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New Crowdin translations - ko (#26487)

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docs/ko/msg_docs/ActionRequest.md
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# 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 |
| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ---------------------------------------------------------------------------------------- |
| <a href="#ACTION_DISARM"></a> ACTION_DISARM | `uint8` | 0 | Disarm vehicle |
| <a href="#ACTION_ARM"></a> ACTION_ARM | `uint8` | 1 | Arm vehicle |
| <a href="#ACTION_TOGGLE_ARMING"></a> ACTION_TOGGLE_ARMING | `uint8` | 2 | Toggle arming |
| <a href="#ACTION_UNKILL"></a> ACTION_UNKILL | `uint8` | 3 | Revert a kill action |
| <a href="#ACTION_KILL"></a> ACTION_KILL | `uint8` | 4 | Kill vehicle (instantly stop the motors) |
| <a href="#ACTION_SWITCH_MODE"></a> ACTION_SWITCH_MODE | `uint8` | 5 | Switch mode. The target mode is set in the `mode` field. |
| <a href="#ACTION_VTOL_TRANSITION_TO_MULTICOPTER"></a> ACTION_VTOL_TRANSITION_TO_MULTICOPTER | `uint8` | 6 | Transition to hover flight |
| <a href="#ACTION_VTOL_TRANSITION_TO_FIXEDWING"></a> ACTION_VTOL_TRANSITION_TO_FIXEDWING | `uint8` | 7 | Transition to fast forward flight |
| <a href="#ACTION_TERMINATION"></a> ACTION_TERMINATION | `uint8` | 8 | Irreversibly output failsafe values on all outputs, trigger parachute |
### SOURCE {#SOURCE}
| 명칭 | 형식 | Value | 설명 |
| ---------------------------------------------------------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------------- |
| <a href="#SOURCE_STICK_GESTURE"></a> SOURCE_STICK_GESTURE | `uint8` | 0 | Triggered by holding the sticks in a certain position |
| <a href="#SOURCE_RC_SWITCH"></a> SOURCE_RC_SWITCH | `uint8` | 1 | Triggered by an RC switch moving into a certain position |
| <a href="#SOURCE_RC_BUTTON"></a> SOURCE_RC_BUTTON | `uint8` | 2 | Triggered by a momentary button on the RC being pressed or held |
| <a href="#SOURCE_RC_MODE_SLOT"></a> 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.
```
:::
docs/ko/msg_docs/ActuatorArmed.md
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# 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
```
:::
docs/ko/msg_docs/ActuatorControlsStatus.md
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# 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
```
:::
docs/ko/msg_docs/ActuatorMotors.md
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# 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 |
| ----------------------------------------------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR1"></a> ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | |
| <a href="#NUM_CONTROLS"></a> 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)
```
:::
docs/ko/msg_docs/ActuatorOutputs.md
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# 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 |
| ------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ------------------- |
| <a href="#NUM_ACTUATOR_OUTPUTS"></a> NUM_ACTUATOR_OUTPUTS | `uint8` | 16 | |
| <a href="#NUM_ACTUATOR_OUTPUT_GROUPS "></a> 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
```
:::
docs/ko/msg_docs/ActuatorServos.md
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# 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 |
| -------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| <a href="#NUM_CONTROLS"></a> 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.
```
:::
docs/ko/msg_docs/ActuatorServosTrim.md
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# 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 |
| -------------------------------------------------------------- | ------- | ----- | -- |
| <a href="#NUM_CONTROLS"></a> 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]
```
:::
docs/ko/msg_docs/ActuatorTest.md
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# 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 |
| ------------------------------------------------------------------------------------------------------- | ------- | ----- | -------------------------------------------------------------------------------------------------------------------- |
| <a href="#ACTION_RELEASE_CONTROL"></a> ACTION_RELEASE_CONTROL | `uint8` | 0 | exit test mode for the given function |
| <a href="#ACTION_DO_CONTROL"></a> ACTION_DO_CONTROL | `uint8` | 1 | enable actuator test mode |
| <a href="#FUNCTION_MOTOR1"></a> FUNCTION_MOTOR1 | `uint8` | 101 | |
| <a href="#MAX_NUM_MOTORS"></a> MAX_NUM_MOTORS | `uint8` | 12 | |
