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https://github.com/PX4/PX4-Autopilot.git
synced 2025-12-07 01:37:07 +08:00
fix(msg): bump VehicleLocalPosition version which was previously modified
This commit is contained in:
GuillaumeLaine
committed by
Silvan Fuhrer
Silvan Fuhrer
parent
e4ffed099c
commit
2106c6ca82
86
msg/px4_msgs_old/msg/VehicleLocalPositionV0.msg
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86
msg/px4_msgs_old/msg/VehicleLocalPositionV0.msg
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@@ -0,0 +1,86 @@
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# Fused local position in NED.
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# The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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bool xy_valid # true if x and y are valid
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bool z_valid # true if z is valid
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bool v_xy_valid # true if vx and vy are valid
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bool v_z_valid # true if vz is valid
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# Position in local NED frame
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float32 x # North position in NED earth-fixed frame, (metres)
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float32 y # East position in NED earth-fixed frame, (metres)
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float32 z # Down position (negative altitude) in NED earth-fixed frame, (metres)
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# Position reset delta
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float32[2] delta_xy # Amount of lateral shift of position estimate in latest reset (in x and y) [m]
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uint8 xy_reset_counter # Index of latest lateral position estimate reset
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float32 delta_z # Amount of vertical shift of position estimate in latest reset [m]
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uint8 z_reset_counter # Index of latest vertical position estimate reset
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# Velocity in NED frame
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float32 vx # North velocity in NED earth-fixed frame, (metres/sec)
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float32 vy # East velocity in NED earth-fixed frame, (metres/sec)
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float32 vz # Down velocity in NED earth-fixed frame, (metres/sec)
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float32 z_deriv # Down position time derivative in NED earth-fixed frame, (metres/sec)
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# Velocity reset delta
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float32[2] delta_vxy # Amount of lateral shift of velocity estimate in latest reset (in x and y) [m/s]
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uint8 vxy_reset_counter # Index of latest vertical velocity estimate reset
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float32 delta_vz # Amount of vertical shift of velocity estimate in latest reset [m/s]
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uint8 vz_reset_counter # Index of latest vertical velocity estimate reset
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# Acceleration in NED frame
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float32 ax # North velocity derivative in NED earth-fixed frame, (metres/sec^2)
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float32 ay # East velocity derivative in NED earth-fixed frame, (metres/sec^2)
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float32 az # Down velocity derivative in NED earth-fixed frame, (metres/sec^2)
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float32 heading # Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians)
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float32 heading_var
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float32 unaided_heading # Same as heading but generated by integrating corrected gyro data only
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float32 delta_heading # Heading delta caused by latest heading reset [rad]
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uint8 heading_reset_counter # Index of latest heading reset
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bool heading_good_for_control
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float32 tilt_var
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# Position of reference point (local NED frame origin) in global (GPS / WGS84) frame
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bool xy_global # true if position (x, y) has a valid global reference (ref_lat, ref_lon)
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bool z_global # true if z has a valid global reference (ref_alt)
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uint64 ref_timestamp # Time when reference position was set since system start, (microseconds)
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float64 ref_lat # Reference point latitude, (degrees)
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float64 ref_lon # Reference point longitude, (degrees)
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float32 ref_alt # Reference altitude AMSL, (metres)
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# Distance to surface
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bool dist_bottom_valid # true if distance to bottom surface is valid
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float32 dist_bottom # Distance from from bottom surface to ground, (metres)
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float32 dist_bottom_var # terrain estimate variance (m^2)
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float32 delta_dist_bottom # Amount of vertical shift of dist bottom estimate in latest reset [m]
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uint8 dist_bottom_reset_counter # Index of latest dist bottom estimate reset
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uint8 dist_bottom_sensor_bitfield # bitfield indicating what type of sensor is used to estimate dist_bottom
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uint8 DIST_BOTTOM_SENSOR_NONE = 0
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uint8 DIST_BOTTOM_SENSOR_RANGE = 1 # (1 << 0) a range sensor is used to estimate dist_bottom field
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uint8 DIST_BOTTOM_SENSOR_FLOW = 2 # (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case)
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float32 eph # Standard deviation of horizontal position error, (metres)
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float32 epv # Standard deviation of vertical position error, (metres)
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float32 evh # Standard deviation of horizontal velocity error, (metres/sec)
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float32 evv # Standard deviation of vertical velocity error, (metres/sec)
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bool dead_reckoning # True if this position is estimated through dead-reckoning
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# estimator specified vehicle limits
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float32 vxy_max # maximum horizontal speed - set to 0 when limiting not required (meters/sec)
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float32 vz_max # maximum vertical speed - set to 0 when limiting not required (meters/sec)
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float32 hagl_min # minimum height above ground level - set to 0 when limiting not required (meters)
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float32 hagl_max # maximum height above ground level - set to 0 when limiting not required (meters)
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# TOPICS vehicle_local_position vehicle_local_position_groundtruth external_ins_local_position
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# TOPICS estimator_local_position
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@@ -13,3 +13,4 @@
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#include "translation_home_position_v1.h"
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#include "translation_vehicle_attitude_setpoint_v1.h"
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#include "translation_vehicle_status_v1.h"
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#include "translation_vehicle_local_position_v1.h"
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@@ -0,0 +1,93 @@
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/****************************************************************************
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* Copyright (c) 2025 PX4 Development Team.
