mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-02 11:59:17 +08:00
Remove pregenerated files - that should all be tidied up next time this runs
This commit is contained in:
Hamish Willee
committed by
Ramon Roche
Ramon Roche
parent
3c80be8e48
commit
2ec9937369
+13762
-10187
File diff suppressed because it is too large
Load Diff
@@ -1,13 +1,11 @@
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# Modules Reference: Controller
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## airship_att_control
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Source: [modules/airship_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/airship_att_control)
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### Description
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This implements the airship attitude and rate controller. Ideally it would
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take attitude setpoints (`vehicle_attitude_setpoint`) or rate setpoints (in acro mode
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via `manual_control_setpoint` topic) as inputs and outputs actuator control messages.
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@@ -15,8 +13,8 @@ via `manual_control_setpoint` topic) as inputs and outputs actuator control mess
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Currently it is feeding the `manual_control_setpoint` topic directly to the actuators.
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### Implementation
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To reduce control latency, the module directly polls on the gyro topic published by the IMU driver.
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To reduce control latency, the module directly polls on the gyro topic published by the IMU driver.
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### Usage {#airship_att_control_usage}
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@@ -34,8 +32,8 @@ airship_att_control <command> [arguments...]
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Source: [modules/control_allocator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/control_allocator)
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### Description
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This implements control allocation. It takes torque and thrust setpoints
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as inputs and outputs actuator setpoint messages.
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@@ -55,12 +53,11 @@ control_allocator <command> [arguments...]
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Source: [modules/flight_mode_manager](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/flight_mode_manager)
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### Description
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This implements the setpoint generation for all modes. It takes the current mode state of the vehicle as input
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and outputs setpoints for controllers.
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### Usage {#flight_mode_manager_usage}
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```
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@@ -77,10 +74,9 @@ flight_mode_manager <command> [arguments...]
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Source: [modules/fw_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_att_control)
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### Description
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fw_att_control is the fixed wing attitude controller.
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fw_att_control is the fixed wing attitude controller.
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### Usage {#fw_att_control_usage}
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@@ -99,10 +95,9 @@ fw_att_control <command> [arguments...]
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Source: [modules/fw_lateral_longitudinal_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_lateral_longitudinal_control)
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### Description
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fw_lat_lon_control computes attitude and throttle setpoints from lateral and longitudinal control setpoints.
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fw_lat_lon_control computes attitude and throttle setpoints from lateral and longitudinal control setpoints.
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### Usage {#fw_lat_lon_control_usage}
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@@ -121,13 +116,12 @@ fw_lat_lon_control <command> [arguments...]
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Source: [modules/fw_mode_manager](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_mode_manager)
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### Description
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This implements the setpoint generation for all PX4-internal fixed-wing modes, height-rate control and higher.
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It takes the current mode state of the vehicle as input and outputs setpoints consumed by the fixed-wing
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lateral-longitudinal controller and and controllers below that (attitude, rate).
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### Usage {#fw_mode_manager_usage}
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```
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@@ -144,10 +138,9 @@ fw_mode_manager <command> [arguments...]
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Source: [modules/fw_rate_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_rate_control)
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### Description
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fw_rate_control is the fixed-wing rate controller.
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fw_rate_control is the fixed-wing rate controller.
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### Usage {#fw_rate_control_usage}
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@@ -166,8 +159,8 @@ fw_rate_control <command> [arguments...]
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Source: [modules/mc_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_att_control)
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### Description
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This implements the multicopter attitude controller. It takes attitude
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setpoints (`vehicle_attitude_setpoint`) as inputs and outputs a rate setpoint.
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@@ -180,7 +173,6 @@ Institute for Dynamic Systems and Control (IDSC), ETH Zurich
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https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth-7387-01.pdf
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### Usage {#mc_att_control_usage}
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```
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@@ -194,12 +186,36 @@ mc_att_control <command> [arguments...]
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status print status info
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```
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## mc_nn_control
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Source: [modules/mc_nn_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_nn_control)
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### Description
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Multicopter Neural Network Control module.
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This module is an end-to-end neural network control system for multicopters.
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It takes in 15 input values and outputs 4 control actions.
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Inputs: [pos_err(3), att(6), vel(3), ang_vel(3)]
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Outputs: [Actuator motors(4)]
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### Usage {#mc_nn_control_usage}
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```
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mc_nn_control <command> [arguments...]