| <a href="#FUNCTION_SERVO1"></a> FUNCTION_SERVO1 | `uint8` | 201 | |
| <a href="#MAX_NUM_SERVOS"></a> MAX_NUM_SERVOS | `uint8` | 8 | |
| <a href="#ORB_QUEUE_LENGTH"></a> 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
```
:::
docs/ko/msg_docs/AdcReport.md
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# 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)
```
:::
docs/ko/msg_docs/Airspeed.md
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# 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
```
:::
docs/ko/msg_docs/AirspeedValidated.md
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# 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 |
| -------------------------------------------------------------------------------------------------------------------------------- | ------ | ----- | ----------------------- |
| <a href="#SOURCE_DISABLED"></a> SOURCE_DISABLED | `int8` | -1 | Disabled |
| <a href="#SOURCE_GROUND_MINUS_WIND"></a> SOURCE_GROUND_MINUS_WIND | `int8` | 0 | Ground speed minus wind |
| <a href="#SOURCE_SENSOR_1"></a> SOURCE_SENSOR_1 | `int8` | 1 | Sensor 1 |
| <a href="#SOURCE_SENSOR_2"></a> SOURCE_SENSOR_2 | `int8` | 2 | Sensor 2 |
| <a href="#SOURCE_SENSOR_3"></a> SOURCE_SENSOR_3 | `int8` | 3 | Sensor 3 |
| <a href="#SOURCE_SYNTHETIC"></a> SOURCE_SYNTHETIC | `int8` | 4 | Synthetic airspeed |
## Constants
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> 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
```
:::
docs/ko/msg_docs/AirspeedValidatedV0.md
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# 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 |
| -------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> 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]
```
:::
docs/ko/msg_docs/AirspeedWind.md
+43 -3
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@@ -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 |
| ---------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ----------------------------------------------------------------------------------------------------- |
| <a href="#SOURCE_AS_BETA_ONLY"></a> SOURCE_AS_BETA_ONLY | `uint8` | 0 | Wind estimate only based on synthetic sideslip fusion |
| <a href="#SOURCE_AS_SENSOR_1"></a> SOURCE_AS_SENSOR_1 | `uint8` | 1 | Combined synthetic sideslip and airspeed fusion (data from first airspeed sensor) |
| <a href="#SOURCE_AS_SENSOR_2"></a> SOURCE_AS_SENSOR_2 | `uint8` | 2 | Combined synthetic sideslip and airspeed fusion (data from second airspeed sensor) |
| <a href="#SOURCE_AS_SENSOR_3"></a> 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)
```
:::
docs/ko/msg_docs/ArmingCheckReply.md
+56 -3
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@@ -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 |
| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------- |
| <a href="#HEALTH_COMPONENT_INDEX_NONE"></a> HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 | Index of health component for which this response applies |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 | |
| <a href="#ORB_QUEUE_LENGTH"></a> 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
```
:::
docs/ko/msg_docs/ArmingCheckReplyV0.md
+47 -2
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@@ -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 |
| -------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| <a href="#HEALTH_COMPONENT_INDEX_NONE"></a> HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 | |
| <a href="#ORB_QUEUE_LENGTH"></a> 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
```
:::
docs/ko/msg_docs/ArmingCheckRequest.md
+29 -3
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@@ -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 |
| -------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> 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)
```
:::
docs/ko/msg_docs/ArmingCheckRequestV0.md
+27 -2
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@@ -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 |
| -------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> 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.
```
:::
docs/ko/msg_docs/AutotuneAttitudeControlStatus.md
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@@ -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 |
| ---------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------------- |
| <a href="#STATE_IDLE"></a> STATE_IDLE | `uint8` | 0 | Idle (not running) |
| <a href="#STATE_INIT"></a> STATE_INIT | `uint8` | 1 | Initialize filters and setup |
