg) + +:::details +Click here to see original file ```c # Request to register an external component @@ -29,5 +64,6 @@ bool activate_mode_immediately # switch to the registered mode (can only be bool not_user_selectable # mode cannot be selected by the user uint8 ORB_QUEUE_LENGTH = 2 - ``` + +::: diff --git a/docs/ko/msg_docs/RegisterExtComponentRequestV0.md b/docs/ko/msg_docs/RegisterExtComponentRequestV0.md index 58e99a484e..ce3700a623 100644 --- a/docs/ko/msg_docs/RegisterExtComponentRequestV0.md +++ b/docs/ko/msg_docs/RegisterExtComponentRequestV0.md @@ -1,8 +1,42 @@ +--- +pageClass: is-wide-page +--- + # RegisterExtComponentRequestV0 (UORB message) -Request to register an external component +Request to register an external component. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/RegisterExtComponentRequestV0.msg) +**TOPICS:** register_extcomponent_requestv0 + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| request_id | `uint64` | | | ID, set this to a random value | +| name | `char[25]` | | | either the requested mode name, or component name | +| px4_ros2_api_version | `uint16` | | | Set to LATEST_PX4_ROS2_API_VERSION | +| register_arming_check | `bool` | | | | +| register_mode | `bool` | | | registering a mode also requires arming_check to be set | +| register_mode_executor | `bool` | | | registering an executor also requires a mode to be registered (which is the owned mode by the executor) | +| enable_replace_internal_mode | `bool` | | | set to true if an internal mode should be replaced | +| replace_internal_mode | `uint8` | | | vehicle_status::NAVIGATION_STATE_\* | +| activate_mode_immediately | `bool` | | | switch to the registered mode (can only be set in combination with an executor) | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| MESSAGE_VERSION | `uint32` | 0 | | +| LATEST_PX4_ROS2_API_VERSION | `uint16` | 1 | API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. | +| ORB_QUEUE_LENGTH | `uint8` | 2 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/RegisterExtComponentRequestV0.msg) + +:::details +Click here to see original file ```c # Request to register an external component @@ -29,5 +63,6 @@ bool activate_mode_immediately # switch to the registered mode (can only be uint8 ORB_QUEUE_LENGTH = 2 - ``` + +::: diff --git a/docs/ko/msg_docs/RoverAttitudeSetpoint.md b/docs/ko/msg_docs/RoverAttitudeSetpoint.md index ca75a6e3e2..2d6d3c390f 100644 --- a/docs/ko/msg_docs/RoverAttitudeSetpoint.md +++ b/docs/ko/msg_docs/RoverAttitudeSetpoint.md @@ -1,13 +1,32 @@ +--- +pageClass: is-wide-page +--- + # RoverAttitudeSetpoint (UORB message) -Rover Attitude Setpoint +Rover Attitude Setpoint. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverAttitudeSetpoint.msg) +**TOPICS:** rover_attitudesetpoint + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------------------------------- | --------- | ---------------------------------------------------------------- | -------------------------------------------------------------------------------- | ----------------------- | +| timestamp | `uint64` | us | | Time since system start | +| yaw_setpoint | `float32` | rad [NED] | [-inf : inf] | Yaw setpoint | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverAttitudeSetpoint.msg) + +:::details +Click here to see original file ```c # Rover Attitude Setpoint uint64 timestamp # [us] Time since system start float32 yaw_setpoint # [rad] [@range -inf, inf] [@frame NED] Yaw setpoint - ``` + +::: diff --git a/docs/ko/msg_docs/RoverAttitudeStatus.md b/docs/ko/msg_docs/RoverAttitudeStatus.md index f5a9ce1f02..416d52ec34 100644 --- a/docs/ko/msg_docs/RoverAttitudeStatus.md +++ b/docs/ko/msg_docs/RoverAttitudeStatus.md @@ -1,8 +1,27 @@ +--- +pageClass: is-wide-page +--- + # RoverAttitudeStatus (UORB message) -Rover Attitude Status +Rover Attitude Status. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverAttitudeStatus.msg) +**TOPICS:** rover_attitudestatus + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | -------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| measured_yaw | `float32` | rad [NED] | [-pi : pi] | Measured yaw | +| adjusted_yaw_setpoint | `float32` | rad [NED] | [-pi : pi] | Yaw setpoint that is being tracked (Applied slew rates) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverAttitudeStatus.msg) + +:::details +Click here to see original file ```c # Rover Attitude Status @@ -10,5 +29,6 @@ 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) - ``` + +::: diff --git a/docs/ko/msg_docs/RoverPositionSetpoint.md b/docs/ko/msg_docs/RoverPositionSetpoint.md index 751536e7f9..7371a64cc6 100644 --- a/docs/ko/msg_docs/RoverPositionSetpoint.md +++ b/docs/ko/msg_docs/RoverPositionSetpoint.md @@ -1,8 +1,30 @@ +--- +pageClass: is-wide-page +--- + # RoverPositionSetpoint (UORB message) -Rover Position Setpoint +Rover Position Setpoint. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverPositionSetpoint.msg) +**TOPICS:** rover_positionsetpoint + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------- | ------------ | ---------------------------------------------------------------- | -------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| position_ned | `float32[2]` | m [NED] | [-inf : inf] | Target position | +| start_ned | `float32[2]` | m [NED] | [-inf : inf] | Start position which specifies a line for the rover to track (Invalid: NaN Defaults to vehicle position) | +| cruising_speed | `float32` | m/s | [0 : inf] | Cruising speed (Invalid: NaN Defaults to maximum speed) | +| arrival_speed | `float32` | m/s | [0 : inf] | Speed the rover should arrive at the target with (Invalid: NaN Defaults to 0) | +| yaw | `float32` | rad [NED] | [-pi : pi] | Mecanum only: Specify vehicle yaw during travel (Invalid: NaN Defaults to vehicle yaw) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverPositionSetpoint.msg) + +:::details +Click here to see original file ```c # Rover Position Setpoint @@ -13,5 +35,6 @@ float32[2] start_ned # [m] [@range -inf, inf] [@frame NED] [@invalid NaN Def 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 - ``` + +::: diff --git a/docs/ko/msg_docs/RoverRateSetpoint.md b/docs/ko/msg_docs/RoverRateSetpoint.md index 9bb844e802..35029e72d3 100644 --- a/docs/ko/msg_docs/RoverRateSetpoint.md +++ b/docs/ko/msg_docs/RoverRateSetpoint.md @@ -1,13 +1,32 @@ +--- +pageClass: is-wide-page +--- + # RoverRateSetpoint (UORB message) -Rover Rate setpoint +Rover Rate setpoint. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverRateSetpoint.msg) +**TOPICS:** rover_ratesetpoint + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------- | --------- | ---------------------------------------------------------------- | -------------------------------------------------------------------------------- | ----------------------- | +| timestamp | `uint64` | us | | Time since system start | +| yaw_rate_setpoint | `float32` | rad/s [NED] | [-inf : inf] | Yaw rate setpoint | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverRateSetpoint.msg) + +:::details +Click here to see original file ```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 - ``` + +::: diff --git a/docs/ko/msg_docs/RoverRateStatus.md b/docs/ko/msg_docs/RoverRateStatus.md index 70345fe315..3bd0642d4f 100644 --- a/docs/ko/msg_docs/RoverRateStatus.md +++ b/docs/ko/msg_docs/RoverRateStatus.md @@ -1,8 +1,28 @@ +--- +pageClass: is-wide-page +--- + # RoverRateStatus (UORB message) -Rover Rate Status +Rover Rate Status. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverRateStatus.msg) +**TOPICS:** rover_ratestatus + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | -------------------------------------------------------------------------------- | ------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| measured_yaw_rate | `float32` | rad/s [NED] | [-inf : inf] | Measured yaw rate | +| adjusted_yaw_rate_setpoint | `float32` | rad/s [NED] | [-inf : inf] | Yaw rate setpoint that is being tracked (Applied slew rates) | +| pid_yaw_rate_integral | `float32` | | [-1 : 1] | Integral of the PID for the closed loop yaw rate controller | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverRateStatus.msg) + +:::details +Click here to see original file ```c # Rover Rate Status @@ -11,5 +31,6 @@ 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 - ``` + +::: diff --git a/docs/ko/msg_docs/RoverSpeedSetpoint.md b/docs/ko/msg_docs/RoverSpeedSetpoint.md index 84176cd1c3..3c87dda1fe 100644 --- a/docs/ko/msg_docs/RoverSpeedSetpoint.md +++ b/docs/ko/msg_docs/RoverSpeedSetpoint.md @@ -1,8 +1,27 @@ +--- +pageClass: is-wide-page +--- + # RoverSpeedSetpoint (UORB message) -Rover Speed Setpoint +Rover Speed Setpoint. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverSpeedSetpoint.msg) +**TOPICS:** rover_speedsetpoint + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------ | --------- | ---------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| speed_body_x | `float32` | m/s [Body] | [-inf (Backwards) : inf (Forwards)] | Speed setpoint in body x direction | +| speed_body_y | `float32` | m/s [Body] | [-inf (Left) : inf (Right)] | Mecanum only: Speed setpoint in body y direction (Invalid: NaN If not mecanum) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverSpeedSetpoint.msg) + +:::details +Click here to see original file ```c # Rover Speed Setpoint @@ -10,5 +29,6 @@ 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 - ``` + +::: diff --git a/docs/ko/msg_docs/RoverSpeedStatus.md b/docs/ko/msg_docs/RoverSpeedStatus.md index 4213e1e5df..161c20da43 100644 --- a/docs/ko/msg_docs/RoverSpeedStatus.md +++ b/docs/ko/msg_docs/RoverSpeedStatus.md @@ -1,8 +1,31 @@ +--- +pageClass: is-wide-page +--- + # RoverSpeedStatus (UORB message) -Rover Velocity Status +Rover Velocity Status. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverSpeedStatus.msg) +**TOPICS:** rover_speedstatus + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------------------------------------------------------ | --------- | ---------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| measured_speed_body_x | `float32` | m/s [Body] | [-inf (Backwards) : inf (Forwards)] | Measured speed in body x direction | +| adjusted_speed_body_x_setpoint | `float32` | m/s [Body] | [-inf (Backwards) : inf (Forwards)] | Speed setpoint in body x direction that is being tracked (Applied slew rates) | +| pid_throttle_body_x_integral | `float32` | | [-1 : 1] | Integral of the PID for the closed loop controller of the speed in body x direction | +| measured_speed_body_y | `float32` | m/s [Body] | [-inf (Left) : inf (Right)] | Mecanum only: Measured speed in body y direction (Invalid: NaN If not mecanum) | +| adjusted_speed_body_y_setpoint | `float32` | m/s [Body] | [-inf (Left) : inf (Right)] | Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates) (Invalid: NaN If not mecanum) | +| pid_throttle_body_y_integral | `float32` | | [-1 : 1] | Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction (Invalid: NaN If not mecanum) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverSpeedStatus.msg) + +:::details +Click here to see original file ```c # Rover Velocity Status @@ -14,5 +37,6 @@ float32 pid_throttle_body_x_integral # [-] [@range -1, 1] Integral of the PID 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 - ``` + +::: diff --git a/docs/ko/msg_docs/RoverSteeringSetpoint.md b/docs/ko/msg_docs/RoverSteeringSetpoint.md index 974f3fc4c9..fb18a4dd08 100644 --- a/docs/ko/msg_docs/RoverSteeringSetpoint.md +++ b/docs/ko/msg_docs/RoverSteeringSetpoint.md @@ -1,13 +1,32 @@ +--- +pageClass: is-wide-page +--- + # RoverSteeringSetpoint (UORB message) -Rover Steering setpoint +Rover Steering setpoint. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverSteeringSetpoint.msg) +**TOPICS:** rover_steeringsetpoint + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| normalized_steering_setpoint | `float32` | [Body] | [-1 (Left) : 1 (Right)] | Ackermann: Normalized steering angle, Differential/Mecanum: Normalized speed difference between the left and right wheels | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverSteeringSetpoint.msg) + +:::details +Click here to see original file ```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 - ``` + +::: diff --git a/docs/ko/msg_docs/RoverThrottleSetpoint.md b/docs/ko/msg_docs/RoverThrottleSetpoint.md index bd5ee93d55..d05660b098 100644 --- a/docs/ko/msg_docs/RoverThrottleSetpoint.md +++ b/docs/ko/msg_docs/RoverThrottleSetpoint.md @@ -1,8 +1,27 @@ +--- +pageClass: is-wide-page +--- + # RoverThrottleSetpoint (UORB message) -Rover Throttle setpoint +Rover Throttle setpoint. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverThrottleSetpoint.msg) +**TOPICS:** rover_throttlesetpoint + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| throttle_body_x | `float32` | [Body] | [-1 (Backwards) : 1 (Forwards)] | Throttle setpoint along body X axis | +| throttle_body_y | `float32` | [Body] | [-1 (Left) : 1 (Right)] | Mecanum only: Throttle setpoint along body Y axis (Invalid: NaN If not mecanum) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverThrottleSetpoint.msg) + +:::details +Click here to see original file ```c # Rover Throttle setpoint @@ -10,5 +29,6 @@ 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 - ``` + +::: diff --git a/docs/ko/msg_docs/Rpm.md b/docs/ko/msg_docs/Rpm.md index ff2bf9c827..0fd75037af 100644 --- a/docs/ko/msg_docs/Rpm.md +++ b/docs/ko/msg_docs/Rpm.md @@ -1,6 +1,25 @@ +--- +pageClass: is-wide-page +--- + # Rpm (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Rpm.msg) +**TOPICS:** rpm + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| rpm_estimate | `float32` | | | filtered revolutions per minute | +| rpm_raw | `float32` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Rpm.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -8,5 +27,6 @@ uint64 timestamp # time since system start (microseconds) # rpm values of 0.0 mean within a timeout there is no movement measured float32 rpm_estimate # filtered revolutions per minute float32 rpm_raw - ``` + +::: diff --git a/docs/ko/msg_docs/RtlStatus.md b/docs/ko/msg_docs/RtlStatus.md index e585898e8b..b2937a5a61 100644 --- a/docs/ko/msg_docs/RtlStatus.md +++ b/docs/ko/msg_docs/RtlStatus.md @@ -1,6 +1,38 @@ +--- +pageClass: is-wide-page +--- + # RtlStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RtlStatus.msg) +**TOPICS:** rtl_status + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| safe_points_id | `uint32` | | | unique ID of active set of safe_point_items | +| is_evaluation_pending | `bool` | | | flag if the RTL point needs reevaluation (e.g. new safe points available, but need loading). | +| has_vtol_approach | `bool` | | | flag if approaches are defined for current RTL_TYPE parameter setting | +| rtl_type | `uint8` | | | Type of RTL chosen | +| safe_point_index | `uint8` | | | index of the chosen safe point, if in RTL_STATUS_TYPE_DIRECT_SAFE_POINT mode | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| RTL_STATUS_TYPE_NONE | `uint8` | 0 | pending if evaluation can't pe performed currently e.g. when it is still loading the safe points | +| RTL_STATUS_TYPE_DIRECT_SAFE_POINT | `uint8` | 1 | chosen to directly go to a safe point or home position | +| RTL_STATUS_TYPE_DIRECT_MISSION_LAND | `uint8` | 2 | going straight to the beginning of the mission landing | +| RTL_STATUS_TYPE_FOLLOW_MISSION | `uint8` | 3 | Following the mission from start index to mission landing. Start index is current WP if in Mission mode, and closest WP otherwise. | +| RTL_STATUS_TYPE_FOLLOW_MISSION_REVERSE | `uint8` | 4 | Following the mission in reverse from start index to the beginning of the mission. Start index is previous WP if in Mission mode, and closest WP otherwise. | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RtlStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -18,5 +50,6 @@ uint8 RTL_STATUS_TYPE_DIRECT_SAFE_POINT=1 # chosen to directly go to a safe poi uint8 RTL_STATUS_TYPE_DIRECT_MISSION_LAND=2 # going straight to the beginning of the mission landing uint8 RTL_STATUS_TYPE_FOLLOW_MISSION=3 # Following the mission from start index to mission landing. Start index is current WP if in Mission mode, and closest WP otherwise. uint8 RTL_STATUS_TYPE_FOLLOW_MISSION_REVERSE=4 # Following the mission in reverse from start index to the beginning of the mission. Start index is previous WP if in Mission mode, and closest WP otherwise. - ``` + +::: diff --git a/docs/ko/msg_docs/RtlTimeEstimate.md b/docs/ko/msg_docs/RtlTimeEstimate.md index a12f553d71..640008a18e 100644 --- a/docs/ko/msg_docs/RtlTimeEstimate.md +++ b/docs/ko/msg_docs/RtlTimeEstimate.md @@ -1,6 +1,26 @@ +--- +pageClass: is-wide-page +--- + # RtlTimeEstimate (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RtlTimeEstimate.msg) +**TOPICS:** rtl_timeestimate + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------ | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| valid | `bool` | | | Flag indicating whether the time estiamtes are valid | +| time_estimate | `float32` | s | | Estimated time for RTL | +| safe_time_estimate | `float32` | s | | Same as time_estimate, but with safety factor and safety margin included (factor\*t + margin) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RtlTimeEstimate.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -8,5 +28,6 @@ uint64 timestamp # time since system start (microseconds) bool valid # Flag indicating whether the time estiamtes are valid float32 time_estimate # [s] Estimated time for RTL float32 safe_time_estimate # [s] Same as time_estimate, but with safety factor and safety margin included (factor*t + margin) - ``` + +::: diff --git a/docs/ko/msg_docs/SatelliteInfo.md b/docs/ko/msg_docs/SatelliteInfo.md index c040856148..244068aee3 100644 --- a/docs/ko/msg_docs/SatelliteInfo.md +++ b/docs/ko/msg_docs/SatelliteInfo.md @@ -1,6 +1,36 @@ +--- +pageClass: is-wide-page +--- + # SatelliteInfo (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SatelliteInfo.msg) +**TOPICS:** satellite_info + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------- | ----------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| count | `uint8` | | | Number of satellites visible to the receiver | +| svid | `uint8[40]` | | | Space vehicle ID [1..255], see scheme below | +| used | `uint8[40]` | | | 0: Satellite not used, 1: used for navigation | +| elevation | `uint8[40]` | | | Elevation (0: right on top of receiver, 90: on the horizon) of satellite | +| azimuth | `uint8[40]` | | | Direction of satellite, 0: 0 deg, 255: 360 deg. | +| snr | `uint8[40]` | | | dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. | +| prn | `uint8[40]` | | | Satellite PRN code assignment, (psuedorandom number SBAS, valid codes are 120-144) | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------------------------------------ | ------- | ----- | -- | +| SAT_INFO_MAX_SATELLITES | `uint8` | 40 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SatelliteInfo.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -13,5 +43,6 @@ uint8[40] elevation # Elevation (0: right on top of receiver, 90: on the horizo uint8[40] azimuth # Direction of satellite, 0: 0 deg, 255: 360 deg. uint8[40] snr # dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. uint8[40] prn # Satellite PRN code assignment, (psuedorandom number SBAS, valid codes are 120-144) - ``` + +::: diff --git a/docs/ko/msg_docs/SensorAccel.md b/docs/ko/msg_docs/SensorAccel.md index 7f7ad93e57..e73dd5b593 100644 --- a/docs/ko/msg_docs/SensorAccel.md +++ b/docs/ko/msg_docs/SensorAccel.md @@ -1,6 +1,38 @@ +--- +pageClass: is-wide-page +--- + # SensorAccel (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorAccel.msg) +**TOPICS:** sensor_accel + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| x | `float32` | | | acceleration in the FRD board frame X-axis in m/s^2 | +| y | `float32` | | | acceleration in the FRD board frame Y-axis in m/s^2 | +| z | `float32` | | | acceleration in the FRD board frame Z-axis in m/s^2 | +| temperature | `float32` | | | temperature in degrees Celsius | +| error_count | `uint32` | | | | +| clip_counter | `uint8[3]` | | | clip count per axis in the sample period | +| samples | `uint8` | | | number of raw samples that went into this message | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------- | ------- | ----- | -- | +| ORB_QUEUE_LENGTH | `uint8` | 8 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorAccel.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -21,5 +53,6 @@ uint8[3] clip_counter # clip count per axis in the sample period uint8 samples # number of raw samples that went into this message uint8 ORB_QUEUE_LENGTH = 8 - ``` + +::: diff --git a/docs/ko/msg_docs/SensorAccelFifo.md b/docs/ko/msg_docs/SensorAccelFifo.md index 86f5a02a06..210582255b 100644 --- a/docs/ko/msg_docs/SensorAccelFifo.md +++ b/docs/ko/msg_docs/SensorAccelFifo.md @@ -1,6 +1,31 @@ +--- +pageClass: is-wide-page +--- + # SensorAccelFifo (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorAccelFifo.msg) +**TOPICS:** sensor_accelfifo + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| dt | `float32` | | | delta time between samples (microseconds) | +| scale | `float32` | | | | +| samples | `uint8` | | | number of valid samples | +| x | `int16[32]` | | | acceleration in the FRD board frame X-axis in m/s^2 | +| y | `int16[32]` | | | acceleration in the FRD board frame Y-axis in m/s^2 | +| z | `int16[32]` | | | acceleration in the FRD board frame Z-axis in m/s^2 | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorAccelFifo.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -16,5 +41,6 @@ uint8 samples # number of valid samples int16[32] x # acceleration in the FRD board frame X-axis in m/s^2 int16[32] y # acceleration in the FRD board frame Y-axis in m/s^2 int16[32] z # acceleration in the FRD board frame Z-axis in m/s^2 - ``` + +::: diff --git a/docs/ko/msg_docs/SensorAirflow.md b/docs/ko/msg_docs/SensorAirflow.md index 82b8706060..f0578936ac 100644 --- a/docs/ko/msg_docs/SensorAirflow.md +++ b/docs/ko/msg_docs/SensorAirflow.md @@ -1,6 +1,27 @@ +--- +pageClass: is-wide-page +--- + # SensorAirflow (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorAirflow.msg) +**TOPICS:** sensor_airflow + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------ | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| speed | `float32` | | | the speed being reported by the wind / airflow sensor | +| direction | `float32` | | | the direction being reported by the wind / airflow sensor | +| status | `uint8` | | | Status code from the sensor | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorAirflow.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -8,5 +29,6 @@ uint32 device_id # unique device ID for the sensor that does not float32 speed # the speed being reported by the wind / airflow sensor float32 direction # the direction being reported by the wind / airflow sensor uint8 status # Status code from the sensor - ``` + +::: diff --git a/docs/ko/msg_docs/SensorBaro.md b/docs/ko/msg_docs/SensorBaro.md index ef4d7a8f28..5ab06a270a 100644 --- a/docs/ko/msg_docs/SensorBaro.md +++ b/docs/ko/msg_docs/SensorBaro.md @@ -1,11 +1,39 @@ +--- +pageClass: is-wide-page +--- + # SensorBaro (UORB message) -Barometer sensor +Barometer sensor. This is populated by barometer drivers and used by the EKF2 estimator. The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding `DifferentialPressure` instance). -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorBaro.msg) +**TOPICS:** sensor_baro + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time of publication (since system start) | +| timestamp_sample | `uint64` | us | | Time of raw data capture | +| device_id | `uint32` | | | Unique device ID for the sensor that does not change between power cycles | +| pressure | `float32` | Pa | | Static pressure measurement | +| temperature | `float32` | degC | | Temperature. | +| error_count | `uint32` | | | Number of errors detected by driver. | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------- | ------- | ----- | -- | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorBaro.msg) + +:::details +Click here to see original file ```c # Barometer sensor @@ -22,5 +50,6 @@ float32 temperature # [degC] Temperature. uint32 error_count # [-] Number of errors detected by driver. uint8 ORB_QUEUE_LENGTH = 4 - ``` + +::: diff --git a/docs/ko/msg_docs/SensorCombined.md b/docs/ko/msg_docs/SensorCombined.md index 29a22b6326..bcadd24a73 100644 --- a/docs/ko/msg_docs/SensorCombined.md +++ b/docs/ko/msg_docs/SensorCombined.md @@ -1,10 +1,43 @@ +--- +pageClass: is-wide-page +--- + # SensorCombined (UORB message) -Sensor readings in SI-unit form. -These fields are scaled and offset-compensated where possible and do not -change with board revisions and sensor updates. +Sensor readings in SI-unit form. These fields are scaled and offset-compensated where possible and do not. change with board revisions and sensor updates. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorCombined.msg) +**TOPICS:** sensor_combined + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| -------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| gyro_rad | `float32[3]` | | | average angular rate measured in the FRD body frame XYZ-axis in rad/s over the last gyro sampling period | +| gyro_integral_dt | `uint32` | | | gyro measurement sampling period in microseconds | +| accelerometer_timestamp_relative | `int32` | | | timestamp + accelerometer_timestamp_relative = Accelerometer timestamp | +| accelerometer_m_s2 | `float32[3]` | | | average value acceleration measured in the FRD body frame XYZ-axis in m/s^2 over the last accelerometer sampling period | +| accelerometer_integral_dt | `uint32` | | | accelerometer measurement sampling period in microseconds | +| accelerometer_clipping | `uint8` | | | bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame | +| gyro_clipping | `uint8` | | | bitfield indicating if there was any gyro clipping (per axis) during the integration time frame | +| accel_calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever accelermeter calibration changes. | +| gyro_calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever rate gyro calibration changes. | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| --------------------------------------------------------------------------------------------------------------- | ------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------- | +| RELATIVE_TIMESTAMP_INVALID | `int32` | 2147483647 | (0x7fffffff) If one of the relative timestamps is set to this value, it means the associated sensor values are invalid | +| CLIPPING_X | `uint8` | 1 | | +| CLIPPING_Y | `uint8` | 2 | | +| CLIPPING_Z | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorCombined.msg) + +:::details +Click here to see original file ```c # Sensor readings in SI-unit form. @@ -32,5 +65,6 @@ uint8 gyro_clipping # bitfield indicating if there was any gyro clip uint8 accel_calibration_count # Calibration changed counter. Monotonically increases whenever accelermeter calibration changes. uint8 gyro_calibration_count # Calibration changed counter. Monotonically increases whenever rate gyro calibration changes. - ``` + +::: diff --git a/docs/ko/msg_docs/SensorCorrection.md b/docs/ko/msg_docs/SensorCorrection.md index 8c9cfbb9d2..8ea356cd26 100644 --- a/docs/ko/msg_docs/SensorCorrection.md +++ b/docs/ko/msg_docs/SensorCorrection.md @@ -1,8 +1,49 @@ +--- +pageClass: is-wide-page +--- + # SensorCorrection (UORB message) -Sensor corrections in SI-unit form for the voted sensor +Sensor corrections in SI-unit form for the voted sensor. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorCorrection.msg) +**TOPICS:** sensor_correction + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| accel_device_ids | `uint32[4]` | | | | +| accel_temperature | `float32[4]` | | | | +| accel_offset_0 | `float32[3]` | | | accelerometer 0 offsets in the FRD board frame XYZ-axis in m/s^s | +| accel_offset_1 | `float32[3]` | | | accelerometer 1 offsets in the FRD board frame XYZ-axis in m/s^s | +| accel_offset_2 | `float32[3]` | | | accelerometer 2 offsets in the FRD board frame XYZ-axis in m/s^s | +| accel_offset_3 | `float32[3]` | | | accelerometer 3 offsets in the FRD board frame XYZ-axis in m/s^s | +| gyro_device_ids | `uint32[4]` | | | | +| gyro_temperature | `float32[4]` | | | | +| gyro_offset_0 | `float32[3]` | | | gyro 0 XYZ offsets in the sensor frame in rad/s | +| gyro_offset_1 | `float32[3]` | | | gyro 1 XYZ offsets in the sensor frame in rad/s | +| gyro_offset_2 | `float32[3]` | | | gyro 2 XYZ offsets in the sensor frame in rad/s | +| gyro_offset_3 | `float32[3]` | | | gyro 3 XYZ offsets in the sensor frame in rad/s | +| mag_device_ids | `uint32[4]` | | | | +| mag_temperature | `float32[4]` | | | | +| mag_offset_0 | `float32[3]` | | | magnetometer 0 offsets in the FRD board frame XYZ-axis in m/s^s | +| mag_offset_1 | `float32[3]` | | | magnetometer 1 offsets in the FRD board frame XYZ-axis in m/s^s | +| mag_offset_2 | `float32[3]` | | | magnetometer 2 offsets in the FRD board frame XYZ-axis in m/s^s | +| mag_offset_3 | `float32[3]` | | | magnetometer 3 offsets in the FRD board frame XYZ-axis in m/s^s | +| baro_device_ids | `uint32[4]` | | | | +| baro_temperature | `float32[4]` | | | | +| baro_offset_0 | `float32` | | | barometric pressure 0 offsets in the sensor frame in Pascals | +| baro_offset_1 | `float32` | | | barometric pressure 1 offsets in the sensor frame in Pascals | +| baro_offset_2 | `float32` | | | barometric pressure 2 offsets in the sensor frame in Pascals | +| baro_offset_3 | `float32` | | | barometric pressure 3 offsets in the sensor frame in Pascals | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorCorrection.msg) + +:::details +Click here to see original file ```c # @@ -46,5 +87,6 @@ float32 baro_offset_0 # barometric pressure 0 offsets in the sensor frame in Pa float32 baro_offset_1 # barometric pressure 1 offsets in the sensor frame in Pascals float32 baro_offset_2 # barometric pressure 2 offsets in the sensor frame in Pascals float32 baro_offset_3 # barometric pressure 3 offsets in the sensor frame in Pascals - ``` + +::: diff --git a/docs/ko/msg_docs/SensorGnssRelative.md b/docs/ko/msg_docs/SensorGnssRelative.md index 639e7897f5..0fea3a7b92 100644 --- a/docs/ko/msg_docs/SensorGnssRelative.md +++ b/docs/ko/msg_docs/SensorGnssRelative.md @@ -1,8 +1,45 @@ +--- +pageClass: is-wide-page +--- + # SensorGnssRelative (UORB message) GNSS relative positioning information in NED frame. The NED frame is defined as the local topological system at the reference station. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGnssRelative.msg) +**TOPICS:** sensor_gnssrelative + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| time_utc_usec | `uint64` | | | Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 | +| reference_station_id | `uint16` | | | Reference Station ID | +| position | `float32[3]` | | | GPS NED relative position vector (m) | +| position_accuracy | `float32[3]` | | | Accuracy of relative position (m) | +| heading | `float32` | | | Heading of the relative position vector (radians) | +| heading_accuracy | `float32` | | | Accuracy of heading of the relative position vector (radians) | +| position_length | `float32` | | | Length of the position vector (m) | +| accuracy_length | `float32` | | | Accuracy of the position length (m) | +| gnss_fix_ok | `bool` | | | GNSS valid fix (i.e within DOP & accuracy masks) | +| differential_solution | `bool` | | | differential corrections were applied | +| relative_position_valid | `bool` | | | | +| carrier_solution_floating | `bool` | | | carrier phase range solution with floating ambiguities | +| carrier_solution_fixed | `bool` | | | carrier phase range solution with fixed ambiguities | +| moving_base_mode | `bool` | | | if the receiver is operating in moving base mode | +| reference_position_miss | `bool` | | | extrapolated reference position was used to compute moving base solution this epoch | +| reference_observations_miss | `bool` | | | extrapolated reference observations were used to compute moving base solution this epoch | +| heading_valid | `bool` | | | | +| relative_position_normalized | `bool` | | | the components of the relative position vector (including the high-precision parts) are normalized | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGnssRelative.msg) + +:::details +Click here to see original file ```c # GNSS relative positioning information in NED frame. The NED frame is defined as the local topological system at the reference station. @@ -35,5 +72,6 @@ bool reference_position_miss # extrapolated reference position was used to bool reference_observations_miss # extrapolated reference observations were used to compute moving base solution this epoch bool heading_valid bool relative_position_normalized # the components of the relative position vector (including the high-precision parts) are normalized - ``` + +::: diff --git a/docs/ko/msg_docs/SensorGnssStatus.md b/docs/ko/msg_docs/SensorGnssStatus.md index 70602b85fc..a0392d9293 100644 --- a/docs/ko/msg_docs/SensorGnssStatus.md +++ b/docs/ko/msg_docs/SensorGnssStatus.md @@ -1,8 +1,31 @@ +--- +pageClass: is-wide-page +--- + # SensorGnssStatus (UORB message) -Gnss quality indicators +Gnss quality indicators. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGnssStatus.msg) +**TOPICS:** sensor_gnssstatus + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ----------------------------------------------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| `bool` | | | Set to true if quality indicators are available | | +| quality_corrections | `uint8` | | | Corrections quality from 0 to 10, or 255 if not available | +| quality_receiver | `uint8` | | | Overall receiver operating status from 0 to 10, or 255 if not available | +| quality_gnss_signals | `uint8` | | | Quality of GNSS signals from 0 to 10, or 255 if not available | +| quality_post_processing | `uint8` | | | Expected post processing quality from 0 to 10, or 255 if not available | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGnssStatus.msg) + +:::details +Click here to see original file ```c # Gnss quality indicators @@ -15,5 +38,6 @@ uint8 quality_corrections # Corrections quality from 0 to 10, or 255 if no uint8 quality_receiver # Overall receiver operating status from 0 to 10, or 255 if not available uint8 quality_gnss_signals # Quality of GNSS signals from 0 to 10, or 255 if not available uint8 quality_post_processing # Expected post processing quality from 0 to 10, or 255 if not available - ``` + +::: diff --git a/docs/ko/msg_docs/SensorGps.md b/docs/ko/msg_docs/SensorGps.md index 1b5fb3cf41..895a60e8f0 100644 --- a/docs/ko/msg_docs/SensorGps.md +++ b/docs/ko/msg_docs/SensorGps.md @@ -1,9 +1,97 @@ +--- +pageClass: is-wide-page +--- + # SensorGps (UORB message) -GPS position in WGS84 coordinates. -the field 'timestamp' is for the position & velocity (microseconds) +GPS position in WGS84 coordinates. the field 'timestamp' is for the position & velocity (microseconds). -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGps.msg) +**TOPICS:** sensor_gps vehicle_gps_position + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| latitude_deg | `float64` | | | Latitude in degrees, allows centimeter level RTK precision | +| longitude_deg | `float64` | | | Longitude in degrees, allows centimeter level RTK precision | +| altitude_msl_m | `float64` | | | Altitude above MSL, meters | +| altitude_ellipsoid_m | `float64` | | | Altitude above Ellipsoid, meters | +| s_variance_m_s | `float32` | | | GPS speed accuracy estimate, (metres/sec) | +| c_variance_rad | `float32` | | | GPS course accuracy estimate, (radians) | +| fix_type | `uint8` | | | Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. | +| eph | `float32` | | | GPS horizontal position accuracy (metres) | +| epv | `float32` | | | GPS vertical position accuracy (metres) | +| hdop | `float32` | | | Horizontal dilution of precision | +| vdop | `float32` | | | Vertical dilution of precision | +| noise_per_ms | `int32` | | | GPS noise per millisecond | +| automatic_gain_control | `uint16` | | | Automatic gain control monitor | +| jamming_state | `uint8` | | | indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected | +| jamming_indicator | `int32` | | | indicates jamming is occurring | +| spoofing_state | `uint8` | | | indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected | +| authentication_state | `uint8` | | | GPS signal authentication state | +| vel_m_s | `float32` | | | GPS ground speed, (metres/sec) | +| vel_n_m_s | `float32` | | | GPS North velocity, (metres/sec) | +| vel_e_m_s | `float32` | | | GPS East velocity, (metres/sec) | +| vel_d_m_s | `float32` | | | GPS Down velocity, (metres/sec) | +| cog_rad | `float32` | | | Course over ground (NOT heading, but direction of movement), -PI..PI, (radians) | +| vel_ned_valid | `bool` | | | True if NED velocity is valid | +| timestamp_time_relative | `int32` | | | timestamp + timestamp_time_relative = Time of the UTC timestamp since system start, (microseconds) | +| time_utc_usec | `uint64` | | | Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 | +| satellites_used | `uint8` | | | Number of satellites used | +| system_error | `uint32` | | | General errors with the connected GPS receiver | +| heading | `float32` | | | heading angle of XYZ body frame rel to NED. Set to NaN if not available and updated (used for dual antenna GPS), (rad, [-PI, PI]) | +| heading_offset | `float32` | | | heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI]) | +| heading_accuracy | `float32` | | | heading accuracy (rad, [0, 2PI]) | +| rtcm_injection_rate | `float32` | | | RTCM message injection rate Hz | +| selected_rtcm_instance | `uint8` | | | uorb instance that is being used for RTCM corrections | +| rtcm_crc_failed | `bool` | | | RTCM message CRC failure detected | +| rtcm_msg_used | `uint8` | | | Indicates if the RTCM message was used successfully by the receiver | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | ---------------------------------------------------------- | +| FIX_TYPE_NONE | `uint8` | 1 | Value 0 is also valid to represent no fix. | +| FIX_TYPE_2D | `uint8` | 2 | | +| FIX_TYPE_3D | `uint8` | 3 | | +| FIX_TYPE_RTCM_CODE_DIFFERENTIAL | `uint8` | 4 | | +| FIX_TYPE_RTK_FLOAT | `uint8` | 5 | | +| FIX_TYPE_RTK_FIXED | `uint8` | 6 | | +| FIX_TYPE_EXTRAPOLATED | `uint8` | 8 | | +| JAMMING_STATE_UNKNOWN | `uint8` | 0 | default | +| JAMMING_STATE_OK | `uint8` | 1 | | +| JAMMING_STATE_MITIGATED | `uint8` | 2 | | +| JAMMING_STATE_DETECTED | `uint8` | 3 | | +| SPOOFING_STATE_UNKNOWN | `uint8` | 0 | default | +| SPOOFING_STATE_OK | `uint8` | 1 | | +| SPOOFING_STATE_MITIGATED | `uint8` | 2 | | +| SPOOFING_STATE_DETECTED | `uint8` | 3 | | +| AUTHENTICATION_STATE_UNKNOWN | `uint8` | 0 | default | +| AUTHENTICATION_STATE_INITIALIZING | `uint8` | 1 | | +| AUTHENTICATION_STATE_ERROR | `uint8` | 2 | | +| AUTHENTICATION_STATE_OK | `uint8` | 3 | | +| AUTHENTICATION_STATE_DISABLED | `uint8` | 4 | | +| SYSTEM_ERROR_OK | `uint32` | 0 | default | +| SYSTEM_ERROR_INCOMING_CORRECTIONS | `uint32` | 1 | | +| SYSTEM_ERROR_CONFIGURATION | `uint32` | 2 | | +| SYSTEM_ERROR_SOFTWARE | `uint32` | 4 | | +| SYSTEM_ERROR_ANTENNA | `uint32` | 8 | | +| SYSTEM_ERROR_EVENT_CONGESTION | `uint32` | 16 | | +| SYSTEM_ERROR_CPU_OVERLOAD | `uint32` | 32 | | +| SYSTEM_ERROR_OUTPUT_CONGESTION | `uint32` | 64 | | +| RTCM_MSG_USED_UNKNOWN | `uint8` | 0 | | +| RTCM_MSG_USED_NOT_USED | `uint8` | 1 | | +| RTCM_MSG_USED_USED | `uint8` | 2 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGps.msg) + +:::details +Click here to see original file ```c # GPS position in WGS84 coordinates. @@ -96,5 +184,6 @@ uint8 RTCM_MSG_USED_USED = 2 uint8 rtcm_msg_used # Indicates if the RTCM message was used successfully by the receiver # TOPICS sensor_gps vehicle_gps_position - ``` + +::: diff --git a/docs/ko/msg_docs/SensorGyro.md b/docs/ko/msg_docs/SensorGyro.md index ee2b4f084a..71eb80d0c5 100644 --- a/docs/ko/msg_docs/SensorGyro.md +++ b/docs/ko/msg_docs/SensorGyro.md @@ -1,6 +1,38 @@ +--- +pageClass: is-wide-page +--- + # SensorGyro (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGyro.msg) +**TOPICS:** sensor_gyro + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| x | `float32` | | | angular velocity in the FRD board frame X-axis in rad/s | +| y | `float32` | | | angular velocity in the FRD board frame Y-axis in rad/s | +| z | `float32` | | | angular velocity in the FRD board frame Z-axis in rad/s | +| temperature | `float32` | | | temperature in degrees Celsius | +| error_count | `uint32` | | | | +| clip_counter | `uint8[3]` | | | clip count per axis in the sample period | +| samples | `uint8` | | | number of raw samples that went into this message | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------- | ------- | ----- | -- | +| ORB_QUEUE_LENGTH | `uint8` | 8 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGyro.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -21,5 +53,6 @@ uint8[3] clip_counter # clip count per axis in the sample period uint8 samples # number of raw samples that went into this message uint8 ORB_QUEUE_LENGTH = 8 - ``` + +::: diff --git a/docs/ko/msg_docs/SensorGyroFft.md b/docs/ko/msg_docs/SensorGyroFft.md index 645ce2b2dc..db7dd2359d 100644 --- a/docs/ko/msg_docs/SensorGyroFft.md +++ b/docs/ko/msg_docs/SensorGyroFft.md @@ -1,6 +1,33 @@ +--- +pageClass: is-wide-page +--- + # SensorGyroFft (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGyroFft.msg) +**TOPICS:** sensor_gyrofft + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------------------------ | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| sensor_sample_rate_hz | `float32` | | | | +| resolution_hz | `float32` | | | | +| peak_frequencies_x | `float32[3]` | | | x axis peak frequencies | +| peak_frequencies_y | `float32[3]` | | | y axis peak frequencies | +| peak_frequencies_z | `float32[3]` | | | z axis peak frequencies | +| peak_snr_x | `float32[3]` | | | x axis peak SNR | +| peak_snr_y | `float32[3]` | | | y axis peak SNR | +| peak_snr_z | `float32[3]` | | | z axis peak SNR | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGyroFft.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -18,5 +45,6 @@ float32[3] peak_frequencies_z # z axis peak frequencies float32[3] peak_snr_x # x axis peak SNR float32[3] peak_snr_y # y axis peak SNR float32[3] peak_snr_z # z axis peak SNR - ``` + +::: diff --git a/docs/ko/msg_docs/SensorGyroFifo.md b/docs/ko/msg_docs/SensorGyroFifo.md index 4d440b1129..9309924553 100644 --- a/docs/ko/msg_docs/SensorGyroFifo.md +++ b/docs/ko/msg_docs/SensorGyroFifo.md @@ -1,6 +1,37 @@ +--- +pageClass: is-wide-page +--- + # SensorGyroFifo (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGyroFifo.msg) +**TOPICS:** sensor_gyrofifo + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| dt | `float32` | | | delta time between samples (microseconds) | +| scale | `float32` | | | | +| samples | `uint8` | | | number of valid samples | +| x | `int16[32]` | | | angular velocity in the FRD board frame X-axis in rad/s | +| y | `int16[32]` | | | angular velocity in the FRD board frame Y-axis in rad/s | +| z | `int16[32]` | | | angular velocity in the FRD board frame Z-axis in rad/s | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------- | ------- | ----- | -- | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGyroFifo.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -18,5 +49,6 @@ int16[32] y # angular velocity in the FRD board frame Y-axis in ra int16[32] z # angular velocity in the FRD board frame Z-axis in rad/s uint8 ORB_QUEUE_LENGTH = 4 - ``` + +::: diff --git a/docs/ko/msg_docs/SensorHygrometer.md b/docs/ko/msg_docs/SensorHygrometer.md index e3da07593f..49ab07e65b 100644 --- a/docs/ko/msg_docs/SensorHygrometer.md +++ b/docs/ko/msg_docs/SensorHygrometer.md @@ -1,6 +1,27 @@ +--- +pageClass: is-wide-page +--- + # SensorHygrometer (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorHygrometer.msg) +**TOPICS:** sensor_hygrometer + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------- | --------- | ---------------------------------------------------------------- | ----------------------------------------------------------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| `float32` | | | Temperature provided by sensor (Celsius) | | +| humidity | `float32` | | | Humidity provided by sensor | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorHygrometer.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -11,5 +32,6 @@ uint32 device_id # unique device ID for the sensor that does not change float32 temperature # Temperature provided by sensor (Celsius) float32 humidity # Humidity provided by sensor - ``` + +::: diff --git a/docs/ko/msg_docs/SensorMag.md b/docs/ko/msg_docs/SensorMag.md index b3cb27bb11..98b4a1d1fd 100644 --- a/docs/ko/msg_docs/SensorMag.md +++ b/docs/ko/msg_docs/SensorMag.md @@ -1,6 +1,36 @@ +--- +pageClass: is-wide-page +--- + # SensorMag (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorMag.msg) +**TOPICS:** sensor_mag + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| x | `float32` | | | magnetic field in the FRD board frame X-axis in Gauss | +| y | `float32` | | | magnetic field in the FRD board frame Y-axis in Gauss | +| z | `float32` | | | magnetic field in the FRD board frame Z-axis in Gauss | +| temperature | `float32` | | | temperature in degrees Celsius | +| error_count | `uint32` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------- | ------- | ----- | -- | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorMag.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -17,5 +47,6 @@ float32 temperature # temperature in degrees Celsius uint32 error_count uint8 ORB_QUEUE_LENGTH = 4 - ``` + +::: diff --git a/docs/ko/msg_docs/SensorOpticalFlow.md b/docs/ko/msg_docs/SensorOpticalFlow.md index b1b131b50d..1b6e407e1c 100644 --- a/docs/ko/msg_docs/SensorOpticalFlow.md +++ b/docs/ko/msg_docs/SensorOpticalFlow.md @@ -1,6 +1,46 @@ +--- +pageClass: is-wide-page +--- + # SensorOpticalFlow (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorOpticalFlow.msg) +**TOPICS:** sensor_opticalflow + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| pixel_flow | `float32[2]` | | | (radians) optical flow in radians where a positive value is produced by a RH rotation of the sensor about the body axis | +| delta_angle | `float32[3]` | | | (radians) accumulated gyro radians where a positive value is produced by a RH rotation about the body axis. Set to NaN if flow sensor does not have 3-axis gyro data. | +| delta_angle_available | `bool` | | | | +| distance_m | `float32` | | | (meters) Distance to the center of the flow field | +| distance_available | `bool` | | | | +| integration_timespan_us | `uint32` | | | (microseconds) accumulation timespan in microseconds | +| quality | `uint8` | | | quality, 0: bad quality, 255: maximum quality | +| error_count | `uint32` | | | | +| max_flow_rate | `float32` | | | (radians/s) Magnitude of maximum angular which the optical flow sensor can measure reliably | +| min_ground_distance | `float32` | | | (meters) Minimum distance from ground at which the optical flow sensor operates reliably | +| max_ground_distance | `float32` | | | (meters) Maximum distance from ground at which the optical flow sensor operates reliably | +| mode | `uint8` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------- | ------- | ----- | -- | +| MODE_UNKNOWN | `uint8` | 0 | | +| MODE_BRIGHT | `uint8` | 1 | | +| MODE_LOWLIGHT | `uint8` | 2 | | +| MODE_SUPER_LOWLIGHT | `uint8` | 3 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorOpticalFlow.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -33,5 +73,6 @@ uint8 MODE_LOWLIGHT = 2 uint8 MODE_SUPER_LOWLIGHT = 3 uint8 mode - ``` + +::: diff --git a/docs/ko/msg_docs/SensorPreflightMag.md b/docs/ko/msg_docs/SensorPreflightMag.md index 7d5a933bc7..2f47320d2a 100644 --- a/docs/ko/msg_docs/SensorPreflightMag.md +++ b/docs/ko/msg_docs/SensorPreflightMag.md @@ -1,9 +1,26 @@ +--- +pageClass: is-wide-page +--- + # SensorPreflightMag (UORB message) -Pre-flight sensor check metrics. -The topic will not be updated when the vehicle is armed +Pre-flight sensor check metrics. The topic will not be updated when the vehicle is armed. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorPreflightMag.msg) +**TOPICS:** sensor_preflightmag + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| mag_inconsistency_angle | `float32` | | | maximum angle between magnetometer instance field vectors in radians. | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorPreflightMag.msg) + +:::details +Click here to see original file ```c # @@ -13,5 +30,6 @@ The topic will not be updated when the vehicle is armed uint64 timestamp # time since system start (microseconds) float32 mag_inconsistency_angle # maximum angle between magnetometer instance field vectors in radians. - ``` + +::: diff --git a/docs/ko/msg_docs/SensorSelection.md b/docs/ko/msg_docs/SensorSelection.md index 58fb6be289..a89e3dd5de 100644 --- a/docs/ko/msg_docs/SensorSelection.md +++ b/docs/ko/msg_docs/SensorSelection.md @@ -1,9 +1,27 @@ +--- +pageClass: is-wide-page +--- + # SensorSelection (UORB message) -Sensor ID's for the voted sensors output on the sensor_combined topic. -Will be updated on startup of the sensor module and when sensor selection changes +Sensor ID's for the voted sensors output on the sensor_combined topic. Will be updated on startup of the sensor module and when sensor selection changes. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorSelection.msg) +**TOPICS:** sensor_selection + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| accel_device_id | `uint32` | | | unique device ID for the selected accelerometers | +| gyro_device_id | `uint32` | | | unique device ID for the selected rate gyros | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorSelection.msg) + +:::details +Click here to see original file ```c # @@ -13,5 +31,6 @@ Will be updated on startup of the sensor module and when sensor selection change uint64 timestamp # time since system start (microseconds) uint32 accel_device_id # unique device ID for the selected accelerometers uint32 gyro_device_id # unique device ID for the selected rate gyros - ``` + +::: diff --git a/docs/ko/msg_docs/SensorTemp.md b/docs/ko/msg_docs/SensorTemp.md index 5ed50541fe..99f03105ed 100644 --- a/docs/ko/msg_docs/SensorTemp.md +++ b/docs/ko/msg_docs/SensorTemp.md @@ -1,11 +1,31 @@ +--- +pageClass: is-wide-page +--- + # SensorTemp (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorTemp.msg) +**TOPICS:** sensor_temp + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------ | -------- | ---------------------------------------------------------------- | ----------------------------------------------------------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| `float32` | | | Temperature provided by sensor (Celsius) | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorTemp.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) uint32 device_id # unique device ID for the sensor that does not change between power cycles float32 temperature # Temperature provided by sensor (Celsius) - ``` + +::: diff --git a/docs/ko/msg_docs/SensorUwb.md b/docs/ko/msg_docs/SensorUwb.md index 544bc60e7a..a08736d30a 100644 --- a/docs/ko/msg_docs/SensorUwb.md +++ b/docs/ko/msg_docs/SensorUwb.md @@ -1,9 +1,45 @@ +--- +pageClass: is-wide-page +--- + # SensorUwb (UORB message) -UWB distance contains the distance information measured by an ultra-wideband positioning system, -such as Pozyx or NXP Rddrone. +UWB distance contains the distance information measured by an ultra-wideband positioning system,. such as Pozyx or NXP Rddrone. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorUwb.msg) +**TOPICS:** sensor_uwb + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| sessionid | `uint32` | | | UWB SessionID | +| time_offset | `uint32` | | | Time between Ranging Rounds in ms | +| counter | `uint32` | | | Number of Ranges since last Start of Ranging | +| mac | `uint16` | | | MAC adress of Initiator (controller) | +| mac_dest | `uint16` | | | MAC adress of Responder (Controlee) | +| status | `uint16` | | | status feedback # | +| nlos | `uint8` | | | None line of site condition y/n | +| distance | `float32` | | | distance in m to the UWB receiver | +| aoa_azimuth_dev | `float32` | | | Angle of arrival of first incomming RX msg | +| aoa_elevation_dev | `float32` | | | Angle of arrival of first incomming RX msg | +| aoa_azimuth_resp | `float32` | | | Angle of arrival of first incomming RX msg at the responder | +| aoa_elevation_resp | `float32` | | | Angle of arrival of first incomming RX msg at the responder | +| aoa_azimuth_fom | `uint8` | | | AOA Azimuth FOM | +| aoa_elevation_fom | `uint8` | | | AOA Elevation FOM | +| aoa_dest_azimuth_fom | `uint8` | | | AOA Azimuth FOM | +| aoa_dest_elevation_fom | `uint8` | | | AOA Elevation FOM | +| orientation | `uint8` | | | Direction the sensor faces from MAV_SENSOR_ORIENTATION enum | +| offset_x | `float32` | | | UWB initiator offset in X axis (NED drone frame) | +| offset_y | `float32` | | | UWB initiator offset in Y axis (NED drone frame) | +| offset_z | `float32` | | | UWB initiator offset in Z axis (NED drone frame) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorUwb.msg) + +:::details +Click here to see original file ```c # UWB distance contains the distance information measured by an ultra-wideband positioning system, @@ -40,5 +76,6 @@ uint8 orientation # Direction the sensor faces from MAV_SENSOR_ORIENTATION enum float32 offset_x # UWB initiator offset in X axis (NED drone frame) float32 offset_y # UWB initiator offset in Y axis (NED drone frame) float32 offset_z # UWB initiator offset in Z axis (NED drone frame) - ``` + +::: diff --git a/docs/ko/msg_docs/SensorsStatus.md b/docs/ko/msg_docs/SensorsStatus.md index 996d7107fb..178dff80fe 100644 --- a/docs/ko/msg_docs/SensorsStatus.md +++ b/docs/ko/msg_docs/SensorsStatus.md @@ -1,8 +1,32 @@ +--- +pageClass: is-wide-page +--- + # SensorsStatus (UORB message) Sensor check metrics. This will be zero for a sensor that's primary or unpopulated. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorsStatus.msg) +**TOPICS:** sensors_status_baro sensors_status_mag + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id_primary | `uint32` | | | current primary device id for reference | +| device_ids | `uint32[4]` | | | | +| inconsistency | `float32[4]` | | | magnitude of difference between sensor instance and mean | +| healthy | `bool[4]` | | | sensor healthy | +| priority | `uint8[4]` | | | | +| enabled | `bool[4]` | | | | +| external | `bool[4]` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorsStatus.msg) + +:::details +Click here to see original file ```c # @@ -20,5 +44,6 @@ bool[4] enabled bool[4] external # TOPICS sensors_status_baro sensors_status_mag - ``` + +::: diff --git a/docs/ko/msg_docs/SensorsStatusImu.md b/docs/ko/msg_docs/SensorsStatusImu.md index a25b5d1c01..cd716510f9 100644 --- a/docs/ko/msg_docs/SensorsStatusImu.md +++ b/docs/ko/msg_docs/SensorsStatusImu.md @@ -1,8 +1,35 @@ +--- +pageClass: is-wide-page +--- + # SensorsStatusImu (UORB message) Sensor check metrics. This will be zero for a sensor that's primary or unpopulated. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorsStatusImu.msg) +**TOPICS:** sensors_statusimu + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| accel_device_id_primary | `uint32` | | | current primary accel device id for reference | +| accel_device_ids | `uint32[4]` | | | | +| accel_inconsistency_m_s_s | `float32[4]` | | | magnitude of acceleration difference between IMU instance and mean in m/s^2. | +| accel_healthy | `bool[4]` | | | | +| accel_priority | `uint8[4]` | | | | +| gyro_device_id_primary | `uint32` | | | current primary gyro device id for reference | +| gyro_device_ids | `uint32[4]` | | | | +| gyro_inconsistency_rad_s | `float32[4]` | | | magnitude of angular rate difference between IMU instance and mean in (rad/s). | +| gyro_healthy | `bool[4]` | | | | +| gyro_priority | `uint8[4]` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorsStatusImu.msg) + +:::details +Click here to see original file ```c # @@ -23,5 +50,6 @@ uint32[4] gyro_device_ids float32[4] gyro_inconsistency_rad_s # magnitude of angular rate difference between IMU instance and mean in (rad/s). bool[4] gyro_healthy uint8[4] gyro_priority - ``` + +::: diff --git a/docs/ko/msg_docs/SystemPower.md b/docs/ko/msg_docs/SystemPower.md index eac7503f97..fae286bc67 100644 --- a/docs/ko/msg_docs/SystemPower.md +++ b/docs/ko/msg_docs/SystemPower.md @@ -1,6 +1,49 @@ +--- +pageClass: is-wide-page +--- + # SystemPower (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SystemPower.msg) +**TOPICS:** system_power + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| voltage5v_v | `float32` | | | peripheral 5V rail voltage | +| voltage_payload_v | `float32` | | | payload rail voltage | +| sensors3v3 | `float32[4]` | | | Sensors 3V3 rail voltage | +| sensors3v3_valid | `uint8` | | | Sensors 3V3 rail voltage was read (bitfield). | +| usb_connected | `uint8` | | | USB is connected when 1 | +| brick_valid | `uint8` | | | brick bits power is good when bit 1 | +| usb_valid | `uint8` | | | USB is valid when 1 | +| servo_valid | `uint8` | | | servo power is good when 1 | +| periph_5v_oc | `uint8` | | | peripheral overcurrent when 1 | +| hipower_5v_oc | `uint8` | | | high power peripheral overcurrent when 1 | +| comp_5v_valid | `uint8` | | | 5V to companion valid | +| can1_gps1_5v_valid | `uint8` | | | 5V for CAN1/GPS1 valid | +| payload_v_valid | `uint8` | | | payload rail voltage is valid | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------- | ------- | ----- | -- | +| BRICK1_VALID_SHIFTS | `uint8` | 0 | | +| BRICK1_VALID_MASK | `uint8` | 1 | | +| BRICK2_VALID_SHIFTS | `uint8` | 1 | | +| BRICK2_VALID_MASK | `uint8` | 2 | | +| BRICK3_VALID_SHIFTS | `uint8` | 2 | | +| BRICK3_VALID_MASK | `uint8` | 4 | | +| BRICK4_VALID_SHIFTS | `uint8` | 3 | | +| BRICK4_VALID_MASK | `uint8` | 8 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SystemPower.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -26,5 +69,6 @@ uint8 BRICK3_VALID_SHIFTS=2 uint8 BRICK3_VALID_MASK=4 uint8 BRICK4_VALID_SHIFTS=3 uint8 BRICK4_VALID_MASK=8 - ``` + +::: diff --git a/docs/ko/msg_docs/TakeoffStatus.md b/docs/ko/msg_docs/TakeoffStatus.md index 45540a74b4..4797f9e947 100644 --- a/docs/ko/msg_docs/TakeoffStatus.md +++ b/docs/ko/msg_docs/TakeoffStatus.md @@ -1,8 +1,38 @@ +--- +pageClass: is-wide-page +--- + # TakeoffStatus (UORB message) -Status of the takeoff state machine currently just available for multicopters +Status of the takeoff state machine currently just available for multicopters. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TakeoffStatus.msg) +**TOPICS:** takeoff_status + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| takeoff_state | `uint8` | | | | +| tilt_limit | `float32` | | | limited tilt feasibility during takeoff, contains maximum tilt otherwise | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | -- | +| TAKEOFF_STATE_UNINITIALIZED | `uint8` | 0 | | +| TAKEOFF_STATE_DISARMED | `uint8` | 1 | | +| TAKEOFF_STATE_SPOOLUP | `uint8` | 2 | | +| TAKEOFF_STATE_READY_FOR_TAKEOFF | `uint8` | 3 | | +| TAKEOFF_STATE_RAMPUP | `uint8` | 4 | | +| TAKEOFF_STATE_FLIGHT | `uint8` | 5 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TakeoffStatus.msg) + +:::details +Click here to see original file ```c # Status of the takeoff state machine currently just available for multicopters @@ -19,5 +49,6 @@ uint8 TAKEOFF_STATE_FLIGHT = 5 uint8 takeoff_state float32 tilt_limit # limited tilt feasibility during takeoff, contains maximum tilt otherwise - ``` + +::: diff --git a/docs/ko/msg_docs/TaskStackInfo.md b/docs/ko/msg_docs/TaskStackInfo.md index fde6ed7585..b876ff4a7d 100644 --- a/docs/ko/msg_docs/TaskStackInfo.md +++ b/docs/ko/msg_docs/TaskStackInfo.md @@ -1,8 +1,33 @@ +--- +pageClass: is-wide-page +--- + # TaskStackInfo (UORB message) -stack information for a single running process +stack information for a single running process. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TaskStackInfo.msg) +**TOPICS:** task_stackinfo + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| stack_free | `uint16` | | | | +| task_name | `char[24]` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------- | ------- | ----- | -- | +| ORB_QUEUE_LENGTH | `uint8` | 2 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TaskStackInfo.msg) + +:::details +Click here to see original file ```c # stack information for a single running process @@ -13,5 +38,6 @@ uint16 stack_free char[24] task_name uint8 ORB_QUEUE_LENGTH = 2 - ``` + +::: diff --git a/docs/ko/msg_docs/TecsStatus.md b/docs/ko/msg_docs/TecsStatus.md index ce79ad1b7b..713caeb30c 100644 --- a/docs/ko/msg_docs/TecsStatus.md +++ b/docs/ko/msg_docs/TecsStatus.md @@ -1,6 +1,47 @@ +--- +pageClass: is-wide-page +--- + # TecsStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TecsStatus.msg) +**TOPICS:** tecs_status + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| altitude_sp | `float32` | | | Altitude setpoint AMSL [m] | +| altitude_reference | `float32` | | | Altitude setpoint reference AMSL [m] | +| altitude_time_constant | `float32` | | | Time constant of the altitude tracker [s] | +| height_rate_reference | `float32` | | | Height rate setpoint reference [m/s] | +| height_rate_direct | `float32` | | | Direct height rate setpoint from velocity reference generator [m/s] | +| height_rate_setpoint | `float32` | | | Height rate setpoint [m/s] | +| height_rate | `float32` | | | Height rate [m/s] | +| equivalent_airspeed_sp | `float32` | | | Equivalent airspeed setpoint [m/s] | +| true_airspeed_sp | `float32` | | | True airspeed setpoint [m/s] | +| true_airspeed_filtered | `float32` | | | True airspeed filtered [m/s] | +| true_airspeed_derivative_sp | `float32` | | | True airspeed derivative setpoint [m/s^2] | +| true_airspeed_derivative | `float32` | | | True airspeed derivative [m/s^2] | +| true_airspeed_derivative_raw | `float32` | | | True airspeed derivative raw [m/s^2] | +| total_energy_rate_sp | `float32` | | | Total energy rate setpoint [m^2/s^3] | +| total_energy_rate | `float32` | | | Total energy rate estimate [m^2/s^3] | +| total_energy_balance_rate_sp | `float32` | | | Energy balance rate setpoint [m^2/s^3] | +| total_energy_balance_rate | `float32` | | | Energy balance rate estimate [m^2/s^3] | +| throttle_integ | `float32` | | | Throttle integrator value [-] | +| pitch_integ | `float32` | | | Pitch integrator value [rad] | +| throttle_sp | `float32` | | | Current throttle setpoint [-] | +| pitch_sp_rad | `float32` | | | Current pitch setpoint [rad] | +| throttle_trim | `float32` | | | estimated throttle value [0,1] required to fly level at equivalent_airspeed_sp in the current atmospheric conditions | +| underspeed_ratio | `float32` | | | 0: no underspeed, 1: maximal underspeed. Controller takes measures to avoid stall proportional to ratio if >0. | +| fast_descend_ratio | `float32` | | | value indicating if fast descend mode is enabled with ramp up and ramp down [0-1] | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TecsStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -34,5 +75,6 @@ float32 throttle_trim # estimated throttle value [0,1] required to fly level a float32 underspeed_ratio # 0: no underspeed, 1: maximal underspeed. Controller takes measures to avoid stall proportional to ratio if >0. float32 fast_descend_ratio # value indicating if fast descend mode is enabled with ramp up and ramp down [0-1] - ``` + +::: diff --git a/docs/ko/msg_docs/TelemetryStatus.md b/docs/ko/msg_docs/TelemetryStatus.md index 1d12591375..0061ddec9a 100644 --- a/docs/ko/msg_docs/TelemetryStatus.md +++ b/docs/ko/msg_docs/TelemetryStatus.md @@ -1,6 +1,71 @@ +--- +pageClass: is-wide-page +--- + # TelemetryStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TelemetryStatus.msg) +**TOPICS:** telemetry_status + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| type | `uint8` | | | type of the radio hardware (LINK_TYPE_\*) | +| mode | `uint8` | | | | +| flow_control | `bool` | | | | +| forwarding | `bool` | | | | +| mavlink_v2 | `bool` | | | | +| ftp | `bool` | | | | +| streams | `uint8` | | | | +| data_rate | `float32` | | | configured maximum data rate (Bytes/s) | +| rate_multiplier | `float32` | | | | +| tx_rate_avg | `float32` | | | transmit rate average (Bytes/s) | +| tx_error_rate_avg | `float32` | | | transmit error rate average (Bytes/s) | +| tx_message_count | `uint32` | | | total message sent count | +| tx_buffer_overruns | `uint32` | | | number of TX buffer overruns | +| rx_rate_avg | `float32` | | | transmit rate average (Bytes/s) | +| rx_message_count | `uint32` | | | count of total messages received | +| rx_message_lost_count | `uint32` | | | | +| rx_buffer_overruns | `uint32` | | | number of RX buffer overruns | +| rx_parse_errors | `uint32` | | | number of parse errors | +| rx_packet_drop_count | `uint32` | | | number of packet drops | +| rx_message_lost_rate | `float32` | | | | +| heartbeat_type_antenna_tracker | `bool` | | | MAV_TYPE_ANTENNA_TRACKER | +| heartbeat_type_gcs | `bool` | | | MAV_TYPE_GCS | +| heartbeat_type_onboard_controller | `bool` | | | MAV_TYPE_ONBOARD_CONTROLLER | +| heartbeat_type_gimbal | `bool` | | | MAV_TYPE_GIMBAL | +| heartbeat_type_adsb | `bool` | | | MAV_TYPE_ADSB | +| heartbeat_type_camera | `bool` | | | MAV_TYPE_CAMERA | +| heartbeat_type_parachute | `bool` | | | MAV_TYPE_PARACHUTE | +| heartbeat_type_open_drone_id | `bool` | | | MAV_TYPE_ODID | +| heartbeat_component_telemetry_radio | `bool` | | | MAV_COMP_ID_TELEMETRY_RADIO | +| heartbeat_component_log | `bool` | | | MAV_COMP_ID_LOG | +| heartbeat_component_osd | `bool` | | | MAV_COMP_ID_OSD | +| heartbeat_component_vio | `bool` | | | MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY | +| heartbeat_component_pairing_manager | `bool` | | | MAV_COMP_ID_PAIRING_MANAGER | +| heartbeat_component_udp_bridge | `bool` | | | MAV_COMP_ID_UDP_BRIDGE | +| heartbeat_component_uart_bridge | `bool` | | | MAV_COMP_ID_UART_BRIDGE | +| open_drone_id_system_healthy | `bool` | | | | +| parachute_system_healthy | `bool` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ---------------------------------------------------------------------------------------------------------------------------------- | -------- | ------- | ------------------------------------------------------------------ | +| LINK_TYPE_GENERIC | `uint8` | 0 | | +| LINK_TYPE_UBIQUITY_BULLET | `uint8` | 1 | | +| LINK_TYPE_WIRE | `uint8` | 2 | | +| LINK_TYPE_USB | `uint8` | 3 | | +| LINK_TYPE_IRIDIUM | `uint8` | 4 | | +| HEARTBEAT_TIMEOUT_US | `uint64` | 2500000 | Heartbeat timeout (tolerate missing 1 + jitter) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TelemetryStatus.msg) + +:::details +Click here to see original file ```c uint8 LINK_TYPE_GENERIC = 0 @@ -64,5 +129,6 @@ bool heartbeat_component_uart_bridge # MAV_COMP_ID_UART_BRIDGE # Misc component health bool open_drone_id_system_healthy bool parachute_system_healthy - ``` + +::: diff --git a/docs/ko/msg_docs/TiltrotorExtraControls.md b/docs/ko/msg_docs/TiltrotorExtraControls.md index 461e16e1a0..8a081e8243 100644 --- a/docs/ko/msg_docs/TiltrotorExtraControls.md +++ b/docs/ko/msg_docs/TiltrotorExtraControls.md @@ -1,11 +1,31 @@ +--- +pageClass: is-wide-page +--- + # TiltrotorExtraControls (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TiltrotorExtraControls.msg) +**TOPICS:** tiltrotor_extracontrols + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| collective_tilt_normalized_setpoint | `float32` | | | Collective tilt angle of motors of tiltrotor, 0: vertical, 1: horizontal [0, 1] | +| collective_thrust_normalized_setpoint | `float32` | | | Collective thrust setpoint [0, 1] | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TiltrotorExtraControls.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) float32 collective_tilt_normalized_setpoint # Collective tilt angle of motors of tiltrotor, 0: vertical, 1: horizontal [0, 1] float32 collective_thrust_normalized_setpoint # Collective thrust setpoint [0, 1] - ``` + +::: diff --git a/docs/ko/msg_docs/TimesyncStatus.md b/docs/ko/msg_docs/TimesyncStatus.md index 96ff9258be..0893914b5d 100644 --- a/docs/ko/msg_docs/TimesyncStatus.md +++ b/docs/ko/msg_docs/TimesyncStatus.md @@ -1,6 +1,36 @@ +--- +pageClass: is-wide-page +--- + # TimesyncStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TimesyncStatus.msg) +**TOPICS:** timesync_status + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| source_protocol | `uint8` | | | timesync source | +| remote_timestamp | `uint64` | | | remote system timestamp (microseconds) | +| observed_offset | `int64` | | | raw time offset directly observed from this timesync packet (microseconds) | +| estimated_offset | `int64` | | | smoothed time offset between companion system and PX4 (microseconds) | +| round_trip_time | `uint32` | | | round trip time of this timesync packet (microseconds) | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| --------------------------------------------------------------------------------------------------------- | ------- | ----- | -- | +| SOURCE_PROTOCOL_UNKNOWN | `uint8` | 0 | | +| SOURCE_PROTOCOL_MAVLINK | `uint8` | 1 | | +| SOURCE_PROTOCOL_DDS | `uint8` | 2 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TimesyncStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -14,5 +44,6 @@ uint64 remote_timestamp # remote system timestamp (microseconds) int64 observed_offset # raw time offset directly observed from this timesync packet (microseconds) int64 estimated_offset # smoothed time offset between companion system and PX4 (microseconds) uint32 round_trip_time # round trip time of this timesync packet (microseconds) - ``` + +::: diff --git a/docs/ko/msg_docs/TrajectorySetpoint.md b/docs/ko/msg_docs/TrajectorySetpoint.md index 06e44bcf11..78afc474ec 100644 --- a/docs/ko/msg_docs/TrajectorySetpoint.md +++ b/docs/ko/msg_docs/TrajectorySetpoint.md @@ -1,11 +1,37 @@ +--- +pageClass: is-wide-page +--- + # TrajectorySetpoint (UORB message) -Trajectory setpoint in NED frame -Input to PID position controller. -Needs to be kinematically consistent and feasible for smooth flight. -setting a value to NaN means the state should not be controlled +Trajectory setpoint in NED frame. Input to PID position controller. Needs to be kinematically consistent and feasible for smooth flight. setting a value to NaN means the state should not be controlled. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/TrajectorySetpoint.msg) +**TOPICS:** trajectory_setpoint + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------ | ------------ | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| position | `float32[3]` | | | in meters | +| velocity | `float32[3]` | | | in meters/second | +| acceleration | `float32[3]` | | | in meters/second^2 | +| jerk | `float32[3]` | | | in meters/second^3 (for logging only) | +| yaw | `float32` | | | euler angle of desired attitude in radians -PI..+PI | +| yawspeed | `float32` | | | angular velocity around NED frame z-axis in radians/second | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/TrajectorySetpoint.msg) + +:::details +Click here to see original file ```c # Trajectory setpoint in NED frame @@ -25,5 +51,6 @@ float32[3] jerk # in meters/second^3 (for logging only) float32 yaw # euler angle of desired attitude in radians -PI..+PI float32 yawspeed # angular velocity around NED frame z-axis in radians/second - ``` + +::: diff --git a/docs/ko/msg_docs/TrajectorySetpoint6dof.md b/docs/ko/msg_docs/TrajectorySetpoint6dof.md index f2629e19c4..ad51686074 100644 --- a/docs/ko/msg_docs/TrajectorySetpoint6dof.md +++ b/docs/ko/msg_docs/TrajectorySetpoint6dof.md @@ -1,9 +1,31 @@ +--- +pageClass: is-wide-page +--- + # TrajectorySetpoint6dof (UORB message) -Trajectory setpoint in NED frame -Input to position controller. +Trajectory setpoint in NED frame. Input to position controller. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TrajectorySetpoint6dof.msg) +**TOPICS:** trajectory_setpoint6dof + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| position | `float32[3]` | | | in meters | +| velocity | `float32[3]` | | | in meters/second | +| acceleration | `float32[3]` | | | in meters/second^2 | +| jerk | `float32[3]` | | | in meters/second^3 (for logging only) | +| quaternion | `float32[4]` | | | unit quaternion | +| angular_velocity | `float32[3]` | | | angular velocity in radians/second | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TrajectorySetpoint6dof.msg) + +:::details +Click here to see original file ```c # Trajectory setpoint in NED frame @@ -19,5 +41,6 @@ float32[3] jerk # in meters/second^3 (for logging only) float32[4] quaternion # unit quaternion float32[3] angular_velocity # angular velocity in radians/second - ``` + +::: diff --git a/docs/ko/msg_docs/TransponderReport.md b/docs/ko/msg_docs/TransponderReport.md index 9bab882b02..a501f648a3 100644 --- a/docs/ko/msg_docs/TransponderReport.md +++ b/docs/ko/msg_docs/TransponderReport.md @@ -1,6 +1,71 @@ +--- +pageClass: is-wide-page +--- + # TransponderReport (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TransponderReport.msg) +**TOPICS:** transponder_report + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| icao_address | `uint32` | | | ICAO address | +| lat | `float64` | | | Latitude, expressed as degrees | +| lon | `float64` | | | Longitude, expressed as degrees | +| altitude_type | `uint8` | | | Type from ADSB_ALTITUDE_TYPE enum | +| altitude | `float32` | | | Altitude(ASL) in meters | +| heading | `float32` | | | Course over ground in radians, 0 to 2pi, 0 is north | +| hor_velocity | `float32` | | | The horizontal velocity in m/s | +| ver_velocity | `float32` | | | The vertical velocity in m/s, positive is up | +| callsign | `char[9]` | | | The callsign, 8+null | +| emitter_type | `uint8` | | | Type from ADSB_EMITTER_TYPE enum | +| tslc | `uint8` | | | Time since last communication in seconds | +| flags | `uint16` | | | Flags to indicate various statuses including valid data fields | +| squawk | `uint16` | | | Squawk code | +| uas_id | `uint8[18]` | | | Unique UAS ID | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | ----- | -- | +| PX4_ADSB_FLAGS_VALID_COORDS | `uint16` | 1 | | +| PX4_ADSB_FLAGS_VALID_ALTITUDE | `uint16` | 2 | | +| PX4_ADSB_FLAGS_VALID_HEADING | `uint16` | 4 | | +| PX4_ADSB_FLAGS_VALID_VELOCITY | `uint16` | 8 | | +| PX4_ADSB_FLAGS_VALID_CALLSIGN | `uint16` | 16 | | +| PX4_ADSB_FLAGS_VALID_SQUAWK | `uint16` | 32 | | +| PX4_ADSB_FLAGS_RETRANSLATE | `uint16` | 256 | | +| ADSB_EMITTER_TYPE_NO_INFO | `uint16` | 0 | | +| ADSB_EMITTER_TYPE_LIGHT | `uint16` | 1 | | +| ADSB_EMITTER_TYPE_SMALL | `uint16` | 2 | | +| ADSB_EMITTER_TYPE_LARGE | `uint16` | 3 | | +| ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE | `uint16` | 4 | | +| ADSB_EMITTER_TYPE_HEAVY | `uint16` | 5 | | +| ADSB_EMITTER_TYPE_HIGHLY_MANUV | `uint16` | 6 | | +| ADSB_EMITTER_TYPE_ROTOCRAFT | `uint16` | 7 | | +| ADSB_EMITTER_TYPE_UNASSIGNED | `uint16` | 8 | | +| ADSB_EMITTER_TYPE_GLIDER | `uint16` | 9 | | +| ADSB_EMITTER_TYPE_LIGHTER_AIR | `uint16` | 10 | | +| ADSB_EMITTER_TYPE_PARACHUTE | `uint16` | 11 | | +| ADSB_EMITTER_TYPE_ULTRA_LIGHT | `uint16` | 12 | | +| ADSB_EMITTER_TYPE_UNASSIGNED2 | `uint16` | 13 | | +| ADSB_EMITTER_TYPE_UAV | `uint16` | 14 | | +| ADSB_EMITTER_TYPE_SPACE | `uint16` | 15 | | +| ADSB_EMITTER_TYPE_UNASSGINED3 | `uint16` | 16 | | +| ADSB_EMITTER_TYPE_EMERGENCY_SURFACE | `uint16` | 17 | | +| ADSB_EMITTER_TYPE_SERVICE_SURFACE | `uint16` | 18 | | +| ADSB_EMITTER_TYPE_POINT_OBSTACLE | `uint16` | 19 | | +| ADSB_EMITTER_TYPE_ENUM_END | `uint16` | 20 | | +| ORB_QUEUE_LENGTH | `uint8` | 16 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TransponderReport.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -53,5 +118,6 @@ uint16 ADSB_EMITTER_TYPE_POINT_OBSTACLE=19 uint16 ADSB_EMITTER_TYPE_ENUM_END=20 uint8 ORB_QUEUE_LENGTH = 16 - ``` + +::: diff --git a/docs/ko/msg_docs/TuneControl.md b/docs/ko/msg_docs/TuneControl.md index b6e96771ad..5e1da3cd11 100644 --- a/docs/ko/msg_docs/TuneControl.md +++ b/docs/ko/msg_docs/TuneControl.md @@ -1,9 +1,61 @@ +--- +pageClass: is-wide-page +--- + # TuneControl (UORB message) -This message is used to control the tunes, when the tune_id is set to CUSTOM -then the frequency, duration are used otherwise those values are ignored. +This message is used to control the tunes, when the tune_id is set to CUSTOM. then the frequency, duration are used otherwise those values are ignored. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TuneControl.msg) +**TOPICS:** tune_control + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| tune_id | `uint8` | | | tune_id corresponding to TuneID::\* from the tune_defaults.h in the tunes library | +| tune_override | `bool` | | | if true the tune which is playing will be stopped and the new started | +| frequency | `uint16` | | | in Hz | +| duration | `uint32` | | | in us | +| silence | `uint32` | | | in us | +| volume | `uint8` | | | value between 0-100 if supported by backend | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | -- | +| TUNE_ID_STOP | `uint8` | 0 | | +| TUNE_ID_STARTUP | `uint8` | 1 | | +| TUNE_ID_ERROR | `uint8` | 2 | | +| TUNE_ID_NOTIFY_POSITIVE | `uint8` | 3 | | +| TUNE_ID_NOTIFY_NEUTRAL | `uint8` | 4 | | +| TUNE_ID_NOTIFY_NEGATIVE | `uint8` | 5 | | +| TUNE_ID_ARMING_WARNING | `uint8` | 6 | | +| TUNE_ID_BATTERY_WARNING_SLOW | `uint8` | 7 | | +| TUNE_ID_BATTERY_WARNING_FAST | `uint8` | 8 | | +| TUNE_ID_GPS_WARNING | `uint8` | 9 | | +| TUNE_ID_ARMING_FAILURE | `uint8` | 10 | | +| TUNE_ID_PARACHUTE_RELEASE | `uint8` | 11 | | +| TUNE_ID_SINGLE_BEEP | `uint8` | 12 | | +| TUNE_ID_HOME_SET | `uint8` | 13 | | +| TUNE_ID_SD_INIT | `uint8` | 14 | | +| TUNE_ID_SD_ERROR | `uint8` | 15 | | +| TUNE_ID_PROG_PX4IO | `uint8` | 16 | | +| TUNE_ID_PROG_PX4IO_OK | `uint8` | 17 | | +| TUNE_ID_PROG_PX4IO_ERR | `uint8` | 18 | | +| TUNE_ID_POWER_OFF | `uint8` | 19 | | +| NUMBER_OF_TUNES | `uint8` | 20 | | +| VOLUME_LEVEL_MIN | `uint8` | 0 | | +| VOLUME_LEVEL_DEFAULT | `uint8` | 20 | | +| VOLUME_LEVEL_MAX | `uint8` | 100 | | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TuneControl.msg) + +:::details +Click here to see original file ```c # This message is used to control the tunes, when the tune_id is set to CUSTOM @@ -45,5 +97,6 @@ uint8 VOLUME_LEVEL_DEFAULT = 20 uint8 VOLUME_LEVEL_MAX = 100 uint8 ORB_QUEUE_LENGTH = 4 - ``` + +::: diff --git a/docs/ko/msg_docs/UavcanParameterRequest.md b/docs/ko/msg_docs/UavcanParameterRequest.md index 681c8aa8c9..d2cb0f7771 100644 --- a/docs/ko/msg_docs/UavcanParameterRequest.md +++ b/docs/ko/msg_docs/UavcanParameterRequest.md @@ -1,8 +1,45 @@ +--- +pageClass: is-wide-page +--- + # UavcanParameterRequest (UORB message) -UAVCAN-MAVLink parameter bridge request type +UAVCAN-MAVLink parameter bridge request type. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/UavcanParameterRequest.msg) +**TOPICS:** uavcan_parameterrequest + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| message_type | `uint8` | | | MAVLink message type: PARAM_REQUEST_READ, PARAM_REQUEST_LIST, PARAM_SET | +| node_id | `uint8` | | | UAVCAN node ID mapped from MAVLink component ID | +| param_id | `char[17]` | | | MAVLink/UAVCAN parameter name | +| param_index | `int16` | | | -1 if the param_id field should be used as identifier | +| param_type | `uint8` | | | MAVLink parameter type | +| int_value | `int64` | | | current value if param_type is int-like | +| real_value | `float32` | | | current value if param_type is float-like | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------ | +| MESSAGE_TYPE_PARAM_REQUEST_READ | `uint8` | 20 | MAVLINK_MSG_ID_PARAM_REQUEST_READ | +| MESSAGE_TYPE_PARAM_REQUEST_LIST | `uint8` | 21 | MAVLINK_MSG_ID_PARAM_REQUEST_LIST | +| MESSAGE_TYPE_PARAM_SET | `uint8` | 23 | MAVLINK_MSG_ID_PARAM_SET | +| NODE_ID_ALL | `uint8` | 0 | MAV_COMP_ID_ALL | +| PARAM_TYPE_UINT8 | `uint8` | 1 | MAV_PARAM_TYPE_UINT8 | +| PARAM_TYPE_INT64 | `uint8` | 8 | MAV_PARAM_TYPE_INT64 | +| PARAM_TYPE_REAL32 | `uint8` | 9 | MAV_PARAM_TYPE_REAL32 | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/UavcanParameterRequest.msg) + +:::details +Click here to see original file ```c # UAVCAN-MAVLink parameter bridge request type @@ -28,5 +65,6 @@ int64 int_value # current value if param_type is int-like float32 real_value # current value if param_type is float-like uint8 ORB_QUEUE_LENGTH = 4 - ``` + +::: diff --git a/docs/ko/msg_docs/UavcanParameterValue.md b/docs/ko/msg_docs/UavcanParameterValue.md index f77444727a..606f06bbad 100644 --- a/docs/ko/msg_docs/UavcanParameterValue.md +++ b/docs/ko/msg_docs/UavcanParameterValue.md @@ -1,8 +1,32 @@ +--- +pageClass: is-wide-page +--- + # UavcanParameterValue (UORB message) -UAVCAN-MAVLink parameter bridge response type +UAVCAN-MAVLink parameter bridge response type. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/UavcanParameterValue.msg) +**TOPICS:** uavcan_parametervalue + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| -------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| node_id | `uint8` | | | UAVCAN node ID mapped from MAVLink component ID | +| param_id | `char[17]` | | | MAVLink/UAVCAN parameter name | +| param_index | `int16` | | | parameter index, if known | +| param_count | `uint16` | | | number of parameters exposed by the node | +| param_type | `uint8` | | | MAVLink parameter type | +| int_value | `int64` | | | current value if param_type is int-like | +| real_value | `float32` | | | current value if param_type is float-like | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/UavcanParameterValue.msg) + +:::details +Click here to see original file ```c # UAVCAN-MAVLink parameter bridge response type @@ -14,5 +38,6 @@ uint16 param_count # number of parameters exposed by the node uint8 param_type # MAVLink parameter type int64 int_value # current value if param_type is int-like float32 real_value # current value if param_type is float-like - ``` + +::: diff --git a/docs/ko/msg_docs/UlogStream.md b/docs/ko/msg_docs/UlogStream.md index 8aba8063c8..2025b806f0 100644 --- a/docs/ko/msg_docs/UlogStream.md +++ b/docs/ko/msg_docs/UlogStream.md @@ -1,9 +1,37 @@ +--- +pageClass: is-wide-page +--- + # UlogStream (UORB message) -Message to stream ULog data from the logger. Corresponds to the LOGGING_DATA -mavlink message +Message to stream ULog data from the logger. Corresponds to the LOGGING_DATA. mavlink message. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/UlogStream.msg) +**TOPICS:** ulog_stream + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| -------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| length | `uint8` | | | length of data | +| first_message_offset | `uint8` | | | offset into data where first message starts. This | +| msg_sequence | `uint16` | | | allows determine drops | +| flags | `uint8` | | | see FLAGS\_\* | +| data | `uint8[249]` | | | ulog data | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------ | +| FLAGS_NEED_ACK | `uint8` | 1 | if set, this message requires to be acked. | +| ORB_QUEUE_LENGTH | `uint8` | 16 | TODO: we might be able to reduce this if mavlink polled on the topic | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/UlogStream.msg) + +:::details +Click here to see original file ```c # Message to stream ULog data from the logger. Corresponds to the LOGGING_DATA @@ -25,5 +53,6 @@ uint8 flags # see FLAGS_* uint8[249] data # ulog data uint8 ORB_QUEUE_LENGTH = 16 # TODO: we might be able to reduce this if mavlink polled on the topic - ``` + +::: diff --git a/docs/ko/msg_docs/UlogStreamAck.md b/docs/ko/msg_docs/UlogStreamAck.md index 4bef62c4f5..67fa1eed8a 100644 --- a/docs/ko/msg_docs/UlogStreamAck.md +++ b/docs/ko/msg_docs/UlogStreamAck.md @@ -1,9 +1,33 @@ +--- +pageClass: is-wide-page +--- + # UlogStreamAck (UORB message) -Ack a previously sent ulog_stream message that had -the NEED_ACK flag set +Ack a previously sent ulog_stream message that had. the NEED_ACK flag set. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/UlogStreamAck.msg) +**TOPICS:** ulog_streamack + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| msg_sequence | `uint16` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------------------------------------------ | +| ACK_TIMEOUT | `int32` | 50 | timeout waiting for an ack until we retry to send the message [ms] | +| ACK_MAX_TRIES | `int32` | 50 | maximum amount of tries to (re-)send a message, each time waiting ACK_TIMEOUT ms | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/UlogStreamAck.msg) + +:::details +Click here to see original file ```c # Ack a previously sent ulog_stream message that had @@ -14,5 +38,6 @@ int32 ACK_TIMEOUT = 50 # timeout waiting for an ack until we retry to send the int32 ACK_MAX_TRIES = 50 # maximum amount of tries to (re-)send a message, each time waiting ACK_TIMEOUT ms uint16 msg_sequence - ``` + +::: diff --git a/docs/ko/msg_docs/UnregisterExtComponent.md b/docs/ko/msg_docs/UnregisterExtComponent.md index b09ea24d43..67f2a7e058 100644 --- a/docs/ko/msg_docs/UnregisterExtComponent.md +++ b/docs/ko/msg_docs/UnregisterExtComponent.md @@ -1,6 +1,33 @@ +--- +pageClass: is-wide-page +--- + # UnregisterExtComponent (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/UnregisterExtComponent.msg) +**TOPICS:** unregister_extcomponent + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| name | `char[25]` | | | either the mode name, or component name | +| arming_check_id | `int8` | | | arming check registration ID (-1 if not registered) | +| mode_id | `int8` | | | assigned mode ID (-1 if not registered) | +| mode_executor_id | `int8` | | | assigned mode executor ID (-1 if not registered) | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/UnregisterExtComponent.msg) + +:::details +Click here to see original file ```c uint32 MESSAGE_VERSION = 0 @@ -12,5 +39,6 @@ char[25] name # either the mode name, or component name int8 arming_check_id # arming check registration ID (-1 if not registered) int8 mode_id # assigned mode ID (-1 if not registered) int8 mode_executor_id # assigned mode executor ID (-1 if not registered) - ``` + +::: diff --git a/docs/ko/msg_docs/VehicleAcceleration.md b/docs/ko/msg_docs/VehicleAcceleration.md index ea20cad6a9..9d1e60a3b3 100644 --- a/docs/ko/msg_docs/VehicleAcceleration.md +++ b/docs/ko/msg_docs/VehicleAcceleration.md @@ -1,13 +1,32 @@ +--- +pageClass: is-wide-page +--- + # VehicleAcceleration (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAcceleration.msg) +**TOPICS:** vehicle_acceleration + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| xyz | `float32[3]` | | | Bias corrected acceleration (including gravity) in the FRD body frame XYZ-axis in m/s^2 | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAcceleration.msg) + +:::details +Click here to see original file ```c - uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) float32[3] xyz # Bias corrected acceleration (including gravity) in the FRD body frame XYZ-axis in m/s^2 - ``` + +::: diff --git a/docs/ko/msg_docs/VehicleAirData.md b/docs/ko/msg_docs/VehicleAirData.md index dccfefc095..cc1ceb71e1 100644 --- a/docs/ko/msg_docs/VehicleAirData.md +++ b/docs/ko/msg_docs/VehicleAirData.md @@ -1,11 +1,36 @@ +--- +pageClass: is-wide-page +--- + # VehicleAirData (UORB message) -Vehicle air data +Vehicle air data. Data from the currently selected barometer (plus ambient temperature from the source specified in temperature_source). Includes calculated data such as barometric altitude and air density. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAirData.msg) +**TOPICS:** vehicle_airdata + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Timestamp of the raw data | +| baro_device_id | `uint32` | | | Unique device ID for the selected barometer | +| baro_alt_meter | `float32` | m [MSL] | | Altitude above MSL calculated from temperature compensated baro sensor data using an ISA corrected for sea level pressure SENS_BARO_QNH | +| baro_pressure_pa | `float32` | Pa | | Absolute pressure | +| ambient_temperature | `float32` | degC | | Ambient temperature | +| temperature_source | `uint8` | | | Source of temperature data: 0: Default Temperature (15°C), 1: External Baro, 2: Airspeed | +| rho | `float32` | kg/m^3 | | Air density | +| calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever calibration changes. | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAirData.msg) + +:::details +Click here to see original file ```c # Vehicle air data @@ -22,5 +47,6 @@ float32 ambient_temperature # [degC] Ambient temperature uint8 temperature_source # Source of temperature data: 0: Default Temperature (15°C), 1: External Baro, 2: Airspeed float32 rho # [kg/m^3] Air density uint8 calibration_count # Calibration changed counter. Monotonically increases whenever calibration changes. - ``` + +::: diff --git a/docs/ko/msg_docs/VehicleAngularAccelerationSetpoint.md b/docs/ko/msg_docs/VehicleAngularAccelerationSetpoint.md index 3caa12669e..4989f5d30b 100644 --- a/docs/ko/msg_docs/VehicleAngularAccelerationSetpoint.md +++ b/docs/ko/msg_docs/VehicleAngularAccelerationSetpoint.md @@ -1,12 +1,31 @@ +--- +pageClass: is-wide-page +--- + # VehicleAngularAccelerationSetpoint (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAngularAccelerationSetpoint.msg) +**TOPICS:** vehicle_angularacceleration_setpoint + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | timestamp of the data sample on which this message is based (microseconds) | +| xyz | `float32[3]` | | | angular acceleration about X, Y, Z body axis in rad/s^2 | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAngularAccelerationSetpoint.msg) + +:::details +Click here to see original file ```c - uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds) float32[3] xyz # angular acceleration about X, Y, Z body axis in rad/s^2 - ``` + +::: diff --git a/docs/ko/msg_docs/VehicleAngularVelocity.md b/docs/ko/msg_docs/VehicleAngularVelocity.md index fb05ad0f51..b12ac9e5a6 100644 --- a/docs/ko/msg_docs/VehicleAngularVelocity.md +++ b/docs/ko/msg_docs/VehicleAngularVelocity.md @@ -1,6 +1,32 @@ +--- +pageClass: is-wide-page +--- + # VehicleAngularVelocity (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAngularVelocity.msg) +**TOPICS:** vehicle_angular_velocity vehicle_angular_velocity_groundtruth + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | timestamp of the data sample on which this message is based (microseconds) | +| xyz | `float32[3]` | | | Bias corrected angular velocity about the FRD body frame XYZ-axis in rad/s | +| xyz_derivative | `float32[3]` | | | angular acceleration about the FRD body frame XYZ-axis in rad/s^2 | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAngularVelocity.msg) + +:::details +Click here to see original file ```c uint32 MESSAGE_VERSION = 0 @@ -13,5 +39,6 @@ float32[3] xyz # Bias corrected angular velocity about the FRD body frame XYZ float32[3] xyz_derivative # angular acceleration about the FRD body frame XYZ-axis in rad/s^2 # TOPICS vehicle_angular_velocity vehicle_angular_velocity_groundtruth - ``` + +::: diff --git a/docs/ko/msg_docs/VehicleAttitude.md b/docs/ko/msg_docs/VehicleAttitude.md index 856fe6d5a6..f3c3cc59c0 100644 --- a/docs/ko/msg_docs/VehicleAttitude.md +++ b/docs/ko/msg_docs/VehicleAttitude.md @@ -1,9 +1,35 @@ +--- +pageClass: is-wide-page +--- + # VehicleAttitude (UORB message) -This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use -The quaternion uses the Hamilton convention, and the order is q(w, x, y, z) +This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use. The quaternion uses the Hamilton convention, and the order is q(w, x, y, z). -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitude.msg) +**TOPICS:** vehicle_attitude vehicle_attitude_groundtruth external_ins_attitude estimator_attitude + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------ | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| q | `float32[4]` | | | Quaternion rotation from the FRD body frame to the NED earth frame | +| delta_q_reset | `float32[4]` | | | Amount by which quaternion has changed during last reset | +| quat_reset_counter | `uint8` | | | Quaternion reset counter | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitude.msg) + +:::details +Click here to see original file ```c # This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use @@ -21,5 +47,6 @@ uint8 quat_reset_counter # Quaternion reset counter # TOPICS vehicle_attitude vehicle_attitude_groundtruth external_ins_attitude # TOPICS estimator_attitude - ``` + +::: diff --git a/docs/ko/msg_docs/VehicleAttitudeSetpoint.md b/docs/ko/msg_docs/VehicleAttitudeSetpoint.md index 9cd9ba092b..27ab886978 100644 --- a/docs/ko/msg_docs/VehicleAttitudeSetpoint.md +++ b/docs/ko/msg_docs/VehicleAttitudeSetpoint.md @@ -1,6 +1,32 @@ +--- +pageClass: is-wide-page +--- + # VehicleAttitudeSetpoint (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitudeSetpoint.msg) +**TOPICS:** vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| yaw_sp_move_rate | `float32` | | | rad/s (commanded by user) | +| q_d | `float32[4]` | | | Desired quaternion for quaternion control | +| thrust_body | `float32[3]` | | | Normalized thrust command in body FRD frame [-1,1] | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 1 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitudeSetpoint.msg) + +:::details +Click here to see original file ```c uint32 MESSAGE_VERSION = 1 @@ -17,5 +43,6 @@ float32[4] q_d # Desired quaternion for quaternion control float32[3] thrust_body # Normalized thrust command in body FRD frame [-1,1] # TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint - ``` + +::: diff --git a/docs/ko/msg_docs/VehicleAttitudeSetpointV0.md b/docs/ko/msg_docs/VehicleAttitudeSetpointV0.md index 6eb03e797c..1d1ed1de3f 100644 --- a/docs/ko/msg_docs/VehicleAttitudeSetpointV0.md +++ b/docs/ko/msg_docs/VehicleAttitudeSetpointV0.md @@ -1,6 +1,34 @@ +--- +pageClass: is-wide-page +--- + # VehicleAttitudeSetpointV0 (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleAttitudeSetpointV0.msg) +**TOPICS:** vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| yaw_sp_move_rate | `float32` | | | rad/s (commanded by user) | +| q_d | `float32[4]` | | | Desired quaternion for quaternion control | +| thrust_body | `float32[3]` | | | Normalized thrust command in body FRD frame [-1,1] | +| reset_integral | `bool` | | | Reset roll/pitch/yaw integrals (navigation logic change) | +| fw_control_yaw_wheel | `bool` | | | control heading with steering wheel (used for auto takeoff on runway) | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleAttitudeSetpointV0.msg) + +:::details +Click here to see original file ```c uint32 MESSAGE_VERSION = 0 @@ -21,5 +49,6 @@ bool reset_integral # Reset roll/pitch/yaw integrals (navigation logic change) bool fw_control_yaw_wheel # control heading with steering wheel (used for auto takeoff on runway) # TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint - ``` + +::: diff --git a/docs/ko/msg_docs/VehicleCommand.md b/docs/ko/msg_docs/VehicleCommand.md index 225f680857..88a1068ee2 100644 --- a/docs/ko/msg_docs/VehicleCommand.md +++ b/docs/ko/msg_docs/VehicleCommand.md @@ -1,9 +1,1582 @@ +--- +pageClass: is-wide-page +--- + # VehicleCommand (UORB message) -Vehicle Command uORB message. Used for commanding a mission / action / etc. -Follows the MAVLink COMMAND_INT / COMMAND_LONG definition +Vehicle Command uORB message. Used for commanding a mission / action / etc. Follows the MAVLink COMMAND_INT / COMMAND_LONG definition. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleCommand.msg) +**TOPICS:** vehicle_command gimbal_v1_command vehicle_command_mode_executor + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start. | +| param1 | `float32` | | | Parameter 1, as defined by MAVLink uint16 VEHICLE_CMD enum. | +| param2 | `float32` | | | Parameter 2, as defined by MAVLink uint16 VEHICLE_CMD enum. | +| param3 | `float32` | | | Parameter 3, as defined by MAVLink uint16 VEHICLE_CMD enum. | +| param4 | `float32` | | | Parameter 4, as defined by MAVLink uint16 VEHICLE_CMD enum. | +| param5 | `float64` | | | Parameter 5, as defined by MAVLink uint16 VEHICLE_CMD enum. | +| param6 | `float64` | | | Parameter 6, as defined by MAVLink uint16 VEHICLE_CMD enum. | +| param7 | `float32` | | | Parameter 7, as defined by MAVLink uint16 VEHICLE_CMD enum. | +| command | `uint32` | | | Command ID. | +| target_system | `uint8` | | | System which should execute the command. | +| target_component | `uint8` | | | Component which should execute the command, 0 for all components. | +| source_system | `uint8` | | | System sending the command. | +| source_component | `uint16` | | | Component / mode executor sending the command. | +| confirmation | `uint8` | | | 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command). | +| from_external | `bool` | | | | + +## Commands + +### VEHICLE_CMD_CUSTOM_0 (0) + +Test command. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_CUSTOM_1 (1) + +Test command. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_CUSTOM_2 (2) + +Test command. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_NAV_WAYPOINT (16) + +Navigate to MISSION. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| 1 | s | | (decimal) Hold time. (ignored by fixed wing, time to stay at MISSION for rotary wing) | +| 2 | m | | Acceptance radius (if the sphere with this radius is hit, the MISSION counts as reached) | +| 3 | | | 0 to pass through the WP, if > 0 radius [m] to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control. | +| 4 | | | Desired yaw angle at MISSION (rotary wing) | +| 5 | | | Latitude | +| 6 | | | Longitude | +| 7 | | | Altitude | + +### VEHICLE_CMD_NAV_LOITER_UNLIM (17) + +Loiter around this MISSION an unlimited amount of time. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ------------------------------------------------------------------------------------------- | +| 1 | | | Unused | +| 2 | | | Unused | +| 3 | m | | Radius around MISSION. If positive loiter clockwise, else counter-clockwise | +| 4 | | | Desired yaw angle. | +| 5 | | | Latitude | +| 6 | | | Longitude | +| 7 | | | Altitude | + +### VEHICLE_CMD_NAV_LOITER_TURNS (18) + +Loiter around this MISSION for X turns. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------- | +| 1 | | | Turns | +| 2 | | | Unused | +| 3 | | | Radius around MISSION [m]. If positive loiter clockwise, else counter-clockwise | +| 4 | | | Desired yaw angle. | +| 5 | | | Latitude | +| 6 | | | Longitude | +| 7 | | | Altitude | + +### VEHICLE_CMD_NAV_LOITER_TIME (19) + +Loiter around this MISSION for time. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------- | +| 1 | s | | Seconds (decimal) | +| 2 | | | Unused | +| 3 | | | Radius around MISSION [m]. If positive loiter clockwise, else counter-clockwise | +| 4 | | | Desired yaw angle. | +| 5 | | | Latitude | +| 6 | | | Longitude | +| 7 | | | Altitude | + +### VEHICLE_CMD_NAV_RETURN_TO_LAUNCH (20) + +Return to launch location. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ------ | +| 1 | | | Unused | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_NAV_LAND (21) + +Land at location. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ---------------------------------- | +| 1 | | | Unused | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Desired yaw angle. | +| 5 | | | Latitude | +| 6 | | | Longitude | +| 7 | | | Altitude | + +### VEHICLE_CMD_NAV_TAKEOFF (22) + +Takeoff from ground / hand. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | --- | ----------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------- | +| 1 | | | Unused (FW pitch from FW_TKO_PITCH_MIN) | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | deg | [0 : 360] | Yaw angle in NED if yaw source available, ignored otherwise | +| 5 | | | Latitude (WGS-84) | +| 6 | | | Longitude (WGS-84) | +| 7 | m | | Altitude AMSL | + +### VEHICLE_CMD_NAV_PRECLAND (23) + +Attempt a precision landing. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_DO_ORBIT (34) + +Start orbiting on the circumference of a circle defined by the parameters. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | --- | ------------------------------------------------------------------------------------- | ------------- | +| 1 | m | | Radius | +| 2 | m/s | | Velocity | +| 3 | | [ORBIT_YAW_BEHAVIOUR](#ORBIT_YAW_BEHAVIOUR) | Yaw behaviour | +| 4 | | | Unused | +| 5 | | | Latitude/X | +| 6 | | | Longitude/Y | +| 7 | | | Altitude/Z | + +### VEHICLE_CMD_DO_FIGUREEIGHT (35) + +Start flying on the outline of a figure eight defined by the parameters. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | --- | ---------- | ------------ | +| 1 | m | | Major radius | +| 2 | m | | Minor radius | +| 3 | m/s | | Velocity | +| 4 | | | 방향 | +| 5 | | | Latitude/X | +| 6 | | | Longitude/Y | +| 7 | | | Altitude/Z | + +### VEHICLE_CMD_NAV_ROI (80) + +Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ------------------------------------------------ | --------------------------------------------------------------------------------------- | +| 1 | | [VEHICLE_ROI](#VEHICLE_ROI) | Region of interest mode. | +| 2 | | | MISSION index/ target ID. | +| 3 | | | ROI index (allows a vehicle to manage multiple ROI's) | +| 4 | | | Unused | +| 5 | | | x the location of the fixed ROI (see MAV_FRAME) | +| 6 | | | y | +| 7 | | | z | + +### VEHICLE_CMD_NAV_PATHPLANNING (81) + +Control autonomous path planning on the MAV. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | --- | ----------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| 1 | | | 0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning | +| 2 | | | 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid | +| 3 | | | Unused | +| 4 | deg | [0 : 360] | Yaw angle at goal, in compass degrees | +| 5 | | | Latitude/X of goal | +| 6 | | | Longitude/Y of goal | +| 7 | | | Altitude/Z of goal | + +### VEHICLE_CMD_NAV_VTOL_TAKEOFF (84) + +Takeoff from ground / hand and transition to fixed wing. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | --------------------------------------------------------------------------------------------------- | +| 1 | | | Minimum pitch (if airspeed sensor present), desired pitch without sensor | +| 2 | | | Transition heading, 0: Default, 3: Use specified transition heading | +| 3 | | | Unused | +| 4 | | | Yaw angle (if magnetometer present), ignored without magnetometer | +| 5 | | | Latitude | +| 6 | | | Longitude | +| 7 | | | Altitude | + +### VEHICLE_CMD_NAV_VTOL_LAND (85) + +Transition to MC and land at location. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ---------------------------------- | +| 1 | | | Unused | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Desired yaw angle. | +| 5 | | | Latitude | +| 6 | | | Longitude | +| 7 | | | Altitude | + +### VEHICLE_CMD_NAV_GUIDED_LIMITS (90) + +Set limits for external control. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| 1 | s | | Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout | +| 2 | m | | Absolute altitude min AMSL - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit | +| 3 | m | | Absolute altitude max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit | +| 4 | m | | Horizontal move limit (AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_NAV_GUIDED_MASTER (91) + +Set id of master controller. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ------------ | +| 1 | | | System ID | +| 2 | | | Component ID | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_NAV_DELAY (93) + +Delay the next navigation command a number of seconds or until a specified time. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ------------------------------------------------------------------- | +| 1 | s | | Delay (decimal, -1 to enable time-of-day fields) | +| 2 | h | | hour (24h format, UTC, -1 to ignore) | +| 3 | | | minute (24h format, UTC, -1 to ignore) | +| 4 | | | second (24h format, UTC) | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_NAV_LAST (95) + +NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ------ | +| 1 | | | Unused | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_CONDITION_DELAY (112) + +Delay mission state machine. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ------------------------------------------ | +| 1 | s | | Delay (decimal seconds) | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_CONDITION_CHANGE_ALT (113) + +Ascend/descend at rate. Delay mission state machine until desired altitude reached. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ---------------------------------------------- | +| 1 | | | Descent / Ascend rate (m/s) | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Finish Altitude | + +### VEHICLE_CMD_CONDITION_DISTANCE (114) + +Delay mission state machine until within desired distance of next NAV point. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ---------------------------------------------------------------- | +| 1 | | | Distance [m] | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_CONDITION_YAW (115) + +Reach a certain target angle. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | ----- | ----------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------- | +| 1 | deg | [0 : 360] | Target angle. 0 is north | +| 2 | deg/s | | Speed during yaw change | +| 3 | | [-1 : 1] | Direction: negative: counter clockwise, positive: clockwise | +| 4 | 1,0 | | Relative offset or absolute angle | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_CONDITION_LAST (159) + +NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ------ | +| 1 | | | Unused | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_CONDITION_GATE (4501) + +Wait until passing a threshold. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ----------------------------------------------------------------------------- | +| 1 | | | 2D coord mode: 0: Orthogonal to planned route | +| 2 | | | Altitude mode: 0: Ignore altitude | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Lat | +| 6 | | | Lon | +| 7 | | | Alt | + +### VEHICLE_CMD_DO_SET_MODE (176) + +Set system mode. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ------------------------------------------------------ | +| 1 | | | Mode, as defined by ENUM MAV_MODE | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_JUMP (177) + +Jump to the desired command in the mission list. Repeat this action only the specified number of times. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | --------------- | +| 1 | | | Sequence number | +| 2 | | | Repeat count | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_CHANGE_SPEED (178) + +Change speed and/or throttle set points. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------------------------------------------- | -------------------------------------------------------------- | +| 1 | | [SPEED_TYPE](#SPEED_TYPE) | Speed type (0=Airspeed, 1=Ground Speed) | +| 2 | | | Speed (m/s, -1 indicates no change) | +| 3 | % | | Throttle ( Percent, -1 indicates no change) | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_SET_HOME (179) + +Changes the home location either to the current location or a specified location. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | --------------------------------------------------------------------------------- | +| 1 | | | Use current (1=use current location, 0=use specified location) | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Latitude | +| 6 | | | Longitude | +| 7 | | | Altitude | + +### VEHICLE_CMD_DO_SET_PARAMETER (180) + +Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ---------------- | +| 1 | | | Parameter number | +| 2 | | | Parameter value | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_SET_RELAY (181) + +Set a relay to a condition. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -------------------------------------------------------------------------------------- | +| 1 | | | Relay number | +| 2 | | | Setting (1=on, 0=off, others possible depending on system hardware) | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_REPEAT_RELAY (182) + +Cycle a relay on and off for a desired number of cycles with a desired period. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ----------------------------------------------- | +| 1 | | | Relay number | +| 2 | | | Cycle count | +| 3 | s | | Cycle time (decimal seconds) | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_REPEAT_SERVO (184) + +Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -------------------------------------------------- | +| 1 | | | Servo number | +| 2 | us | | PWM rate (1000 to 2000 typical) | +| 3 | | | Cycle count | +| 4 | s | | Cycle time | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_FLIGHTTERMINATION (185) + +Terminate flight immediately. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ----------------------------------------------------- | +| 1 | | | Flight termination activated if > 0.5 | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_CHANGE_ALTITUDE (186) + +Set the vehicle to Loiter mode and change the altitude to specified value. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | --------------------- | +| 1 | | | Altitude | +| 2 | | | Frame of new altitude | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_SET_ACTUATOR (187) + +Sets actuators (e.g. servos) to a desired value. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ---------- | +| 1 | | | Actuator 1 | +| 2 | | | Actuator 2 | +| 3 | | | Actuator 3 | +| 4 | | | Actuator 4 | +| 5 | | | Actuator 5 | +| 6 | | | Actuator 6 | +| 7 | | | Index | + +### VEHICLE_CMD_DO_LAND_START (189) + +Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0/0 if not needed. If specified then it will be used to help find the closest landing sequence. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | --------- | +| 1 | | | Unused | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Latitude | +| 6 | | | Longitude | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_GO_AROUND (191) + +Mission command to safely abort an autonomous landing. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -------- | +| 1 | m | | Altitude | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_REPOSITION (192) + +Reposition to specific WGS84 GPS position. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | --- | ---------- | ------------------------ | +| 1 | m/s | | Ground speed | +| 2 | | | Bitmask | +| 3 | m | | Loiter radius for planes | +| 4 | deg | | Yaw | +| 5 | | | Latitude | +| 6 | | | Longitude | +| 7 | | | Altitude | + +### VEHICLE_CMD_DO_PAUSE_CONTINUE (193) + +None + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_DO_SET_ROI_LOCATION (195) + +Sets the region of interest (ROI) to a location. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | --------- | +| 1 | | | Unused | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Latitude | +| 6 | | | Longitude | +| 7 | | | Altitude | + +### VEHICLE_CMD_DO_SET_ROI_WPNEXT_OFFSET (196) + +Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ------------------------------- | +| 1 | | | Unused | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Pitch offset from next waypoint | +| 6 | | | Roll offset from next waypoint | +| 7 | | | Yaw offset from next waypoint | + +### VEHICLE_CMD_DO_SET_ROI_NONE (197) + +Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ------ | +| 1 | | | Unused | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_CONTROL_VIDEO (200) + +Control onboard camera system. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------- | +| 1 | | | Camera ID (-1 for all) | +| 2 | | | Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw | +| 3 | | | Transmission mode: 0: video stream, >0: single images every n seconds (decimal seconds) | +| 4 | | | Recording: 0: disabled, 1: enabled compressed, 2: enabled raw | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_SET_ROI (201) + +Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ------------------------------------------------ | --------------------------------------------------------------------------------------- | +| 1 | | [VEHICLE_ROI](#VEHICLE_ROI) | Region of interest mode. | +| 2 | | | MISSION index/ target ID. | +| 3 | | | ROI index (allows a vehicle to manage multiple ROI's) | +| 4 | | | Unused | +| 5 | | | x the location of the fixed ROI (see MAV_FRAME) | +| 6 | | | y | +| 7 | | | z | + +### VEHICLE_CMD_DO_DIGICAM_CONTROL (203) + +None + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_DO_MOUNT_CONFIGURE (204) + +Mission command to configure a camera or antenna mount. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | --------------------------------------------------------------------------- | ----------------------------------------------------- | +| 1 | | [MAV_MOUNT_MODE](#MAV_MOUNT_MODE) | Mount operation mode | +| 2 | | | Stabilize roll? (1 = yes, 0 = no) | +| 3 | | | Stabilize pitch? (1 = yes, 0 = no) | +| 4 | | | stabilize yaw? (1 = yes, 0 = no) | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_MOUNT_CONTROL (205) + +Mission command to control a camera or antenna mount. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | --- | --------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------- | +| 1 | deg | | Pitch or lat, depending on mount mode. | +| 2 | deg | | Roll or lon depending on mount mode | +| 3 | deg | | /[m] Yaw or alt depending on mount mode | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | [MAV_MOUNT_MODE](#MAV_MOUNT_MODE) | | + +### VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST (206) + +Mission command to set TRIG_DIST for this flight. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ------------------------ | +| 1 | m | | Camera trigger distance | +| 2 | ms | | Shutter integration time | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_FENCE_ENABLE (207) + +Mission command to enable the geofence. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ------------------------------------------------ | +| 1 | | | enable? (0=disable, 1=enable) | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_PARACHUTE (208) + +Mission command to trigger a parachute. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| 1 | | | action [@enum PARACHUTE_ACTION] (0=disable, 1=enable, 2=release, for some systems see [@enum PARACHUTE_ACTION], not in general message set.) | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_MOTOR_TEST (209) + +Motor test command. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | --------------------------------------------------------------- | +| 1 | | | Instance (@range 1, ) | +| 2 | | | throttle type | +| 3 | | | throttle | +| 4 | | | timeout [s] | +| 5 | | | Motor count | +| 6 | | | Test order | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_INVERTED_FLIGHT (210) + +Change to/from inverted flight. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -------------------------------------------------- | +| 1 | | | inverted (0=normal, 1=inverted) | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_GRIPPER (211) + +Command to operate a gripper. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_DO_AUTOTUNE_ENABLE (212) + +Enable autotune module. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ----------- | +| 1 | | | 1 to enable | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) + +Mission command to set TRIG_INTERVAL for this flight. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ------------------------------------------------ | +| 1 | m | | Camera trigger distance | +| 2 | | | Shutter integration time (ms) | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT (220) + +Mission command to control a camera or antenna mount, using a quaternion as reference. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ------------------------------------------------------------------- | +| 1 | | | q1 - quaternion param #1, w (1 in null-rotation) | +| 2 | | | q2 - quaternion param #2, x (0 in null-rotation) | +| 3 | | | q3 - quaternion param #3, y (0 in null-rotation) | +| 4 | | | q4 - quaternion param #4, z (0 in null-rotation) | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_GUIDED_MASTER (221) + +Set id of master controller. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ------------ | +| 1 | | | System ID | +| 2 | | | Component ID | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_GUIDED_LIMITS (222) + +Set limits for external control. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| 1 | s | | Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout | +| 2 | m | | Absolute altitude min(AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit | +| 3 | m | | Absolute altitude max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit | +| 4 | m | | Horizontal move limit (AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_LAST (240) + +NOP - This command is only used to mark the upper limit of the DO commands in the enumeration. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ------ | +| 1 | | | Unused | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_PREFLIGHT_CALIBRATION (241) + +Trigger calibration. This command will be only accepted if in pre-flight mode. See MAVLink spec MAV_CMD_PREFLIGHT_CALIBRATION. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) + +Set sensor offsets. This command will be only accepted if in pre-flight mode. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| 1 | | | Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow | +| 2 | | | X axis offset (or generic dimension 1), in the sensor's raw units | +| 3 | | | Y axis offset (or generic dimension 2), in the sensor's raw units | +| 4 | | | Z axis offset (or generic dimension 3), in the sensor's raw units | +| 5 | | | Generic dimension 4, in the sensor's raw units | +| 6 | | | Generic dimension 5, in the sensor's raw units | +| 7 | | | Generic dimension 6, in the sensor's raw units | + +### VEHICLE_CMD_PREFLIGHT_UAVCAN (243) + +UAVCAN configuration. If param 1 == 1 actuator mapping and direction assignment should be started. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_PREFLIGHT_STORAGE (245) + +Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ------------------------------------------------------------------------------------------------------------------------------ | +| 1 | | | Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM | +| 2 | | | Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) + +Request the reboot or shutdown of system components. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| 1 | | | 0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot. | +| 2 | | | 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer. | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_OBLIQUE_SURVEY (260) + +Mission command to set a Camera Auto Mount Pivoting Oblique Survey for this flight. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ------------------------------- | +| 1 | m | | Camera trigger distance | +| 2 | ms | | Shutter integration time | +| 3 | | | Camera minimum trigger interval | +| 4 | | | Number of positions | +| 5 | | | Roll | +| 6 | | | Pitch | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_SET_STANDARD_MODE (262) + +Enable the specified standard MAVLink mode. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ----------------------------------------------------------- | +| 1 | | | MAV_STANDARD_MODE | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_GIMBAL_DEVICE_INFORMATION (283) + +Command to ask information about a low level gimbal. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_MISSION_START (300) + +Start running a mission. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------ | +| 1 | | | first_item: the first mission item to run | +| 2 | | | last_item: the last mission item to run (after this item is run, the mission ends) | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_ACTUATOR_TEST (310) + +Actuator testing command. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------------------------------------------------------------------------- | --------------- | +| 1 | | [-1 : 1] | value | +| 2 | s | | timeout | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | output function | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_CONFIGURE_ACTUATOR (311) + +Actuator configuration command. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | --------------- | +| 1 | | | configuration | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | output function | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_COMPONENT_ARM_DISARM (400) + +Arms / Disarms a component. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -------------------------------------- | +| 1 | | | 1 to arm, 0 to disarm. | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_RUN_PREARM_CHECKS (401) + +Instructs a target system to run pre-arm checks. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_INJECT_FAILURE (420) + +Inject artificial failure for testing purposes. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_START_RX_PAIR (500) + +Starts receiver pairing. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ---------------------------------------------------------------- | +| 1 | | | 0:Spektrum | +| 2 | | | 0:Spektrum DSM2, 1:Spektrum DSMX | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_REQUEST_MESSAGE (512) + +Request to send a single instance of the specified message. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_REQUEST_CAMERA_INFORMATION (521) + +Request camera information (CAMERA_INFORMATION). + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | --------------------------------------------------------------------------- | +| 1 | | | 0: No action 1: Request camera capabilities | +| 2 | | | Reserved (all remaining params) | +| 3 | | | Reserved (default:0) | +| 4 | | | Reserved (default:0) | +| 5 | | | Reserved (default:0) | +| 6 | | | Reserved (default:0) | +| 7 | | | Reserved (default:0) | + +### VEHICLE_CMD_SET_CAMERA_MODE (530) + +Set camera capture mode (photo, video, etc.). + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_SET_CAMERA_ZOOM (531) + +Set camera zoom. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_SET_CAMERA_FOCUS (532) + +None + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_EXTERNAL_ATTITUDE_ESTIMATE (620) + +Set an external estimate of vehicle attitude in degrees. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) + +Setpoint to be sent to a gimbal manager to set a gimbal pitch and yaw. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) + +Gimbal configuration to set which sysid/compid is in primary and secondary control. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_IMAGE_START_CAPTURE (2000) + +Start image capture sequence. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_DO_TRIGGER_CONTROL (2003) + +Enable or disable on-board camera triggering system. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_VIDEO_START_CAPTURE (2500) + +Start a video capture. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_VIDEO_STOP_CAPTURE (2501) + +Stop the current video capture. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_LOGGING_START (2510) + +Start streaming ULog data. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_LOGGING_STOP (2511) + +Stop streaming ULog data. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_CONTROL_HIGH_LATENCY (2600) + +Control starting/stopping transmitting data over the high latency link. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_DO_VTOL_TRANSITION (3000) + +Command VTOL transition. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) + +Command safety on/off. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -------------------------------------------------------------------------------- | +| 1 | | | 1 to activate safety, 0 to deactivate safety and allow control surface movements | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST (3001) + +Request arm authorization. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY (30001) + +Prepare a payload deployment in the flight plan. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY (30002) + +Control a pre-programmed payload deployment. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_FIXED_MAG_CAL_YAW (42006) + +Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_DO_WINCH (42600) + +Command to operate winch. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_EXTERNAL_POSITION_ESTIMATE (43003) + +External reset of estimator global position when dead reckoning. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE (43004) + +None + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_PX4_INTERNAL_START (65537) + +Start of PX4 internal only vehicle commands (> UINT16_MAX). + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | -- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN (100000) + +Sets the GPS coordinates of the vehicle local origin (0,0,0) position. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ------------------------------------------------------------------- | +| 1 | | | Unused | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Latitude (WGS-84) | +| 6 | | | Longitude (WGS-84) | +| 7 | m | | Altitude (AMSL from GNSS, positive above ground) | + +### VEHICLE_CMD_SET_NAV_STATE (100001) + +Change mode by specifying nav_state directly. + +| Param | 단위 | Range/Enum | 설명 | +| ----- | -- | ---------- | ------------------------------ | +| 1 | | | nav_state | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +## Enums + +### ORBIT_YAW_BEHAVIOUR {#ORBIT_YAW_BEHAVIOUR} + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | -- | +| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER | `uint8` | 0 | | +| ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING | `uint8` | 1 | | +| ORBIT_YAW_BEHAVIOUR_UNCONTROLLED | `uint8` | 2 | | +| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE | `uint8` | 3 | | +| ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED | `uint8` | 4 | | +| ORBIT_YAW_BEHAVIOUR_UNCHANGED | `uint8` | 5 | | + +### VEHICLE_ROI {#VEHICLE_ROI} + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------------------------------ | ------- | ----- | -------------------------------------------- | +| VEHICLE_ROI_NONE | `uint8` | 0 | No region of interest. | +| VEHICLE_ROI_WPNEXT | `uint8` | 1 | Point toward next MISSION. | +| VEHICLE_ROI_WPINDEX | `uint8` | 2 | Point toward given MISSION. | +| VEHICLE_ROI_LOCATION | `uint8` | 3 | Point toward fixed location. | +| VEHICLE_ROI_TARGET | `uint8` | 4 | Point toward target. | +| VEHICLE_ROI_ENUM_END | `uint8` | 5 | | + +### SPEED_TYPE {#SPEED_TYPE} + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | -- | +| SPEED_TYPE_AIRSPEED | `uint8` | 0 | | +| SPEED_TYPE_GROUNDSPEED | `uint8` | 1 | | +| SPEED_TYPE_CLIMB_SPEED | `uint8` | 2 | | +| SPEED_TYPE_DESCEND_SPEED | `uint8` | 3 | | + +### MAV_MOUNT_MODE {#MAV_MOUNT_MODE} + +| 명칭 | 형식 | Value | 설명 | +| -- | -- | ----- | -- | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| MESSAGE_VERSION | `uint32` | 0 | | +| PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION | `uint16` | 3 | Param value for VEHICLE_CMD_PREFLIGHT_CALIBRATION to start temperature calibration. | +| VEHICLE_MOUNT_MODE_RETRACT | `uint8` | 0 | Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization. | +| VEHICLE_MOUNT_MODE_NEUTRAL | `uint8` | 1 | Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. | +| VEHICLE_MOUNT_MODE_MAVLINK_TARGETING | `uint8` | 2 | Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization. | +| VEHICLE_MOUNT_MODE_RC_TARGETING | `uint8` | 3 | Load neutral position and start RC Roll,Pitch,Yaw control with stabilization. | +| VEHICLE_MOUNT_MODE_GPS_POINT | `uint8` | 4 | Load neutral position and start to point to Lat,Lon,Alt. | +| VEHICLE_MOUNT_MODE_ENUM_END | `uint8` | 5 | | +| PARACHUTE_ACTION_DISABLE | `uint8` | 0 | | +| PARACHUTE_ACTION_ENABLE | `uint8` | 1 | | +| PARACHUTE_ACTION_RELEASE | `uint8` | 2 | | +| FAILURE_UNIT_SENSOR_GYRO | `uint8` | 0 | | +| FAILURE_UNIT_SENSOR_ACCEL | `uint8` | 1 | | +| FAILURE_UNIT_SENSOR_MAG | `uint8` | 2 | | +| FAILURE_UNIT_SENSOR_BARO | `uint8` | 3 | | +| FAILURE_UNIT_SENSOR_GPS | `uint8` | 4 | | +| FAILURE_UNIT_SENSOR_OPTICAL_FLOW | `uint8` | 5 | | +| FAILURE_UNIT_SENSOR_VIO | `uint8` | 6 | | +| FAILURE_UNIT_SENSOR_DISTANCE_SENSOR | `uint8` | 7 | | +| FAILURE_UNIT_SENSOR_AIRSPEED | `uint8` | 8 | | +| FAILURE_UNIT_SYSTEM_BATTERY | `uint8` | 100 | | +| FAILURE_UNIT_SYSTEM_MOTOR | `uint8` | 101 | | +| FAILURE_UNIT_SYSTEM_SERVO | `uint8` | 102 | | +| FAILURE_UNIT_SYSTEM_AVOIDANCE | `uint8` | 103 | | +| FAILURE_UNIT_SYSTEM_RC_SIGNAL | `uint8` | 104 | | +| FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL | `uint8` | 105 | | +| FAILURE_TYPE_OK | `uint8` | 0 | | +| FAILURE_TYPE_OFF | `uint8` | 1 | | +| FAILURE_TYPE_STUCK | `uint8` | 2 | | +| FAILURE_TYPE_GARBAGE | `uint8` | 3 | | +| FAILURE_TYPE_WRONG | `uint8` | 4 | | +| FAILURE_TYPE_SLOW | `uint8` | 5 | | +| FAILURE_TYPE_DELAYED | `uint8` | 6 | | +| FAILURE_TYPE_INTERMITTENT | `uint8` | 7 | | +| ARMING_ACTION_DISARM | `int8` | 0 | | +| ARMING_ACTION_ARM | `int8` | 1 | | +| GRIPPER_ACTION_RELEASE | `uint8` | 0 | | +| GRIPPER_ACTION_GRAB | `uint8` | 1 | | +| SAFETY_OFF | `uint8` | 0 | | +| SAFETY_ON | `uint8` | 1 | | +| ORB_QUEUE_LENGTH | `uint8` | 8 | | +| COMPONENT_MODE_EXECUTOR_START | `uint16` | 1000 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleCommand.msg) + +:::details +Click here to see original file ```c # Vehicle Command uORB message. Used for commanding a mission / action / etc. @@ -212,5 +1785,6 @@ bool from_external uint16 COMPONENT_MODE_EXECUTOR_START = 1000 # TOPICS vehicle_command gimbal_v1_command vehicle_command_mode_executor - ``` + +::: diff --git a/docs/ko/msg_docs/VehicleCommandAck.md b/docs/ko/msg_docs/VehicleCommandAck.md index e40b7bc87c..1573f3a243 100644 --- a/docs/ko/msg_docs/VehicleCommandAck.md +++ b/docs/ko/msg_docs/VehicleCommandAck.md @@ -1,10 +1,52 @@ +--- +pageClass: is-wide-page +--- + # VehicleCommandAck (UORB message) -Vehicle Command Ackonwledgement uORB message. -Used for acknowledging the vehicle command being received. -Follows the MAVLink COMMAND_ACK message definition +Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleCommandAck.msg) +**TOPICS:** vehicle_commandack + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| command | `uint32` | | | Command that is being acknowledged | +| result | `uint8` | | | Command result | +| result_param1 | `uint8` | | | Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS | +| result_param2 | `int32` | | | Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied. | +| target_system | `uint8` | | | | +| target_component | `uint16` | | | Target component / mode executor | +| from_external | `bool` | | | Indicates if the command came from an external source | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | --------------------------------- | +| MESSAGE_VERSION | `uint32` | 0 | | +| VEHICLE_CMD_RESULT_ACCEPTED | `uint8` | 0 | Command ACCEPTED and EXECUTED | +| VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED | `uint8` | 1 | Command TEMPORARY REJECTED/DENIED | +| VEHICLE_CMD_RESULT_DENIED | `uint8` | 2 | Command PERMANENTLY DENIED | +| VEHICLE_CMD_RESULT_UNSUPPORTED | `uint8` | 3 | Command UNKNOWN/UNSUPPORTED | +| VEHICLE_CMD_RESULT_FAILED | `uint8` | 4 | Command executed, but failed | +| VEHICLE_CMD_RESULT_IN_PROGRESS | `uint8` | 5 | Command being executed | +| VEHICLE_CMD_RESULT_CANCELLED | `uint8` | 6 | Command Canceled | +| ARM_AUTH_DENIED_REASON_GENERIC | `uint16` | 0 | | +| ARM_AUTH_DENIED_REASON_NONE | `uint16` | 1 | | +| ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT | `uint16` | 2 | | +| ARM_AUTH_DENIED_REASON_TIMEOUT | `uint16` | 3 | | +| ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE | `uint16` | 4 | | +| ARM_AUTH_DENIED_REASON_BAD_WEATHER | `uint16` | 5 | | +| ORB_QUEUE_LENGTH | `uint8` | 8 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleCommandAck.msg) + +:::details +Click here to see original file ```c # Vehicle Command Ackonwledgement uORB message. @@ -32,7 +74,7 @@ uint16 ARM_AUTH_DENIED_REASON_TIMEOUT = 3 uint16 ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE = 4 uint16 ARM_AUTH_DENIED_REASON_BAD_WEATHER = 5 -uint8 ORB_QUEUE_LENGTH = 4 +uint8 ORB_QUEUE_LENGTH = 8 uint32 command # Command that is being acknowledged uint8 result # Command result @@ -42,5 +84,6 @@ uint8 target_system uint16 target_component # Target component / mode executor bool from_external # Indicates if the command came from an external source - ``` + +::: diff --git a/docs/ko/msg_docs/VehicleConstraints.md b/docs/ko/msg_docs/VehicleConstraints.md index 266ac8911f..37c83cf27a 100644 --- a/docs/ko/msg_docs/VehicleConstraints.md +++ b/docs/ko/msg_docs/VehicleConstraints.md @@ -1,9 +1,28 @@ +--- +pageClass: is-wide-page +--- + # VehicleConstraints (UORB message) -Local setpoint constraints in NED frame -setting something to NaN means that no limit is provided +Local setpoint constraints in NED frame. setting something to NaN means that no limit is provided. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleConstraints.msg) +**TOPICS:** vehicle_constraints + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| speed_up | `float32` | | | in meters/sec | +| speed_down | `float32` | | | in meters/sec | +| want_takeoff | `bool` | | | tell the controller to initiate takeoff when idling (ignored during flight) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleConstraints.msg) + +:::details +Click here to see original file ```c # Local setpoint constraints in NED frame @@ -15,5 +34,6 @@ float32 speed_up # in meters/sec float32 speed_down # in meters/sec bool want_takeoff # tell the controller to initiate takeoff when idling (ignored during flight) - ``` + +::: diff --git a/docs/ko/msg_docs/VehicleControlMode.md b/docs/ko/msg_docs/VehicleControlMode.md index b32f09c725..63d54865b1 100644 --- a/docs/ko/msg_docs/VehicleControlMode.md +++ b/docs/ko/msg_docs/VehicleControlMode.md @@ -1,6 +1,44 @@ +--- +pageClass: is-wide-page +--- + # VehicleControlMode (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleControlMode.msg) +**TOPICS:** vehicle_control_mode config_control_setpoints + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| flag_armed | `bool` | | | synonym for actuator_armed.armed | +| flag_multicopter_position_control_enabled | `bool` | | | | +| flag_control_manual_enabled | `bool` | | | true if manual input is mixed in | +| flag_control_auto_enabled | `bool` | | | true if onboard autopilot should act | +| flag_control_offboard_enabled | `bool` | | | true if offboard control should be used | +| flag_control_position_enabled | `bool` | | | true if position is controlled | +| flag_control_velocity_enabled | `bool` | | | true if horizontal velocity (implies direction) is controlled | +| flag_control_altitude_enabled | `bool` | | | true if altitude is controlled | +| flag_control_climb_rate_enabled | `bool` | | | true if climb rate is controlled | +| flag_control_acceleration_enabled | `bool` | | | true if acceleration is controlled | +| flag_control_attitude_enabled | `bool` | | | true if attitude stabilization is mixed in | +| flag_control_rates_enabled | `bool` | | | true if rates are stabilized | +| flag_control_allocation_enabled | `bool` | | | true if control allocation is enabled | +| flag_control_termination_enabled | `bool` | | | true if flighttermination is enabled | +| source_id | `uint8` | | | Mode ID (nav_state) | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleControlMode.msg) + +:::details +Click here to see original file ```c uint32 MESSAGE_VERSION = 0 @@ -27,5 +65,6 @@ bool flag_control_termination_enabled # true if flighttermination is enabled uint8 source_id # Mode ID (nav_state) # TOPICS vehicle_control_mode config_control_setpoints - ``` + +::: diff --git a/docs/ko/msg_docs/VehicleGlobalPosition.md b/docs/ko/msg_docs/VehicleGlobalPosition.md index c3e4147201..7e3fcd4f4a 100644 --- a/docs/ko/msg_docs/VehicleGlobalPosition.md +++ b/docs/ko/msg_docs/VehicleGlobalPosition.md @@ -1,12 +1,48 @@ +--- +pageClass: is-wide-page +--- + # VehicleGlobalPosition (UORB message) -Fused global position in WGS84. -This struct contains global position estimation. It is not the raw GPS -measurement (@see vehicle_gps_position). This topic is usually published by the position -estimator, which will take more sources of information into account than just GPS, -e.g. control inputs of the vehicle in a Kalman-filter implementation. +Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleGlobalPosition.msg) +**TOPICS:** vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position estimator_global_position aux_global_position + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------------------------ | --------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| lat | `float64` | | | Latitude, (degrees) | +| lon | `float64` | | | Longitude, (degrees) | +| alt | `float32` | | | Altitude AMSL, (meters) | +| alt_ellipsoid | `float32` | | | Altitude above ellipsoid, (meters) | +| lat_lon_valid | `bool` | | | | +| alt_valid | `bool` | | | | +| delta_alt | `float32` | | | Reset delta for altitude | +| delta_terrain | `float32` | | | Reset delta for terrain | +| lat_lon_reset_counter | `uint8` | | | Counter for reset events on horizontal position coordinates | +| alt_reset_counter | `uint8` | | | Counter for reset events on altitude | +| terrain_reset_counter | `uint8` | | | Counter for reset events on terrain | +| eph | `float32` | | | Standard deviation of horizontal position error, (metres) | +| epv | `float32` | | | Standard deviation of vertical position error, (metres) | +| terrain_alt | `float32` | | | Terrain altitude WGS84, (metres) | +| terrain_alt_valid | `bool` | | | Terrain altitude estimate is valid | +| dead_reckoning | `bool` | | | True if this position is estimated through dead-reckoning | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleGlobalPosition.msg) + +:::details +Click here to see original file ```c # Fused global position in WGS84. @@ -46,5 +82,6 @@ bool dead_reckoning # True if this position is estimated through dead-reckoning # TOPICS vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position # TOPICS estimator_global_position # TOPICS aux_global_position - ``` + +::: diff --git a/docs/ko/msg_docs/VehicleImu.md b/docs/ko/msg_docs/VehicleImu.md index 5c3856f190..74520f4fa4 100644 --- a/docs/ko/msg_docs/VehicleImu.md +++ b/docs/ko/msg_docs/VehicleImu.md @@ -1,8 +1,44 @@ +--- +pageClass: is-wide-page +--- + # VehicleImu (UORB message) IMU readings in SI-unit form. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleImu.msg) +**TOPICS:** vehicle_imu + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | | +| accel_device_id | `uint32` | | | Accelerometer unique device ID for the sensor that does not change between power cycles | +| gyro_device_id | `uint32` | | | Gyroscope unique device ID for the sensor that does not change between power cycles | +| delta_angle | `float32[3]` | | | delta angle about the FRD body frame XYZ-axis in rad over the integration time frame (delta_angle_dt) | +| delta_velocity | `float32[3]` | | | delta velocity in the FRD body frame XYZ-axis in m/s over the integration time frame (delta_velocity_dt) | +| delta_angle_dt | `uint32` | | | integration period in microseconds | +| delta_velocity_dt | `uint32` | | | integration period in microseconds | +| delta_angle_clipping | `uint8` | | | bitfield indicating if there was any gyro clipping (per axis) during the integration time frame | +| delta_velocity_clipping | `uint8` | | | bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame | +| accel_calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever accelermeter calibration changes. | +| gyro_calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever rate gyro calibration changes. | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ---------------------------------------------------------- | ------- | ----- | -- | +| CLIPPING_X | `uint8` | 1 | | +| CLIPPING_Y | `uint8` | 2 | | +| CLIPPING_Z | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleImu.msg) + +:::details +Click here to see original file ```c # IMU readings in SI-unit form. @@ -28,5 +64,6 @@ uint8 delta_velocity_clipping # bitfield indicating if there was any accelerom uint8 accel_calibration_count # Calibration changed counter. Monotonically increases whenever accelermeter calibration changes. uint8 gyro_calibration_count # Calibration changed counter. Monotonically increases whenever rate gyro calibration changes. - ``` + +::: diff --git a/docs/ko/msg_docs/VehicleImuStatus.md b/docs/ko/msg_docs/VehicleImuStatus.md index c6335b8f3b..7cf1612c42 100644 --- a/docs/ko/msg_docs/VehicleImuStatus.md +++ b/docs/ko/msg_docs/VehicleImuStatus.md @@ -1,6 +1,42 @@ +--- +pageClass: is-wide-page +--- + # VehicleImuStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleImuStatus.msg) +**TOPICS:** vehicle_imustatus + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| accel_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| gyro_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| accel_clipping | `uint32[3]` | | | total clipping per axis | +| gyro_clipping | `uint32[3]` | | | total clipping per axis | +| accel_error_count | `uint32` | | | | +| gyro_error_count | `uint32` | | | | +| accel_rate_hz | `float32` | | | | +| gyro_rate_hz | `float32` | | | | +| accel_raw_rate_hz | `float32` | | | full raw sensor sample rate (Hz) | +| gyro_raw_rate_hz | `float32` | | | full raw sensor sample rate (Hz) | +| accel_vibration_metric | `float32` | | | high frequency vibration level in the accelerometer data (m/s/s) | +| gyro_vibration_metric | `float32` | | | high frequency vibration level in the gyro data (rad/s) | +| delta_angle_coning_metric | `float32` | | | average IMU delta angle coning correction (rad^2) | +| mean_accel | `float32[3]` | | | average accelerometer readings since last publication | +| mean_gyro | `float32[3]` | | | average gyroscope readings since last publication | +| var_accel | `float32[3]` | | | accelerometer variance since last publication | +| var_gyro | `float32[3]` | | | gyroscope variance since last publication | +| temperature_accel | `float32` | | | | +| temperature_gyro | `float32` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleImuStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -31,5 +67,6 @@ float32[3] var_gyro # gyroscope variance since last publication float32 temperature_accel float32 temperature_gyro - ``` + +::: diff --git a/docs/ko/msg_docs/VehicleLandDetected.md b/docs/ko/msg_docs/VehicleLandDetected.md index acd95de190..b7a3cbd68e 100644 --- a/docs/ko/msg_docs/VehicleLandDetected.md +++ b/docs/ko/msg_docs/VehicleLandDetected.md @@ -1,6 +1,41 @@ +--- +pageClass: is-wide-page +--- + # VehicleLandDetected (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleLandDetected.msg) +**TOPICS:** vehicle_landdetected + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| freefall | `bool` | | | true if vehicle is currently in free-fall | +| ground_contact | `bool` | | | true if vehicle has ground contact but is not landed (1. stage) | +| maybe_landed | `bool` | | | true if the vehicle might have landed (2. stage) | +| landed | `bool` | | | true if vehicle is currently landed on the ground (3. stage) | +| in_ground_effect | `bool` | | | indicates if from the perspective of the landing detector the vehicle might be in ground effect (baro). This flag will become true if the vehicle is not moving horizontally and is descending (crude assumption that user is landing). | +| in_descend | `bool` | | | | +| has_low_throttle | `bool` | | | | +| vertical_movement | `bool` | | | | +| horizontal_movement | `bool` | | | | +| rotational_movement | `bool` | | | | +| close_to_ground_or_skipped_check | `bool` | | | | +| at_rest | `bool` | | | | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleLandDetected.msg) + +:::details +Click here to see original file ```c uint32 MESSAGE_VERSION = 0 @@ -24,5 +59,6 @@ bool rotational_movement bool close_to_ground_or_skipped_check bool at_rest - ``` + +::: diff --git a/docs/ko/msg_docs/VehicleLocalPosition.md b/docs/ko/msg_docs/VehicleLocalPosition.md index af84dc1ddb..c2d2a179c0 100644 --- a/docs/ko/msg_docs/VehicleLocalPosition.md +++ b/docs/ko/msg_docs/VehicleLocalPosition.md @@ -1,9 +1,86 @@ +--- +pageClass: is-wide-page +--- + # VehicleLocalPosition (UORB message) -Fused local position in NED. -The coordinate system origin is the vehicle position at the time when the EKF2-module was started. +Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleLocalPosition.msg) +**TOPICS:** vehicle_local_position vehicle_local_position_groundtruth external_ins_local_position estimator_local_position + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------------------------------ | ------------ | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| xy_valid | `bool` | | | true if x and y are valid | +| z_valid | `bool` | | | true if z is valid | +| v_xy_valid | `bool` | | | true if vx and vy are valid | +| v_z_valid | `bool` | | | true if vz is valid | +| x | `float32` | | | North position in NED earth-fixed frame, (metres) | +| y | `float32` | | | East position in NED earth-fixed frame, (metres) | +| z | `float32` | | | Down position (negative altitude) in NED earth-fixed frame, (metres) | +| delta_xy | `float32[2]` | | | Amount of lateral shift of position estimate in latest reset (in x and y) [m] | +| xy_reset_counter | `uint8` | | | Index of latest lateral position estimate reset | +| delta_z | `float32` | | | Amount of vertical shift of position estimate in latest reset [m] | +| z_reset_counter | `uint8` | | | Index of latest vertical position estimate reset | +| vx | `float32` | | | North velocity in NED earth-fixed frame, (metres/sec) | +| vy | `float32` | | | East velocity in NED earth-fixed frame, (metres/sec) | +| vz | `float32` | | | Down velocity in NED earth-fixed frame, (metres/sec) | +| z_deriv | `float32` | | | Down position time derivative in NED earth-fixed frame, (metres/sec) | +| delta_vxy | `float32[2]` | | | Amount of lateral shift of velocity estimate in latest reset (in x and y) [m/s] | +| vxy_reset_counter | `uint8` | | | Index of latest vertical velocity estimate reset | +| delta_vz | `float32` | | | Amount of vertical shift of velocity estimate in latest reset [m/s] | +| vz_reset_counter | `uint8` | | | Index of latest vertical velocity estimate reset | +| ax | `float32` | | | North velocity derivative in NED earth-fixed frame, (metres/sec^2) | +| ay | `float32` | | | East velocity derivative in NED earth-fixed frame, (metres/sec^2) | +| az | `float32` | | | Down velocity derivative in NED earth-fixed frame, (metres/sec^2) | +| heading | `float32` | | | Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians) | +| heading_var | `float32` | | | | +| unaided_heading | `float32` | | | Same as heading but generated by integrating corrected gyro data only | +| delta_heading | `float32` | | | Heading delta caused by latest heading reset [rad] | +| heading_reset_counter | `uint8` | | | Index of latest heading reset | +| heading_good_for_control | `bool` | | | | +| tilt_var | `float32` | | | | +| xy_global | `bool` | | | true if position (x, y) has a valid global reference (ref_lat, ref_lon) | +| z_global | `bool` | | | true if z has a valid global reference (ref_alt) | +| ref_timestamp | `uint64` | | | Time when reference position was set since system start, (microseconds) | +| ref_lat | `float64` | | | Reference point latitude, (degrees) | +| ref_lon | `float64` | | | Reference point longitude, (degrees) | +| ref_alt | `float32` | | | Reference altitude AMSL, (metres) | +| dist_bottom_valid | `bool` | | | true if distance to bottom surface is valid | +| dist_bottom | `float32` | | | Distance from from bottom surface to ground, (metres) | +| dist_bottom_var | `float32` | | | terrain estimate variance (m^2) | +| delta_dist_bottom | `float32` | | | Amount of vertical shift of dist bottom estimate in latest reset [m] | +| dist_bottom_reset_counter | `uint8` | | | Index of latest dist bottom estimate reset | +| dist_bottom_sensor_bitfield | `uint8` | | | bitfield indicating what type of sensor is used to estimate dist_bottom | +| eph | `float32` | | | Standard deviation of horizontal position error, (metres) | +| epv | `float32` | | | Standard deviation of vertical position error, (metres) | +| evh | `float32` | | | Standard deviation of horizontal velocity error, (metres/sec) | +| evv | `float32` | | | Standard deviation of vertical velocity error, (metres/sec) | +| dead_reckoning | `bool` | | | True if this position is estimated through dead-reckoning | +| vxy_max | `float32` | | | maximum horizontal speed (meters/sec) | +| vz_max | `float32` | | | maximum vertical speed (meters/sec) | +| hagl_min | `float32` | | | minimum height above ground level (meters) | +| hagl_max_z | `float32` | | | maximum height above ground level for z-control (meters) | +| hagl_max_xy | `float32` | | | maximum height above ground level for xy-control (meters) | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| MESSAGE_VERSION | `uint32` | 1 | | +| DIST_BOTTOM_SENSOR_NONE | `uint8` | 0 | | +| DIST_BOTTOM_SENSOR_RANGE | `uint8` | 1 | (1 << 0) a range sensor is used to estimate dist_bottom field | +| DIST_BOTTOM_SENSOR_FLOW | `uint8` | 2 | (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleLocalPosition.msg) + +:::details +Click here to see original file ```c # Fused local position in NED. @@ -94,5 +171,6 @@ float32 hagl_max_xy # maximum height above ground level for xy-control (meters # TOPICS vehicle_local_position vehicle_local_position_groundtruth external_ins_local_position # TOPICS estimator_local_position - ``` + +::: diff --git a/docs/ko/msg_docs/VehicleLocalPositionSetpoint.md b/docs/ko/msg_docs/VehicleLocalPositionSetpoint.md index 15f66292b3..a6015eae16 100644 --- a/docs/ko/msg_docs/VehicleLocalPositionSetpoint.md +++ b/docs/ko/msg_docs/VehicleLocalPositionSetpoint.md @@ -1,10 +1,35 @@ +--- +pageClass: is-wide-page +--- + # VehicleLocalPositionSetpoint (UORB message) -Local position setpoint in NED frame -Telemetry of PID position controller to monitor tracking. -NaN means the state was not controlled +Local position setpoint in NED frame. Telemetry of PID position controller to monitor tracking. NaN means the state was not controlled. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleLocalPositionSetpoint.msg) +**TOPICS:** vehicle_localposition_setpoint + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------ | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| x | `float32` | | | in meters NED | +| y | `float32` | | | in meters NED | +| z | `float32` | | | in meters NED | +| vx | `float32` | | | in meters/sec | +| vy | `float32` | | | in meters/sec | +| vz | `float32` | | | in meters/sec | +| acceleration | `float32[3]` | | | in meters/sec^2 | +| thrust | `float32[3]` | | | normalized thrust vector in NED | +| yaw | `float32` | | | in radians NED -PI..+PI | +| yawspeed | `float32` | | | in radians/sec | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleLocalPositionSetpoint.msg) + +:::details +Click here to see original file ```c # Local position setpoint in NED frame @@ -26,5 +51,6 @@ float32[3] thrust # normalized thrust vector in NED float32 yaw # in radians NED -PI..+PI float32 yawspeed # in radians/sec - ``` + +::: diff --git a/docs/ko/msg_docs/VehicleLocalPositionV0.md b/docs/ko/msg_docs/VehicleLocalPositionV0.md index 05d9361dc1..f76947c7dd 100644 --- a/docs/ko/msg_docs/VehicleLocalPositionV0.md +++ b/docs/ko/msg_docs/VehicleLocalPositionV0.md @@ -1,9 +1,85 @@ +--- +pageClass: is-wide-page +--- + # VehicleLocalPositionV0 (UORB message) -Fused local position in NED. -The coordinate system origin is the vehicle position at the time when the EKF2-module was started. +Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleLocalPositionV0.msg) +**TOPICS:** vehicle_local_position vehicle_local_position_groundtruth external_ins_local_position estimator_local_position + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------------------------------------ | ------------ | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| xy_valid | `bool` | | | true if x and y are valid | +| z_valid | `bool` | | | true if z is valid | +| v_xy_valid | `bool` | | | true if vx and vy are valid | +| v_z_valid | `bool` | | | true if vz is valid | +| x | `float32` | | | North position in NED earth-fixed frame, (metres) | +| y | `float32` | | | East position in NED earth-fixed frame, (metres) | +| z | `float32` | | | Down position (negative altitude) in NED earth-fixed frame, (metres) | +| delta_xy | `float32[2]` | | | Amount of lateral shift of position estimate in latest reset (in x and y) [m] | +| xy_reset_counter | `uint8` | | | Index of latest lateral position estimate reset | +| delta_z | `float32` | | | Amount of vertical shift of position estimate in latest reset [m] | +| z_reset_counter | `uint8` | | | Index of latest vertical position estimate reset | +| vx | `float32` | | | North velocity in NED earth-fixed frame, (metres/sec) | +| vy | `float32` | | | East velocity in NED earth-fixed frame, (metres/sec) | +| vz | `float32` | | | Down velocity in NED earth-fixed frame, (metres/sec) | +| z_deriv | `float32` | | | Down position time derivative in NED earth-fixed frame, (metres/sec) | +| delta_vxy | `float32[2]` | | | Amount of lateral shift of velocity estimate in latest reset (in x and y) [m/s] | +| vxy_reset_counter | `uint8` | | | Index of latest vertical velocity estimate reset | +| delta_vz | `float32` | | | Amount of vertical shift of velocity estimate in latest reset [m/s] | +| vz_reset_counter | `uint8` | | | Index of latest vertical velocity estimate reset | +| ax | `float32` | | | North velocity derivative in NED earth-fixed frame, (metres/sec^2) | +| ay | `float32` | | | East velocity derivative in NED earth-fixed frame, (metres/sec^2) | +| az | `float32` | | | Down velocity derivative in NED earth-fixed frame, (metres/sec^2) | +| heading | `float32` | | | Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians) | +| heading_var | `float32` | | | | +| unaided_heading | `float32` | | | Same as heading but generated by integrating corrected gyro data only | +| delta_heading | `float32` | | | Heading delta caused by latest heading reset [rad] | +| heading_reset_counter | `uint8` | | | Index of latest heading reset | +| heading_good_for_control | `bool` | | | | +| tilt_var | `float32` | | | | +| xy_global | `bool` | | | true if position (x, y) has a valid global reference (ref_lat, ref_lon) | +| z_global | `bool` | | | true if z has a valid global reference (ref_alt) | +| ref_timestamp | `uint64` | | | Time when reference position was set since system start, (microseconds) | +| ref_lat | `float64` | | | Reference point latitude, (degrees) | +| ref_lon | `float64` | | | Reference point longitude, (degrees) | +| ref_alt | `float32` | | | Reference altitude AMSL, (metres) | +| dist_bottom_valid | `bool` | | | true if distance to bottom surface is valid | +| dist_bottom | `float32` | | | Distance from from bottom surface to ground, (metres) | +| dist_bottom_var | `float32` | | | terrain estimate variance (m^2) | +| delta_dist_bottom | `float32` | | | Amount of vertical shift of dist bottom estimate in latest reset [m] | +| dist_bottom_reset_counter | `uint8` | | | Index of latest dist bottom estimate reset | +| dist_bottom_sensor_bitfield | `uint8` | | | bitfield indicating what type of sensor is used to estimate dist_bottom | +| eph | `float32` | | | Standard deviation of horizontal position error, (metres) | +| epv | `float32` | | | Standard deviation of vertical position error, (metres) | +| evh | `float32` | | | Standard deviation of horizontal velocity error, (metres/sec) | +| evv | `float32` | | | Standard deviation of vertical velocity error, (metres/sec) | +| dead_reckoning | `bool` | | | True if this position is estimated through dead-reckoning | +| vxy_max | `float32` | | | maximum horizontal speed - set to 0 when limiting not required (meters/sec) | +| vz_max | `float32` | | | maximum vertical speed - set to 0 when limiting not required (meters/sec) | +| hagl_min | `float32` | | | minimum height above ground level - set to 0 when limiting not required (meters) | +| hagl_max | `float32` | | | maximum height above ground level - set to 0 when limiting not required (meters) | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| MESSAGE_VERSION | `uint32` | 0 | | +| DIST_BOTTOM_SENSOR_NONE | `uint8` | 0 | | +| DIST_BOTTOM_SENSOR_RANGE | `uint8` | 1 | (1 << 0) a range sensor is used to estimate dist_bottom field | +| DIST_BOTTOM_SENSOR_FLOW | `uint8` | 2 | (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleLocalPositionV0.msg) + +:::details +Click here to see original file ```c # Fused local position in NED. @@ -92,5 +168,6 @@ float32 hagl_max # maximum height above ground level - set to 0 when limiting # TOPICS vehicle_local_position vehicle_local_position_groundtruth external_ins_local_position # TOPICS estimator_local_position - ``` + +::: diff --git a/docs/ko/msg_docs/VehicleMagnetometer.md b/docs/ko/msg_docs/VehicleMagnetometer.md index a847ae520c..b9e75f149a 100644 --- a/docs/ko/msg_docs/VehicleMagnetometer.md +++ b/docs/ko/msg_docs/VehicleMagnetometer.md @@ -1,9 +1,29 @@ +--- +pageClass: is-wide-page +--- + # VehicleMagnetometer (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleMagnetometer.msg) +**TOPICS:** vehicle_magnetometer + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| -------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| device_id | `uint32` | | | unique device ID for the selected magnetometer | +| magnetometer_ga | `float32[3]` | | | Magnetic field in the FRD body frame XYZ-axis in Gauss | +| calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever calibration changes. | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleMagnetometer.msg) + +:::details +Click here to see original file ```c - uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) @@ -13,5 +33,6 @@ uint32 device_id # unique device ID for the selected magnetometer float32[3] magnetometer_ga # Magnetic field in the FRD body frame XYZ-axis in Gauss uint8 calibration_count # Calibration changed counter. Monotonically increases whenever calibration changes. - ``` + +::: diff --git a/docs/ko/msg_docs/VehicleOdometry.md b/docs/ko/msg_docs/VehicleOdometry.md index 4213c23337..30159d40ef 100644 --- a/docs/ko/msg_docs/VehicleOdometry.md +++ b/docs/ko/msg_docs/VehicleOdometry.md @@ -1,10 +1,64 @@ +--- +pageClass: is-wide-page +--- + # VehicleOdometry (UORB message) -Vehicle odometry data +Vehicle odometry data. Fits ROS REP 147 for aerial vehicles -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleOdometry.msg) +**TOPICS:** vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry estimator_odometry + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------- | ------------ | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Timestamp sample | +| pose_frame | `uint8` | | [POSE_FRAME](#POSE_FRAME) | Position and orientation frame of reference | +| position | `float32[3]` | m [local frame] | | Position. Origin is position of GC at startup. (Invalid: NaN If invalid/unknown) | +| q | `float32[4]` | | | Attitude (expressed as a quaternion) relative to pose reference frame at current location. Follows the Hamiltonian convention (w, x, y, z, right-handed, passive rotations from body to world) (Invalid: NaN First value if invalid/unknown) | +| velocity_frame | `uint8` | | [VELOCITY_FRAME](#VELOCITY_FRAME) | Reference frame of the velocity data | +| velocity | `float32[3]` | m/s [@velocity_frame] | | Velocity. (Invalid: NaN If invalid/unknown) | +| angular_velocity | `float32[3]` | rad/s [@VELOCITY_FRAME_BODY_FRD] | | Angular velocity in body-fixed frame (Invalid: NaN If invalid/unknown) | +| position_variance | `float32[3]` | m^2 | | Variance of position error | +| orientation_variance | `float32[3]` | rad^2 | | Variance of orientation/attitude error (expressed in body frame) | +| velocity_variance | `float32[3]` | m^2/s^2 | | Variance of velocity error | +| reset_counter | `uint8` | | | Reset counter. Counts reset events on attitude, velocity and position. | +| quality | `int8` | | | Quality. Unused. (Invalid: 0) | + +## Enums + +### POSE_FRAME {#POSE_FRAME} + +| 명칭 | 형식 | Value | 설명 | +| ----------------------------------------------------------------------------------------------- | ------- | ----- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| POSE_FRAME_UNKNOWN | `uint8` | 0 | Unknown frame | +| POSE_FRAME_NED | `uint8` | 1 | North-East-Down (NED) navigation frame. Aligned with True North. | +| POSE_FRAME_FRD | `uint8` | 2 | Forward-Right-Down (FRD) frame. Constant arbitrary heading offset from True North. Z is down. | + +### VELOCITY_FRAME {#VELOCITY_FRAME} + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------------------------------------ | ------- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------------- | +| VELOCITY_FRAME_UNKNOWN | `uint8` | 0 | Unknown frame | +| VELOCITY_FRAME_NED | `uint8` | 1 | NED navigation frame at current position. | +| VELOCITY_FRAME_FRD | `uint8` | 2 | FRD navigation frame at current position. Constant arbitrary heading offset from True North. Z is down. | +| VELOCITY_FRAME_BODY_FRD | `uint8` | 3 | FRD body-fixed frame | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleOdometry.msg) + +:::details +Click here to see original file ```c # Vehicle odometry data @@ -42,5 +96,6 @@ int8 quality # [-] [@invalid 0] Quality. Unused. # TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry # TOPICS estimator_odometry - ``` + +::: diff --git a/docs/ko/msg_docs/VehicleOpticalFlow.md b/docs/ko/msg_docs/VehicleOpticalFlow.md index 21bd5ab438..848458e9b6 100644 --- a/docs/ko/msg_docs/VehicleOpticalFlow.md +++ b/docs/ko/msg_docs/VehicleOpticalFlow.md @@ -1,8 +1,35 @@ +--- +pageClass: is-wide-page +--- + # VehicleOpticalFlow (UORB message) Optical flow in XYZ body frame in SI units. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleOpticalFlow.msg) +**TOPICS:** vehicle_opticalflow + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| pixel_flow | `float32[2]` | | | (radians) accumulated optical flow in radians where a positive value is produced by a RH rotation about the body axis | +| delta_angle | `float32[3]` | | | (radians) accumulated gyro radians where a positive value is produced by a RH rotation of the sensor about the body axis. (NAN if unavailable) | +| distance_m | `float32` | | | (meters) Distance to the center of the flow field (NAN if unavailable) | +| integration_timespan_us | `uint32` | | | (microseconds) accumulation timespan in microseconds | +| quality | `uint8` | | | Average of quality of accumulated frames, 0: bad quality, 255: maximum quality | +| max_flow_rate | `float32` | | | (radians/s) Magnitude of maximum angular which the optical flow sensor can measure reliably | +| min_ground_distance | `float32` | | | (meters) Minimum distance from ground at which the optical flow sensor operates reliably | +| max_ground_distance | `float32` | | | (meters) Maximum distance from ground at which the optical flow sensor operates reliably | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleOpticalFlow.msg) + +:::details +Click here to see original file ```c # Optical flow in XYZ body frame in SI units. @@ -26,5 +53,6 @@ float32 max_flow_rate # (radians/s) Magnitude of maximum angular which float32 min_ground_distance # (meters) Minimum distance from ground at which the optical flow sensor operates reliably float32 max_ground_distance # (meters) Maximum distance from ground at which the optical flow sensor operates reliably - ``` + +::: diff --git a/docs/ko/msg_docs/VehicleOpticalFlowVel.md b/docs/ko/msg_docs/VehicleOpticalFlowVel.md index c8dd307921..574f04ccff 100644 --- a/docs/ko/msg_docs/VehicleOpticalFlowVel.md +++ b/docs/ko/msg_docs/VehicleOpticalFlowVel.md @@ -1,6 +1,33 @@ +--- +pageClass: is-wide-page +--- + # VehicleOpticalFlowVel (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleOpticalFlowVel.msg) +**TOPICS:** estimator_optical_flow_vel vehicle_optical_flow_vel + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| vel_body | `float32[2]` | | | velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s) | +| vel_ne | `float32[2]` | | | same as vel_body but in local frame (m/s) | +| vel_body_filtered | `float32[2]` | | | filtered velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s) | +| vel_ne_filtered | `float32[2]` | | | filtered same as vel_body_filtered but in local frame (m/s) | +| flow_rate_uncompensated | `float32[2]` | | | integrated optical flow measurement (rad/s) | +| flow_rate_compensated | `float32[2]` | | | integrated optical flow measurement compensated for angular motion (rad/s) | +| gyro_rate | `float32[3]` | | | gyro measurement synchronized with flow measurements (rad/s) | +| gyro_bias | `float32[3]` | | | | +| ref_gyro | `float32[3]` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleOpticalFlowVel.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -21,5 +48,6 @@ float32[3] gyro_bias float32[3] ref_gyro # TOPICS estimator_optical_flow_vel vehicle_optical_flow_vel - ``` + +::: diff --git a/docs/ko/msg_docs/VehicleRatesSetpoint.md b/docs/ko/msg_docs/VehicleRatesSetpoint.md index 1281c74091..9ddb01c33a 100644 --- a/docs/ko/msg_docs/VehicleRatesSetpoint.md +++ b/docs/ko/msg_docs/VehicleRatesSetpoint.md @@ -1,6 +1,34 @@ +--- +pageClass: is-wide-page +--- + # VehicleRatesSetpoint (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleRatesSetpoint.msg) +**TOPICS:** vehicle_ratessetpoint + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ----------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| roll | `float32` | rad/s | | roll rate setpoint | +| pitch | `float32` | rad/s | | pitch rate setpoint | +| yaw | `float32` | rad/s | | yaw rate setpoint | +| thrust_body | `float32[3]` | | | Normalized thrust command in body NED frame [-1,1] | +| reset_integral | `bool` | | | Reset roll/pitch/yaw integrals (navigation logic change) | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleRatesSetpoint.msg) + +:::details +Click here to see original file ```c uint32 MESSAGE_VERSION = 0 @@ -17,5 +45,6 @@ float32 yaw # [rad/s] yaw rate setpoint float32[3] thrust_body # Normalized thrust command in body NED frame [-1,1] bool reset_integral # Reset roll/pitch/yaw integrals (navigation logic change) - ``` + +::: diff --git a/docs/ko/msg_docs/VehicleRoi.md b/docs/ko/msg_docs/VehicleRoi.md index 9f3533e29f..f54ffc2be4 100644 --- a/docs/ko/msg_docs/VehicleRoi.md +++ b/docs/ko/msg_docs/VehicleRoi.md @@ -1,8 +1,43 @@ +--- +pageClass: is-wide-page +--- + # VehicleRoi (UORB message) -Vehicle Region Of Interest (ROI) +Vehicle Region Of Interest (ROI). -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleRoi.msg) +**TOPICS:** vehicle_roi + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| --------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| mode | `uint8` | | | ROI mode (see above) | +| lat | `float64` | | | Latitude to point to | +| lon | `float64` | | | Longitude to point to | +| alt | `float32` | | | Altitude to point to | +| roll_offset | `float32` | | | angle offset in rad | +| pitch_offset | `float32` | | | angle offset in rad | +| yaw_offset | `float32` | | | angle offset in rad | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ----------------------------------------------------------------------------------- | ------- | ----- | ---------------------------------------------- | +| ROI_NONE | `uint8` | 0 | No region of interest | +| ROI_WPNEXT | `uint8` | 1 | Point toward next MISSION with optional offset | +| ROI_WPINDEX | `uint8` | 2 | Point toward given MISSION | +| ROI_LOCATION | `uint8` | 3 | Point toward fixed location | +| ROI_TARGET | `uint8` | 4 | Point toward target | +| ROI_ENUM_END | `uint8` | 5 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleRoi.msg) + +:::details +Click here to see original file ```c # Vehicle Region Of Interest (ROI) @@ -26,5 +61,6 @@ float32 alt # Altitude to point to float32 roll_offset # angle offset in rad float32 pitch_offset # angle offset in rad float32 yaw_offset # angle offset in rad - ``` + +::: diff --git a/docs/ko/msg_docs/VehicleStatus.md b/docs/ko/msg_docs/VehicleStatus.md index 05e3f98bbb..d7663812c3 100644 --- a/docs/ko/msg_docs/VehicleStatus.md +++ b/docs/ko/msg_docs/VehicleStatus.md @@ -1,8 +1,131 @@ +--- +pageClass: is-wide-page +--- + # VehicleStatus (UORB message) -Encodes the system state of the vehicle published by commander +Encodes the system state of the vehicle published by commander. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleStatus.msg) +**TOPICS:** vehicle_status + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| armed_time | `uint64` | | | Arming timestamp (microseconds) | +| takeoff_time | `uint64` | | | Takeoff timestamp (microseconds) | +| arming_state | `uint8` | | | | +| latest_arming_reason | `uint8` | | | | +| latest_disarming_reason | `uint8` | | | | +| nav_state_timestamp | `uint64` | | | time when current nav_state activated | +| nav_state_user_intention | `uint8` | | | Mode that the user selected (might be different from nav_state in a failsafe situation) | +| nav_state | `uint8` | | | Currently active mode | +| executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) | +| valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values | +| can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select | +| failure_detector_status | `uint16` | | | | +| hil_state | `uint8` | | | | +| vehicle_type | `uint8` | | | | +| failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) | +| failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control | +| failsafe_defer_state | `uint8` | | | one of FAILSAFE_DEFER_STATE_\* | +| gcs_connection_lost | `bool` | | | datalink to GCS lost | +| gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events | +| high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost | +| is_vtol | `bool` | | | True if the system is VTOL capable | +| is_vtol_tailsitter | `bool` | | | True if the system performs a 90° pitch down rotation during transition from MC to FW | +| in_transition_mode | `bool` | | | True if VTOL is doing a transition | +| in_transition_to_fw | `bool` | | | True if VTOL is doing a transition from MC to FW | +| system_type | `uint8` | | | system type, contains mavlink MAV_TYPE | +| system_id | `uint8` | | | system id, contains MAVLink's system ID field | +| component_id | `uint8` | | | subsystem / component id, contains MAVLink's component ID field | +| safety_button_available | `bool` | | | Set to true if a safety button is connected | +| safety_off | `bool` | | | Set to true if safety is off | +| power_input_valid | `bool` | | | set if input power is valid | +| usb_connected | `bool` | | | set to true (never cleared) once telemetry received from usb link | +| open_drone_id_system_present | `bool` | | | | +| open_drone_id_system_healthy | `bool` | | | | +| parachute_system_present | `bool` | | | | +| parachute_system_healthy | `bool` | | | | +| rc_calibration_in_progress | `bool` | | | | +| calibration_enabled | `bool` | | | | +| pre_flight_checks_pass | `bool` | | | true if all checks necessary to arm pass | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | ----------------------------------------------------------------------------- | +| MESSAGE_VERSION | `uint32` | 1 | | +| ARMING_STATE_DISARMED | `uint8` | 1 | | +| ARMING_STATE_ARMED | `uint8` | 2 | | +| ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 | | +| ARM_DISARM_REASON_RC_SWITCH | `uint8` | 2 | | +| ARM_DISARM_REASON_COMMAND_INTERNAL | `uint8` | 3 | | +| ARM_DISARM_REASON_COMMAND_EXTERNAL | `uint8` | 4 | | +| ARM_DISARM_REASON_MISSION_START | `uint8` | 5 | | +| ARM_DISARM_REASON_LANDING | `uint8` | 6 | | +| ARM_DISARM_REASON_PREFLIGHT_INACTION | `uint8` | 7 | | +| ARM_DISARM_REASON_KILL_SWITCH | `uint8` | 8 | | +| ARM_DISARM_REASON_RC_BUTTON | `uint8` | 13 | | +| ARM_DISARM_REASON_FAILSAFE | `uint8` | 14 | | +| NAVIGATION_STATE_MANUAL | `uint8` | 0 | Manual mode | +| NAVIGATION_STATE_ALTCTL | `uint8` | 1 | Altitude control mode | +| NAVIGATION_STATE_POSCTL | `uint8` | 2 | Position control mode | +| NAVIGATION_STATE_AUTO_MISSION | `uint8` | 3 | Auto mission mode | +| NAVIGATION_STATE_AUTO_LOITER | `uint8` | 4 | Auto loiter mode | +| NAVIGATION_STATE_AUTO_RTL | `uint8` | 5 | Auto return to launch mode | +| NAVIGATION_STATE_POSITION_SLOW | `uint8` | 6 | | +| NAVIGATION_STATE_FREE5 | `uint8` | 7 | | +| NAVIGATION_STATE_ALTITUDE_CRUISE | `uint8` | 8 | Altitude with Cruise mode | +| NAVIGATION_STATE_FREE3 | `uint8` | 9 | | +| NAVIGATION_STATE_ACRO | `uint8` | 10 | Acro mode | +| NAVIGATION_STATE_FREE2 | `uint8` | 11 | | +| NAVIGATION_STATE_DESCEND | `uint8` | 12 | Descend mode (no position control) | +| NAVIGATION_STATE_TERMINATION | `uint8` | 13 | Termination mode | +| NAVIGATION_STATE_OFFBOARD | `uint8` | 14 | | +| NAVIGATION_STATE_STAB | `uint8` | 15 | Stabilized mode | +| NAVIGATION_STATE_FREE1 | `uint8` | 16 | | +| NAVIGATION_STATE_AUTO_TAKEOFF | `uint8` | 17 | Takeoff | +| NAVIGATION_STATE_AUTO_LAND | `uint8` | 18 | Land | +| NAVIGATION_STATE_AUTO_FOLLOW_TARGET | `uint8` | 19 | Auto Follow | +| NAVIGATION_STATE_AUTO_PRECLAND | `uint8` | 20 | Precision land with landing target | +| NAVIGATION_STATE_ORBIT | `uint8` | 21 | Orbit in a circle | +| NAVIGATION_STATE_AUTO_VTOL_TAKEOFF | `uint8` | 22 | Takeoff, transition, establish loiter | +| NAVIGATION_STATE_EXTERNAL1 | `uint8` | 23 | | +| NAVIGATION_STATE_EXTERNAL2 | `uint8` | 24 | | +| NAVIGATION_STATE_EXTERNAL3 | `uint8` | 25 | | +| NAVIGATION_STATE_EXTERNAL4 | `uint8` | 26 | | +| NAVIGATION_STATE_EXTERNAL5 | `uint8` | 27 | | +| NAVIGATION_STATE_EXTERNAL6 | `uint8` | 28 | | +| NAVIGATION_STATE_EXTERNAL7 | `uint8` | 29 | | +| NAVIGATION_STATE_EXTERNAL8 | `uint8` | 30 | | +| NAVIGATION_STATE_MAX | `uint8` | 31 | | +| FAILURE_NONE | `uint16` | 0 | | +| FAILURE_ROLL | `uint16` | 1 | (1 << 0) | +| FAILURE_PITCH | `uint16` | 2 | (1 << 1) | +| FAILURE_ALT | `uint16` | 4 | (1 << 2) | +| FAILURE_EXT | `uint16` | 8 | (1 << 3) | +| FAILURE_ARM_ESC | `uint16` | 16 | (1 << 4) | +| FAILURE_BATTERY | `uint16` | 32 | (1 << 5) | +| FAILURE_IMBALANCED_PROP | `uint16` | 64 | (1 << 6) | +| FAILURE_MOTOR | `uint16` | 128 | (1 << 7) | +| HIL_STATE_OFF | `uint8` | 0 | | +| HIL_STATE_ON | `uint8` | 1 | | +| VEHICLE_TYPE_UNSPECIFIED | `uint8` | 0 | | +| VEHICLE_TYPE_ROTARY_WING | `uint8` | 1 | | +| VEHICLE_TYPE_FIXED_WING | `uint8` | 2 | | +| VEHICLE_TYPE_ROVER | `uint8` | 3 | | +| FAILSAFE_DEFER_STATE_DISABLED | `uint8` | 0 | | +| FAILSAFE_DEFER_STATE_ENABLED | `uint8` | 1 | | +| FAILSAFE_DEFER_STATE_WOULD_FAILSAFE | `uint8` | 2 | Failsafes deferred, but would trigger a failsafe | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleStatus.msg) + +:::details +Click here to see original file ```c # Encodes the system state of the vehicle published by commander @@ -137,5 +260,6 @@ bool rc_calibration_in_progress bool calibration_enabled bool pre_flight_checks_pass # true if all checks necessary to arm pass - ``` + +::: diff --git a/docs/ko/msg_docs/VehicleStatusV0.md b/docs/ko/msg_docs/VehicleStatusV0.md index 9a91186524..c3d872ff41 100644 --- a/docs/ko/msg_docs/VehicleStatusV0.md +++ b/docs/ko/msg_docs/VehicleStatusV0.md @@ -1,8 +1,138 @@ +--- +pageClass: is-wide-page +--- + # VehicleStatusV0 (UORB message) -Encodes the system state of the vehicle published by commander +Encodes the system state of the vehicle published by commander. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleStatusV0.msg) +**TOPICS:** vehicle_statusv0 + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| armed_time | `uint64` | | | Arming timestamp (microseconds) | +| takeoff_time | `uint64` | | | Takeoff timestamp (microseconds) | +| arming_state | `uint8` | | | | +| latest_arming_reason | `uint8` | | | | +| latest_disarming_reason | `uint8` | | | | +| nav_state_timestamp | `uint64` | | | time when current nav_state activated | +| nav_state_user_intention | `uint8` | | | Mode that the user selected (might be different from nav_state in a failsafe situation) | +| nav_state | `uint8` | | | Currently active mode | +| executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) | +| valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values | +| can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select | +| failure_detector_status | `uint16` | | | | +| hil_state | `uint8` | | | | +| vehicle_type | `uint8` | | | | +| failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) | +| failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control | +| failsafe_defer_state | `uint8` | | | one of FAILSAFE_DEFER_STATE_\* | +| gcs_connection_lost | `bool` | | | datalink to GCS lost | +| gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events | +| high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost | +| is_vtol | `bool` | | | True if the system is VTOL capable | +| is_vtol_tailsitter | `bool` | | | True if the system performs a 90° pitch down rotation during transition from MC to FW | +| in_transition_mode | `bool` | | | True if VTOL is doing a transition | +| in_transition_to_fw | `bool` | | | True if VTOL is doing a transition from MC to FW | +| system_type | `uint8` | | | system type, contains mavlink MAV_TYPE | +| system_id | `uint8` | | | system id, contains MAVLink's system ID field | +| component_id | `uint8` | | | subsystem / component id, contains MAVLink's component ID field | +| safety_button_available | `bool` | | | Set to true if a safety button is connected | +| safety_off | `bool` | | | Set to true if safety is off | +| power_input_valid | `bool` | | | set if input power is valid | +| usb_connected | `bool` | | | set to true (never cleared) once telemetry received from usb link | +| open_drone_id_system_present | `bool` | | | | +| open_drone_id_system_healthy | `bool` | | | | +| parachute_system_present | `bool` | | | | +| parachute_system_healthy | `bool` | | | | +| avoidance_system_required | `bool` | | | Set to true if avoidance system is enabled via COM_OBS_AVOID parameter | +| avoidance_system_valid | `bool` | | | Status of the obstacle avoidance system | +| rc_calibration_in_progress | `bool` | | | | +| calibration_enabled | `bool` | | | | +| pre_flight_checks_pass | `bool` | | | true if all checks necessary to arm pass | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | ----------------------------------------------------------------------------- | +| MESSAGE_VERSION | `uint32` | 0 | | +| ARMING_STATE_DISARMED | `uint8` | 1 | | +| ARMING_STATE_ARMED | `uint8` | 2 | | +| ARM_DISARM_REASON_TRANSITION_TO_STANDBY | `uint8` | 0 | | +| ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 | | +| ARM_DISARM_REASON_RC_SWITCH | `uint8` | 2 | | +| ARM_DISARM_REASON_COMMAND_INTERNAL | `uint8` | 3 | | +| ARM_DISARM_REASON_COMMAND_EXTERNAL | `uint8` | 4 | | +| ARM_DISARM_REASON_MISSION_START | `uint8` | 5 | | +| ARM_DISARM_REASON_SAFETY_BUTTON | `uint8` | 6 | | +| ARM_DISARM_REASON_AUTO_DISARM_LAND | `uint8` | 7 | | +| ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT | `uint8` | 8 | | +| ARM_DISARM_REASON_KILL_SWITCH | `uint8` | 9 | | +| ARM_DISARM_REASON_LOCKDOWN | `uint8` | 10 | | +| ARM_DISARM_REASON_FAILURE_DETECTOR | `uint8` | 11 | | +| ARM_DISARM_REASON_SHUTDOWN | `uint8` | 12 | | +| ARM_DISARM_REASON_UNIT_TEST | `uint8` | 13 | | +| NAVIGATION_STATE_MANUAL | `uint8` | 0 | Manual mode | +| NAVIGATION_STATE_ALTCTL | `uint8` | 1 | Altitude control mode | +| NAVIGATION_STATE_POSCTL | `uint8` | 2 | Position control mode | +| NAVIGATION_STATE_AUTO_MISSION | `uint8` | 3 | Auto mission mode | +| NAVIGATION_STATE_AUTO_LOITER | `uint8` | 4 | Auto loiter mode | +| NAVIGATION_STATE_AUTO_RTL | `uint8` | 5 | Auto return to launch mode | +| NAVIGATION_STATE_POSITION_SLOW | `uint8` | 6 | | +| NAVIGATION_STATE_FREE5 | `uint8` | 7 | | +| NAVIGATION_STATE_FREE4 | `uint8` | 8 | | +| NAVIGATION_STATE_FREE3 | `uint8` | 9 | | +| NAVIGATION_STATE_ACRO | `uint8` | 10 | Acro mode | +| NAVIGATION_STATE_FREE2 | `uint8` | 11 | | +| NAVIGATION_STATE_DESCEND | `uint8` | 12 | Descend mode (no position control) | +| NAVIGATION_STATE_TERMINATION | `uint8` | 13 | Termination mode | +| NAVIGATION_STATE_OFFBOARD | `uint8` | 14 | | +| NAVIGATION_STATE_STAB | `uint8` | 15 | Stabilized mode | +| NAVIGATION_STATE_FREE1 | `uint8` | 16 | | +| NAVIGATION_STATE_AUTO_TAKEOFF | `uint8` | 17 | Takeoff | +| NAVIGATION_STATE_AUTO_LAND | `uint8` | 18 | Land | +| NAVIGATION_STATE_AUTO_FOLLOW_TARGET | `uint8` | 19 | Auto Follow | +| NAVIGATION_STATE_AUTO_PRECLAND | `uint8` | 20 | Precision land with landing target | +| NAVIGATION_STATE_ORBIT | `uint8` | 21 | Orbit in a circle | +| NAVIGATION_STATE_AUTO_VTOL_TAKEOFF | `uint8` | 22 | Takeoff, transition, establish loiter | +| NAVIGATION_STATE_EXTERNAL1 | `uint8` | 23 | | +| NAVIGATION_STATE_EXTERNAL2 | `uint8` | 24 | | +| NAVIGATION_STATE_EXTERNAL3 | `uint8` | 25 | | +| NAVIGATION_STATE_EXTERNAL4 | `uint8` | 26 | | +| NAVIGATION_STATE_EXTERNAL5 | `uint8` | 27 | | +| NAVIGATION_STATE_EXTERNAL6 | `uint8` | 28 | | +| NAVIGATION_STATE_EXTERNAL7 | `uint8` | 29 | | +| NAVIGATION_STATE_EXTERNAL8 | `uint8` | 30 | | +| NAVIGATION_STATE_MAX | `uint8` | 31 | | +| FAILURE_NONE | `uint16` | 0 | | +| FAILURE_ROLL | `uint16` | 1 | (1 << 0) | +| FAILURE_PITCH | `uint16` | 2 | (1 << 1) | +| FAILURE_ALT | `uint16` | 4 | (1 << 2) | +| FAILURE_EXT | `uint16` | 8 | (1 << 3) | +| FAILURE_ARM_ESC | `uint16` | 16 | (1 << 4) | +| FAILURE_BATTERY | `uint16` | 32 | (1 << 5) | +| FAILURE_IMBALANCED_PROP | `uint16` | 64 | (1 << 6) | +| FAILURE_MOTOR | `uint16` | 128 | (1 << 7) | +| HIL_STATE_OFF | `uint8` | 0 | | +| HIL_STATE_ON | `uint8` | 1 | | +| VEHICLE_TYPE_UNKNOWN | `uint8` | 0 | | +| VEHICLE_TYPE_ROTARY_WING | `uint8` | 1 | | +| VEHICLE_TYPE_FIXED_WING | `uint8` | 2 | | +| VEHICLE_TYPE_ROVER | `uint8` | 3 | | +| VEHICLE_TYPE_AIRSHIP | `uint8` | 4 | | +| FAILSAFE_DEFER_STATE_DISABLED | `uint8` | 0 | | +| FAILSAFE_DEFER_STATE_ENABLED | `uint8` | 1 | | +| FAILSAFE_DEFER_STATE_WOULD_FAILSAFE | `uint8` | 2 | Failsafes deferred, but would trigger a failsafe | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleStatusV0.msg) + +:::details +Click here to see original file ```c # Encodes the system state of the vehicle published by commander @@ -145,5 +275,6 @@ bool rc_calibration_in_progress bool calibration_enabled bool pre_flight_checks_pass # true if all checks necessary to arm pass - ``` + +::: diff --git a/docs/ko/msg_docs/VehicleThrustSetpoint.md b/docs/ko/msg_docs/VehicleThrustSetpoint.md index d256e77145..f5b5396431 100644 --- a/docs/ko/msg_docs/VehicleThrustSetpoint.md +++ b/docs/ko/msg_docs/VehicleThrustSetpoint.md @@ -1,9 +1,27 @@ +--- +pageClass: is-wide-page +--- + # VehicleThrustSetpoint (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleThrustSetpoint.msg) +**TOPICS:** vehicle_thrust_setpoint vehicle_thrust_setpoint_virtual_fw vehicle_thrust_setpoint_virtual_mc + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | timestamp of the data sample on which this message is based (microseconds) | +| xyz | `float32[3]` | | | thrust setpoint along X, Y, Z body axis [-1, 1] | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleThrustSetpoint.msg) + +:::details +Click here to see original file ```c - uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds) @@ -11,5 +29,6 @@ float32[3] xyz # thrust setpoint along X, Y, Z body axis [-1, 1] # TOPICS vehicle_thrust_setpoint # TOPICS vehicle_thrust_setpoint_virtual_fw vehicle_thrust_setpoint_virtual_mc - ``` + +::: diff --git a/docs/ko/msg_docs/VehicleTorqueSetpoint.md b/docs/ko/msg_docs/VehicleTorqueSetpoint.md index 2fccc89f42..8cb6b6f237 100644 --- a/docs/ko/msg_docs/VehicleTorqueSetpoint.md +++ b/docs/ko/msg_docs/VehicleTorqueSetpoint.md @@ -1,9 +1,27 @@ +--- +pageClass: is-wide-page +--- + # VehicleTorqueSetpoint (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleTorqueSetpoint.msg) +**TOPICS:** vehicle_torque_setpoint vehicle_torque_setpoint_virtual_fw vehicle_torque_setpoint_virtual_mc + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | timestamp of the data sample on which this message is based (microseconds) | +| xyz | `float32[3]` | | | torque setpoint about X, Y, Z body axis (normalized) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleTorqueSetpoint.msg) + +:::details +Click here to see original file ```c - uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds) @@ -11,5 +29,6 @@ float32[3] xyz # torque setpoint about X, Y, Z body axis (normalized) # TOPICS vehicle_torque_setpoint # TOPICS vehicle_torque_setpoint_virtual_fw vehicle_torque_setpoint_virtual_mc - ``` + +::: diff --git a/docs/ko/msg_docs/VelocityLimits.md b/docs/ko/msg_docs/VelocityLimits.md index 6a86fdc977..e8b93b3431 100644 --- a/docs/ko/msg_docs/VelocityLimits.md +++ b/docs/ko/msg_docs/VelocityLimits.md @@ -1,8 +1,28 @@ +--- +pageClass: is-wide-page +--- + # VelocityLimits (UORB message) -Velocity and yaw rate limits for a multicopter position slow mode only +Velocity and yaw rate limits for a multicopter position slow mode only. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VelocityLimits.msg) +**TOPICS:** velocity_limits + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| horizontal_velocity | `float32` | m/s | | | +| vertical_velocity | `float32` | m/s | | | +| yaw_rate | `float32` | rad/s | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VelocityLimits.msg) + +:::details +Click here to see original file ```c # Velocity and yaw rate limits for a multicopter position slow mode only @@ -13,5 +33,6 @@ uint64 timestamp # time since system start (microseconds) float32 horizontal_velocity # [m/s] float32 vertical_velocity # [m/s] float32 yaw_rate # [rad/s] - ``` + +::: diff --git a/docs/ko/msg_docs/VtolVehicleStatus.md b/docs/ko/msg_docs/VtolVehicleStatus.md index a271005673..b725e0ccdd 100644 --- a/docs/ko/msg_docs/VtolVehicleStatus.md +++ b/docs/ko/msg_docs/VtolVehicleStatus.md @@ -1,8 +1,38 @@ +--- +pageClass: is-wide-page +--- + # VtolVehicleStatus (UORB message) -VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE +VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VtolVehicleStatus.msg) +**TOPICS:** vtol_vehiclestatus + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ---------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| vehicle_vtol_state | `uint8` | | | current state of the vtol, see VEHICLE_VTOL_STATE | +| fixed_wing_system_failure | `bool` | | | vehicle in fixed-wing system failure failsafe mode (after quad-chute) | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | +| VEHICLE_VTOL_STATE_UNDEFINED | `uint8` | 0 | | +| VEHICLE_VTOL_STATE_TRANSITION_TO_FW | `uint8` | 1 | | +| VEHICLE_VTOL_STATE_TRANSITION_TO_MC | `uint8` | 2 | | +| VEHICLE_VTOL_STATE_MC | `uint8` | 3 | | +| VEHICLE_VTOL_STATE_FW | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VtolVehicleStatus.msg) + +:::details +Click here to see original file ```c # VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE @@ -20,5 +50,6 @@ uint64 timestamp # time since system start (microseconds) uint8 vehicle_vtol_state # current state of the vtol, see VEHICLE_VTOL_STATE bool fixed_wing_system_failure # vehicle in fixed-wing system failure failsafe mode (after quad-chute) - ``` + +::: diff --git a/docs/ko/msg_docs/Vtx.md b/docs/ko/msg_docs/Vtx.md new file mode 100644 index 0000000000..2ab56882dd --- /dev/null +++ b/docs/ko/msg_docs/Vtx.md @@ -0,0 +1,84 @@ +--- +pageClass: is-wide-page +--- + +# Vtx (UORB message) + +**TOPICS:** vtx + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| -------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| protocol | `uint8` | | | | +| device | `uint8` | | | | +| mode | `uint8` | | | | +| band | `int8` | | | Band number (0-23), negative values indicate frequency mode | +| channel | `int8` | | | Channel number (0-15), negative values indicate frequency mode | +| frequency | `uint16` | | | Frequency in MHz, zero indicates unknown | +| band_letter | `uint8` | | | Band letter as ASCII | +| band_name | `uint8[12]` | | | Band name in ASCII without null termination | +| power_level | `int8` | | | Current power level (0-15), negative values indicate unknown | +| power_label | `uint8[4]` | | | Current power label in ASCII without null termination | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| ------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ----------------------------------------- | +| BAND_NAME_LENGTH | `uint8` | 12 | | +| POWER_LABEL_LENGTH | `uint8` | 4 | | +| PROTOCOL_NONE | `uint8` | 0 | No protocol is detected, usually an error | +| PROTOCOL_SMART_AUDIO_V1 | `uint8` | 10 | | +| PROTOCOL_SMART_AUDIO_V2 | `uint8` | 20 | | +| PROTOCOL_SMART_AUDIO_V2_1 | `uint8` | 21 | | +| PROTOCOL_TRAMP | `uint8` | 100 | | +| DEVICE_UNKNOWN | `uint8` | 0 | | +| DEVICE_PEAK_THOR_T67 | `uint8` | 20 | | +| DEVICE_RUSH_MAX_SOLO | `uint8` | 40 | | +| MODE_NORMAL | `uint8` | 0 | | +| MODE_PIT | `uint8` | 1 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Vtx.msg) + +:::details +Click here to see original file + +```c +uint64 timestamp # time since system start (microseconds) + +uint8 BAND_NAME_LENGTH = 12 +uint8 POWER_LABEL_LENGTH = 4 + +uint8 PROTOCOL_NONE = 0 # No protocol is detected, usually an error +uint8 PROTOCOL_SMART_AUDIO_V1 = 10 +uint8 PROTOCOL_SMART_AUDIO_V2 = 20 +uint8 PROTOCOL_SMART_AUDIO_V2_1 = 21 +uint8 PROTOCOL_TRAMP = 100 +uint8 protocol + +uint8 DEVICE_UNKNOWN = 0 +uint8 DEVICE_PEAK_THOR_T67 = 20 +uint8 DEVICE_RUSH_MAX_SOLO = 40 +uint8 device + +uint8 MODE_NORMAL = 0 +uint8 MODE_PIT = 1 +uint8 mode + +# Band and Channel are 0-indexed! But the user expects a 1-indexed display! +int8 band # Band number (0-23), negative values indicate frequency mode +int8 channel # Channel number (0-15), negative values indicate frequency mode +uint16 frequency # Frequency in MHz, zero indicates unknown + +uint8 band_letter # Band letter as ASCII +uint8[12] band_name # Band name in ASCII without null termination + +# Also 0-indexed, but the user expects a 1-indexed display! +int8 power_level # Current power level (0-15), negative values indicate unknown +uint8[4] power_label # Current power label in ASCII without null termination +``` + +::: diff --git a/docs/ko/msg_docs/WheelEncoders.md b/docs/ko/msg_docs/WheelEncoders.md index d91ba67255..a640109f3f 100644 --- a/docs/ko/msg_docs/WheelEncoders.md +++ b/docs/ko/msg_docs/WheelEncoders.md @@ -1,6 +1,25 @@ +--- +pageClass: is-wide-page +--- + # WheelEncoders (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/WheelEncoders.msg) +**TOPICS:** wheel_encoders + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| -------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| wheel_speed | `float32[2]` | rad/s | | | +| wheel_angle | `float32[2]` | rad | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/WheelEncoders.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -8,5 +27,6 @@ uint64 timestamp # time since system start (microseconds) # Two wheels: 0 right, 1 left float32[2] wheel_speed # [rad/s] float32[2] wheel_angle # [rad] - ``` + +::: diff --git a/docs/ko/msg_docs/Wind.md b/docs/ko/msg_docs/Wind.md index 7ddb2e62eb..30f6c498e4 100644 --- a/docs/ko/msg_docs/Wind.md +++ b/docs/ko/msg_docs/Wind.md @@ -1,11 +1,43 @@ +--- +pageClass: is-wide-page +--- + # Wind (UORB message) -Wind estimate (from EKF2) +Wind estimate (from EKF2). Contains the system-wide estimate of horizontal wind velocity and its variance. Published by the navigation filter (EKF2) for use by other flight modules and libraries. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/Wind.msg) +**TOPICS:** wind estimator_wind + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| -------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Timestamp of the raw data | +| windspeed_north | `float32` | m/s | | Wind component in north / X direction | +| windspeed_east | `float32` | m/s | | Wind component in east / Y direction | +| variance_north | `float32` | (m/s)^2 | | Wind estimate error variance in north / X direction (Invalid: 0 if not estimated) | +| variance_east | `float32` | (m/s)^2 | | Wind estimate error variance in east / Y direction (Invalid: 0 if not estimated) | +| tas_innov | `float32` | m/s | | True airspeed innovation | +| tas_innov_var | `float32` | (m/s)^2 | | True airspeed innovation variance | +| beta_innov | `float32` | rad | | Sideslip measurement innovation | +| beta_innov_var | `float32` | rad^2 | | Sideslip measurement innovation variance | + +## Constants + +| 명칭 | 형식 | Value | 설명 | +| -------------------------------------------------------------------- | -------- | ----- | -- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/Wind.msg) + +:::details +Click here to see original file ```c # Wind estimate (from EKF2) @@ -31,5 +63,6 @@ float32 beta_innov # [rad] Sideslip measurement innovation float32 beta_innov_var # [rad^2] Sideslip measurement innovation variance # TOPICS wind estimator_wind - ``` + +::: diff --git a/docs/ko/msg_docs/YawEstimatorStatus.md b/docs/ko/msg_docs/YawEstimatorStatus.md index 88bc5614ec..3bd44fc563 100644 --- a/docs/ko/msg_docs/YawEstimatorStatus.md +++ b/docs/ko/msg_docs/YawEstimatorStatus.md @@ -1,6 +1,31 @@ +--- +pageClass: is-wide-page +--- + # YawEstimatorStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/YawEstimatorStatus.msg) +**TOPICS:** yaw_estimatorstatus + +## Fields + +| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 | +| ------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| yaw_composite | `float32` | | | composite yaw from GSF (rad) | +| yaw_variance | `float32` | | | composite yaw variance from GSF (rad^2) | +| yaw_composite_valid | `bool` | | | | +| yaw | `float32[5]` | | | yaw estimate for each model in the filter bank (rad) | +| innov_vn | `float32[5]` | | | North velocity innovation for each model in the filter bank (m/s) | +| innov_ve | `float32[5]` | | | East velocity innovation for each model in the filter bank (m/s) | +| weight | `float32[5]` | | | weighting for each model in the filter bank | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/YawEstimatorStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -14,5 +39,6 @@ float32[5] yaw # yaw estimate for each model in the filter bank (rad) float32[5] innov_vn # North velocity innovation for each model in the filter bank (m/s) float32[5] innov_ve # East velocity innovation for each model in the filter bank (m/s) float32[5] weight # weighting for each model in the filter bank - ``` + +::: diff --git a/docs/ko/msg_docs/index.md b/docs/ko/msg_docs/index.md index 7458c79a24..603270ff7a 100644 --- a/docs/ko/msg_docs/index.md +++ b/docs/ko/msg_docs/index.md @@ -13,90 +13,63 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m ## Versioned Messages -- [ActuatorMotors](ActuatorMotors.md) — Motor control message -- [ActuatorServos](ActuatorServos.md) — Servo control message -- [AirspeedValidated](AirspeedValidated.md) — Validated airspeed -- [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 -- [FixedWingLateralSetpoint](FixedWingLateralSetpoint.md) — Fixed Wing Lateral Setpoint message - Used by the fw_lateral_longitudinal_control module - At least one of course, airspeed_direction, or lateral_acceleration must be finite. -- [FixedWingLongitudinalSetpoint](FixedWingLongitudinalSetpoint.md) — Fixed Wing Longitudinal Setpoint message - Used by the fw_lateral_longitudinal_control module - If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion. - If both altitude and height_rate are NAN, the controller maintains the current altitude. -- [GotoSetpoint](GotoSetpoint.md) — Position and (optional) heading setpoints with corresponding speed constraints - Setpoints are intended as inputs to position and heading smoothers, respectively - Setpoints do not need to be kinematically consistent - Optional heading setpoints may be specified as controlled by the respective flag - Unset optional setpoints are not controlled - Unset optional constraints default to vehicle specifications +- [ActuatorMotors](ActuatorMotors.md) — Motor control message. +- [ActuatorServos](ActuatorServos.md) — Servo control message. +- [AirspeedValidated](AirspeedValidated.md) — Validated airspeed. +- [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. +- [FixedWingLateralSetpoint](FixedWingLateralSetpoint.md) — Fixed Wing Lateral Setpoint message. Used by the fw_lateral_longitudinal_control module. At least one of course, airspeed_direction, or lateral_acceleration must be finite. +- [FixedWingLongitudinalSetpoint](FixedWingLongitudinalSetpoint.md) — Fixed Wing Longitudinal Setpoint message. Used by the fw_lateral_longitudinal_control module. If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion. If both altitude and height_rate are NAN, the controller maintains the current altitude. +- [GotoSetpoint](GotoSetpoint.md) — Position and (optional) heading setpoints with corresponding speed constraints. Setpoints are intended as inputs to position and heading smoothers, respectively. Setpoints do not need to be kinematically consistent. Optional heading setpoints may be specified as controlled by the respective flag. Unset optional setpoints are not controlled. Unset optional constraints default to vehicle specifications. - [HomePosition](HomePosition.md) — GPS home position in WGS84 coordinates. -- [LateralControlConfiguration](LateralControlConfiguration.md) — Fixed Wing Lateral Control Configuration message - Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages. -- [LongitudinalControlConfiguration](LongitudinalControlConfiguration.md) — Fixed Wing Longitudinal Control Configuration message - Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages - and configure the resultant setpoints. +- [LateralControlConfiguration](LateralControlConfiguration.md) — Fixed Wing Lateral Control Configuration message. Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages. +- [LongitudinalControlConfiguration](LongitudinalControlConfiguration.md) — Fixed Wing Longitudinal Control Configuration message. Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages. and configure the resultant setpoints. - [ManualControlSetpoint](ManualControlSetpoint.md) -- [ModeCompleted](ModeCompleted.md) — Mode completion result, published by an active mode. - The possible values of nav_state are defined in the VehicleStatus msg. - Note that this is not always published (e.g. when a user switches modes or on - failsafe activation) +- [ModeCompleted](ModeCompleted.md) — Mode completion result, published by an active mode. The possible values of nav_state are defined in the VehicleStatus msg. Note that this is not always published (e.g. when a user switches modes or on. failsafe activation). +- [RaptorInput](RaptorInput.md) — Raptor Input. +- [RaptorStatus](RaptorStatus.md) — Raptor Status. - [RegisterExtComponentReply](RegisterExtComponentReply.md) -- [RegisterExtComponentRequest](RegisterExtComponentRequest.md) — Request to register an external component -- [TrajectorySetpoint](TrajectorySetpoint.md) — Trajectory setpoint in NED frame - Input to PID position controller. - Needs to be kinematically consistent and feasible for smooth flight. - setting a value to NaN means the state should not be controlled +- [RegisterExtComponentRequest](RegisterExtComponentRequest.md) — Request to register an external component. +- [TrajectorySetpoint](TrajectorySetpoint.md) — Trajectory setpoint in NED frame. Input to PID position controller. Needs to be kinematically consistent and feasible for smooth flight. setting a value to NaN means the state should not be controlled. - [UnregisterExtComponent](UnregisterExtComponent.md) - [VehicleAngularVelocity](VehicleAngularVelocity.md) -- [VehicleAttitude](VehicleAttitude.md) — This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use - The quaternion uses the Hamilton convention, and the order is q(w, x, y, z) +- [VehicleAttitude](VehicleAttitude.md) — This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use. The quaternion uses the Hamilton convention, and the order is q(w, x, y, z). - [VehicleAttitudeSetpoint](VehicleAttitudeSetpoint.md) -- [VehicleCommand](VehicleCommand.md) — Vehicle Command uORB message. Used for commanding a mission / action / etc. - Follows the MAVLink COMMAND_INT / COMMAND_LONG definition -- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Ackonwledgement uORB message. - Used for acknowledging the vehicle command being received. - Follows the MAVLink COMMAND_ACK message definition +- [VehicleCommand](VehicleCommand.md) — Vehicle Command uORB message. Used for commanding a mission / action / etc. Follows the MAVLink COMMAND_INT / COMMAND_LONG definition. +- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition. - [VehicleControlMode](VehicleControlMode.md) -- [VehicleGlobalPosition](VehicleGlobalPosition.md) — Fused global position in WGS84. - This struct contains global position estimation. It is not the raw GPS - measurement (@see vehicle_gps_position). This topic is usually published by the position - estimator, which will take more sources of information into account than just GPS, - e.g. control inputs of the vehicle in a Kalman-filter implementation. +- [VehicleGlobalPosition](VehicleGlobalPosition.md) — Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation. - [VehicleLandDetected](VehicleLandDetected.md) -- [VehicleLocalPosition](VehicleLocalPosition.md) — Fused local position in NED. - The coordinate system origin is the vehicle position at the time when the EKF2-module was started. -- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data +- [VehicleLocalPosition](VehicleLocalPosition.md) — Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started. +- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data. - [VehicleRatesSetpoint](VehicleRatesSetpoint.md) -- [VehicleStatus](VehicleStatus.md) — Encodes the system state of the vehicle published by commander -- [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE -- [Wind](Wind.md) — Wind estimate (from EKF2) +- [VehicleStatus](VehicleStatus.md) — Encodes the system state of the vehicle published by commander. +- [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE. +- [Wind](Wind.md) — Wind estimate (from EKF2). ## Unversioned Messages -- [ActionRequest](ActionRequest.md) — Action request for the vehicle's main state +- [ActionRequest](ActionRequest.md) — Action request for the vehicle's main state. - [ActuatorArmed](ActuatorArmed.md) - [ActuatorControlsStatus](ActuatorControlsStatus.md) - [ActuatorOutputs](ActuatorOutputs.md) -- [ActuatorServosTrim](ActuatorServosTrim.md) — Servo trims, added as offset to servo outputs +- [ActuatorServosTrim](ActuatorServosTrim.md) — Servo trims, added as offset to servo outputs. - [ActuatorTest](ActuatorTest.md) - [AdcReport](AdcReport.md) — ADC raw data. -- [Airspeed](Airspeed.md) — Airspeed data from sensors -- [AirspeedWind](AirspeedWind.md) — Wind estimate (from airspeed_selector) -- [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md) — Autotune attitude control status -- [BatteryInfo](BatteryInfo.md) — Battery information +- [Airspeed](Airspeed.md) — Airspeed data from sensors. +- [AirspeedWind](AirspeedWind.md) — Wind estimate (from airspeed_selector). +- [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md) — Autotune attitude control status. +- [BatteryInfo](BatteryInfo.md) — Battery information. - [ButtonEvent](ButtonEvent.md) - [CameraCapture](CameraCapture.md) - [CameraStatus](CameraStatus.md) - [CameraTrigger](CameraTrigger.md) - [CanInterfaceStatus](CanInterfaceStatus.md) -- [CellularStatus](CellularStatus.md) — Cellular status -- [CollisionConstraints](CollisionConstraints.md) — Local setpoint constraints in NED frame - setting something to NaN means that no limit is provided +- [CellularStatus](CellularStatus.md) — Cellular status. +- [CollisionConstraints](CollisionConstraints.md) — Local setpoint constraints in NED frame. setting something to NaN means that no limit is provided. - [ControlAllocatorStatus](ControlAllocatorStatus.md) - [Cpuload](Cpuload.md) - [DatamanRequest](DatamanRequest.md) @@ -105,13 +78,12 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [DebugKeyValue](DebugKeyValue.md) - [DebugValue](DebugValue.md) - [DebugVect](DebugVect.md) -- [DeviceInformation](DeviceInformation.md) — Device information -- [DifferentialPressure](DifferentialPressure.md) — Differential-pressure (airspeed) sensor -- [DistanceSensor](DistanceSensor.md) — DISTANCE_SENSOR message data +- [DeviceInformation](DeviceInformation.md) — Device information. +- [DifferentialPressure](DifferentialPressure.md) — Differential-pressure (airspeed) sensor. +- [DistanceSensor](DistanceSensor.md) — DISTANCE_SENSOR message data. - [DistanceSensorModeChangeRequest](DistanceSensorModeChangeRequest.md) - [DronecanNodeStatus](DronecanNodeStatus.md) -- [Ekf2Timestamps](Ekf2Timestamps.md) — this message contains the (relative) timestamps of the sensor inputs used by EKF2. - It can be used for reproducible replay. +- [Ekf2Timestamps](Ekf2Timestamps.md) — this message contains the (relative) timestamps of the sensor inputs used by EKF2. It can be used for reproducible replay. - [EscReport](EscReport.md) - [EscStatus](EscStatus.md) - [EstimatorAidSource1d](EstimatorAidSource1d.md) @@ -123,19 +95,16 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [EstimatorGpsStatus](EstimatorGpsStatus.md) - [EstimatorInnovations](EstimatorInnovations.md) - [EstimatorSelectorStatus](EstimatorSelectorStatus.md) -- [EstimatorSensorBias](EstimatorSensorBias.md) — Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets, - scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available). +- [EstimatorSensorBias](EstimatorSensorBias.md) — Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets,. scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available). - [EstimatorStates](EstimatorStates.md) - [EstimatorStatus](EstimatorStatus.md) - [EstimatorStatusFlags](EstimatorStatusFlags.md) - [FailsafeFlags](FailsafeFlags.md) — Input flags for the failsafe state machine set by the arming & health checks. - [FailureDetectorStatus](FailureDetectorStatus.md) - [FigureEightStatus](FigureEightStatus.md) -- [FixedWingLateralGuidanceStatus](FixedWingLateralGuidanceStatus.md) — Fixed Wing Lateral Guidance Status message - Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs -- [FixedWingLateralStatus](FixedWingLateralStatus.md) — Fixed Wing Lateral Status message - Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint -- [FixedWingRunwayControl](FixedWingRunwayControl.md) — Auxiliary control fields for fixed-wing runway takeoff/landing +- [FixedWingLateralGuidanceStatus](FixedWingLateralGuidanceStatus.md) — Fixed Wing Lateral Guidance Status message. Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs. +- [FixedWingLateralStatus](FixedWingLateralStatus.md) — Fixed Wing Lateral Status message. Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint. +- [FixedWingRunwayControl](FixedWingRunwayControl.md) — Auxiliary control fields for fixed-wing runway takeoff/landing. - [FlightPhaseEstimation](FlightPhaseEstimation.md) - [FollowTarget](FollowTarget.md) - [FollowTargetEstimator](FollowTargetEstimator.md) @@ -153,13 +122,13 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [GimbalManagerSetAttitude](GimbalManagerSetAttitude.md) - [GimbalManagerSetManualControl](GimbalManagerSetManualControl.md) - [GimbalManagerStatus](GimbalManagerStatus.md) -- [GpioConfig](GpioConfig.md) — GPIO configuration -- [GpioIn](GpioIn.md) — GPIO mask and state -- [GpioOut](GpioOut.md) — GPIO mask and state -- [GpioRequest](GpioRequest.md) — Request GPIO mask to be read +- [GpioConfig](GpioConfig.md) — GPIO configuration. +- [GpioIn](GpioIn.md) — GPIO mask and state. +- [GpioOut](GpioOut.md) — GPIO mask and state. +- [GpioRequest](GpioRequest.md) — Request GPIO mask to be read. - [GpsDump](GpsDump.md) — This message is used to dump the raw gps communication to the log. - [GpsInjectData](GpsInjectData.md) -- [Gripper](Gripper.md) — # Used to command an actuation in the gripper, which is mapped to a specific output in the control allocation module +- [Gripper](Gripper.md) — # Used to command an actuation in the gripper, which is mapped to a specific output in the control allocation module. - [HealthReport](HealthReport.md) - [HeaterStatus](HeaterStatus.md) - [HoverThrustEstimate](HoverThrustEstimate.md) @@ -167,34 +136,32 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [InternalCombustionEngineControl](InternalCombustionEngineControl.md) - [InternalCombustionEngineStatus](InternalCombustionEngineStatus.md) - [IridiumsbdStatus](IridiumsbdStatus.md) -- [IrlockReport](IrlockReport.md) — IRLOCK_REPORT message data +- [IrlockReport](IrlockReport.md) — IRLOCK_REPORT message data. - [LandingGear](LandingGear.md) - [LandingGearWheel](LandingGearWheel.md) - [LandingTargetInnovations](LandingTargetInnovations.md) -- [LandingTargetPose](LandingTargetPose.md) — Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames -- [LaunchDetectionStatus](LaunchDetectionStatus.md) — Status of the launch detection state machine (fixed-wing only) -- [LedControl](LedControl.md) — LED control: control a single or multiple LED's. - These are the externally visible LED's, not the board LED's -- [LogMessage](LogMessage.md) — A logging message, output with PX4_WARN, PX4_ERR, PX4_INFO +- [LandingTargetPose](LandingTargetPose.md) — Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames. +- [LaunchDetectionStatus](LaunchDetectionStatus.md) — Status of the launch detection state machine (fixed-wing only). +- [LedControl](LedControl.md) — LED control: control a single or multiple LED's. These are the externally visible LED's, not the board LED's. +- [LogMessage](LogMessage.md) — A logging message, output with PX4_WARN, PX4_ERR, PX4_INFO. - [LoggerStatus](LoggerStatus.md) - [MagWorkerData](MagWorkerData.md) - [MagnetometerBiasEstimate](MagnetometerBiasEstimate.md) - [ManualControlSwitches](ManualControlSwitches.md) - [MavlinkLog](MavlinkLog.md) -- [MavlinkTunnel](MavlinkTunnel.md) — MAV_TUNNEL_PAYLOAD_TYPE enum +- [MavlinkTunnel](MavlinkTunnel.md) — MAV_TUNNEL_PAYLOAD_TYPE enum. - [MessageFormatRequest](MessageFormatRequest.md) - [MessageFormatResponse](MessageFormatResponse.md) - [Mission](Mission.md) - [MissionResult](MissionResult.md) - [MountOrientation](MountOrientation.md) - [NavigatorMissionItem](NavigatorMissionItem.md) -- [NavigatorStatus](NavigatorStatus.md) — Current status of a Navigator mode - The possible values of nav_state are defined in the VehicleStatus msg. -- [NeuralControl](NeuralControl.md) — Neural control +- [NavigatorStatus](NavigatorStatus.md) — Current status of a Navigator mode. The possible values of nav_state are defined in the VehicleStatus msg. +- [NeuralControl](NeuralControl.md) — Neural control. - [NormalizedUnsignedSetpoint](NormalizedUnsignedSetpoint.md) - [ObstacleDistance](ObstacleDistance.md) — Obstacle distances in front of the sensor. -- [OffboardControlMode](OffboardControlMode.md) — Off-board control mode -- [OnboardComputerStatus](OnboardComputerStatus.md) — ONBOARD_COMPUTER_STATUS message data +- [OffboardControlMode](OffboardControlMode.md) — Off-board control mode. +- [OnboardComputerStatus](OnboardComputerStatus.md) — ONBOARD_COMPUTER_STATUS message data. - [OpenDroneIdArmStatus](OpenDroneIdArmStatus.md) - [OpenDroneIdOperatorId](OpenDroneIdOperatorId.md) - [OpenDroneIdSelfId](OpenDroneIdSelfId.md) @@ -202,22 +169,21 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [OrbTest](OrbTest.md) - [OrbTestLarge](OrbTestLarge.md) - [OrbTestMedium](OrbTestMedium.md) -- [OrbitStatus](OrbitStatus.md) — ORBIT_YAW_BEHAVIOUR -- [ParameterResetRequest](ParameterResetRequest.md) — ParameterResetRequest : Used by the primary to reset one or all parameter value(s) on the remote -- [ParameterSetUsedRequest](ParameterSetUsedRequest.md) — ParameterSetUsedRequest : Used by a remote to update the used flag for a parameter on the primary -- [ParameterSetValueRequest](ParameterSetValueRequest.md) — ParameterSetValueRequest : Used by a remote or primary to update the value for a parameter at the other end -- [ParameterSetValueResponse](ParameterSetValueResponse.md) — ParameterSetValueResponse : Response to a set value request by either primary or secondary -- [ParameterUpdate](ParameterUpdate.md) — This message is used to notify the system about one or more parameter changes +- [OrbitStatus](OrbitStatus.md) — ORBIT_YAW_BEHAVIOUR. +- [ParameterResetRequest](ParameterResetRequest.md) — ParameterResetRequest : Used by the primary to reset one or all parameter value(s) on the remote. +- [ParameterSetUsedRequest](ParameterSetUsedRequest.md) — ParameterSetUsedRequest : Used by a remote to update the used flag for a parameter on the primary. +- [ParameterSetValueRequest](ParameterSetValueRequest.md) — ParameterSetValueRequest : Used by a remote or primary to update the value for a parameter at the other end. +- [ParameterSetValueResponse](ParameterSetValueResponse.md) — ParameterSetValueResponse : Response to a set value request by either primary or secondary. +- [ParameterUpdate](ParameterUpdate.md) — This message is used to notify the system about one or more parameter changes. - [Ping](Ping.md) - [PositionControllerLandingStatus](PositionControllerLandingStatus.md) - [PositionControllerStatus](PositionControllerStatus.md) -- [PositionSetpoint](PositionSetpoint.md) — this file is only used in the position_setpoint triple as a dependency -- [PositionSetpointTriplet](PositionSetpointTriplet.md) — Global position setpoint triplet in WGS84 coordinates. - This are the three next waypoints (or just the next two or one). -- [PowerButtonState](PowerButtonState.md) — power button state notification message -- [PowerMonitor](PowerMonitor.md) — power monitor message +- [PositionSetpoint](PositionSetpoint.md) — this file is only used in the position_setpoint triple as a dependency. +- [PositionSetpointTriplet](PositionSetpointTriplet.md) — Global position setpoint triplet in WGS84 coordinates. This are the three next waypoints (or just the next two or one). +- [PowerButtonState](PowerButtonState.md) — power button state notification message. +- [PowerMonitor](PowerMonitor.md) — power monitor message. - [PpsCapture](PpsCapture.md) -- [PurePursuitStatus](PurePursuitStatus.md) — Pure pursuit status +- [PurePursuitStatus](PurePursuitStatus.md) — Pure pursuit status. - [PwmInput](PwmInput.md) - [Px4ioStatus](Px4ioStatus.md) - [QshellReq](QshellReq.md) @@ -226,15 +192,15 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [RateCtrlStatus](RateCtrlStatus.md) - [RcChannels](RcChannels.md) - [RcParameterMap](RcParameterMap.md) -- [RoverAttitudeSetpoint](RoverAttitudeSetpoint.md) — Rover Attitude Setpoint -- [RoverAttitudeStatus](RoverAttitudeStatus.md) — Rover Attitude Status -- [RoverPositionSetpoint](RoverPositionSetpoint.md) — Rover Position Setpoint -- [RoverRateSetpoint](RoverRateSetpoint.md) — Rover Rate setpoint -- [RoverRateStatus](RoverRateStatus.md) — Rover Rate Status -- [RoverSpeedSetpoint](RoverSpeedSetpoint.md) — Rover Speed Setpoint -- [RoverSpeedStatus](RoverSpeedStatus.md) — Rover Velocity Status -- [RoverSteeringSetpoint](RoverSteeringSetpoint.md) — Rover Steering setpoint -- [RoverThrottleSetpoint](RoverThrottleSetpoint.md) — Rover Throttle setpoint +- [RoverAttitudeSetpoint](RoverAttitudeSetpoint.md) — Rover Attitude Setpoint. +- [RoverAttitudeStatus](RoverAttitudeStatus.md) — Rover Attitude Status. +- [RoverPositionSetpoint](RoverPositionSetpoint.md) — Rover Position Setpoint. +- [RoverRateSetpoint](RoverRateSetpoint.md) — Rover Rate setpoint. +- [RoverRateStatus](RoverRateStatus.md) — Rover Rate Status. +- [RoverSpeedSetpoint](RoverSpeedSetpoint.md) — Rover Speed Setpoint. +- [RoverSpeedStatus](RoverSpeedStatus.md) — Rover Velocity Status. +- [RoverSteeringSetpoint](RoverSteeringSetpoint.md) — Rover Steering setpoint. +- [RoverThrottleSetpoint](RoverThrottleSetpoint.md) — Rover Throttle setpoint. - [Rpm](Rpm.md) - [RtlStatus](RtlStatus.md) - [RtlTimeEstimate](RtlTimeEstimate.md) @@ -242,78 +208,64 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [SensorAccel](SensorAccel.md) - [SensorAccelFifo](SensorAccelFifo.md) - [SensorAirflow](SensorAirflow.md) -- [SensorBaro](SensorBaro.md) — Barometer sensor -- [SensorCombined](SensorCombined.md) — Sensor readings in SI-unit form. - These fields are scaled and offset-compensated where possible and do not - change with board revisions and sensor updates. -- [SensorCorrection](SensorCorrection.md) — Sensor corrections in SI-unit form for the voted sensor +- [SensorBaro](SensorBaro.md) — Barometer sensor. +- [SensorCombined](SensorCombined.md) — Sensor readings in SI-unit form. These fields are scaled and offset-compensated where possible and do not. change with board revisions and sensor updates. +- [SensorCorrection](SensorCorrection.md) — Sensor corrections in SI-unit form for the voted sensor. - [SensorGnssRelative](SensorGnssRelative.md) — GNSS relative positioning information in NED frame. The NED frame is defined as the local topological system at the reference station. -- [SensorGnssStatus](SensorGnssStatus.md) — Gnss quality indicators -- [SensorGps](SensorGps.md) — GPS position in WGS84 coordinates. - the field 'timestamp' is for the position & velocity (microseconds) +- [SensorGnssStatus](SensorGnssStatus.md) — Gnss quality indicators. +- [SensorGps](SensorGps.md) — GPS position in WGS84 coordinates. the field 'timestamp' is for the position & velocity (microseconds). - [SensorGyro](SensorGyro.md) - [SensorGyroFft](SensorGyroFft.md) - [SensorGyroFifo](SensorGyroFifo.md) - [SensorHygrometer](SensorHygrometer.md) - [SensorMag](SensorMag.md) - [SensorOpticalFlow](SensorOpticalFlow.md) -- [SensorPreflightMag](SensorPreflightMag.md) — Pre-flight sensor check metrics. - The topic will not be updated when the vehicle is armed -- [SensorSelection](SensorSelection.md) — Sensor ID's for the voted sensors output on the sensor_combined topic. - Will be updated on startup of the sensor module and when sensor selection changes +- [SensorPreflightMag](SensorPreflightMag.md) — Pre-flight sensor check metrics. The topic will not be updated when the vehicle is armed. +- [SensorSelection](SensorSelection.md) — Sensor ID's for the voted sensors output on the sensor_combined topic. Will be updated on startup of the sensor module and when sensor selection changes. - [SensorTemp](SensorTemp.md) -- [SensorUwb](SensorUwb.md) — UWB distance contains the distance information measured by an ultra-wideband positioning system, - such as Pozyx or NXP Rddrone. +- [SensorUwb](SensorUwb.md) — UWB distance contains the distance information measured by an ultra-wideband positioning system,. such as Pozyx or NXP Rddrone. - [SensorsStatus](SensorsStatus.md) — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated. - [SensorsStatusImu](SensorsStatusImu.md) — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated. - [SystemPower](SystemPower.md) -- [TakeoffStatus](TakeoffStatus.md) — Status of the takeoff state machine currently just available for multicopters -- [TaskStackInfo](TaskStackInfo.md) — stack information for a single running process +- [TakeoffStatus](TakeoffStatus.md) — Status of the takeoff state machine