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Commands:
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start
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stop
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status print status info
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```
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## mc_pos_control
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Source: [modules/mc_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_pos_control)
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### Description
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The controller has two loops: a P loop for position error and a PID loop for velocity error.
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Output of the velocity controller is thrust vector that is split to thrust direction
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(i.e. rotation matrix for multicopter orientation) and thrust scalar (i.e. multicopter thrust itself).
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@@ -224,14 +240,13 @@ mc_pos_control <command> [arguments...]
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Source: [modules/mc_rate_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_rate_control)
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### Description
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This implements the multicopter rate controller. It takes rate setpoints (in acro mode
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via `manual_control_setpoint` topic) as inputs and outputs actuator control messages.
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The controller has a PID loop for angular rate error.
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### Usage {#mc_rate_control_usage}
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```
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@@ -249,20 +264,20 @@ mc_rate_control <command> [arguments...]
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Source: [modules/navigator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/navigator)
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### Description
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Module that is responsible for autonomous flight modes. This includes missions (read from dataman),
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takeoff and RTL.
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It is also responsible for geofence violation checking.
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### Implementation
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The different internal modes are implemented as separate classes that inherit from a common base class `NavigatorMode`.
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The member `_navigation_mode` contains the current active mode.
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Navigator publishes position setpoint triplets (`position_setpoint_triplet_s`), which are then used by the position
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controller.
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### Usage {#navigator_usage}
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```
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@@ -283,8 +298,8 @@ navigator <command> [arguments...]
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Source: [modules/rover_ackermann](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_ackermann)
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### Description
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Rover ackermann module.
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### Usage {#rover_ackermann_usage}
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@@ -303,8 +318,8 @@ rover_ackermann <command> [arguments...]
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Source: [modules/rover_differential](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_differential)
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### Description
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Rover differential module.
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### Usage {#rover_differential_usage}
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@@ -323,8 +338,8 @@ rover_differential <command> [arguments...]
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Source: [modules/rover_mecanum](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_mecanum)
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### Description
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Rover mecanum module.
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### Usage {#rover_mecanum_usage}
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@@ -339,49 +354,10 @@ rover_mecanum <command> [arguments...]
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status print status info
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```
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## rover_pos_control
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Source: [modules/rover_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_pos_control)
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### Description
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Controls the position of a ground rover using an L1 controller.
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Publishes `vehicle_thrust_setpoint (only in x) and vehicle_torque_setpoint (only yaw)` messages at IMU_GYRO_RATEMAX.
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### Implementation
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Currently, this implementation supports only a few modes:
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* Full manual: Throttle and yaw controls are passed directly through to the actuators
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* Auto mission: The rover runs missions
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* Loiter: The rover will navigate to within the loiter radius, then stop the motors
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### Examples
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CLI usage example:
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```
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rover_pos_control start
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rover_pos_control status
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rover_pos_control stop
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```
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### Usage {#rover_pos_control_usage}
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```
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rover_pos_control <command> [arguments...]
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Commands:
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start
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stop
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status print status info
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```
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## spacecraft
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Source: [modules/spacecraft](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/spacecraft)
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### Description
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This implements control allocation for spacecraft vehicles.
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It takes torque and thrust setpoints as inputs and outputs
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@@ -394,6 +370,8 @@ spacecraft <command> [arguments...]
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Commands:
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start
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status
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stop
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status print status info
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@@ -403,27 +381,29 @@ spacecraft <command> [arguments...]
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Source: [modules/uuv_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/uuv_att_control)
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### Description
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Controls the attitude of an unmanned underwater vehicle (UUV).
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Publishes `vehicle_thrust_setpont` and `vehicle_torque_setpoint` messages at a constant 250Hz.
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### Implementation
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Currently, this implementation supports only a few modes:
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* Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
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* Auto mission: The uuv runs missions
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- Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
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- Auto mission: The uuv runs missions
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### Examples
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CLI usage example:
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```
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uuv_att_control start
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uuv_att_control status
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uuv_att_control stop
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```
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### Usage {#uuv_att_control_usage}
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```
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@@ -440,16 +420,22 @@ uuv_att_control <command> [arguments...]
