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2026-09-30 18:09:05 +00:00
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docs/en/msg_docs/FailsafeFlags.md
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@@ -13,9 +13,9 @@ The flag comments are used as label for the failsafe state machine simulation
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------------------------------------------------------------------- | -------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------ |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------------------------------------------------------------------- | -------- | ------------ | ---------- | ---------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_mode_req_angular_velocity"></a>mode_req_angular_velocity | `uint32` | | |
| <a id="fld_mode_req_attitude"></a>mode_req_attitude | `uint32` | | |
| <a id="fld_mode_req_local_alt"></a>mode_req_local_alt | `uint32` | | |
@@ -26,42 +26,42 @@ The flag comments are used as label for the failsafe state machine simulation
| <a id="fld_mode_req_mission"></a>mode_req_mission | `uint32` | | |
| <a id="fld_mode_req_offboard_signal"></a>mode_req_offboard_signal | `uint32` | | |
| <a id="fld_mode_req_home_position"></a>mode_req_home_position | `uint32` | | |
| <a id="fld_mode_req_wind_and_flight_time_compliance"></a>mode_req_wind_and_flight_time_compliance | `uint32` | | | if set, mode cannot be entered if wind or flight time limit exceeded |
| <a id="fld_mode_req_prevent_arming"></a>mode_req_prevent_arming | `uint32` | | | if set, cannot arm while in this mode |
| <a id="fld_mode_req_wind_and_flight_time_compliance"></a>mode_req_wind_and_flight_time_compliance | `uint32` | | | if set, mode cannot be entered if wind or flight time limit exceeded |
| <a id="fld_mode_req_prevent_arming"></a>mode_req_prevent_arming | `uint32` | | | if set, cannot arm while in this mode |
| <a id="fld_mode_req_manual_control"></a>mode_req_manual_control | `uint32` | | |
| <a id="fld_mode_req_other"></a>mode_req_other | `uint32` | | | other requirements, not covered above (for external modes) |
| <a id="fld_angular_velocity_invalid"></a>angular_velocity_invalid | `bool` | | | Angular velocity invalid |
| <a id="fld_attitude_invalid"></a>attitude_invalid | `bool` | | | Attitude invalid |
| <a id="fld_local_altitude_invalid"></a>local_altitude_invalid | `bool` | | | Local altitude invalid |
| <a id="fld_local_position_invalid"></a>local_position_invalid | `bool` | | | Local position estimate invalid |
| <a id="fld_local_position_invalid_relaxed"></a>local_position_invalid_relaxed | `bool` | | | Local position with reduced accuracy requirements invalid (e.g. flying with optical flow) |
| <a id="fld_local_velocity_invalid"></a>local_velocity_invalid | `bool` | | | Local velocity estimate invalid |
| <a id="fld_global_position_invalid"></a>global_position_invalid | `bool` | | | Global position estimate invalid |
| <a id="fld_global_position_invalid_relaxed"></a>global_position_invalid_relaxed | `bool` | | | Global position estimate invalid with relaxed accuracy requirements |
| <a id="fld_auto_mission_missing"></a>auto_mission_missing | `bool` | | | No mission available |
| <a id="fld_offboard_control_signal_lost"></a>offboard_control_signal_lost | `bool` | | | Offboard signal lost |
| <a id="fld_home_position_invalid"></a>home_position_invalid | `bool` | | | No home position available |
| <a id="fld_manual_control_signal_lost"></a>manual_control_signal_lost | `bool` | | | Manual control (RC) signal lost |
| <a id="fld_gcs_connection_lost"></a>gcs_connection_lost | `bool` | | | GCS connection lost |
| <a id="fld_battery_warning"></a>battery_warning | `uint8` | | | Battery warning level (see BatteryStatus.msg) |
| <a id="fld_battery_low_remaining_time"></a>battery_low_remaining_time | `bool` | | | Low battery based on remaining flight time |
| <a id="fld_battery_unhealthy"></a>battery_unhealthy | `bool` | | | Battery unhealthy |
| <a id="fld_fd_critical_failure"></a>fd_critical_failure | `bool` | | | Critical failure (attitude limit exceeded, or external ATS) |