| <a href="#STATE_ROLL_AMPLITUDE_DETECTION"></a> STATE_ROLL_AMPLITUDE_DETECTION | `uint8` | 2 | FW only: determine required excitation amplitude (roll) |
| <a href="#STATE_ROLL"></a> STATE_ROLL | `uint8` | 3 | Roll-axis excitation and model identification |
| <a href="#STATE_ROLL_PAUSE"></a> STATE_ROLL_PAUSE | `uint8` | 4 | Pause to return to level flight |
| <a href="#STATE_PITCH_AMPLITUDE_DETECTION"></a> STATE_PITCH_AMPLITUDE_DETECTION | `uint8` | 5 | FW only: determine required excitation amplitude (pitch) |
| <a href="#STATE_PITCH"></a> STATE_PITCH | `uint8` | 6 | Pitch-axis excitation and model identification |
| <a href="#STATE_PITCH_PAUSE"></a> STATE_PITCH_PAUSE | `uint8` | 7 | Pause to return to level flight |
| <a href="#STATE_YAW_AMPLITUDE_DETECTION"></a> STATE_YAW_AMPLITUDE_DETECTION | `uint8` | 8 | FW only: determine required excitation amplitude (yaw) |
| <a href="#STATE_YAW"></a> STATE_YAW | `uint8` | 9 | Yaw-axis excitation and model identification |
| <a href="#STATE_YAW_PAUSE"></a> STATE_YAW_PAUSE | `uint8` | 10 | Pause to return to level flight |
| <a href="#STATE_VERIFICATION"></a> STATE_VERIFICATION | `uint8` | 11 | Verify model and candidate gains |
| <a href="#STATE_APPLY"></a> STATE_APPLY | `uint8` | 12 | Apply gains |
| <a href="#STATE_TEST"></a> STATE_TEST | `uint8` | 13 | Test gains in closed-loop |
| <a href="#STATE_COMPLETE"></a> STATE_COMPLETE | `uint8` | 14 | Tuning completed successfully |
| <a href="#STATE_FAIL"></a> STATE_FAIL | `uint8` | 15 | Tuning failed (model invalid or controller unstable) |
| <a href="#STATE_WAIT_FOR_DISARM"></a> 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
```
:::
docs/ko/msg_docs/BatteryInfo.md
+23 -3
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@@ -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
```
:::
docs/ko/msg_docs/BatteryStatus.md
+109 -3
View File
@@ -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 |
| ------------------------------------------------------------------------------------------------- | ------- | ----- | ----------------------------------------------------------------- |
| <a href="#SOURCE_POWER_MODULE"></a> SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) |
| <a href="#SOURCE_EXTERNAL"></a> SOURCE_EXTERNAL | `uint8` | 1 | External (MAVLink, CAN, or external driver) |
| <a href="#SOURCE_ESCS"></a> SOURCE_ESCS | `uint8` | 2 | ESCs (via ESC telemetry) |
### WARNING {#WARNING}
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------ | ------- | ----- | -------------------------------------------- |
| <a href="#WARNING_NONE"></a> WARNING_NONE | `uint8` | 0 | No battery low voltage warning active |
| <a href="#WARNING_LOW"></a> WARNING_LOW | `uint8` | 1 | Low voltage warning |
| <a href="#WARNING_CRITICAL"></a> WARNING_CRITICAL | `uint8` | 2 | Critical voltage, return / abort immediately |
| <a href="#WARNING_EMERGENCY"></a> WARNING_EMERGENCY | `uint8` | 3 | Immediate landing required |
| <a href="#WARNING_FAILED"></a> WARNING_FAILED | `uint8` | 4 | Battery has failed completely |
### STATE {#STATE}
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a href="#STATE_UNHEALTHY"></a> 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 |
| <a href="#STATE_CHARGING"></a> STATE_CHARGING | `uint8` | 7 | Battery is charging |
### FAULT {#FAULT}
| 명칭 | 형식 | Value | 설명 |
| ---------------------------------------------------------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------------------------------------------------------------------------------- |
| <a href="#FAULT_DEEP_DISCHARGE"></a> FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged |
| <a href="#FAULT_SPIKES"></a> FAULT_SPIKES | `uint8` | 1 | Voltage spikes |
| <a href="#FAULT_CELL_FAIL"></a> FAULT_CELL_FAIL | `uint8` | 2 | One or more cells have failed |
| <a href="#FAULT_OVER_CURRENT"></a> FAULT_OVER_CURRENT | `uint8` | 3 | Over-current |
| <a href="#FAULT_OVER_TEMPERATURE"></a> FAULT_OVER_TEMPERATURE | `uint8` | 4 | Over-temperature |
| <a href="#FAULT_UNDER_TEMPERATURE"></a> FAULT_UNDER_TEMPERATURE | `uint8` | 5 | Under-temperature fault |
| <a href="#FAULT_INCOMPATIBLE_VOLTAGE"></a> FAULT_INCOMPATIBLE_VOLTAGE | `uint8` | 6 | Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) |
| <a href="#FAULT_INCOMPATIBLE_FIRMWARE"></a> FAULT_INCOMPATIBLE_FIRMWARE | `uint8` | 7 | Battery firmware is not compatible with current autopilot firmware |
| <a href="#FAULT_INCOMPATIBLE_MODEL"></a> FAULT_INCOMPATIBLE_MODEL | `uint8` | 8 | Battery model is not supported by the system |