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Source: [modules/uuv_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/uuv_pos_control)
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### Description
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Controls the attitude of an unmanned underwater vehicle (UUV).
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Publishes `attitude_setpoint` messages.
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### Implementation
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Currently, this implementation supports only a few modes:
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* Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
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* Auto mission: The uuv runs missions
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- Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
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- Auto mission: The uuv runs missions
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### Examples
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CLI usage example:
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```
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uuv_pos_control start
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uuv_pos_control status
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@@ -472,8 +458,8 @@ uuv_pos_control <command> [arguments...]
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Source: [modules/vtol_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/vtol_att_control)
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### Description
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fw_att_control is the fixed wing attitude controller.
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### Usage {#vtol_att_control_usage}
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@@ -1109,7 +1109,7 @@ px4io <command> [arguments...]
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## rgbled
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Source: [drivers/lights/rgbled](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled)
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Source: [drivers/lights/rgbled_ncp5623c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled_ncp5623c)
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### Usage {#rgbled_usage}
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@@ -1124,7 +1124,9 @@ rgbled <command> [arguments...]
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[-f <val>] bus frequency in kHz
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[-q] quiet startup (no message if no device found)
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[-a <val>] I2C address
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default: 85
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default: 57
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[-o <val>] RGB PWM Assignment
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default: 123
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stop
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@@ -4,7 +4,6 @@
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Source: [drivers/distance_sensor/broadcom/afbrs50](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/broadcom/afbrs50)
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### Description
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Driver for the Broadcom AFBRS50.
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@@ -12,10 +11,13 @@ Driver for the Broadcom AFBRS50.
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### Examples
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Attempt to start driver on a specified serial device.
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```
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afbrs50 start
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```
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Stop driver
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```
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afbrs50 stop
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```
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@@ -30,8 +32,6 @@ afbrs50 <command> [arguments...]
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[-r <val>] Sensor rotation - downward facing by default
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default: 25
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test Test driver
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stop Stop driver
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```
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@@ -63,7 +63,6 @@ gy_us42 <command> [arguments...]
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Source: [drivers/distance_sensor/leddar_one](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/leddar_one)
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### Description
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Serial bus driver for the LeddarOne LiDAR.
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@@ -75,10 +74,13 @@ Setup/usage information: https://docs.px4.io/main/en/sensor/leddar_one.html
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### Examples
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Attempt to start driver on a specified serial device.
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```
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leddar_one start -d /dev/ttyS1
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```
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Stop driver
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```
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leddar_one stop
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```
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@@ -100,10 +102,9 @@ leddar_one <command> [arguments...]
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Source: [drivers/distance_sensor/lightware_laser_i2c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_laser_i2c)
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### Description
|
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I2C bus driver for Lightware SFxx series LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20.
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I2C bus driver for Lightware SFxx series LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20, SF30/d.
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Setup/usage information: https://docs.px4.io/main/en/sensor/sfxx_lidar.html
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@@ -133,7 +134,6 @@ lightware_laser_i2c <command> [arguments...]
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Source: [drivers/distance_sensor/lightware_laser_serial](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_laser_serial)
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|
||||
|
||||
### Description
|
||||
|
||||
Serial bus driver for the LightWare SF02/F, SF10/a, SF10/b, SF10/c, SF11/c Laser rangefinders.
|
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@@ -145,10 +145,13 @@ Setup/usage information: https://docs.px4.io/main/en/sensor/sfxx_lidar.html
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### Examples
|
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Attempt to start driver on a specified serial device.
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```
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lightware_laser_serial start -d /dev/ttyS1
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```
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Stop driver
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```
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lightware_laser_serial stop
|
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```
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@@ -170,19 +173,20 @@ lightware_laser_serial <command> [arguments...]
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Source: [drivers/distance_sensor/lightware_sf45_serial](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_sf45_serial)
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### Description
|
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Serial bus driver for the Lightware SF45/b Laser rangefinder.
|
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|
||||
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### Examples
|
||||
|
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Attempt to start driver on a specified serial device.
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```
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lightware_sf45_serial start -d /dev/ttyS1
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```
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Stop driver
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||||
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||||
```
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lightware_sf45_serial stop
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```
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@@ -202,7 +206,6 @@ lightware_sf45_serial <command> [arguments...]
|
||||
|
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Source: [drivers/distance_sensor/ll40ls](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ll40ls)
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### Description
|
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I2C bus driver for LidarLite rangefinders.
|
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@@ -235,6 +238,32 @@ ll40ls <command> [arguments...]
|
||||
status print status info
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||||
```
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||||
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||||
## ll40ls_pwm
|
||||
|
||||
Source: [drivers/distance_sensor/ll40ls_pwm](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ll40ls_pwm)
|
||||
|
||||
### Description
|
||||
|
||||
PWM driver for LidarLite rangefinders.
|
||||
|
||||
The sensor/driver must be enabled using the parameter SENS_EN_LL40LS.
|
||||
|
||||
Setup/usage information: https://docs.px4.io/main/en/sensor/lidar_lite.html
|
||||
|
||||
### Usage {#ll40ls_pwm_usage}
|
||||
|
||||
```
|
||||
ll40ls_pwm <command> [arguments...]
|
||||
Commands:
|
||||
start Start driver
|
||||
[-R <val>] Sensor rotation - downward facing by default
|
||||
default: 25
|
||||
|
||||
status Print driver status information
|
||||
|
||||
stop Stop driver
|
||||
```
|
||||
|
||||
## mappydot
|
||||
|
||||
Source: [drivers/distance_sensor/mappydot](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/mappydot)
|
||||
@@ -287,7 +316,6 @@ mb12xx <command> [arguments...]
|
||||
|
||||
Source: [drivers/distance_sensor/pga460](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/pga460)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Ultrasonic range finder driver that handles the communication with the device and publishes the distance via uORB.
|
||||
@@ -345,14 +373,12 @@ srf02 <command> [arguments...]
|
||||
|
||||
Source: [drivers/distance_sensor/srf05](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/srf05)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Driver for HY-SRF05 / HC-SR05 and HC-SR04 rangefinders.
|
||||
|
||||
The sensor/driver must be enabled using the parameter SENS_EN_HXSRX0X.
|
||||
|
||||
|
||||
### Usage {#srf05_usage}
|
||||
|
||||
```
|
||||
@@ -375,7 +401,6 @@ srf05 <command> [arguments...]
|
||||
|
||||
Source: [drivers/distance_sensor/teraranger](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/teraranger)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
I2C bus driver for TeraRanger rangefinders.
|
||||
@@ -436,7 +461,6 @@ tf02pro <command> [arguments...]
|
||||
|
||||
Source: [drivers/distance_sensor/tfmini](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/tfmini)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Serial bus driver for the Benewake TFmini LiDAR.
|
||||
@@ -448,10 +472,13 @@ Setup/usage information: https://docs.px4.io/main/en/sensor/tfmini.html
|
||||
### Examples
|
||||
|
||||
Attempt to start driver on a specified serial device.
|
||||
|
||||
```
|
||||
tfmini start -d /dev/ttyS1
|
||||
```
|
||||
|
||||
Stop driver
|
||||
|
||||
```
|
||||
tfmini stop
|
||||
```
|
||||
@@ -477,7 +504,6 @@ tfmini <command> [arguments...]
|
||||
|
||||
Source: [drivers/distance_sensor/ulanding_radar](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ulanding_radar)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Serial bus driver for the Aerotenna uLanding radar.
|
||||
@@ -487,10 +513,13 @@ Setup/usage information: https://docs.px4.io/main/en/sensor/ulanding_radar.html
|
||||
### Examples
|
||||
|
||||
Attempt to start driver on a specified serial device.
|
||||
|
||||
```
|
||||
ulanding_radar start -d /dev/ttyS1
|
||||
```
|
||||
|
||||
Stop driver
|
||||
|
||||
```
|
||||
ulanding_radar stop
|
||||
```
|
||||
|
||||
@@ -4,7 +4,6 @@
|
||||
|
||||
Source: [drivers/transponder/sagetech_mxs](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/transponder/sagetech_mxs)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
This driver integrates the Sagetech MXS Certified Transponder to send and receive ADSB messages and traffic.