| <a id="fld_fd_esc_arming_failure"></a>fd_esc_arming_failure | `bool` | | | ESC failed to arm |
| <a id="fld_fd_imbalanced_prop"></a>fd_imbalanced_prop | `bool` | | | Imbalanced propeller detected |
| <a id="fld_fd_motor_failure"></a>fd_motor_failure | `bool` | | | Motor failure |
| <a id="fld_fd_alt_loss"></a>fd_alt_loss | `bool` | | | Uncommanded altitude loss (rotary-wing, altitude-controlled flight) |
| <a id="fld_geofence_breached"></a>geofence_breached | `bool` | | | Geofence breached (one or multiple) |
| <a id="fld_mission_failure"></a>mission_failure | `bool` | | | Mission failure |
| <a id="fld_vtol_fixed_wing_system_failure"></a>vtol_fixed_wing_system_failure | `bool` | | | vehicle in fixed-wing system failure failsafe mode (after quad-chute) |
| <a id="fld_wind_limit_exceeded"></a>wind_limit_exceeded | `bool` | | | Wind limit exceeded |
| <a id="fld_flight_time_limit_exceeded"></a>flight_time_limit_exceeded | `bool` | | | Maximum flight time exceeded |
| <a id="fld_position_accuracy_low"></a>position_accuracy_low | `bool` | | | Position estimate has dropped below threshold, but is currently still declared valid |
| <a id="fld_navigator_failure"></a>navigator_failure | `bool` | | | Navigator failed to execute a mode |
| <a id="fld_parachute_unhealthy"></a>parachute_unhealthy | `bool` | | | Parachute system missing or unhealthy |
| <a id="fld_traffic_avoidance_unhealthy"></a>traffic_avoidance_unhealthy | `bool` | | | Traffic avoidance (ADS-B/FLARM) system missing or unhealthy |
| <a id="fld_remote_id_unhealthy"></a>remote_id_unhealthy | `bool` | | | Remote ID (Open Drone ID) system missing or unhealthy |
| <a id="fld_gnss_lost"></a>gnss_lost | `bool` | | | Active GNSS count dropped below SYS_HAS_NUM_GNSS, or two receivers report inconsistent positions |
| <a id="fld_mode_req_other"></a>mode_req_other | `uint32` | | | other requirements, not covered above (for external modes) |
| <a id="fld_angular_velocity_invalid"></a>angular_velocity_invalid | `bool` | | | Angular velocity invalid |
| <a id="fld_attitude_invalid"></a>attitude_invalid | `bool` | | | Attitude invalid |
| <a id="fld_local_altitude_invalid"></a>local_altitude_invalid | `bool` | | | Local altitude invalid |
| <a id="fld_local_position_invalid"></a>local_position_invalid | `bool` | | | Local position estimate invalid |
| <a id="fld_local_position_invalid_relaxed"></a>local_position_invalid_relaxed | `bool` | | | Local position with reduced accuracy requirements invalid (e.g. flying with optical flow) |
| <a id="fld_local_velocity_invalid"></a>local_velocity_invalid | `bool` | | | Local velocity estimate invalid |
| <a id="fld_global_position_invalid"></a>global_position_invalid | `bool` | | | Global position estimate invalid |
| <a id="fld_global_position_invalid_relaxed"></a>global_position_invalid_relaxed | `bool` | | | Global position estimate invalid with relaxed accuracy requirements |
| <a id="fld_auto_mission_missing"></a>auto_mission_missing | `bool` | | | No mission available |
| <a id="fld_offboard_control_signal_lost"></a>offboard_control_signal_lost | `bool` | | | Offboard signal lost |
| <a id="fld_home_position_invalid"></a>home_position_invalid | `bool` | | | No home position available |
| <a id="fld_manual_control_signal_lost"></a>manual_control_signal_lost | `bool` | | | Manual control (RC) signal lost |
| <a id="fld_gcs_connection_lost"></a>gcs_connection_lost | `bool` | | | GCS connection lost |
| <a id="fld_battery_warning"></a>battery_warning | `uint8` | | | Battery warning level (see BatteryStatus.msg) |
| <a id="fld_battery_low_remaining_time"></a>battery_low_remaining_time | `bool` | | | Low battery based on remaining flight time |
| <a id="fld_battery_unhealthy"></a>battery_unhealthy | `bool` | | | Battery unhealthy |
| <a id="fld_fd_critical_failure"></a>fd_critical_failure | `bool` | | | Critical failure (attitude limit exceeded, or external ATS) |
| <a id="fld_fd_esc_arming_failure"></a>fd_esc_arming_failure | `bool` | | | ESC failed to arm |
| <a id="fld_fd_imbalanced_prop"></a>fd_imbalanced_prop | `bool` | | | Imbalanced propeller detected |