currently just available for multicopters. +- [TaskStackInfo](TaskStackInfo.md) — stack information for a single running process. - [TecsStatus](TecsStatus.md) - [TelemetryStatus](TelemetryStatus.md) - [TiltrotorExtraControls](TiltrotorExtraControls.md) - [TimesyncStatus](TimesyncStatus.md) -- [TrajectorySetpoint6dof](TrajectorySetpoint6dof.md) — Trajectory setpoint in NED frame - Input to position controller. +- [TrajectorySetpoint6dof](TrajectorySetpoint6dof.md) — Trajectory setpoint in NED frame. Input to position controller. - [TransponderReport](TransponderReport.md) -- [TuneControl](TuneControl.md) — This message is used to control the tunes, when the tune_id is set to CUSTOM - then the frequency, duration are used otherwise those values are ignored. -- [UavcanParameterRequest](UavcanParameterRequest.md) — UAVCAN-MAVLink parameter bridge request type -- [UavcanParameterValue](UavcanParameterValue.md) — UAVCAN-MAVLink parameter bridge response type -- [UlogStream](UlogStream.md) — Message to stream ULog data from the logger. Corresponds to the LOGGING_DATA - mavlink message -- [UlogStreamAck](UlogStreamAck.md) — Ack a previously sent ulog_stream message that had - the NEED_ACK flag set +- [TuneControl](TuneControl.md) — This message is used to control the tunes, when the tune_id is set to CUSTOM. then the frequency, duration are used otherwise those values are ignored. +- [UavcanParameterRequest](UavcanParameterRequest.md) — UAVCAN-MAVLink parameter bridge request type. +- [UavcanParameterValue](UavcanParameterValue.md) — UAVCAN-MAVLink parameter bridge response type. +- [UlogStream](UlogStream.md) — Message to stream ULog data from the logger. Corresponds to the LOGGING_DATA. mavlink message. +- [UlogStreamAck](UlogStreamAck.md) — Ack a previously sent ulog_stream message that had. the NEED_ACK flag set. - [VehicleAcceleration](VehicleAcceleration.md) -- [VehicleAirData](VehicleAirData.md) — Vehicle air data +- [VehicleAirData](VehicleAirData.md) — Vehicle air data. - [VehicleAngularAccelerationSetpoint](VehicleAngularAccelerationSetpoint.md) -- [VehicleConstraints](VehicleConstraints.md) — Local setpoint constraints in NED frame - setting something to NaN means that no limit is provided +- [VehicleConstraints](VehicleConstraints.md) — Local setpoint constraints in NED frame. setting something to NaN means that no limit is provided. - [VehicleImu](VehicleImu.md) — IMU readings in SI-unit form. - [VehicleImuStatus](VehicleImuStatus.md) -- [VehicleLocalPositionSetpoint](VehicleLocalPositionSetpoint.md) — Local position setpoint in NED frame - Telemetry of PID position controller to monitor tracking. - NaN means the state was not controlled +- [VehicleLocalPositionSetpoint](VehicleLocalPositionSetpoint.md) — Local position setpoint in NED frame. Telemetry of PID position controller to monitor tracking. NaN means the state was not controlled. - [VehicleMagnetometer](VehicleMagnetometer.md) - [VehicleOpticalFlow](VehicleOpticalFlow.md) — Optical flow in XYZ body frame in SI units. - [VehicleOpticalFlowVel](VehicleOpticalFlowVel.md) -- [VehicleRoi](VehicleRoi.md) — Vehicle Region Of Interest (ROI) +- [VehicleRoi](VehicleRoi.md) — Vehicle Region Of Interest (ROI). - [VehicleThrustSetpoint](VehicleThrustSetpoint.md) - [VehicleTorqueSetpoint](VehicleTorqueSetpoint.md) -- [VelocityLimits](VelocityLimits.md) — Velocity and yaw rate limits for a multicopter position slow mode only +- [VelocityLimits](VelocityLimits.md) — Velocity and yaw rate limits for a multicopter position slow mode only. +- [Vtx](Vtx.md) - [WheelEncoders](WheelEncoders.md) - [YawEstimatorStatus](YawEstimatorStatus.md) - [AirspeedValidatedV0](AirspeedValidatedV0.md) - [ArmingCheckReplyV0](ArmingCheckReplyV0.md) - [ArmingCheckRequestV0](ArmingCheckRequestV0.md) — Arming check request. -- [BatteryStatusV0](BatteryStatusV0.md) — Battery status -- [ConfigOverridesV0](ConfigOverridesV0.md) — Configurable overrides by (external) modes or mode executors -- [EventV0](EventV0.md) — this message is required here in the msg_old folder because other msg are depending on it - Events interface +- [BatteryStatusV0](BatteryStatusV0.md) — Battery status. +- [ConfigOverridesV0](ConfigOverridesV0.md) — Configurable overrides by (external) modes or mode executors. +- [EventV0](EventV0.md) — this message is required here in the msg_old folder because other msg are depending on it. Events interface. - [HomePositionV0](HomePositionV0.md) — GPS home position in WGS84 coordinates. - [RegisterExtComponentReplyV0](RegisterExtComponentReplyV0.md) -- [RegisterExtComponentRequestV0](RegisterExtComponentRequestV0.md) — Request to register an external component +- [RegisterExtComponentRequestV0](RegisterExtComponentRequestV0.md) — Request to register an external component. - [VehicleAttitudeSetpointV0](VehicleAttitudeSetpointV0.md) -- [VehicleLocalPositionV0](VehicleLocalPositionV0.md) — Fused local position in NED. - The coordinate system origin is the vehicle position at the time when the EKF2-module was started. -- [VehicleStatusV0](VehicleStatusV0.md) — Encodes the system state of the vehicle published by commander +- [VehicleLocalPositionV0](VehicleLocalPositionV0.md) — Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started. +- [VehicleStatusV0](VehicleStatusV0.md) — Encodes the system state of the vehicle published by commander. diff --git a/docs/ko/peripherals/remote_id.md b/docs/ko/peripherals/remote_id.md index 9e9d1f2e5e..fb9e2083be 100644 --- a/docs/ko/peripherals/remote_id.md +++ b/docs/ko/peripherals/remote_id.md @@ -166,7 +166,6 @@ PX4 v1.14 streams these messages by default (in streaming modes: normal, onboard - [OPEN_DRONE_ID_LOCATION](https://mavlink.io/en/messages/common.html#OPEN_DRONE_ID_LOCATION) (1 Hz) - UAV location, altitude, direction, and speed. - [OPEN_DRONE_ID_SYSTEM](https://mavlink.io/en/messages/common.html#OPEN_DRONE_ID_SYSTEM) (1 Hz) Operator location/altitude, multiple aircraft information (group/swarm, if applicable), full timestamp and possible category/class information. - - Implementation assumes operator is located at vehicle home position (does not yet support getting operator position from GCS). This is believed to be compliant for broadcast-only Remote IDs. diff --git a/docs/ko/power_module/ark_12s_pab_power_module.md b/docs/ko/power_module/ark_12s_pab_power_module.md index fd3a4e94a9..50056e0122 100644 --- a/docs/ko/power_module/ark_12s_pab_power_module.md +++ b/docs/ko/power_module/ark_12s_pab_power_module.md @@ -13,25 +13,21 @@ Order this module from: ## Hardware Specifications - **TI INA238 Digital Power Monitor** - - 0.0001 Ohm Shunt - I2C Interface - **5.2V 6A Step-Down Regulator** - - 66V Maximum Input Voltage - 10V Minimum Input Voltage at 6A Out - Output Over-Current Protection - **Connections** - - Solder Pads Battery Input - Solder Pads Battery Output - 6 Pin Molex CLIK-Mate Output - [Matches ARK PAB Carrier Power Pinout](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-pixhawk-autopilot-bus-carrier/pinout) - **Other** - - USA Built - Includes 6 Pin Molex CLIK-Mate Cable diff --git a/docs/ko/releases/1.13.md b/docs/ko/releases/1.13.md index 0121c6cb2b..28a30b0b9d 100644 --- a/docs/ko/releases/1.13.md +++ b/docs/ko/releases/1.13.md @@ -24,7 +24,6 @@ ### 공통 - **Explicit Joystick source selection ([PR#17404](https://github.com/PX4/PX4-Autopilot/pull/17404))** - - Possibility to: - Explicitly allow just one source - Fall back to other source in air diff --git a/docs/ko/releases/index.md b/docs/ko/releases/index.md index 67c9428937..b691d2eb48 100644 --- a/docs/ko/releases/index.md +++ b/docs/ko/releases/index.md @@ -10,4 +10,8 @@ PX4 릴리스 노트는 각 릴리스의 변경 사항들을 설명합니다. - [v1.13](../releases/1.13.md) - [v1.12](../releases/1.12.md) -The full archive of releases for the PX4 autopilot project can be found on [GitHub](https://github.com/PX4/PX4-Autopilot/releases) +The full archive of releases for the PX4 autopilot project can be found on [GitHub](https://github.com/PX4/PX4-Autopilot/releases). + +:::info +For maintainers, see [Release Process](../releases/release_process.md) for the tagging and publishing workflow. +::: diff --git a/docs/ko/releases/release_process.md b/docs/ko/releases/release_process.md new file mode 100644 index 0000000000..95ed7a0bd4 --- /dev/null +++ b/docs/ko/releases/release_process.md @@ -0,0 +1,301 @@ +# 릴리스 프로세스 + +This page documents the PX4 release process for maintainers. It covers the steps from preparing a release candidate through to the final announcement. + +## 개요 + +PX4 uses a branch-based release workflow: + +- **`release/X.Y`** (e.g., `release/1.17`, `release/2.0`) - The active development branch for a specific release where changes are merged and tested +- **`stable`** - Points to the latest stable release tag; reset after each release +- **`beta`** - For flight testers to validate release candidates + +The target release cycle is approximately 6 months, best effort. The actual cadence depends on testing results and maintainer availability, with an ongoing goal to shorten the cycle. + +Releases are tracked on the [PX4 Release Project Board](https://github.com/orgs/PX4/projects/45), which is reused and renamed for each release cycle. + +### Release Tag Progression + +Release branches go through the following tag stages: + +| Stage | Example | Branch Status | What Gets Merged | +| ---------- | ---------------- | -------------- | ---------------------------------------------------------------------- | +| **Alpha** | `v1.18.0-alpha1` | Open for fixes | Bug fixes and regression fixes only | +| **Beta** | `v1.18.0-beta1` | Open for fixes | Bug fixes and regression fixes only | +| **RC** | `v1.18.0-rc1` | Frozen | Nothing (unless veto vote passes) | +| **Stable** | `v1.18.0` | Open for fixes | Bug fixes and regression fixes (for point releases) | + +:::info +New features are never merged to release branches. Once a release branch is created from `main`, only bug fixes and regression fixes are accepted. New features must target `main` and will be included in the next release cycle. +::: + +## Starting a New Release Cycle + +A new release cycle begins immediately after a stable release is published. This involves two votes during the [Weekly Community Q&A Call](../contribute/dev_call.md) when approving a stable release: + +1. **Vote to publish the current release** - Approve the stable release for publication +2. **Vote on the next release name/number** - Decide the version number for the next release (e.g., v1.18 or v2.0) + +### Prepare Release Notes Before Branching + +Release notes are built incrementally in [`main.md`](../releases/main.md), which accumulates changes as they land on `main`. Before creating the release branch: + +1. Rename `main.md` to the version-specific file (e.g., `docs/en/releases/1.18.md`) +2. Add the new file to `SUMMARY.md` and `releases/index.md` +3. Reset `main.md` to a clean template for the next release cycle +4. Verify that documentation for all included contributions is complete +5. Search for instances of `main (planned for:` and replace with the release version now that it is known. + So, for example `` is replaced with `` + +:::tip +Community members are encouraged to document changes as they are merged into `main`. This distributes the documentation workload and ensures changes are captured while they're fresh. +::: + +### Create the Release Branch + +Once the next release version is decided, create the new release branch from `main` in PX4-Autopilot and the companion repositories: + +```sh +# PX4-Autopilot +git checkout main && git pull +git checkout -b release/1.18 +git push origin release/1.18 +``` + +Matching release branches must also be created in: + +- [PX4/px4_msgs](https://github.com/PX4/px4_msgs) +- [Auterion/px4-ros2-interface-lib](https://github.com/Auterion/px4-ros2-interface-lib) + +After creating the companion branches, update the [ROS integration test workflow](https://github.com/PX4/PX4-Autopilot/blob/main/.github/workflows/ros_integration_tests.yml) on the release branch to clone `px4-ros2-interface-lib` from the matching release branch: + +```diff +- git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git ++ git clone --recursive --branch release/1.18 https://github.com/Auterion/px4-ros2-interface-lib.git +``` + +:::warning +Once the release branches are created, they only accept bug fixes and regression fixes. All new feature development continues on `main`. +::: + +### Create the Alpha Tag + +Immediately after creating the release branch, create the first alpha tag to mark the beginning of the release cycle: + +```sh +# On the new release branch +git checkout release/1.18 + +# Create the signed alpha tag +git tag -s v1.18.0-alpha1 -m "v1.18.0-alpha1" +git push origin v1.18.0-alpha1 +``` + +Subsequent alpha tags can be created as fixes are merged (e.g., `v1.18.0-alpha2`, `v1.18.0-alpha3`). + +## Release Steps + +### 1. Review and Merge PRs (Alpha Phase) + +During the alpha phase, review pull requests targeting the release branch: + +- Review PRs according to the project's [contribution guidelines](../contribute/code.md) +- Merge **bug fixes and regression fixes only** +- New features must target `main`, not the release branch +- Create additional alpha tags as fixes are merged (e.g., `v1.18.0-alpha2`) + +### 2. Alpha Testing + +The _Dronecode Test Team_ (provided by [Ascend Engineering](https://www.ascendengineer.com) — Dronecode Silver member) conducts initial flight testing of alpha builds using: + +- The [test cards](../test_and_ci/test_flights.md) documented in the PX4 guide +- A hardware matrix covering supported flight controllers and airframes + +Alpha testing focuses on identifying regressions and blockers early. The alpha phase is complete when: + +- All test cards pass across the core hardware matrix (no critical or high-severity failures) +- All identified regressions have fixes merged or have been triaged as non-blocking +- Release notes and documentation for included changes are complete + +### 3. Create Beta Tag + +Once the alpha exit criteria above are met, create the first beta tag: + +```sh +# On the release branch +git checkout release/1.18 +git pull + +# Create the signed beta tag +git tag -s v1.18.0-beta1 -m "v1.18.0-beta1" +git push origin v1.18.0-beta1 +``` + +### 4. Beta Testing + +Beta builds are published for wider community validation. Unlike alpha testing (which is conducted by the Dronecode Test Team on the core hardware matrix), beta testing focuses on: + +- **Community testing** — beta builds are made available for community members to test on their own hardware and airframe configurations +- **Extended hardware coverage** — testing on hardware and configurations beyond the core test matrix +- **Real-world flight scenarios** — longer flights, mission testing, and edge cases not covered by standard test cards + +During beta, continue to: + +- Review and merge **bug fixes and regression fixes only** +- Create additional beta tags as fixes are merged (e.g., `v1.18.0-beta2`, `v1.18.0-beta3`) + +### 5. Create Release Candidate Tag + +The beta phase is complete when: + +- No new critical or high-severity issues are reported for at least one beta tag cycle +- All beta-reported regressions have fixes merged or have been triaged as non-blocking + +Once the beta exit criteria are met, create the first release candidate: + +```sh +# On the release branch +git checkout release/1.18 +git pull + +# Create the signed RC tag +git tag -s v1.18.0-rc1 -m "v1.18.0-rc1" +git push origin v1.18.0-rc1 +``` + +:::warning +The branch is now frozen. No PRs will be merged unless a veto vote passes (see below). +::: + +:::tip +Tags must be GPG-signed. Ensure your GitHub account is [configured for GPG signing](https://docs.github.com/en/authentication/managing-commit-signature-verification). Only maintainers with registered GPG keys can create release tags. +::: + +### 6. RC Testing and Branch Freeze + +During RC testing, the release branch is frozen: + +- No PRs are merged by default +- Testing focuses on final validation before stable release +- Any issues found are documented and evaluated + +#### Veto Vote for Critical Fixes + +If a critical issue is discovered during RC testing that must be fixed before release: + +1. Raise the issue during the [Weekly Community Q&A Call](../contribute/dev_call.md) +2. Present the case for why the fix is critical +3. Maintainers vote on whether to merge the fix +4. If approved, merge the fix and create a new RC tag (e.g., `v1.18.0-rc2`) + +### 7) Release Vote + +The release vote takes place during the [Weekly Community Q&A Call](../contribute/dev_call.md): + +- Present the release status and test results +- **Vote 1:** Core maintainers vote on whether to publish the release +- **Vote 2:** Decide the name/number of the next release version +- The call happens Wednesdays at 17:00 CET on [Discord](https://discord.gg/BDYmr6FA6Q) + +### 8. Create and Push Release Tag + +After a successful vote, create the final release tag: + +```sh +# On the release branch +git checkout release/1.18 +git pull + +# Create the signed release tag +git tag -s v1.18.0 -m "v1.18.0" +git push origin v1.18.0 +``` + +### 9. Update the Stable Branch + +Reset the `stable` branch to point to the new release tag: + +```sh +git checkout stable +git reset --hard v1.18.0 +git push --force origin stable +``` + +:::warning +This is a force push that rewrites the stable branch history. Ensure you have the correct tag before executing. +::: + +### 10. GitHub Release (Automated) + +When a version tag is pushed, the [build_all_targets.yml](https://github.com/PX4/PX4-Autopilot/blob/main/.github/workflows/build_all_targets.yml) GitHub Actions workflow automatically: + +1. Builds firmware for all supported targets +2. Uploads firmware artifacts to AWS S3 (`Firmware/vX.Y.Z/` and updates `Firmware/stable/`) +3. Creates a **draft release** on GitHub with all `.px4` firmware files attached + +### 11) Publish GitHub Release + +Edit the draft release on GitHub: + +- Add a brief description of major changes +- Link to the full release notes in the documentation (e.g., `releases/1.18.md`) +- Publish the release + +### 12. Finalize Documentation + +Review and finalize the release notes that have been developed throughout the release cycle: + +- Ensure all noteworthy changes, new features, and upgrade guides are documented +- Review for completeness and accuracy +- See existing [release notes](../releases/index.md) for the expected format + +### 13. Announce the Release + +Announce the release through official channels: + +- [PX4 Discuss Forum](https://discuss.px4.io/) +- [PX4 Discord](https://discord.gg/dronecode) +- Social media (Twitter/X, LinkedIn) +- Dronecode newsletter + +### 14. Start Next Release Cycle + +Immediately after publishing, start the next release cycle: + +- Create the new release branch from `main` (see [Create the Release Branch](#create-the-release-branch)) +- Create the alpha tag for the new release +- Create the initial documentation for the next release +- Rename and prepare the project board (see [Project Board Management](#project-board-management)) + +## Point Releases + +After a stable release is published, the release branch reopens for bug fixes and regression fixes to support point releases (e.g., `v1.18.1`). + +For patch releases: + +1. Merge bug fixes and regression fixes to the release branch +2. Create beta tags for testing if needed (e.g., `v1.18.1-beta1`) +3. Create RC tags for final validation (e.g., `v1.18.1-rc1`) +4. After testing and vote, tag the point release +5. Update stable branch and publish + +## Project Board Management + +The [PX4 Release Project Board](https://github.com/orgs/PX4/projects/45) is reused across release cycles to track issues and PRs for the current release. + +### After a Release + +Once a release is published: + +1. **Rename the project board** to reflect the next release version (e.g., "v1.17 Release" → "v1.18 Release") +2. **Review remaining items**: + - Close items that are no longer relevant + - Move incomplete items that should carry over to the next release + - Remove items that were descoped or deferred indefinitely +3. **Update the board description** if needed to reflect the new release target + +## See Also + +- [Source Code Management](../contribute/code.md) - Branching model and contribution guidelines +- [Test Flights](../test_and_ci/test_flights.md) - Flight test procedures and test cards +- [Weekly Community Q&A Call](../contribute/dev_call.md) - Where release votes happen diff --git a/docs/ko/ros/mavros_custom_messages.md b/docs/ko/ros/mavros_custom_messages.md index ecc129c4bd..c879bb41b2 100644 --- a/docs/ko/ros/mavros_custom_messages.md +++ b/docs/ko/ros/mavros_custom_messages.md @@ -68,6 +68,7 @@ Follow _Source Installation_ instructions from [mavlink/mavros](https://github.c ``` 2. Edit **mavros_plugins.xml** (in **workspace/src/mavros/mavros_extras**) and add the following lines: + ```xml Accepts keyboard command. @@ -75,10 +76,11 @@ Follow _Source Installation_ instructions from [mavlink/mavros](https://github.c ``` 3. Edit **CMakeLists.txt** (in **workspace/src/mavros/mavros_extras**) and add the following line in `add_library`. + ```cmake - add_library( + add_library( ... - src/plugins/keyboard_command.cpp + src/plugins/keyboard_command.cpp ) ``` @@ -148,6 +150,7 @@ Follow _Source Installation_ instructions from [mavlink/mavros](https://github.c 4. Edit **mavlink_receiver.cpp** (in **PX4-Autopilot/src/modules/mavlink**). 여기에서 PX4는 ROS에서 보낸 MAVLink 메시지를 수신하고, 이를 uORB 주제로 게시합니다. + ```cpp ... void MavlinkReceiver::handle_message(mavlink_message_t *msg) @@ -227,7 +230,7 @@ Follow _Source Installation_ instructions from [mavlink/mavros](https://github.c int error_counter = 0; - for (int i = 0; i < 10; i++) + for (int i = 0; i < 10; i++) { int poll_ret = px4_poll(fds, 1, 1000); @@ -264,10 +267,10 @@ Follow _Source Installation_ instructions from [mavlink/mavros](https://github.c ``` menuconfig MODULES_KEY_RECEIVER - bool "key_receiver" - default n - ---help--- - Enable support for key_receiver + bool "key_receiver" + default n + ---help--- + Enable support for key_receiver ``` @@ -309,6 +312,7 @@ MODULES ### ROS 빌드 1. Clean the previously built PX4-Autopilot directory. In the root of **PX4-Autopilot** directory: + ```sh make clean ``` @@ -349,6 +353,7 @@ MODULES 1. Enter the Pixhawk nutshell through UDP. Replace xxx.xx.xxx.xxx with your IP. + ```sh cd PX4-Autopilot/Tools ./mavlink_shell.py xxx.xx.xxx.xxx:14557 --baudrate 57600 diff --git a/docs/ko/ros/mavros_installation.md b/docs/ko/ros/mavros_installation.md index 5d7dd2eb68..8a32a140a7 100644 --- a/docs/ko/ros/mavros_installation.md +++ b/docs/ko/ros/mavros_installation.md @@ -26,7 +26,7 @@ They cover the _ROS Melodic and Noetic_ releases. :::tab ROS Noetic (Ubuntu 20.04) -If you're working with [ROS Noetic](https://wiki.ros.org/noetic) on Ubuntu 20.04: +If you're working with [ROS "Noetic"](https://wiki.ros.org/noetic) on Ubuntu 20.04: 1. Install PX4 without the simulator toolchain: 1. [Download PX4 Source Code](../dev_setup/building_px4.md): @@ -57,7 +57,7 @@ If you're working with [ROS Noetic](https://wiki.ros.org/noetic) on Ubuntu 20.04 :::tab ROS Melodic (Ubuntu 18.04) -If you're working with ROS "Melodic on Ubuntu 18.04: +If you're working with ROS "Melodic" on Ubuntu 18.04: 1. Download the [ubuntu_sim_ros_melodic.sh](https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_ros_melodic.sh) script in a bash shell: diff --git a/docs/ko/ros2/px4_ros2_control_interface.md b/docs/ko/ros2/px4_ros2_control_interface.md index 63ccc917cb..15ee7967c3 100644 --- a/docs/ko/ros2/px4_ros2_control_interface.md +++ b/docs/ko/ros2/px4_ros2_control_interface.md @@ -28,7 +28,7 @@ Unless the mode is safety-critical, requires strict timing or very high update r :::tip If you want to use Python, check out the [examples in the repository](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/examples/python). -Not all classes have Python bindings yet — the [supported bindings are here](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/px4_ros2_py/src/px4_ros2). +Not all classes have Python bindings yet — the [supported bindings are here](https://auterion.github.io/px4-ros2-interface-lib/python/index.html). You are welcome to add and contribute missing classes. ::: diff --git a/docs/ko/sensor/microstrain.md b/docs/ko/sensor/microstrain.md index 1cb0e1b8d5..0c5bf0061d 100644 --- a/docs/ko/sensor/microstrain.md +++ b/docs/ko/sensor/microstrain.md @@ -41,9 +41,7 @@ To use the MicroStrain driver: 1. Include the module in firmware in the [kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) by setting the kconfig variables: `CONFIG_DRIVERS_INS_MICROSTRAIN` or `CONFIG_COMMON_INS`. 2. Configure the driver mode by setting [MS_MODE](../advanced_config/parameter_reference.md#MS_MODE) - - To use the MicroStrain sensor to provide raw IMU data to EKF2 - 1. Set [MS_MODE](../advanced_config/parameter_reference.md#MS_MODE) to 0 2. Update the [EKF2_MULTI_IMU](../advanced_config/parameter_reference.md#EKF2_MULTI_IMU) parameter to account for the added MicroStrain sensor. 3. Enable EKF2 by setting [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN) to 1 @@ -78,22 +76,18 @@ To use the MicroStrain driver: ## MicroStrain Configuration 1. Rates: - - By default, accel and gyro data are published at 500 Hz, magnetometer at 50 Hz, and barometric pressure at 50 Hz. This can be changed by adjusting the following parameters: - - [MS_IMU_RATE_HZ](../advanced_config/parameter_reference.md#MS_IMU_RATE_HZ) - [MS_MAG_RATE_HZ](../advanced_config/parameter_reference.md#MS_MAG_RATE_HZ) - [MS_BARO_RATE_HZ](../advanced_config/parameter_reference.md#MS_BARO_RATE_HZ) - Global position, local position, attitude and odometry will be published at 250 Hz by default. This can be configured via: - - [MS_FILT_RATE_HZ](../advanced_config/parameter_reference.md#MS_FILT_RATE_HZ) - For the CV7-GNSS/INS, the GNSS receiver 1 and 2 will publish data at 5Hz by default. This can be changed using: - - [MS_GNSS_RATE_HZ](../advanced_config/parameter_reference.md#MS_GNSS_RATE_HZ) - The driver will automatically configure data outputs based on the specific sensor model and available data streams. @@ -105,7 +99,6 @@ To use the MicroStrain driver: - If supported, GNSS position and velocity aiding are always enabled. - Internal/external magnetometer and heading aiding, as well as optical flow aiding, are disabled by default. They can be enabled using the following parameters: - - [MS_INT_MAG_EN](../advanced_config/parameter_reference.md#MS_INT_MAG_EN) - [MS_INT_HEAD_EN](../advanced_config/parameter_reference.md#MS_INT_HEAD_EN) - [MS_EXT_HEAD_EN](../advanced_config/parameter_reference.md#MS_EXT_HEAD_EN) @@ -113,7 +106,6 @@ To use the MicroStrain driver: - [MS_OPT_FLOW_EN](../advanced_config/parameter_reference.md#MS_OPT_FLOW_EN) - The aiding frames for external sources can be configured using the following parameters: - - [MS_EHEAD_YAW](../advanced_config/parameter_reference.md#MS_EHEAD_YAW) - [MS_EMAG_ROLL](../advanced_config/parameter_reference.md#MS_EMAG_ROLL) - [MS_EMAG_PTCH](../advanced_config/parameter_reference.md#MS_EMAG_PTCH) @@ -124,7 +116,6 @@ To use the MicroStrain driver: - [SENS_FLOW_ROT](../advanced_config/parameter_reference.md#SENS_FLOW_ROT) - The uncertainty for optical flow and external magnetometer aiding must be specified using the following parameters: - - [MS_EMAG_UNCERT](../advanced_config/parameter_reference.md#MS_EMAG_UNCERT) - [MS_OFLW_UNCERT](../advanced_config/parameter_reference.md#MS_OFLW_UNCERT) @@ -137,25 +128,18 @@ To use the MicroStrain driver: ::: 3. Initial heading alignment: - - Initial heading alignment is set to kinematic by default. This can be changed by adjusting - - [MS_ALIGNMENT](../advanced_config/parameter_reference.md#MS_ALIGNMENT) 4. GNSS Aiding Source Control (GNSS/INS only) - - The Source of the GNSS aiding data can be configured using: - - [MS_GNSS_AID_SRC](../advanced_config/parameter_reference.md#MS_GNSS_AID_SRC) 5. Sensor to vehicle transform: - - If the sensor is mounted in an orientation different from the vehicle frame. A sensor to vehicle transform can be enabled using - - [MS_SVT_EN](../advanced_config/parameter_reference.md#MS_SVT_EN) - The transform is defined using the following parameters - - [MS_SENSOR_ROLL](../advanced_config/parameter_reference.md#MS_SENSOR_ROLL) - [MS_SENSOR_PTCH](../advanced_config/parameter_reference.md#MS_SENSOR_PTCH) - [MS_SENSOR_YAW](../advanced_config/parameter_reference.md#MS_SENSOR_YAW) @@ -163,7 +147,6 @@ To use the MicroStrain driver: 6. IMU ranges: - The accelerometer and gyroscope ranges on the device are configurable using: - - [MS_ACCEL_RANGE](../advanced_config/parameter_reference.md#MS_ACCEL_RANGE) - [MS_GYRO_RANGE](../advanced_config/parameter_reference.md#MS_GYRO_RANGE) @@ -175,15 +158,12 @@ To use the MicroStrain driver: ::: 7. GNSS Lever arm offsets: - - The lever arm offset for the external GNSS receiver can be configured using: - - [MS_GNSS_OFF1_X](../advanced_config/parameter_reference.md#MS_GNSS_OFF1_X) - [MS_GNSS_OFF1_Y](../advanced_config/parameter_reference.md#MS_GNSS_OFF1_Y) - [MS_GNSS_OFF1_Z](../advanced_config/parameter_reference.md#MS_GNSS_OFF1_Z) - For dual-antenna configurations, the second GNSS receiver’s offset is configured using: - - [MS_GNSS_OFF2_X](../advanced_config/parameter_reference.md#MS_GNSS_OFF2_X) - [MS_GNSS_OFF2_Y](../advanced_config/parameter_reference.md#MS_GNSS_OFF2_Y) - [MS_GNSS_OFF2_Z](../advanced_config/parameter_reference.md#MS_GNSS_OFF2_Z) diff --git a/docs/ko/sensor/optical_flow.md b/docs/ko/sensor/optical_flow.md index da70368eea..779386fe14 100644 --- a/docs/ko/sensor/optical_flow.md +++ b/docs/ko/sensor/optical_flow.md @@ -55,7 +55,7 @@ Reducing the optical flow scale factor can improve the situation. It has a PAW3902 optical flow sensor, Broadcom AFBR-S50LV85D 30 meter distance sensor, and Invensense ICM-42688-P 6-Axis IMU. [ARK Flow MR](../dronecan/ark_flow_mr.md) is a [DroneCAN](../dronecan/index.md) optical flow sensor, [distance sensor](../sensor/rangefinders.md), and IMU, for mid-range applications. -It has a PixArt PAA3905 optical flow sensor, Broadcom AFBR-S50LX85D 50 meter distance sensor, and Invensense IIM-42653 6-Axis IMU. +It has a PixArt PAA3905 optical flow sensor, Broadcom AFBR-S50LX85D 50 meter distance sensor, and Invensense IIM-42653 6-Axis IMU. ### Holybro H-Flow diff --git a/docs/ko/sensor/sbgecom.md b/docs/ko/sensor/sbgecom.md index 8c721b5ecb..c9f0777c00 100644 --- a/docs/ko/sensor/sbgecom.md +++ b/docs/ko/sensor/sbgecom.md @@ -82,9 +82,7 @@ To use the sbgECom driver: In this case, MAVLink messages will be updated with the newly selected sensor. If you don't want to have this fallback mechanism, you must disable unwanted sensors. - -::: - 4. If using the sbgECom as an INS, disable EKF2 using [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN). + ::: 4. If using the sbgECom as an INS, disable EKF2 using [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN). 6. Restart PX4. diff --git a/docs/ko/sensor/sfxx_lidar.md b/docs/ko/sensor/sfxx_lidar.md index ee0cb5e9d6..30daec9f04 100644 --- a/docs/ko/sensor/sfxx_lidar.md +++ b/docs/ko/sensor/sfxx_lidar.md @@ -1,4 +1,4 @@ -# LightWare Lidar (SF1X/SF02/LW20/SF45) +# LightWare Lidar (SF1X/SF02/LW20/SF45/GRF250/GRF500) LightWare는 UAV에 장착에 적합한 경량의 범용 레이저 고도계( "라이다")를 개발합니다. 지형 추적, 정밀 호버링 (예 : 사진 촬영), 규제 높이 제한 경고, 충돌 방지 감지 등에 사용됩니다. diff --git a/docs/ko/sensor/vectornav.md b/docs/ko/sensor/vectornav.md index dc8941aebc..e38e66dca5 100644 --- a/docs/ko/sensor/vectornav.md +++ b/docs/ko/sensor/vectornav.md @@ -59,7 +59,6 @@ To use the VectorNav driver: 4. Allow the VectorNav driver to initialize by restarting PX4. 5. Configure driver as either an external INS or to provide raw data: - - If using the VectorNav as an external INS, set [VN_MODE](../advanced_config/parameter_reference.md#VN_MODE) to `INS`. This disables EKF2. - If using the VectorNav as external inertial sensors: diff --git a/docs/ko/sensor_bus/i2c_development.md b/docs/ko/sensor_bus/i2c_development.md index 3520633706..68b33426ea 100644 --- a/docs/ko/sensor_bus/i2c_development.md +++ b/docs/ko/sensor_bus/i2c_development.md @@ -23,7 +23,7 @@ The bus is not fast enough even with a single device attached to allow vibration Drivers should `#include ` and then provide an implementation of the abstract base class `I2C` defined in **I2C.hpp** for the target hardware (i.e. for NuttX [here](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/drivers/device/nuttx/I2C.hpp)). -A small number of drivers will also need to include headers for their type of device (**drv_\*.h**) in [/src/drivers/](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers) - e.g. [drv_led.h](https://github.com/PX4/PX4-Autopilot/blob/main/src/drivers/drv_led.h). +A small number of drivers will also need to include headers for their type of device (**drv\_\*.h**) in [/src/drivers/](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers) - e.g. [drv_led.h](https://github.com/PX4/PX4-Autopilot/blob/main/src/drivers/drv_led.h). To include a driver in firmware you must add the driver to the board-specific cmake file that corresponds to the target you want to build for. You can do this for a single driver: diff --git a/docs/ko/sim_gazebo_gz/index.md b/docs/ko/sim_gazebo_gz/index.md index d93011de4c..e46d72b927 100644 --- a/docs/ko/sim_gazebo_gz/index.md +++ b/docs/ko/sim_gazebo_gz/index.md @@ -254,7 +254,6 @@ where `ARGS` is a list of environment variables including: - `PX4_GZ_MODEL_NAME`: Sets the name of an _existing_ model in the gazebo simulation. If provided, the startup script tries to bind a new PX4 instance to the Gazebo resource matching exactly that name. - - The setting is mutually exclusive with `PX4_SIM_MODEL`. - `PX4_SIM_MODEL`: @@ -271,7 +270,6 @@ where `ARGS` is a list of environment variables including: - `PX4_GZ_MODEL_POSE`: Sets the spawning position and orientation of the model when `PX4_SIM_MODEL` is adopted. If provided, the startup script spawns the model at a pose following the syntax `"x,y,z,roll,pitch,yaw"`, where the positions are given in metres and the angles are in radians. - - If omitted, the zero pose `[0,0,0,0,0,0]` is used. - If less then 6 values are provided, the missing ones are fixed to zero. - This can only be used with `PX4_SIM_MODEL` (not `PX4_GZ_MODEL_NAME`). @@ -279,7 +277,6 @@ where `ARGS` is a list of environment variables including: - `PX4_GZ_WORLD`: Sets the Gazebo world file for a new simulation. If it is not given, then [default](https://github.com/PX4/PX4-gazebo-models/blob/main/worlds/default.sdf) is used. - - This variable is ignored if an existing simulation is already running. - This value should be [specified for the selected airframe](#adding-new-worlds-and-models) but may be overridden using this argument. - If the [moving platform world](../sim_gazebo_gz/worlds.md#moving-platform) is selected using `PX4_GZ_WORLD=moving_platform` (or any world using the moving platform plugin), the platform can be configured using environment variables: @@ -288,7 +285,6 @@ where `ARGS` is a list of environment variables including: - `PX4_SIMULATOR=GZ`: Sets the simulator, which for Gazebo must be `gz`. - - This value should be [set for the selected airframe](#adding-new-worlds-and-models), in which case it does not need to be set as an argument. - `PX4_GZ_STANDALONE`: @@ -390,7 +386,6 @@ To add a new world: 1. Add your world to the list of worlds found in the [`CMakeLists.txt` here](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/simulation/gz_bridge/CMakeLists.txt). This is required in order to allow `CMake` to generate correct targets. - - If you plan to use "normal" mode, add your world sdf to `Tools/simulation/gz/worlds/`. - If you plan to use _standalone_ mode, add your world SDF to `~/.simulation-gazebo/worlds/` diff --git a/docs/ko/simulation/community_supported_simulators.md b/docs/ko/simulation/community_supported_simulators.md index 707e9db855..3cd3f56150 100644 --- a/docs/ko/simulation/community_supported_simulators.md +++ b/docs/ko/simulation/community_supported_simulators.md @@ -12,10 +12,10 @@ See [Toolchain Installation](../dev_setup/dev_env.md) for information about the The tools have variable levels of support from their communities (some are well supported and others are not). Questions about these tools should be raised on the [discussion forums](../contribute/support.md#forums-and-chat) -| 시뮬레이터 | 설명 | -| ---------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| [Simulation-In-Hardware](../sim_sih/index.md) (SIH) |