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,6 +1,6 @@
|
||||
# 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).
|
||||
@@ -12,7 +12,7 @@ The message is not used by internal/FMU components, as their mode requirements a
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg)
|
||||
|
||||
```c
|
||||
# Arming check reply.
|
||||
# Arming check reply
|
||||
#
|
||||
# This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
|
||||
# The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station).
|
||||
@@ -25,35 +25,35 @@ uint32 MESSAGE_VERSION = 1
|
||||
|
||||
uint64 timestamp # [us] Time since system start.
|
||||
|
||||
uint8 request_id # Id of ArmingCheckRequest for which this is a response.
|
||||
uint8 registration_id # Id of external component emitting this response.
|
||||
uint8 request_id # [-] Id of ArmingCheckRequest for which this is a response
|
||||
uint8 registration_id # [-] Id of external component emitting this response
|
||||
|
||||
uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies.
|
||||
uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies
|
||||
|
||||
uint8 health_component_index # [@enum HEALTH_COMPONENT_INDEX]
|
||||
bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json).
|
||||
bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json).
|
||||
bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json).
|
||||
bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json)
|
||||
bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json)
|
||||
bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json)
|
||||
|
||||
bool can_arm_and_run # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed.
|
||||
bool can_arm_and_run # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed
|
||||
|
||||
uint8 num_events # Number of queued failure messages (Event) in the events field.
|
||||
uint8 num_events # Number of queued failure messages (Event) in the events field
|
||||
|
||||
Event[5] events # Arming failure reasons (Queue of events to report to GCS).
|
||||
Event[5] events # Arming failure reasons (Queue of events to report to GCS)
|
||||
|
||||
# Mode requirements
|
||||
bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope).
|
||||
bool mode_req_attitude # Requires an attitude estimate.
|
||||
bool mode_req_local_alt # Requires a local altitude estimate.
|
||||
bool mode_req_local_position # Requires a local position estimate.
|
||||
bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate.
|
||||
bool mode_req_global_position # Requires a global position estimate.
|
||||
bool mode_req_global_position_relaxed # Requires a relaxed global position estimate.
|
||||
bool mode_req_mission # Requires an uploaded mission.
|
||||
bool mode_req_home_position # Requires a home position (such as RTL/Return mode).
|
||||
bool mode_req_prevent_arming # Prevent arming (such as in Land mode).
|
||||
bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope)
|
||||
bool mode_req_attitude # Requires an attitude estimate
|
||||
bool mode_req_local_alt # Requires a local altitude estimate
|
||||
bool mode_req_local_position # Requires a local position estimate
|
||||
bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate
|
||||
bool mode_req_global_position # Requires a global position estimate
|
||||
bool mode_req_global_position_relaxed # Requires a relaxed global position estimate
|
||||
bool mode_req_mission # Requires an uploaded mission
|
||||
bool mode_req_home_position # Requires a home position (such as RTL/Return mode)
|
||||
bool mode_req_prevent_arming # Prevent arming (such as in Land mode)
|
||||
bool mode_req_manual_control # Requires a manual controller
|
||||
|
||||
uint8 ORB_QUEUE_LENGTH = 4 #
|
||||
uint8 ORB_QUEUE_LENGTH = 4
|
||||
|
||||
```
|
||||
|
||||
@@ -1,7 +1,5 @@
|
||||
# ArmingCheckReplyV0 (UORB message)
|
||||
|
||||
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckReplyV0.msg)
|
||||
|
||||
```c
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
# 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.
|
||||
@@ -12,7 +12,7 @@ The reply will also include the registration_id for each external component, pro
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg)
|
||||
|
||||
```c
|
||||
# Arming check request.
|
||||
# Arming check request
|
||||
#
|
||||
# Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
|
||||
# All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
|
||||
@@ -21,10 +21,12 @@ The reply will also include the registration_id for each external component, pro
|
||||
# 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).
|
||||
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
uint32 MESSAGE_VERSION = 1
|
||||
|
||||
uint64 timestamp # [us] Time since system start.
|
||||
uint64 timestamp # [us] Time since system start
|
||||
|
||||
uint8 request_id # Id of this request. Allows correlation with associated ArmingCheckReply messages.
|
||||
uint8 request_id # [-] Id of this request. Allows correlation with associated ArmingCheckReply messages.
|
||||
|
||||
uint32 valid_registrations_mask # [-] Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
|
||||
|
||||
```
|
||||
|
||||
+39
-27
@@ -15,10 +15,10 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
|
||||
|
||||
- [ActuatorMotors](ActuatorMotors.md) — Motor control message
|
||||
- [ActuatorServos](ActuatorServos.md) — Servo control message
|
||||
- [AirspeedValidated](AirspeedValidated.md)
|
||||
- [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply.