| <a id="fld_fd_motor_failure"></a>fd_motor_failure | `bool` | | | Motor failure |
| <a id="fld_fd_alt_loss"></a>fd_alt_loss | `bool` | | | Uncommanded altitude loss (rotary-wing, altitude-controlled flight) |
| <a id="fld_geofence_breached"></a>geofence_breached | `bool` | | | Geofence breached (one or multiple) |
| <a id="fld_mission_failure"></a>mission_failure | `bool` | | | Mission failure |
| <a id="fld_vtol_fixed_wing_system_failure"></a>vtol_fixed_wing_system_failure | `bool` | | | vehicle in fixed-wing system failure failsafe mode (after quad-chute) |
| <a id="fld_wind_limit_exceeded"></a>wind_limit_exceeded | `bool` | | | Wind limit exceeded |
| <a id="fld_flight_time_limit_exceeded"></a>flight_time_limit_exceeded | `bool` | | | Maximum flight time exceeded |
| <a id="fld_position_accuracy_low"></a>position_accuracy_low | `bool` | | | Position estimate has dropped below threshold, but is currently still declared valid |
| <a id="fld_navigator_failure"></a>navigator_failure | `bool` | | | Navigator failed to execute a mode |
| <a id="fld_parachute_unhealthy"></a>parachute_unhealthy | `bool` | | | Parachute system missing or unhealthy |
| <a id="fld_traffic_avoidance_unhealthy"></a>traffic_avoidance_unhealthy | `bool` | | | Traffic avoidance (ADS-B/FLARM) system missing or unhealthy |
| <a id="fld_remote_id_unhealthy"></a>remote_id_unhealthy | `bool` | | | Remote ID (Open Drone ID) system missing or unhealthy |
| <a id="fld_gnss_lost"></a>gnss_lost | `bool` | | | Fewer GNSS receivers are healthy than required, or two receivers report inconsistent positions |
## Source Message
@@ -134,7 +134,7 @@ bool navigator_failure # Navigator failed to execute a mode
bool parachute_unhealthy # Parachute system missing or unhealthy
bool traffic_avoidance_unhealthy # Traffic avoidance (ADS-B/FLARM) system missing or unhealthy
bool remote_id_unhealthy # Remote ID (Open Drone ID) system missing or unhealthy
bool gnss_lost # Active GNSS count dropped below SYS_HAS_NUM_GNSS, or two receivers report inconsistent positions
bool gnss_lost # Fewer GNSS receivers are healthy than required, or two receivers report inconsistent positions
```
:::
docs/en/msg_docs/PpsCapture.md
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@@ -8,11 +8,11 @@ pageClass: is-wide-page
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------------- | -------- | ------------ | ---------- | ----------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) at PPS capture event |
| <a id="fld_rtc_timestamp"></a>rtc_timestamp | `uint64` | | | Corrected GPS UTC timestamp at PPS capture event |
| <a id="fld_"></a> | `uint8` | | | Increments when PPS dt < 50ms |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------------- | -------- | ------------ | ---------- | ---------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) at PPS capture event |
| <a id="fld_rtc_timestamp"></a>rtc_timestamp | `uint64` | | | Corrected GPS UTC timestamp at PPS capture event |
| <a id="fld_"></a> | `uint8` | | | Count of PPS pulses that arrived too soon after the previous one |
## Source Message
@@ -23,7 +23,7 @@ pageClass: is-wide-page
```c
uint64 timestamp # time since system start (microseconds) at PPS capture event
uint64 rtc_timestamp # Corrected GPS UTC timestamp at PPS capture event
uint8 pps_rate_exceeded_counter # Increments when PPS dt < 50ms
uint8 pps_rate_exceeded_counter # Count of PPS pulses that arrived too soon after the previous one
```
:::
docs/en/msg_docs/RtcmData.md
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@@ -10,8 +10,7 @@ Published under two topic names that share this definition (see TOPICS below):
rtcm_corrections - external fixed-base corrections fed into the vehicle (MAVLink
GPS_RTCM_DATA, UAVCAN RTCMStream, GPS drivers in dump mode). Multiple
sources are allowed, one uORB instance each; consumers select an instance
via their stale-link logic.
sources are allowed, one uORB instance each; consumers select one instance.
rtcm_moving_baseline - moving-base GPS output (RTCM 4072 or equivalent) intended for a rover.