| <a href="#FAULT_HARDWARE_FAILURE"></a> FAULT_HARDWARE_FAILURE | `uint8` | 9 | Hardware problem |
| <a href="#FAULT_FAILED_TO_ARM"></a> FAULT_FAILED_TO_ARM | `uint8` | 10 | Battery had a problem while arming |
| <a href="#FAULT_COUNT"></a> FAULT_COUNT | `uint8` | 11 | Counter. Keep this as last element |
## Constants
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 | |
| <a href="#MAX_INSTANCES"></a> 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
```
:::
docs/ko/msg_docs/BatteryStatusV0.md
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pageClass: is-wide-page
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# 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 |
| ------------------------------------------------------------------------------------------------- | ------- | ----- | ----------------------------------------------------------------- |
| <a href="#SOURCE_POWER_MODULE"></a> SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) |
| <a href="#SOURCE_EXTERNAL"></a> SOURCE_EXTERNAL | `uint8` | 1 | External (MAVLink, CAN, or external driver) |
| <a href="#SOURCE_ESCS"></a> SOURCE_ESCS | `uint8` | 2 | ESCs (via ESC telemetry) |
### WARNING {#WARNING}
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------ | ------- | ----- | -------------------------------------------- |
| <a href="#WARNING_NONE"></a> WARNING_NONE | `uint8` | 0 | No battery low voltage warning active |
| <a href="#WARNING_LOW"></a> WARNING_LOW | `uint8` | 1 | Low voltage warning |
| <a href="#WARNING_CRITICAL"></a> WARNING_CRITICAL | `uint8` | 2 | Critical voltage, return / abort immediately |
| <a href="#WARNING_EMERGENCY"></a> WARNING_EMERGENCY | `uint8` | 3 | Immediate landing required |
| <a href="#WARNING_FAILED"></a> WARNING_FAILED | `uint8` | 4 | Battery has failed completely |
### STATE {#STATE}
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a href="#STATE_UNHEALTHY"></a> 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 |
| <a href="#STATE_CHARGING"></a> STATE_CHARGING | `uint8` | 7 | Battery is charging |
### FAULT {#FAULT}
| 명칭 | 형식 | Value | 설명 |
| ---------------------------------------------------------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------------------------------------------------------------------------------- |
| <a href="#FAULT_DEEP_DISCHARGE"></a> FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged |
| <a href="#FAULT_SPIKES"></a> FAULT_SPIKES | `uint8` | 1 | Voltage spikes |
| <a href="#FAULT_CELL_FAIL"></a> FAULT_CELL_FAIL | `uint8` | 2 | One or more cells have failed |
| <a href="#FAULT_OVER_CURRENT"></a> FAULT_OVER_CURRENT | `uint8` | 3 | Over-current |
| <a href="#FAULT_OVER_TEMPERATURE"></a> FAULT_OVER_TEMPERATURE | `uint8` | 4 | Over-temperature |
| <a href="#FAULT_UNDER_TEMPERATURE"></a> FAULT_UNDER_TEMPERATURE | `uint8` | 5 | Under-temperature fault |
| <a href="#FAULT_INCOMPATIBLE_VOLTAGE"></a> FAULT_INCOMPATIBLE_VOLTAGE | `uint8` | 6 | Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) |
| <a href="#FAULT_INCOMPATIBLE_FIRMWARE"></a> FAULT_INCOMPATIBLE_FIRMWARE | `uint8` | 7 | Battery firmware is not compatible with current autopilot firmware |
| <a href="#FAULT_INCOMPATIBLE_MODEL"></a> FAULT_INCOMPATIBLE_MODEL | `uint8` | 8 | Battery model is not supported by the system |
| <a href="#FAULT_HARDWARE_FAILURE"></a> FAULT_HARDWARE_FAILURE | `uint8` | 9 | Hardware problem |
| <a href="#FAULT_FAILED_TO_ARM"></a> FAULT_FAILED_TO_ARM | `uint8` | 10 | Battery had a problem while arming |
| <a href="#FAULT_COUNT"></a> FAULT_COUNT | `uint8` | 11 | Counter. Keep this as last element |
## Constants
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| <a href="#MAX_INSTANCES"></a> 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
```
:::
docs/ko/msg_docs/ButtonEvent.md
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pageClass: is-wide-page
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# 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 |
| ------------------------------------------------------------------------------------------- | ------- | ----- | -- |
| <a href="#ORB_QUEUE_LENGTH"></a> 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
```
:::
docs/ko/msg_docs/CameraCapture.md
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# 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
```
:::
docs/ko/msg_docs/CameraStatus.md
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# 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
```
:::
docs/ko/msg_docs/CameraTrigger.md
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pageClass: is-wide-page