A simulator implemented in C++ as a PX4 module directly in the Firmware [code](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/simulator_sih). It can be ran in SITL directly on the computer or as an alternative to HITL offering a hard real-time simulation directly on the hardware autopilot.

Supported Vehicles: Quad, Hexa, Plane, Tailsitter, Standard VTOL, Ackermann Rover

| -| [FlightGear](../sim_flightgear/index.md) |

A simulator that provides physically and visually realistic simulations. In particular it can simulate many weather conditions, including thunderstorms, snow, rain and hail, and can also simulate thermals and different types of atmospheric flows. [Multi-vehicle simulation](../sim_flightgear/multi_vehicle.md) is also supported.

Supported Vehicles: Plane, Autogyro, Rover

| -| [JMAVSim](../sim_jmavsim/index.md) |

A simple multirotor/quad simulator. This was previously part of the PX4 development toolchain but was removed in favour of [Gazebo](../sim_gazebo_gz/index.md).

Supported Vehicles: Quad

| -| [JSBSim](../sim_jsbsim/index.md) |

A simulator that provides advanced flight dynamics models. This can be used to model realistic flight dynamics based on wind tunnel data.

Supported Vehicles: Plane, Quad, Hex

| -| [AirSim](../sim_airsim/index.md) |

A cross platform simulator that provides physically and visually realistic simulations. This simulator is resource intensive, and requires a significantly more powerful computer than the other simulators described here.

Supported Vehicles: Iris (MultiRotor model and a configuration for PX4 QuadRotor in the X configuration).

| +| 시뮬레이터 | 설명 | +| ---------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| [Simulation-In-Hardware](../sim_sih/index.md) (SIH) |

A simulator implemented in C++ as a PX4 module directly in the Firmware [code](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/simulator_sih). It can be ran in SITL directly on the computer or as an alternative to HITL offering a hard real-time simulation directly on the hardware autopilot.

Supported Vehicles: Quad, Hexa, Plane, Tailsitter, Standard VTOL, Ackermann Rover

| +| [FlightGear](../sim_flightgear/index.md) |

A simulator that provides physically and visually realistic simulations. In particular it can simulate many weather conditions, including thunderstorms, snow, rain and hail, and can also simulate thermals and different types of atmospheric flows. [Multi-vehicle simulation](../sim_flightgear/multi_vehicle.md) is also supported.

Supported Vehicles: Plane, Autogyro, Rover

| +| [JMAVSim](../sim_jmavsim/index.md) |

A simple multirotor/quad simulator. This was previously part of the PX4 development toolchain but was removed in favour of [Gazebo](../sim_gazebo_gz/index.md).

Supported Vehicles: Quad

| +| [JSBSim](../sim_jsbsim/index.md) |

A simulator that provides advanced flight dynamics models. This can be used to model realistic flight dynamics based on wind tunnel data.

Supported Vehicles: Plane, Quad, Hex

| +| [AirSim](../sim_airsim/index.md) |

A cross platform simulator that provides physically and visually realistic simulations. This simulator is resource intensive, and requires a significantly more powerful computer than the other simulators described here.

Supported Vehicles: Iris (MultiRotor model and a configuration for PX4 QuadRotor in the X configuration).

| diff --git a/docs/ko/smart_batteries/rotoye_batmon.md b/docs/ko/smart_batteries/rotoye_batmon.md index 896ef46e27..b4ba96fd30 100644 --- a/docs/ko/smart_batteries/rotoye_batmon.md +++ b/docs/ko/smart_batteries/rotoye_batmon.md @@ -47,7 +47,7 @@ In _QGroundControl_: 3. Start the [batt_smbus driver](../modules/modules_driver.md) in the console. 예를 들어 동일한 버스에서 두 개의 BatMon을 실행하려면: ```sh - batt_smbus start -X -b 1 -a 11 # External bus 1, address 0x0b + batt_smbus start -X -b 1 -a 11 # External bus 1, address 0x0b batt_smbus start -X -b 1 -a 12 # External bus 1, address 0x0c ``` diff --git a/docs/ko/test_and_ci/continous_integration.md b/docs/ko/test_and_ci/continous_integration.md index 92a888659c..e2a8d03076 100644 --- a/docs/ko/test_and_ci/continous_integration.md +++ b/docs/ko/test_and_ci/continous_integration.md @@ -1,3 +1,194 @@ # PX4 지속 통합 -PX4 빌드 및 테스트는 GitHub 작업과 Jenkins 서버를 사용합니다. +PX4 uses GitHub Actions for continuous integration, with different workflows handling code builds, testing, and documentation. + +## Documentation CI + +The documentation pipeline handles building, deploying, and translating the PX4 User Guide. +All documentation CI is consolidated into a single orchestrator workflow organized in tiers. + +### Docs Orchestrator + +**Workflow file:** [`docs-orchestrator.yml`](https://github.com/PX4/PX4-Autopilot/blob/main/.github/workflows/docs-orchestrator.yml) + +This is the main documentation workflow. It runs on pull requests, pushes to `main` and `release/**` branches, and manual `workflow_dispatch` triggers, performing different jobs depending on the trigger event. +Jobs are organized in tiers, where each tier depends on the previous one completing successfully. + +#### Tier Structure + +| Tier | Job | PR | Push / Dispatch | 설명 | +| ---- | -------------- | ----------------------------------------------- | --------------------------------- | -------------------------------------------------------------------------------- | +| T1 | Detect Changes | Yes | — | Checks if source code files changed (triggers metadata regen) | +| T2 | PR Metadata | Yes (conditional) | — | Builds PX4 SITL and regenerates all auto-generated docs | +| T2 | Metadata Sync | — | Yes | Builds PX4 SITL, regenerates metadata, auto-commits | +| T2 | Link Check | Yes | — | Checks for broken links in changed files, posts PR comment | +| T3 | Build Site | Yes (if docs/source changed) | Yes (after T2) | Builds the VitePress documentation site | +| T4 | Deploy | — | Yes | Deploys to AWS S3 | + +#### Pull Request Flow + +When a PR modifies files in `docs/**` or the orchestrator workflow file itself, the workflow validates the changes: + +```txt +PR Event + │ + ▼ +┌─────────────────────────────────────┐ +│ T1: Detect Changes │ +│ • Checks if src/msg/ROMFS changed │ +└─────────────────┬───────────────────┘ + │ + ┌───────┴───────┐ + ▼ ▼ +┌──────────────────┐ ┌─────────────────────────┐ +│ T2: PR Metadata │ │ T2: Link Check (~30s) │ +│ (conditional) │ │ • Detects changed .md │ +│ • Builds SITL │ │ • Runs filtered check │ +│ • Generates │ │ • Posts PR comment │ +│ metadata │ │ • Runs full check │ +│ • Builds │ └────────────┬────────────┘ +│ failsafe web │ │ +└────────┬─────────┘ │ + └───────────┬────────────┘ + ▼ +┌─────────────────────────────────────┐ +│ T3: Build Site (~7-10 min) │ +│ (skipped if only workflow YAML │ +│ changed — no docs/source changes) │ +│ • Builds VitePress site │ +│ • Verifies no build errors │ +└─────────────────┬───────────────────┘ + │ + ▼ + DONE +``` + +| Job | Duration | 설명 | +| -------------------------------------- | ----------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| **T1: Detect Changes** | ~10s | Determines if metadata regeneration is needed | +| **T2: PR Metadata** | ~10-15m | Rebuilds PX4 SITL and regenerates all metadata (only if source files changed) | +| **T2: Link Check** | ~30s | Checks for broken links in changed markdown files and posts a sticky comment to the PR (skipped on fork PRs) | +| **T3: Build Site** | ~7-10m | Builds the VitePress site to verify there are no build errors. Skipped when only the workflow YAML changed (no docs or source changes). | + +#### Push / Dispatch Flow (main/release branches) + +When changes are pushed to `main` or `release/**` branches (or a `workflow_dispatch` is triggered), the workflow regenerates metadata, builds, and deploys. +Only `main` and `release/*` branches are accepted for deploy — other branches will fail with a clear error. + +```txt +Push / Dispatch Event + │ + ▼ +┌─────────────────────────────────────┐ +│ T2: Metadata Sync (~10-15 min) │ +│ • Builds px4_sitl_default │ +│ • Generates parameter/airframe/ │ +│ module documentation │ +│ • Builds failsafe web simulator │ +│ • Formats with Prettier │ +│ • Auto-commits if changes detected │ +│ (with [skip ci]) │ +└─────────────────┬───────────────────┘ + │ + ▼ +┌─────────────────────────────────────┐ +│ T3: Build Site (~7-10 min) │ +│ • Builds VitePress site │ +│ • Uploads build artifact │ +└─────────────────┬───────────────────┘ + │ + ▼ +┌─────────────────────────────────────┐ +│ T4: Deploy (~3 min) │ +│ • Syncs to AWS S3 │ +│ • HTML: 60s cache │ +│ • Assets: 24h immutable cache │ +└─────────────────────────────────────┘ +``` + +| Job | Duration | 설명 | +| ------------------------------------- | ----------------------- | ------------------------------------------------------------------------------------------------------------------ | +| **T2: Metadata Sync** | ~10-15m | Rebuilds PX4 SITL, regenerates all metadata, formats with Prettier, auto-commits with `[skip ci]` | +| **T3: Build Site** | ~7-10m | Builds the VitePress documentation site | +| **T4: Deploy** | ~3m | Syncs built site to AWS S3 (HTML: 60s cache, assets: 24h cache) | + +Crowdin upload is handled by a separate workflow (see below). + +#### Generated Metadata + +The metadata regeneration job creates the following auto-generated documentation: + +| 형식 | 출력 | 설명 | +| ------------------ | ------------------------------------------------ | --------------------------------------------------------------- | +| 매개변수 | `docs/en/advanced_config/parameter_reference.md` | Complete parameter reference | +| 기체 | `docs/en/airframes/airframe_reference.md` | Airframe configurations | +| 모듈 | `docs/en/modules/*.md` | Module documentation | +| Messages | `docs/en/msg_docs/*.md` | uORB message documentation | +| uORB Graphs | `docs/public/middleware/*.json` | Topic dependency graphs | +| Failsafe Simulator | `docs/public/config/failsafe/*` | Interactive failsafe simulator (WebAssembly) | + +:::warning +Do not manually edit the auto-generated files listed above. They are overwritten on every push to main. +::: + +#### Path Triggers + +The workflow triggers on different paths depending on the event: + +**Push** (main/release branches): + +| Path | Reason | +| ------------------------ | ------------------------------------- | +| `docs/**` | Documentation source files | +| `src/**` | Source code changes affect metadata | +| `msg/**` | Message definitions affect metadata | +| `ROMFS/**` | ROMFS files affect metadata | +| `Tools/module_config/**` | Module configuration affects metadata | + +**Pull Request:** + +| Path | Reason | +| ----------------------------------------- | ------------------------------ | +| `docs/**` | Documentation source files | +| `.github/workflows/docs-orchestrator.yml` | Changes to the workflow itself | + +Source-only changes on PRs are detected at runtime by the T1: Detect Changes job using [dorny/paths-filter](https://github.com/dorny/paths-filter), which conditionally triggers the T2: PR Metadata job. + +### Crowdin Download Workflow + +**Workflow file:** [`docs_crowdin_download.yml`](https://github.com/PX4/PX4-Autopilot/blob/main/.github/workflows/docs_crowdin_download.yml) + +This scheduled workflow downloads completed translations from Crowdin and creates pull requests. + +| 설정 | Value | +| -------------------- | ---------------------------------------------------------------------------------------------------------------- | +| **Schedule** | Every Sunday at 00:00 UTC | +| **Target Languages** | Korean (ko), Ukrainian (uk), Chinese Simplified (zh-CN) | + +**Process:** + +1. Downloads translations for each target language from Crowdin +2. Creates a separate PR for each language with new translations +3. PRs are labeled "Documentation" and assigned for review + +### Caching Strategy + +The workflows use caching to speed up builds: + +| Cache | Size | Purpose | +| --------------------------------- | --------------------- | -------------------------------------------------- | +| ccache | 1GB | C++ compilation cache for SITL builds | +| node_modules | ~26MB | Node.js dependencies for VitePress | + +### Infrastructure + +Jobs run on [runs-on](https://runs-on.com/) self-hosted runners with S3 cache: + +| Job | Runner | +| ---------------------------------- | ------------------------------------------------- | +| T1: Detect Changes | ubuntu-latest | +| T2: PR Metadata | 4 CPU (with px4-dev container) | +| T2: Metadata Sync | 4 CPU (with px4-dev container) | +| T2: Link Check | ubuntu-latest | +| T3: Build Site | 4 CPU | +| T4: Deploy | ubuntu-latest | diff --git a/docs/ko/test_and_ci/docker.md b/docs/ko/test_and_ci/docker.md index 8d650a97a0..453366512b 100644 --- a/docs/ko/test_and_ci/docker.md +++ b/docs/ko/test_and_ci/docker.md @@ -1,12 +1,11 @@ # PX4 도커 컨테이너 -Docker containers are provided for the complete [PX4 development toolchain](../dev_setup/dev_env.md#supported-targets) including NuttX and Linux based hardware, [Gazebo Classic](../sim_gazebo_classic/index.md) simulation, and [ROS](../simulation/ros_interface.md). +Docker containers are provided for the complete [PX4 development toolchain](../dev_setup/dev_env.md#supported-targets) including NuttX and Linux based hardware, [Gazebo](../sim_gazebo_gz/index.md) simulation, and [ROS 2](../ros2/user_guide.md). This topic shows how to use the [available docker containers](#px4_containers) to access the build environment in a local Linux computer. :::info -Dockerfiles and README can be found on [Github here](https://github.com/PX4/PX4-containers/tree/master?tab=readme-ov-file#container-hierarchy). -They are built automatically on [Docker Hub](https://hub.docker.com/u/px4io/). +The recommended `px4-dev` container is built from the [Dockerfile in the PX4-Autopilot source tree](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/setup/Dockerfile) by the [Container build workflow](https://github.com/PX4/PX4-Autopilot/actions/workflows/dev_container.yml). ::: ## 준비 사항 @@ -35,33 +34,36 @@ sudo usermod -aG docker $USER # Log in/out again before using docker! ``` -## Container Hierarchy {#px4_containers} +## px4-dev Container (Recommended) {#px4_containers} -The available containers are on [GitHub here](https://github.com/PX4/PX4-containers/tree/master?tab=readme-ov-file#container-hierarchy). +The **`px4-dev`** container is the recommended container for building PX4 firmware. +It is a single, multi-architecture container (linux/amd64 and linux/arm64) based on Ubuntu 24.04 that includes everything needed to build PX4 for NuttX hardware targets. -이를 통하여 다양한 빌드 대상 및 구성을 테스트할 수 있습니다(포함된 도구는 이름에서 유추할 수 있음). -The containers are hierarchical, such that containers have the functionality of their parents. -For example, the partial hierarchy below shows that the docker container with NuttX build tools (`px4-dev-nuttx-focal`) does not include ROS 2, while the simulation containers do: +It is published to both registries simultaneously: -```plain -- px4io/px4-dev-base-focal - - px4io/px4-dev-nuttx-focal - - px4io/px4-dev-simulation-focal - - px4io/px4-dev-ros-noetic - - px4io/px4-dev-ros2-foxy - - px4io/px4-dev-ros2-rolling -- px4io/px4-dev-base-jammy - - px4io/px4-dev-nuttx-jammy -``` +- **GitHub Container Registry:** [ghcr.io/px4/px4-dev](https://github.com/PX4/PX4-Autopilot/pkgs/container/px4-dev) +- **Docker Hub:** [px4io/px4-dev](https://hub.docker.com/r/px4io/px4-dev) -The most recent version can be accessed using the `latest` tag: `px4io/px4-dev-nuttx-focal:latest` -(available tags are listed for each container on _hub.docker.com_. -For example, the `px4io/px4-dev-nuttx-focal` tags can be found on [hub.docker.com here](https://hub.docker.com/r/px4io/px4-dev-nuttx-focal/tags?page=1&ordering=last_updated)). +The container includes: + +- Ubuntu 24.04 base +- ARM cross-compiler (`gcc-arm-none-eabi`) and Xtensa compiler (for ESP32 targets) +- Build tools: `cmake`, `ninja`, `ccache`, `make` +- Python 3 with PX4 build dependencies +- NuttX toolchain libraries (`libnewlib-arm-none-eabi`, etc.) + +The container is built from the [Dockerfile](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/setup/Dockerfile) in the PX4 source tree using the [Container build workflow](https://github.com/PX4/PX4-Autopilot/actions/workflows/dev_container.yml). +Images are tagged with the PX4 version (e.g. `px4io/px4-dev:v1.16.0`). :::tip -Typically you should use a recent container, but not necessarily the `latest` (as this changes too often). +A `px4-sim` container with simulation tools (Gazebo Harmonic) is planned to complement `px4-dev` for simulation workflows. ::: +### Legacy Containers + +The older per-distro containers from [PX4/PX4-containers](https://github.com/PX4/PX4-containers) (e.g. `px4-dev-nuttx-jammy`, `px4-dev-ros2-humble`, etc.) are no longer recommended. +They will be replaced by `px4-dev` (for builds) and the upcoming `px4-sim` (for simulation). + ## 도커 컨테이너 활용 도커 컨테이너에서 실행되는 툴체인을 사용하여 호스트 컴퓨터에서 PX4 빌드 방법을 설명합니다. @@ -121,7 +123,7 @@ docker run -it --privileged \ - ``: The host computer directory to be mapped to `` in the container. This should normally be the **PX4-Autopilot** directory. - ``: The location of the shared (source) directory when inside the container. - ``: A name for the docker container being created. 나중에 컨테이너를 다시 참조해야 하는 경우에 사용할 수 있습니다. -- `:`: The container with version tag to start - e.g.: `px4io/px4-dev-ros:2017-10-23`. +- `:`: The container with version tag to start - e.g.: `px4io/px4-dev:v1.16.0`. - ``: The command to invoke on the new container. 예: `bash` is used to open a bash shell in the container. The concrete example below shows how to open a bash shell and share the directory **~/src/PX4-Autopilot** on the host computer. @@ -137,7 +139,7 @@ docker run -it --privileged \ -v /tmp/.X11-unix:/tmp/.X11-unix:ro \ -e DISPLAY=:0 \ --network host \ ---name=px4-ros px4io/px4-dev-ros2-foxy:2022-07-31 bash +--name=px4-dev px4io/px4-dev:v1.16.0 bash ``` :::info @@ -155,7 +157,7 @@ On other hosts you might iterate the value of `0` in `-e DISPLAY=:0` until the " ```sh cd src/PX4-Autopilot #This is -make px4_sitl_default gazebo-classic +make px4_sitl gz_x500 ``` ### 컨테이너 재진입 @@ -219,7 +221,7 @@ The example above uses the line `--env=LOCAL_USER_ID="$(id -u)"` to create a use #### 그래픽 드라이버 문제 -It's possible that running Gazebo Classic will result in a similar error message like the following: +It's possible that running Gazebo will result in a similar error message like the following: ```sh libGL error: failed to load driver: swrast @@ -239,7 +241,7 @@ Nvidia 드라이버의 경우 다음 명령어를 사용합니다(그렇지 않 다음 설정은 테스트 되었습니다. -- VMWare Fusion 및 Ubuntu 14.04가 포함된 OS X(Parallels에서 GUI를 지원하는 Docker 컨테이너로 인해 X-Server가 충돌함). +- OS X with VMWare Fusion and Ubuntu 22.04 (Docker container with GUI support on Parallels make the X-Server crash). **Memory** diff --git a/docs/ko/uart/user_configurable_serial_driver.md b/docs/ko/uart/user_configurable_serial_driver.md index 3a5b9b65cf..85fa4b6b4d 100644 --- a/docs/ko/uart/user_configurable_serial_driver.md +++ b/docs/ko/uart/user_configurable_serial_driver.md @@ -25,7 +25,6 @@ 드라이버를 설정 가능하게 하려면: 1. Create a YAML module configuration file: - - Add a new file in the driver's source directory named **module.yaml** - Insert the following text and adjust as needed: