mirror of
https://github.com/PX4/PX4-Autopilot.git
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docs: auto-sync metadata [skip ci]
Co-Authored-By: PX4 BuildBot <bot@px4.io>
This commit is contained in:
PX4BuildBot
@@ -95,202 +95,202 @@ They are not build into the module, and hence are neither published or subscribe
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::: details See messages
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- [VelocityLimits](../msg_docs/VelocityLimits.md)
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- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
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- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
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- [TecsStatus](../msg_docs/TecsStatus.md)
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- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
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- [EscReport](../msg_docs/EscReport.md)
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- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
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- [BatteryInfo](../msg_docs/BatteryInfo.md)
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- [PwmInput](../msg_docs/PwmInput.md)
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- [SensorSelection](../msg_docs/SensorSelection.md)
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- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
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- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
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- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
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- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
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- [DatamanResponse](../msg_docs/DatamanResponse.md)
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- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
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- [VehicleRoi](../msg_docs/VehicleRoi.md)
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- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
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- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
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- [VehicleAirData](../msg_docs/VehicleAirData.md)
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- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
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- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
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- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
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- [SensorCorrection](../msg_docs/SensorCorrection.md)
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- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
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- [SensorBaro](../msg_docs/SensorBaro.md)
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- [PpsCapture](../msg_docs/PpsCapture.md)
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- [AdcReport](../msg_docs/AdcReport.md)
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- [LedControl](../msg_docs/LedControl.md)
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- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
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- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
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- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
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- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
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- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
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- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
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- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
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- [MissionResult](../msg_docs/MissionResult.md)
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- [GpioIn](../msg_docs/GpioIn.md)
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- [SensorAccel](../msg_docs/SensorAccel.md)
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- [InputRc](../msg_docs/InputRc.md)
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- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
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- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
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- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
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- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
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- [FollowTarget](../msg_docs/FollowTarget.md)
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- [MavlinkLog](../msg_docs/MavlinkLog.md)
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- [HeaterStatus](../msg_docs/HeaterStatus.md)
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- [Rpm](../msg_docs/Rpm.md)
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- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
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- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
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- [ActuatorTest](../msg_docs/ActuatorTest.md)
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- [PowerButtonState](../msg_docs/PowerButtonState.md)
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- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
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- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
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- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
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- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
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- [DeviceInformation](../msg_docs/DeviceInformation.md)
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- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
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- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
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- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
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- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
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- [EscStatus](../msg_docs/EscStatus.md)
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- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
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- [GpioOut](../msg_docs/GpioOut.md)
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- [DebugArray](../msg_docs/DebugArray.md)
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- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
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- [SensorUwb](../msg_docs/SensorUwb.md)
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- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
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- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
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- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
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- [NeuralControl](../msg_docs/NeuralControl.md)
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- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
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- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
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- [TuneControl](../msg_docs/TuneControl.md)
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- [EventV0](../msg_docs/EventV0.md)
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- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
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- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
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- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
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- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
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- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
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- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
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- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
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- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
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- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
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- [MountOrientation](../msg_docs/MountOrientation.md)
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- [ButtonEvent](../msg_docs/ButtonEvent.md)
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- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
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- [SensorAirflow](../msg_docs/SensorAirflow.md)
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- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
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- [SensorMag](../msg_docs/SensorMag.md)
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- [OrbitStatus](../msg_docs/OrbitStatus.md)
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- [Event](../msg_docs/Event.md)
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- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
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- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
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- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
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- [DebugVect](../msg_docs/DebugVect.md)
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- [QshellRetval](../msg_docs/QshellRetval.md)
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- [HomePositionV0](../msg_docs/HomePositionV0.md)
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- [RadioStatus](../msg_docs/RadioStatus.md)
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- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
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- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
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- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
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- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
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- [DebugValue](../msg_docs/DebugValue.md)
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- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
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- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
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- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
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- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
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- [SensorTemp](../msg_docs/SensorTemp.md)
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- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
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- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
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- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
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- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
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- [LoggerStatus](../msg_docs/LoggerStatus.md)
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- [UlogStream](../msg_docs/UlogStream.md)
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- [GpsInjectData](../msg_docs/GpsInjectData.md)
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- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
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- [RcParameterMap](../msg_docs/RcParameterMap.md)
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- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
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- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
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- [LogMessage](../msg_docs/LogMessage.md)
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- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
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- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
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- [SensorsStatus](../msg_docs/SensorsStatus.md)
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- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
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- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
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- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
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- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
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- [DatamanRequest](../msg_docs/DatamanRequest.md)
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- [MagWorkerData](../msg_docs/MagWorkerData.md)
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- [GimbalControls](../msg_docs/GimbalControls.md)
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- [RaptorInput](../msg_docs/RaptorInput.md)
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- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
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- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
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- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
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- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
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- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
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- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
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- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
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- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
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- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
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- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
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- [Mission](../msg_docs/Mission.md)
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- [ActionRequest](../msg_docs/ActionRequest.md)
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- [Cpuload](../msg_docs/Cpuload.md)
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- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
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- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
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- [RcChannels](../msg_docs/RcChannels.md)
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- [VehicleImu](../msg_docs/VehicleImu.md)
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- [IrlockReport](../msg_docs/IrlockReport.md)
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- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
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- [Ping](../msg_docs/Ping.md)
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- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
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- [GeofenceResult](../msg_docs/GeofenceResult.md)
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- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
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- [SensorGyro](../msg_docs/SensorGyro.md)
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- [CameraCapture](../msg_docs/CameraCapture.md)
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- [Vtx](../msg_docs/Vtx.md)
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- [SystemPower](../msg_docs/SystemPower.md)
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- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
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- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
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- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
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- [PowerMonitor](../msg_docs/PowerMonitor.md)
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- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
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- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
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- [GainCompression](../msg_docs/GainCompression.md)
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- [CameraTrigger](../msg_docs/CameraTrigger.md)
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- [GpioRequest](../msg_docs/GpioRequest.md)
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- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
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- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
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- [EventV0](../msg_docs/EventV0.md)
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- [FollowTarget](../msg_docs/FollowTarget.md)
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- [RcChannels](../msg_docs/RcChannels.md)
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- [DatamanRequest](../msg_docs/DatamanRequest.md)
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- [QshellRetval](../msg_docs/QshellRetval.md)
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- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
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||||
- [OrbTest](../msg_docs/OrbTest.md)
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- [RaptorStatus](../msg_docs/RaptorStatus.md)
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- [Airspeed](../msg_docs/Airspeed.md)
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- [VehicleImu](../msg_docs/VehicleImu.md)
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- [RaptorInput](../msg_docs/RaptorInput.md)
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- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
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- [MagWorkerData](../msg_docs/MagWorkerData.md)
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- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
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- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
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- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
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- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
|
||||
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
|
||||
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
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- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
|
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- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
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- [SensorMag](../msg_docs/SensorMag.md)
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- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
|
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- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
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- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
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- [ButtonEvent](../msg_docs/ButtonEvent.md)
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- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
|
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- [BatteryInfo](../msg_docs/BatteryInfo.md)
|
||||
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
|
||||
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
|
||||
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
|
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- [GpioIn](../msg_docs/GpioIn.md)
|
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- [DebugValue](../msg_docs/DebugValue.md)
|
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- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
|
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- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
|
||||
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
|
||||
- [CameraStatus](../msg_docs/CameraStatus.md)
|
||||
- [CameraTrigger](../msg_docs/CameraTrigger.md)
|
||||
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
|
||||
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
|
||||
- [PwmInput](../msg_docs/PwmInput.md)
|
||||
- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
|
||||
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
|
||||
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
|
||||
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
|
||||
- [RtlStatus](../msg_docs/RtlStatus.md)
|
||||
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
|
||||
- [AdcReport](../msg_docs/AdcReport.md)
|
||||
- [EstimatorStates](../msg_docs/EstimatorStates.md)
|
||||
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
|
||||
- [TuneControl](../msg_docs/TuneControl.md)
|
||||
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
|
||||
- [VelocityLimits](../msg_docs/VelocityLimits.md)
|
||||
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
|
||||
- [EscReport](../msg_docs/EscReport.md)
|
||||
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
|
||||
- [HeaterStatus](../msg_docs/HeaterStatus.md)
|
||||
- [GimbalControls](../msg_docs/GimbalControls.md)
|
||||
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
|
||||
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
|
||||
- [EstimatorBias](../msg_docs/EstimatorBias.md)
|
||||
- [Mission](../msg_docs/Mission.md)
|
||||
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
|
||||
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
|
||||
- [LogMessage](../msg_docs/LogMessage.md)
|
||||
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
|
||||
- [WheelEncoders](../msg_docs/WheelEncoders.md)
|
||||
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
|
||||
- [RtlStatus](../msg_docs/RtlStatus.md)
|
||||
- [RaptorStatus](../msg_docs/RaptorStatus.md)
|
||||
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
|
||||
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
|
||||
- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
|
||||
- [VehicleAirData](../msg_docs/VehicleAirData.md)
|
||||
- [UlogStream](../msg_docs/UlogStream.md)
|
||||
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
|
||||
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
|
||||
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
|
||||
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
|
||||
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
|
||||
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
|
||||
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
|
||||
- [RcParameterMap](../msg_docs/RcParameterMap.md)
|
||||
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
|
||||
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
|
||||
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
|
||||
- [AirspeedWind](../msg_docs/AirspeedWind.md)
|
||||
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
|
||||
- [EstimatorBias](../msg_docs/EstimatorBias.md)
|
||||
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
|
||||
- [CellularStatus](../msg_docs/CellularStatus.md)
|
||||
- [QshellReq](../msg_docs/QshellReq.md)
|
||||
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
|
||||
- [GpsDump](../msg_docs/GpsDump.md)
|
||||
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
|
||||
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
|
||||
- [EstimatorStates](../msg_docs/EstimatorStates.md)
|
||||
- [Airspeed](../msg_docs/Airspeed.md)
|
||||
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
|
||||
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
|
||||
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
|
||||
- [Gripper](../msg_docs/Gripper.md)
|
||||
- [CameraStatus](../msg_docs/CameraStatus.md)
|
||||
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
|
||||
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
|
||||
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
|
||||
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
|
||||
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
|
||||
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
|
||||
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
|
||||
- [Vtx](../msg_docs/Vtx.md)
|
||||
- [Event](../msg_docs/Event.md)
|
||||
- [HealthReport](../msg_docs/HealthReport.md)
|
||||
- [GpioConfig](../msg_docs/GpioConfig.md)
|
||||
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
|
||||
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
|
||||
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
|
||||
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
|
||||
- [SensorsStatus](../msg_docs/SensorsStatus.md)
|
||||
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
|
||||
- [SensorAirflow](../msg_docs/SensorAirflow.md)
|
||||
- [VehicleRoi](../msg_docs/VehicleRoi.md)
|
||||
- [DebugVect](../msg_docs/DebugVect.md)
|
||||
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
|
||||
- [SensorTemp](../msg_docs/SensorTemp.md)
|
||||
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
|
||||
- [GpsDump](../msg_docs/GpsDump.md)
|
||||
- [ActuatorTest](../msg_docs/ActuatorTest.md)
|
||||
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
|
||||
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
|
||||
- [SensorUwb](../msg_docs/SensorUwb.md)
|
||||
- [SensorSelection](../msg_docs/SensorSelection.md)
|
||||
- [SensorGyro](../msg_docs/SensorGyro.md)
|
||||
- [SystemPower](../msg_docs/SystemPower.md)
|
||||
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
|
||||
- [SensorAccel](../msg_docs/SensorAccel.md)
|
||||
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
|
||||
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
|
||||
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
|
||||
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
|
||||
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
|
||||
- [Rpm](../msg_docs/Rpm.md)
|
||||
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
|
||||
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
|
||||
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
|
||||
- [MountOrientation](../msg_docs/MountOrientation.md)
|
||||
- [NeuralControl](../msg_docs/NeuralControl.md)
|
||||
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
|
||||
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
|
||||
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
|
||||
- [PowerButtonState](../msg_docs/PowerButtonState.md)
|
||||
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
|
||||
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
|
||||
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
|
||||
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
|
||||
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
|
||||
- [ActionRequest](../msg_docs/ActionRequest.md)
|
||||
- [DatamanResponse](../msg_docs/DatamanResponse.md)
|
||||
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
|
||||
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
|
||||
- [InputRc](../msg_docs/InputRc.md)
|
||||
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
|
||||
- [Ping](../msg_docs/Ping.md)
|
||||
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
|
||||
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
|
||||
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
|
||||
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
|
||||
- [MavlinkLog](../msg_docs/MavlinkLog.md)
|
||||
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
|
||||
- [GainCompression](../msg_docs/GainCompression.md)
|
||||
- [HomePositionV0](../msg_docs/HomePositionV0.md)
|
||||
- [GpioRequest](../msg_docs/GpioRequest.md)
|
||||
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
|
||||
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
|
||||
- [EscStatus](../msg_docs/EscStatus.md)
|
||||
- [CellularStatus](../msg_docs/CellularStatus.md)
|
||||
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
|
||||
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
|
||||
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
|
||||
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
|
||||
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
|
||||
- [Cpuload](../msg_docs/Cpuload.md)
|
||||
- [CameraCapture](../msg_docs/CameraCapture.md)
|
||||
- [QshellReq](../msg_docs/QshellReq.md)
|
||||
- [Gripper](../msg_docs/Gripper.md)
|
||||
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
|
||||
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
|
||||
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
|
||||
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
|
||||
- [RadioStatus](../msg_docs/RadioStatus.md)
|
||||
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
|
||||
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
|
||||
- [DebugArray](../msg_docs/DebugArray.md)
|
||||
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
|
||||
- [OrbitStatus](../msg_docs/OrbitStatus.md)
|
||||
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
|
||||
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
|
||||
- [SensorBaro](../msg_docs/SensorBaro.md)
|
||||
- [GeofenceResult](../msg_docs/GeofenceResult.md)
|
||||
- [TecsStatus](../msg_docs/TecsStatus.md)
|
||||
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
|
||||
- [PpsCapture](../msg_docs/PpsCapture.md)
|
||||
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
|
||||
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
|
||||
- [SensorCorrection](../msg_docs/SensorCorrection.md)
|
||||
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
|
||||
- [GpioOut](../msg_docs/GpioOut.md)
|
||||
- [GpsInjectData](../msg_docs/GpsInjectData.md)
|
||||
- [LoggerStatus](../msg_docs/LoggerStatus.md)
|
||||
- [DeviceInformation](../msg_docs/DeviceInformation.md)
|
||||
- [GpioConfig](../msg_docs/GpioConfig.md)
|
||||
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
|
||||
- [PowerMonitor](../msg_docs/PowerMonitor.md)
|
||||
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
|
||||
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
|
||||
:::
|
||||
|
||||
@@ -59,26 +59,26 @@ Request are published by `manual_control` and subscribed by the `commander` and
|
||||
# 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.
|
||||
|
||||
uint64 timestamp # [us] Time since system start
|
||||
uint64 timestamp # [us] Time since system start
|
||||
|
||||
uint8 action # [@enum ACTION] Requested action
|
||||
uint8 ACTION_DISARM = 0 # Disarm vehicle
|
||||
uint8 ACTION_ARM = 1 # Arm vehicle
|
||||
uint8 ACTION_TOGGLE_ARMING = 2 # Toggle arming
|
||||
uint8 ACTION_UNKILL = 3 # Revert a kill action
|
||||
uint8 ACTION_KILL = 4 # Kill vehicle (instantly stop the motors)
|
||||
uint8 ACTION_SWITCH_MODE = 5 # Switch mode. The target mode is set in the `mode` field.
|
||||
uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6 # Transition to hover flight
|
||||
uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7 # Transition to fast forward flight
|
||||
uint8 ACTION_TERMINATION = 8 # Irreversibly output failsafe values on all outputs, trigger parachute
|
||||
uint8 action # [@enum ACTION] Requested action
|
||||
uint8 ACTION_DISARM = 0 # Disarm vehicle
|
||||
uint8 ACTION_ARM = 1 # Arm vehicle
|
||||
uint8 ACTION_TOGGLE_ARMING = 2 # Toggle arming
|
||||
uint8 ACTION_UNKILL = 3 # Revert a kill action
|
||||
uint8 ACTION_KILL = 4 # Kill vehicle (instantly stop the motors)
|
||||
uint8 ACTION_SWITCH_MODE = 5 # Switch mode. The target mode is set in the `mode` field.
|
||||
uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6 # Transition to hover flight
|
||||
uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7 # Transition to fast forward flight
|
||||
uint8 ACTION_TERMINATION = 8 # Irreversibly output failsafe values on all outputs, trigger parachute
|
||||
|
||||
uint8 source # [@enum SOURCE] Request trigger type, such as a switch, button or gesture
|
||||
uint8 SOURCE_STICK_GESTURE = 0 # Triggered by holding the sticks in a certain position
|
||||
uint8 SOURCE_RC_SWITCH = 1 # Triggered by an RC switch moving into a certain position
|
||||
uint8 SOURCE_RC_BUTTON = 2 # Triggered by a momentary button on the RC being pressed or held
|
||||
uint8 SOURCE_RC_MODE_SLOT = 3 # Mode change through the RC mode selection mechanism
|
||||
uint8 source # [@enum SOURCE] Request trigger type, such as a switch, button or gesture
|
||||
uint8 SOURCE_STICK_GESTURE = 0 # Triggered by holding the sticks in a certain position
|
||||
uint8 SOURCE_RC_SWITCH = 1 # Triggered by an RC switch moving into a certain position
|
||||
uint8 SOURCE_RC_BUTTON = 2 # Triggered by a momentary button on the RC being pressed or held
|
||||
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.
|
||||
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.
|
||||
```
|
||||
|
||||
:::
|
||||
|
||||
@@ -18,7 +18,7 @@ Published by the vehicle's allocation and consumed by the ESC protocol drivers e
|
||||
| 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) |
|
||||
| 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
|
||||
|
||||
@@ -42,15 +42,15 @@ Published by the vehicle's allocation and consumed by the ESC protocol drivers e
|
||||
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
|
||||
uint64 timestamp # [us] Time since system start
|
||||
uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
|
||||
uint64 timestamp # [us] Time since system start
|
||||
uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
|
||||
|
||||
uint16 reversible_flags # [-] Bitset indicating which motors are configured to be reversible
|
||||
uint16 reversible_flags # [-] Bitset indicating which motors are configured to be reversible
|
||||
|
||||
uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 #
|
||||
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)
|
||||
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)
|
||||
```
|
||||
|
||||
:::
|
||||
|
||||
@@ -40,11 +40,11 @@ Published by the vehicle's allocation and consumed by the actuator output driver
|
||||
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
|
||||
uint64 timestamp # [us] Time since system start
|
||||
uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
|
||||
uint64 timestamp # [us] Time since system start
|
||||
uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
|
||||
|
||||
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.
|
||||
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.
|
||||
```
|
||||
|
||||
:::
|
||||
|
||||
@@ -57,28 +57,27 @@ Used by controllers, estimators and for airspeed reporting to operator.
|
||||
# Provides information about airspeed (indicated, true, calibrated) and the source of the data.
|
||||
# Used by controllers, estimators and for airspeed reporting to operator.
|
||||
|
||||
|
||||
uint32 MESSAGE_VERSION = 1
|
||||
|
||||
uint64 timestamp # [us] Time since system start
|
||||
uint64 timestamp # [us] Time since system start
|
||||
|
||||
float32 indicated_airspeed_m_s # [m/s] [@invalid NaN] Indicated airspeed (IAS)
|
||||
float32 calibrated_airspeed_m_s # [m/s] [@invalid NaN] Calibrated airspeed (CAS)
|
||||
float32 true_airspeed_m_s # [m/s] [@invalid NaN] True airspeed (TAS)
|
||||
float32 indicated_airspeed_m_s # [m/s] [@invalid NaN] Indicated airspeed (IAS)
|
||||
float32 calibrated_airspeed_m_s # [m/s] [@invalid NaN] Calibrated airspeed (CAS)
|
||||
float32 true_airspeed_m_s # [m/s] [@invalid NaN] True airspeed (TAS)
|
||||
|
||||
int8 airspeed_source # [@enum SOURCE] Source of currently published airspeed values
|
||||
int8 SOURCE_DISABLED = -1 # Disabled
|
||||
int8 SOURCE_GROUND_MINUS_WIND = 0 # Ground speed minus wind
|
||||
int8 SOURCE_SENSOR_1 = 1 # Sensor 1
|
||||
int8 SOURCE_SENSOR_2 = 2 # Sensor 2
|
||||
int8 SOURCE_SENSOR_3 = 3 # Sensor 3
|
||||
int8 SOURCE_SYNTHETIC = 4 # Synthetic airspeed
|
||||
int8 airspeed_source # [@enum SOURCE] Source of currently published airspeed values
|
||||
int8 SOURCE_DISABLED = -1 # Disabled
|
||||
int8 SOURCE_GROUND_MINUS_WIND = 0 # Ground speed minus wind
|
||||
int8 SOURCE_SENSOR_1 = 1 # Sensor 1
|
||||
int8 SOURCE_SENSOR_2 = 2 # Sensor 2
|
||||
int8 SOURCE_SENSOR_3 = 3 # Sensor 3
|
||||
int8 SOURCE_SYNTHETIC = 4 # Synthetic airspeed
|
||||
|
||||
float32 calibrated_ground_minus_wind_m_s # [m/s] [@invalid NaN] CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption
|
||||
float32 calibraded_airspeed_synth_m_s # [m/s] [@invalid NaN] Synthetic airspeed
|
||||
float32 airspeed_derivative_filtered # [m/s^2] Filtered indicated airspeed derivative
|
||||
float32 throttle_filtered # [-] Filtered fixed-wing throttle
|
||||
float32 pitch_filtered # [rad] Filtered pitch
|
||||
float32 calibrated_ground_minus_wind_m_s # [m/s] [@invalid NaN] CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption
|
||||
float32 calibraded_airspeed_synth_m_s # [m/s] [@invalid NaN] Synthetic airspeed
|
||||
float32 airspeed_derivative_filtered # [m/s^2] Filtered indicated airspeed derivative
|
||||
float32 throttle_filtered # [-] Filtered fixed-wing throttle
|
||||
float32 pitch_filtered # [rad] Filtered pitch
|
||||
```
|
||||
|
||||
:::
|
||||
|
||||
@@ -72,40 +72,40 @@ The message is not used by internal/FMU components, as their mode requirements a