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# 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 |
| ------------------------------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#ORB_QUEUE_LENGTH"></a> 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
```
:::
docs/ko/msg_docs/CanInterfaceStatus.md
+24 -2
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# 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
```
:::
docs/ko/msg_docs/CellularStatus.md
+67 -3
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# 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 |
| ------------------------------------------------------------------------------------------------------------- | -------- | ----- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a href="#STATUS_FLAG_UNKNOWN"></a> STATUS_FLAG_UNKNOWN | `uint16` | 1 | State unknown or not reportable |
| <a href="#STATUS_FLAG_FAILED"></a> STATUS_FLAG_FAILED | `uint16` | 2 | Modem is unusable |
| <a href="#STATUS_FLAG_INITIALIZING"></a> STATUS_FLAG_INITIALIZING | `uint16` | 4 | Modem is being initialized |
| <a href="#STATUS_FLAG_LOCKED"></a> STATUS_FLAG_LOCKED | `uint16` | 8 | Modem is locked |
| <a href="#STATUS_FLAG_DISABLED"></a> STATUS_FLAG_DISABLED | `uint16` | 16 | Modem is not enabled and is powered down |
| <a href="#STATUS_FLAG_DISABLING"></a> STATUS_FLAG_DISABLING | `uint16` | 32 | Modem is currently transitioning to the STATUS_FLAG_DISABLED state |
| <a href="#STATUS_FLAG_ENABLING"></a> STATUS_FLAG_ENABLING | `uint16` | 64 | Modem is currently transitioning to the STATUS_FLAG_ENABLED state |
| <a href="#STATUS_FLAG_ENABLED"></a> STATUS_FLAG_ENABLED | `uint16` | 128 | Modem is enabled and powered on but not registered with a network provider and not available for data connections |
| <a href="#STATUS_FLAG_SEARCHING"></a> STATUS_FLAG_SEARCHING | `uint16` | 256 | Modem is searching for a network provider to register |
| <a href="#STATUS_FLAG_REGISTERED"></a> STATUS_FLAG_REGISTERED | `uint16` | 512 | Modem is registered with a network provider, and data connections and messaging may be available for use |
| <a href="#STATUS_FLAG_DISCONNECTING"></a> 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 |
| <a href="#STATUS_FLAG_CONNECTING"></a> 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 |
| <a href="#STATUS_FLAG_CONNECTED"></a> STATUS_FLAG_CONNECTED | `uint16` | 4096 | One or more packet data bearers is active and connected |
### FAILURE_REASON {#FAILURE_REASON}
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | ----- | ----------------------------------------------- |
| <a href="#FAILURE_REASON_NONE"></a> FAILURE_REASON_NONE | `uint8` | 0 | No error |
| <a href="#FAILURE_REASON_UNKNOWN"></a> FAILURE_REASON_UNKNOWN | `uint8` | 1 | Error state is unknown |
| <a href="#FAILURE_REASON_SIM_MISSING"></a> FAILURE_REASON_SIM_MISSING | `uint8` | 2 | SIM is required for the modem but missing |
| <a href="#FAILURE_REASON_SIM_ERROR"></a> 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 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ----- |
| <a href="#CELLULAR_NETWORK_RADIO_TYPE_NONE"></a> CELLULAR_NETWORK_RADIO_TYPE_NONE | `uint8` | 0 | None |
| <a href="#CELLULAR_NETWORK_RADIO_TYPE_GSM"></a> CELLULAR_NETWORK_RADIO_TYPE_GSM | `uint8` | 1 | GSM |
| <a href="#CELLULAR_NETWORK_RADIO_TYPE_CDMA"></a> CELLULAR_NETWORK_RADIO_TYPE_CDMA | `uint8` | 2 | CDMA |
| <a href="#CELLULAR_NETWORK_RADIO_TYPE_WCDMA"></a> CELLULAR_NETWORK_RADIO_TYPE_WCDMA | `uint8` | 3 | WCDMA |
| <a href="#CELLULAR_NETWORK_RADIO_TYPE_LTE"></a> 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
```
:::
docs/ko/msg_docs/CollisionConstraints.md
+23 -4
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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
```
:::
docs/ko/msg_docs/ConfigOverrides.md
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# 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 |
| ---------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 | |
| <a href="#SOURCE_TYPE_MODE"></a> SOURCE_TYPE_MODE | `int8` | 0 | |
| <a href="#SOURCE_TYPE_MODE_EXECUTOR"></a> SOURCE_TYPE_MODE_EXECUTOR | `int8` | 1 | |
| <a href="#ORB_QUEUE_LENGTH"></a> 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
```
:::
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# 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 |
| ---------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| <a href="#SOURCE_TYPE_MODE"></a> SOURCE_TYPE_MODE | `int8` | 0 | |
| <a href="#SOURCE_TYPE_MODE_EXECUTOR"></a> SOURCE_TYPE_MODE_EXECUTOR | `int8` | 1 | |
| <a href="#ORB_QUEUE_LENGTH"></a> 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
```
:::
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# 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 |
| ------------------------------------------------------------------------------------------------------------------------------------------ | ------ | ----- | ----------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a href="#ACTUATOR_SATURATION_OK"></a> ACTUATOR_SATURATION_OK | `int8` | 0 | The actuator is not saturated |
| <a href="#ACTUATOR_SATURATION_UPPER_DYN"></a> ACTUATOR_SATURATION_UPPER_DYN | `int8` | 1 | The actuator is saturated (with a value <= the desired value) because it cannot increase its value faster |
| <a href="#ACTUATOR_SATURATION_UPPER"></a> ACTUATOR_SATURATION_UPPER | `int8` | 2 | The actuator is saturated (with a value <= the desired value) because it has reached its maximum value |
| <a href="#ACTUATOR_SATURATION_LOWER_DYN"></a> ACTUATOR_SATURATION_LOWER_DYN | `int8` | -1 | The actuator is saturated (with a value >= the desired value) because it cannot decrease its value faster |
| <a href="#ACTUATOR_SATURATION_LOWER"></a> 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
```
:::
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# 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
```
:::
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# 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
```
:::
docs/ko/msg_docs/DatamanResponse.md
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# 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 |
| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | -- |
| <a href="#STATUS_SUCCESS"></a> STATUS_SUCCESS | `uint8` | 0 | |
| <a href="#STATUS_FAILURE_ID_ERR"></a> STATUS_FAILURE_ID_ERR | `uint8` | 1 | |
| <a href="#STATUS_FAILURE_NO_DATA"></a> STATUS_FAILURE_NO_DATA | `uint8` | 2 | |
| <a href="#STATUS_FAILURE_READ_FAILED"></a> STATUS_FAILURE_READ_FAILED | `uint8` | 3 | |
| <a href="#STATUS_FAILURE_WRITE_FAILED"></a> STATUS_FAILURE_WRITE_FAILED | `uint8` | 4 | |
| <a href="#STATUS_FAILURE_CLEAR_FAILED"></a> 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
```
:::
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# 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 |
| ---------------------------------------------------------- | ------- | ----- | -- |
| <a href="#ARRAY_SIZE"></a> 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
```
:::
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# 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
```
:::
docs/ko/msg_docs/DebugValue.md
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# 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
```
:::
docs/ko/msg_docs/DebugVect.md
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# 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
```
:::
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# 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 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ---------------------- |
| <a href="#DEVICE_TYPE_GENERIC"></a> DEVICE_TYPE_GENERIC | `uint8` | 0 | Generic/unknown sensor |
| <a href="#DEVICE_TYPE_AIRSPEED"></a> DEVICE_TYPE_AIRSPEED | `uint8` | 1 | 풍속 센서 |
| <a href="#DEVICE_TYPE_ESC"></a> DEVICE_TYPE_ESC | `uint8` | 2 | ESC |
| <a href="#DEVICE_TYPE_SERVO"></a> DEVICE_TYPE_SERVO | `uint8` | 3 | Servo |
| <a href="#DEVICE_TYPE_GPS"></a> DEVICE_TYPE_GPS | `uint8` | 4 | GPS |
| <a href="#DEVICE_TYPE_MAGNETOMETER"></a> DEVICE_TYPE_MAGNETOMETER | `uint8` | 5 | 자기 센서 |
| <a href="#DEVICE_TYPE_PARACHUTE"></a> DEVICE_TYPE_PARACHUTE | `uint8` | 6 | 낙하산 |
| <a href="#DEVICE_TYPE_RANGEFINDER"></a> DEVICE_TYPE_RANGEFINDER | `uint8` | 7 | Rangefinder |
| <a href="#DEVICE_TYPE_WINCH"></a> DEVICE_TYPE_WINCH | `uint8` | 8 | Winch |
| <a href="#DEVICE_TYPE_BAROMETER"></a> DEVICE_TYPE_BAROMETER | `uint8` | 9 | 기압계 |
| <a href="#DEVICE_TYPE_OPTICAL_FLOW"></a> DEVICE_TYPE_OPTICAL_FLOW | `uint8` | 10 | Optical flow |
| <a href="#DEVICE_TYPE_ACCELEROMETER"></a> DEVICE_TYPE_ACCELEROMETER | `uint8` | 11 | Accelerometer |
| <a href="#DEVICE_TYPE_GYROSCOPE"></a> DEVICE_TYPE_GYROSCOPE | `uint8` | 12 | Gyroscope |
| <a href="#DEVICE_TYPE_DIFFERENTIAL_PRESSURE"></a> DEVICE_TYPE_DIFFERENTIAL_PRESSURE | `uint8` | 13 | Differential pressure |
| <a href="#DEVICE_TYPE_BATTERY"></a> DEVICE_TYPE_BATTERY | `uint8` | 14 | Battery |
| <a href="#DEVICE_TYPE_HYGROMETER"></a> 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.
```
:::
docs/ko/msg_docs/DifferentialPressure.md
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# 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
```
:::
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# 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 |
| -------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ----------------------------------------------------------------------------------------------------------------- |
| <a href="#MAV_DISTANCE_SENSOR_LASER"></a> MAV_DISTANCE_SENSOR_LASER | `uint8` | 0 | |
| <a href="#MAV_DISTANCE_SENSOR_ULTRASOUND"></a> MAV_DISTANCE_SENSOR_ULTRASOUND | `uint8` | 1 | |
| <a href="#MAV_DISTANCE_SENSOR_INFRARED"></a> MAV_DISTANCE_SENSOR_INFRARED | `uint8` | 2 | |
| <a href="#MAV_DISTANCE_SENSOR_RADAR"></a> MAV_DISTANCE_SENSOR_RADAR | `uint8` | 3 | |
| <a href="#ROTATION_YAW_0 "></a> ROTATION_YAW_0 | `uint8` | 0 | MAV_SENSOR_ROTATION_NONE |
| <a href="#ROTATION_YAW_45 "></a> ROTATION_YAW_45 | `uint8` | 1 | MAV_SENSOR_ROTATION_YAW_45 |
| <a href="#ROTATION_YAW_90 "></a> ROTATION_YAW_90 | `uint8` | 2 | MAV_SENSOR_ROTATION_YAW_90 |
| <a href="#ROTATION_YAW_135 "></a> ROTATION_YAW_135 | `uint8` | 3 | MAV_SENSOR_ROTATION_YAW_135 |
| <a href="#ROTATION_YAW_180 "></a> ROTATION_YAW_180 | `uint8` | 4 | MAV_SENSOR_ROTATION_YAW_180 |
| <a href="#ROTATION_YAW_225 "></a> ROTATION_YAW_225 | `uint8` | 5 | MAV_SENSOR_ROTATION_YAW_225 |
| <a href="#ROTATION_YAW_270 "></a> ROTATION_YAW_270 | `uint8` | 6 | MAV_SENSOR_ROTATION_YAW_270 |
| <a href="#ROTATION_YAW_315 "></a> ROTATION_YAW_315 | `uint8` | 7 | MAV_SENSOR_ROTATION_YAW_315 |
| <a href="#ROTATION_FORWARD_FACING "></a> ROTATION_FORWARD_FACING | `uint8` | 0 | MAV_SENSOR_ROTATION_NONE |
| <a href="#ROTATION_RIGHT_FACING "></a> ROTATION_RIGHT_FACING | `uint8` | 2 | MAV_SENSOR_ROTATION_YAW_90 |
| <a href="#ROTATION_BACKWARD_FACING "></a> ROTATION_BACKWARD_FACING | `uint8` | 4 | MAV_SENSOR_ROTATION_YAW_180 |
| <a href="#ROTATION_LEFT_FACING "></a> ROTATION_LEFT_FACING | `uint8` | 6 | MAV_SENSOR_ROTATION_YAW_270 |
| <a href="#ROTATION_UPWARD_FACING"></a> ROTATION_UPWARD_FACING | `uint8` | 24 | MAV_SENSOR_ROTATION_PITCH_90 |
| <a href="#ROTATION_DOWNWARD_FACING"></a> ROTATION_DOWNWARD_FACING | `uint8` | 25 | MAV_SENSOR_ROTATION_PITCH_270 |
| <a href="#ROTATION_CUSTOM"></a> ROTATION_CUSTOM | `uint8` | 100 | MAV_SENSOR_ROTATION_CUSTOM |
| <a href="#MODE_UNKNOWN"></a> MODE_UNKNOWN | `uint8` | 0 | |
| <a href="#MODE_ENABLED"></a> MODE_ENABLED | `uint8` | 1 | |
| <a href="#MODE_DISABLED"></a> 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
```
:::
docs/ko/msg_docs/DistanceSensorModeChangeRequest.md
+28 -2
View File
@@ -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 |
| ------------------------------------------------------------ | ------- | ----- | -- |
| <a href="#REQUEST_OFF"></a> REQUEST_OFF | `uint8` | 0 | |
| <a href="#REQUEST_ON"></a> 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
```
:::
docs/ko/msg_docs/DronecanNodeStatus.md
+40 -2
View File
@@ -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 |
| --------------------------------------------------------------------------------------------------- | ------- | ----- | ----------------------------------------------------------------------------------------------- |
| <a href="#HEALTH_OK"></a> HEALTH_OK | `uint8` | 0 | The node is functioning properly. |
| <a href="#HEALTH_WARNING"></a> HEALTH_WARNING | `uint8` | 1 | A critical parameter went out of range or the node encountered a minor failure. |
| <a href="#HEALTH_ERROR"></a> HEALTH_ERROR | `uint8` | 2 | The node encountered a major failure. |
| <a href="#HEALTH_CRITICAL"></a> HEALTH_CRITICAL | `uint8` | 3 | The node suffered a fatal malfunction. |
| <a href="#MODE_OPERATIONAL"></a> MODE_OPERATIONAL | `uint8` | 0 | Normal operating mode. |
| <a href="#MODE_INITIALIZATION"></a> MODE_INITIALIZATION | `uint8` | 1 | Initialization is in progress; this mode is entered immediately after startup. |
| <a href="#MODE_MAINTENANCE"></a> MODE_MAINTENANCE | `uint8` | 2 | 예: calibration, the bootloader is running, etc. |
| <a href="#MODE_SOFTWARE_UPDATE"></a> MODE_SOFTWARE_UPDATE | `uint8` | 3 | New software/firmware is being loaded. |
| <a href="#MODE_OFFLINE"></a> 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
```