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* SPDX-License-Identifier: BSD-3-Clause
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****************************************************************************/
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#pragma once
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// Translate VehicleLocalPosition v0 <--> v1
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#include <px4_msgs_old/msg/vehicle_local_position_v0.hpp>
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#include <px4_msgs/msg/vehicle_local_position.hpp>
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class VehicleLocalPositionV1Translation {
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public:
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using MessageOlder = px4_msgs_old::msg::VehicleLocalPositionV0;
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static_assert(MessageOlder::MESSAGE_VERSION == 0);
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using MessageNewer = px4_msgs::msg::VehicleLocalPosition;
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static_assert(MessageNewer::MESSAGE_VERSION == 1);
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static constexpr const char* kTopic = "fmu/out/vehicle_local_position";
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#define COMMON_VEHICLE_LOCAL_POSITION_FIELDS(FUNCTION) \
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FUNCTION(timestamp) \
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FUNCTION(timestamp_sample) \
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FUNCTION(xy_valid) \
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FUNCTION(z_valid) \
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FUNCTION(v_xy_valid) \
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FUNCTION(v_z_valid) \
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FUNCTION(x) \
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FUNCTION(y) \
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FUNCTION(z) \
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FUNCTION(delta_xy) \
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FUNCTION(xy_reset_counter) \
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FUNCTION(delta_z) \
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FUNCTION(z_reset_counter) \
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FUNCTION(vx) \
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FUNCTION(vy) \
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FUNCTION(vz) \
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FUNCTION(z_deriv) \
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FUNCTION(delta_vxy) \
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FUNCTION(vxy_reset_counter) \
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FUNCTION(delta_vz) \
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FUNCTION(vz_reset_counter) \
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FUNCTION(ax) \
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FUNCTION(ay) \
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FUNCTION(az) \
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FUNCTION(heading) \
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FUNCTION(heading_var) \
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FUNCTION(unaided_heading) \
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FUNCTION(delta_heading) \
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FUNCTION(heading_reset_counter) \
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FUNCTION(heading_good_for_control) \
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FUNCTION(tilt_var) \
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FUNCTION(xy_global) \
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FUNCTION(z_global) \
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FUNCTION(ref_timestamp) \
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FUNCTION(ref_lat) \
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FUNCTION(ref_lon) \
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FUNCTION(ref_alt) \
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FUNCTION(dist_bottom_valid) \
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FUNCTION(dist_bottom) \
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FUNCTION(dist_bottom_var) \
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FUNCTION(delta_dist_bottom) \
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FUNCTION(dist_bottom_reset_counter) \
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FUNCTION(dist_bottom_sensor_bitfield) \
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FUNCTION(eph) \
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FUNCTION(epv) \
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FUNCTION(evh) \
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FUNCTION(evv) \
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FUNCTION(dead_reckoning) \
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FUNCTION(vxy_max) \
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FUNCTION(vz_max) \
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FUNCTION(hagl_min)
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#define COPY_FIELD_FROM_OLDER(field) msg_newer.field = msg_older.field;
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#define COPY_FIELD_TO_OLDER(field) msg_older.field = msg_newer.field;
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static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
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COMMON_VEHICLE_LOCAL_POSITION_FIELDS(COPY_FIELD_FROM_OLDER)
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msg_newer.hagl_max_z = msg_older.hagl_max;
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msg_newer.hagl_max_xy = msg_older.hagl_max;
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}
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static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
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COMMON_VEHICLE_LOCAL_POSITION_FIELDS(COPY_FIELD_TO_OLDER)
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msg_older.hagl_max = msg_newer.hagl_max_z; // Use hagl_max_z for both xy and z in v0
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}
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#undef COPY_FIELD_FROM_OLDER
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#undef COPY_FIELD_TO_OLDER
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#undef COMMON_VEHICLE_LOCAL_POSITION_FIELDS
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};
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REGISTER_TOPIC_TRANSLATION_DIRECT(VehicleLocalPositionV1Translation);
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@@ -1,7 +1,7 @@
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# Fused local position in NED.
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# The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
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uint32 MESSAGE_VERSION = 0
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uint32 MESSAGE_VERSION = 1
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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