Single publisher per vehicle (on-board moving base, or a CANnode
@@ -49,8 +48,7 @@ forwarding MovingBaselineData); consumers only read instance 0.
#
# rtcm_corrections - external fixed-base corrections fed into the vehicle (MAVLink
# GPS_RTCM_DATA, UAVCAN RTCMStream, GPS drivers in dump mode). Multiple
# sources are allowed, one uORB instance each; consumers select an instance
# via their stale-link logic.
# sources are allowed, one uORB instance each; consumers select one instance.
#
# rtcm_moving_baseline - moving-base GPS output (RTCM 4072 or equivalent) intended for a rover.
# Single publisher per vehicle (on-board moving base, or a CANnode
docs/en/msg_docs/SensorGnssSpectrum.md
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@@ -6,8 +6,7 @@ pageClass: is-wide-page
GNSS spectrum analysis.
Reports a basic RF spectrum analysis for a GNSS receiver, decoded from the u-blox UBX-MON-SPAN
message (enabled via the GPS_UBX_SPECTRUM parameter).
Reports a basic RF spectrum analysis for a GNSS receiver, decoded from the u-blox UBX-MON-SPAN message.
Published by the `gps` driver (UBX protocol only), once per RF block, via the block-specific topics below.
The center frequency of bin i is: f(i) = center_frequency + spectrum_span \* (i - 127) / 256
@@ -36,8 +35,7 @@ The center frequency of bin i is: f(i) = center_frequency + spectrum_span \* (i
```c
# GNSS spectrum analysis
#
# Reports a basic RF spectrum analysis for a GNSS receiver, decoded from the u-blox UBX-MON-SPAN
# message (enabled via the GPS_UBX_SPECTRUM parameter).
# Reports a basic RF spectrum analysis for a GNSS receiver, decoded from the u-blox UBX-MON-SPAN message.
# Published by the `gps` driver (UBX protocol only), once per RF block, via the block-specific topics below.
# The center frequency of bin i is: f(i) = center_frequency + spectrum_span * (i - 127) / 256
docs/en/msg_docs/VehicleGnssHeading.md
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@@ -4,7 +4,9 @@ pageClass: is-wide-page
# VehicleGnssHeading (UORB message)
GNSS heading from a dual-antenna or moving-baseline receiver, published by the sensors module from sensor_gnss_relative. Only headings whose reported baseline matches the configured SENS_GNSSn_HDG baseline are published. Consumed by EKF2. independently from position/velocity.
GNSS heading from a dual-antenna or moving-baseline receiver.
Published by the sensors module from sensor_gnss_relative. Consumed by EKF2 independently from position and velocity.
**TOPICS:** vehicle_gnss_heading
@@ -29,9 +31,9 @@ GNSS heading from a dual-antenna or moving-baseline receiver, published by the s
::: details Click here to see original file
```c
# GNSS heading from a dual-antenna or moving-baseline receiver, published by the sensors module from sensor_gnss_relative.
# Only headings whose reported baseline matches the configured SENS_GNSSn_HDG baseline are published. Consumed by EKF2
# independently from position/velocity.
# GNSS heading from a dual-antenna or moving-baseline receiver
#
# Published by the sensors module from sensor_gnss_relative. Consumed by EKF2 independently from position and velocity.
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # time since system start (microseconds) - actual measurement time
docs/en/msg_docs/index.md
+1 -1
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@@ -293,7 +293,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [VehicleConstraints](VehicleConstraints.md) — Local setpoint constraints in NED frame. setting something to NaN means that no limit is provided.
- [VehicleControlMode](VehicleControlMode.md) — Defines which controllers should run.
- [VehicleGnss](VehicleGnss.md) — Selected GNSS solution.
- [VehicleGnssHeading](VehicleGnssHeading.md) — GNSS heading from a dual-antenna or moving-baseline receiver, published by the sensors module from sensor_gnss_relative. Only headings whose reported baseline matches the configured SENS_GNSSn_HDG baseline are published. Consumed by EKF2. independently from position/velocity.
- [VehicleGnssHeading](VehicleGnssHeading.md) — GNSS heading from a dual-antenna or moving-baseline receiver.
- [VehicleImu](VehicleImu.md) — IMU readings in SI-unit form.
- [VehicleImuStatus](VehicleImuStatus.md)
- [VehicleLocalPositionSetpoint](VehicleLocalPositionSetpoint.md) — Local position setpoint in NED frame. Telemetry of PID position controller to monitor tracking. NaN means the state was not controlled.