|
||||
- [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request.
|
||||
- [BatteryStatus](BatteryStatus.md)
|
||||
- [AirspeedValidated](AirspeedValidated.md) — Validated airspeed
|
||||
- [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply
|
||||
- [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request
|
||||
- [BatteryStatus](BatteryStatus.md) — Battery status
|
||||
- [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors
|
||||
- [Event](Event.md) — Events interface
|
||||
- [FixedWingLateralSetpoint](FixedWingLateralSetpoint.md) — Fixed Wing Lateral Setpoint message
|
||||
@@ -70,24 +70,25 @@ e.g. control inputs of the vehicle in a Kalman-filter implementation.
|
||||
- [VehicleLandDetected](VehicleLandDetected.md)
|
||||
- [VehicleLocalPosition](VehicleLocalPosition.md) — Fused local position in NED.
|
||||
The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
|
||||
- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
|
||||
- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data
|
||||
- [VehicleRatesSetpoint](VehicleRatesSetpoint.md)
|
||||
- [VehicleStatus](VehicleStatus.md) — Encodes the system state of the vehicle published by commander
|
||||
- [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE
|
||||
|
||||
- [Wind](Wind.md) — Wind estimate (from EKF2)
|
||||
|
||||
## Unversioned Messages
|
||||
|
||||
- [ActionRequest](ActionRequest.md)
|
||||
- [ActionRequest](ActionRequest.md) — Action request for the vehicle's main state
|
||||
- [ActuatorArmed](ActuatorArmed.md)
|
||||
- [ActuatorControlsStatus](ActuatorControlsStatus.md)
|
||||
- [ActuatorOutputs](ActuatorOutputs.md)
|
||||
- [ActuatorServosTrim](ActuatorServosTrim.md) — Servo trims, added as offset to servo outputs
|
||||
- [ActuatorTest](ActuatorTest.md)
|
||||
- [AdcReport](AdcReport.md)
|
||||
- [Airspeed](Airspeed.md)
|
||||
- [AirspeedWind](AirspeedWind.md)
|
||||
- [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md)
|
||||
- [AdcReport](AdcReport.md) — ADC raw data.
|
||||
- [Airspeed](Airspeed.md) — Airspeed data from sensors
|
||||
- [AirspeedWind](AirspeedWind.md) — Wind estimate (from airspeed_selector)
|
||||
- [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md) — Autotune attitude control status
|
||||
- [BatteryInfo](BatteryInfo.md) — Battery information
|
||||
- [ButtonEvent](ButtonEvent.md)
|
||||
- [CameraCapture](CameraCapture.md)
|
||||
- [CameraStatus](CameraStatus.md)
|
||||
@@ -104,9 +105,11 @@ setting something to NaN means that no limit is provided
|
||||
- [DebugKeyValue](DebugKeyValue.md)
|
||||
- [DebugValue](DebugValue.md)
|
||||
- [DebugVect](DebugVect.md)
|
||||
- [DifferentialPressure](DifferentialPressure.md)
|
||||
- [DeviceInformation](DeviceInformation.md) — Device information
|
||||
- [DifferentialPressure](DifferentialPressure.md) — Differential-pressure (airspeed) sensor
|
||||
- [DistanceSensor](DistanceSensor.md) — DISTANCE_SENSOR message data
|
||||
- [DistanceSensorModeChangeRequest](DistanceSensorModeChangeRequest.md)
|
||||
- [DronecanNodeStatus](DronecanNodeStatus.md)
|
||||
- [Ekf2Timestamps](Ekf2Timestamps.md) — this message contains the (relative) timestamps of the sensor inputs used by EKF2.
|
||||
It can be used for reproducible replay.