:::
docs/ko/msg_docs/Ekf2Timestamps.md
+33 -6
View File
@@ -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 |
| --------------------------------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------- |
| <a href="#RELATIVE_TIMESTAMP_INVALID"></a> 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
```
:::
docs/ko/msg_docs/EscReport.md
+59 -2
View File
@@ -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 |
| -------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a href="#ACTUATOR_FUNCTION_MOTOR1"></a> ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR2"></a> ACTUATOR_FUNCTION_MOTOR2 | `uint8` | 102 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR3"></a> ACTUATOR_FUNCTION_MOTOR3 | `uint8` | 103 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR4"></a> ACTUATOR_FUNCTION_MOTOR4 | `uint8` | 104 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR5"></a> ACTUATOR_FUNCTION_MOTOR5 | `uint8` | 105 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR6"></a> ACTUATOR_FUNCTION_MOTOR6 | `uint8` | 106 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR7"></a> ACTUATOR_FUNCTION_MOTOR7 | `uint8` | 107 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR8"></a> ACTUATOR_FUNCTION_MOTOR8 | `uint8` | 108 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR9"></a> ACTUATOR_FUNCTION_MOTOR9 | `uint8` | 109 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR10"></a> ACTUATOR_FUNCTION_MOTOR10 | `uint8` | 110 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR11"></a> ACTUATOR_FUNCTION_MOTOR11 | `uint8` | 111 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR12"></a> ACTUATOR_FUNCTION_MOTOR12 | `uint8` | 112 | |
| <a href="#FAILURE_OVER_CURRENT"></a> FAILURE_OVER_CURRENT | `uint8` | 0 | (1 << 0) |
| <a href="#FAILURE_OVER_VOLTAGE"></a> FAILURE_OVER_VOLTAGE | `uint8` | 1 | (1 << 1) |
| <a href="#FAILURE_MOTOR_OVER_TEMPERATURE"></a> FAILURE_MOTOR_OVER_TEMPERATURE | `uint8` | 2 | (1 << 2) |
| <a href="#FAILURE_OVER_RPM"></a> FAILURE_OVER_RPM | `uint8` | 3 | (1 << 3) |
| <a href="#FAILURE_INCONSISTENT_CMD"></a> FAILURE_INCONSISTENT_CMD | `uint8` | 4 | (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries) |
| <a href="#FAILURE_MOTOR_STUCK"></a> FAILURE_MOTOR_STUCK | `uint8` | 5 | (1 << 5) |
| <a href="#FAILURE_GENERIC"></a> FAILURE_GENERIC | `uint8` | 6 | (1 << 6) |
| <a href="#FAILURE_MOTOR_WARN_TEMPERATURE"></a> FAILURE_MOTOR_WARN_TEMPERATURE | `uint8` | 7 | (1 << 7) |
| <a href="#FAILURE_WARN_ESC_TEMPERATURE"></a> FAILURE_WARN_ESC_TEMPERATURE | `uint8` | 8 | (1 << 8) |
| <a href="#FAILURE_OVER_ESC_TEMPERATURE"></a> FAILURE_OVER_ESC_TEMPERATURE | `uint8` | 9 | (1 << 9) |
| <a href="#ESC_FAILURE_COUNT"></a> 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!
```
:::
docs/ko/msg_docs/EscStatus.md
+38 -2
View File
@@ -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 |
| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ---------------------------------------------------------------------------------------------------- |
| <a href="#CONNECTED_ESC_MAX"></a> CONNECTED_ESC_MAX | `uint8` | 8 | The number of ESCs supported. Current (Q2/2013) we support 8 ESCs |
| <a href="#ESC_CONNECTION_TYPE_PPM"></a> ESC_CONNECTION_TYPE_PPM | `uint8` | 0 | Traditional PPM ESC |
| <a href="#ESC_CONNECTION_TYPE_SERIAL"></a> ESC_CONNECTION_TYPE_SERIAL | `uint8` | 1 | Serial Bus connected ESC |
| <a href="#ESC_CONNECTION_TYPE_ONESHOT"></a> ESC_CONNECTION_TYPE_ONESHOT | `uint8` | 2 | One Shot PPM |
| <a href="#ESC_CONNECTION_TYPE_I2C"></a> ESC_CONNECTION_TYPE_I2C | `uint8` | 3 | I2C |
| <a href="#ESC_CONNECTION_TYPE_CAN"></a> ESC_CONNECTION_TYPE_CAN | `uint8` | 4 | CAN-Bus |
| <a href="#ESC_CONNECTION_TYPE_DSHOT"></a> 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
```
:::
docs/ko/msg_docs/EstimatorAidSource1d.md
+33 -2
View File
@@ -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
```
:::
docs/ko/msg_docs/EstimatorAidSource2d.md
+33 -2
View File
@@ -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
```
:::
docs/ko/msg_docs/EstimatorAidSource3d.md
+33 -2
View File
@@ -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
```
:::
docs/ko/msg_docs/EstimatorBias.md
+27 -2
View File
@@ -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
```
:::

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