|
||||
- [EscReport](EscReport.md)
|
||||
@@ -138,6 +141,7 @@ Published by the fw_lateral_longitudinal_control module to report the resultant
|
||||
- [FollowTargetEstimator](FollowTargetEstimator.md)
|
||||
- [FollowTargetStatus](FollowTargetStatus.md)
|
||||
- [FuelTankStatus](FuelTankStatus.md)
|
||||
- [GainCompression](GainCompression.md)
|
||||
- [GeneratorStatus](GeneratorStatus.md)
|
||||
- [GeofenceResult](GeofenceResult.md)
|
||||
- [GeofenceStatus](GeofenceStatus.md)
|
||||
@@ -186,6 +190,7 @@ These are the externally visible LED's, not the board LED's
|
||||
- [NavigatorMissionItem](NavigatorMissionItem.md)
|
||||
- [NavigatorStatus](NavigatorStatus.md) — Current status of a Navigator mode
|
||||
The possible values of nav_state are defined in the VehicleStatus msg.
|
||||
- [NeuralControl](NeuralControl.md) — Neural control
|
||||
- [NormalizedUnsignedSetpoint](NormalizedUnsignedSetpoint.md)
|
||||
- [ObstacleDistance](ObstacleDistance.md) — Obstacle distances in front of the sensor.
|
||||
- [OffboardControlMode](OffboardControlMode.md) — Off-board control mode
|
||||
@@ -212,7 +217,7 @@ This are the three next waypoints (or just the next two or one).
|
||||
- [PowerButtonState](PowerButtonState.md) — power button state notification message
|
||||
- [PowerMonitor](PowerMonitor.md) — power monitor message
|
||||
- [PpsCapture](PpsCapture.md)
|
||||
- [PurePursuitStatus](PurePursuitStatus.md)
|
||||
- [PurePursuitStatus](PurePursuitStatus.md) — Pure pursuit status
|
||||
- [PwmInput](PwmInput.md)
|
||||
- [Px4ioStatus](Px4ioStatus.md)
|
||||
- [QshellReq](QshellReq.md)
|
||||
@@ -221,15 +226,15 @@ This are the three next waypoints (or just the next two or one).
|
||||
- [RateCtrlStatus](RateCtrlStatus.md)
|
||||
- [RcChannels](RcChannels.md)
|
||||
- [RcParameterMap](RcParameterMap.md)
|
||||
- [RoverAttitudeSetpoint](RoverAttitudeSetpoint.md)
|
||||
- [RoverAttitudeStatus](RoverAttitudeStatus.md)
|
||||
- [RoverPositionSetpoint](RoverPositionSetpoint.md)
|
||||
- [RoverRateSetpoint](RoverRateSetpoint.md)
|
||||
- [RoverRateStatus](RoverRateStatus.md)
|
||||
- [RoverSteeringSetpoint](RoverSteeringSetpoint.md)
|
||||
- [RoverThrottleSetpoint](RoverThrottleSetpoint.md)
|
||||
- [RoverVelocitySetpoint](RoverVelocitySetpoint.md)
|
||||
- [RoverVelocityStatus](RoverVelocityStatus.md)
|
||||
- [RoverAttitudeSetpoint](RoverAttitudeSetpoint.md) — Rover Attitude Setpoint
|
||||
- [RoverAttitudeStatus](RoverAttitudeStatus.md) — Rover Attitude Status
|
||||
- [RoverPositionSetpoint](RoverPositionSetpoint.md) — Rover Position Setpoint
|
||||
- [RoverRateSetpoint](RoverRateSetpoint.md) — Rover Rate setpoint
|
||||
- [RoverRateStatus](RoverRateStatus.md) — Rover Rate Status
|
||||
- [RoverSpeedSetpoint](RoverSpeedSetpoint.md) — Rover Speed Setpoint
|
||||
- [RoverSpeedStatus](RoverSpeedStatus.md) — Rover Velocity Status
|
||||
- [RoverSteeringSetpoint](RoverSteeringSetpoint.md) — Rover Steering setpoint
|
||||
- [RoverThrottleSetpoint](RoverThrottleSetpoint.md) — Rover Throttle setpoint
|
||||
- [Rpm](Rpm.md)
|
||||
- [RtlStatus](RtlStatus.md)
|
||||
- [RtlTimeEstimate](RtlTimeEstimate.md)
|
||||
@@ -237,12 +242,13 @@ This are the three next waypoints (or just the next two or one).
|
||||
- [SensorAccel](SensorAccel.md)
|
||||
- [SensorAccelFifo](SensorAccelFifo.md)
|
||||
- [SensorAirflow](SensorAirflow.md)
|
||||
- [SensorBaro](SensorBaro.md)
|
||||
- [SensorBaro](SensorBaro.md) — Barometer sensor
|
||||
- [SensorCombined](SensorCombined.md) — Sensor readings in SI-unit form.
|
||||
These fields are scaled and offset-compensated where possible and do not
|
||||
change with board revisions and sensor updates.
|
||||
- [SensorCorrection](SensorCorrection.md) — Sensor corrections in SI-unit form for the voted sensor
|
||||
- [SensorGnssRelative](SensorGnssRelative.md) — GNSS relative positioning information in NED frame. The NED frame is defined as the local topological system at the reference station.
|
||||
- [SensorGnssStatus](SensorGnssStatus.md) — Gnss quality indicators
|
||||
- [SensorGps](SensorGps.md) — GPS position in WGS84 coordinates.
|
||||
the field 'timestamp' is for the position & velocity (microseconds)
|
||||
- [SensorGyro](SensorGyro.md)
|
||||
@@ -255,6 +261,7 @@ the field 'timestamp' is for the position & velocity (microseconds)
|
||||
The topic will not be updated when the vehicle is armed
|
||||
- [SensorSelection](SensorSelection.md) — Sensor ID's for the voted sensors output on the sensor_combined topic.
|
||||
Will be updated on startup of the sensor module and when sensor selection changes
|
||||
- [SensorTemp](SensorTemp.md)
|
||||
- [SensorUwb](SensorUwb.md) — UWB distance contains the distance information measured by an ultra-wideband positioning system,
|
||||
such as Pozyx or NXP Rddrone.
|
||||
- [SensorsStatus](SensorsStatus.md) — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
|
||||
@@ -278,7 +285,7 @@ mavlink message
|
||||
- [UlogStreamAck](UlogStreamAck.md) — Ack a previously sent ulog_stream message that had
|
||||
the NEED_ACK flag set
|
||||
- [VehicleAcceleration](VehicleAcceleration.md)
|
||||
- [VehicleAirData](VehicleAirData.md)
|
||||
- [VehicleAirData](VehicleAirData.md) — Vehicle air data
|
||||
- [VehicleAngularAccelerationSetpoint](VehicleAngularAccelerationSetpoint.md)
|
||||
- [VehicleConstraints](VehicleConstraints.md) — Local setpoint constraints in NED frame
|
||||
setting something to NaN means that no limit is provided
|
||||
@@ -295,13 +302,18 @@ NaN means the state was not controlled
|
||||
- [VehicleTorqueSetpoint](VehicleTorqueSetpoint.md)
|
||||
- [VelocityLimits](VelocityLimits.md) — Velocity and yaw rate limits for a multicopter position slow mode only
|
||||
- [WheelEncoders](WheelEncoders.md)
|
||||
- [Wind](Wind.md)
|
||||
- [YawEstimatorStatus](YawEstimatorStatus.md)
|
||||
- [AirspeedValidatedV0](AirspeedValidatedV0.md)
|
||||
- [ArmingCheckReplyV0](ArmingCheckReplyV0.md)
|
||||
- [ArmingCheckRequestV0](ArmingCheckRequestV0.md) — Arming check request.
|
||||
- [BatteryStatusV0](BatteryStatusV0.md) — Battery status
|
||||
- [ConfigOverridesV0](ConfigOverridesV0.md) — Configurable overrides by (external) modes or mode executors
|
||||
- [EventV0](EventV0.md) — this message is required here in the msg_old folder because other msg are depending on it
|
||||
Events interface
|
||||
- [HomePositionV0](HomePositionV0.md) — GPS home position in WGS84 coordinates.
|
||||
- [RegisterExtComponentReplyV0](RegisterExtComponentReplyV0.md)
|
||||
- [RegisterExtComponentRequestV0](RegisterExtComponentRequestV0.md) — Request to register an external component
|
||||
- [VehicleAttitudeSetpointV0](VehicleAttitudeSetpointV0.md)
|
||||
- [VehicleLocalPositionV0](VehicleLocalPositionV0.md) — Fused local position in NED.
|
||||
The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
|
||||
- [VehicleStatusV0](VehicleStatusV0.md) — Encodes the system state of the vehicle published by commander
|
||||
|
||||
|
||||
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Reference in New Issue
Block a user