|
||||
# 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.
|
||||
|
||||
uint32 MESSAGE_VERSION = 1
|
||||
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)
|
||||
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 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_manual_control # Requires a manual controller
|
||||
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
|
||||
```
|
||||
|
||||
:::
|
||||
|
||||
@@ -47,9 +47,9 @@ The reply will also include the registration_id for each external component, pro
|
||||
|
||||
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)
|
||||
```
|
||||
|
||||
@@ -25,7 +25,7 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
|
||||
| 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) |
|
||||
| temperature | `float32` | degC | | 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 |
|
||||
@@ -122,76 +122,75 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
|
||||
uint32 MESSAGE_VERSION = 1
|
||||
uint8 MAX_INSTANCES = 3
|
||||
|
||||
uint64 timestamp # [us] Time since system start
|
||||
uint64 timestamp # [us] Time since system start
|
||||
|
||||
bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
|
||||
float32 voltage_v # [V] [@invalid 0] Battery voltage
|
||||
float32 current_a # [A] [@invalid -1] Battery current
|
||||
float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight)
|
||||
float32 discharged_mah # [mAh] [@invalid -1] Discharged amount
|
||||
float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity
|
||||
float32 scale # [-] [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
|
||||
float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
|
||||
float32 temperature # [°C] [@invalid NaN] Temperature of the battery
|
||||
uint8 cell_count # [-] [@invalid 0] Number of cells
|
||||
bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
|
||||
float32 voltage_v # [V] [@invalid 0] Battery voltage
|
||||
float32 current_a # [A] [@invalid -1] Battery current
|
||||
float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight)
|
||||
float32 discharged_mah # [mAh] [@invalid -1] Discharged amount
|
||||
float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity
|
||||
float32 scale # [-] [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
|
||||
float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
|
||||
float32 temperature # [degC] [@invalid NaN] Temperature of the battery
|
||||
uint8 cell_count # [-] [@invalid 0] Number of cells
|
||||
|
||||
uint8 source # [@enum SOURCE] Battery source
|
||||
uint8 SOURCE_POWER_MODULE = 0 # Power module (analog ADC or I2C power monitor)
|
||||
uint8 SOURCE_EXTERNAL = 1 # External (MAVLink, CAN, or external driver)
|
||||
uint8 SOURCE_ESCS = 2 # ESCs (via ESC telemetry)
|
||||
|
||||
uint8 source # [@enum SOURCE] Battery source
|
||||
uint8 SOURCE_POWER_MODULE = 0 # Power module (analog ADC or I2C power monitor)
|
||||
uint8 SOURCE_EXTERNAL = 1 # External (MAVLink, CAN, or external driver)
|
||||
uint8 SOURCE_ESCS = 2 # ESCs (via ESC telemetry)
|
||||
uint8 priority # [-] Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
|
||||
uint16 capacity # [mAh] Capacity of the battery when fully charged
|
||||
uint16 cycle_count # [-] Number of discharge cycles the battery has experienced
|
||||
uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
|
||||
uint16 manufacture_date # [-] Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
|
||||
uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
|
||||
uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
|
||||
uint8 id # [-] ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
|
||||
uint16 interface_error # [-] Interface error counter
|
||||
|
||||
uint8 priority # [-] Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
|
||||
uint16 capacity # [mAh] Capacity of the battery when fully charged
|
||||
uint16 cycle_count # [-] Number of discharge cycles the battery has experienced
|
||||
uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
|
||||
uint16 manufacture_date # [-] Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
|
||||
uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
|
||||
uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
|
||||
uint8 id # [-] ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
|
||||
uint16 interface_error # [-] Interface error counter
|
||||
float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages
|
||||
float32 max_cell_voltage_delta # [V] Max difference between individual cell voltages
|
||||
|
||||
float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages
|
||||
float32 max_cell_voltage_delta # [V] Max difference between individual cell voltages
|
||||
bool is_powering_off # Power off event imminent indication, false if unknown
|
||||
bool is_required # Set if the battery is explicitly required before arming
|
||||
|
||||
bool is_powering_off # Power off event imminent indication, false if unknown
|
||||
bool is_required # Set if the battery is explicitly required before arming
|
||||
uint8 warning # [@enum WARNING STATE] Current battery warning
|
||||
uint8 WARNING_NONE = 0 # No battery low voltage warning active
|
||||
uint8 WARNING_LOW = 1 # Low voltage warning
|
||||
uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
|
||||
uint8 WARNING_EMERGENCY = 3 # Immediate landing required
|
||||
uint8 WARNING_FAILED = 4 # Battery has failed completely
|
||||
uint8 STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field
|
||||
uint8 STATE_CHARGING = 7 # Battery is charging
|
||||
|
||||
uint8 warning # [@enum WARNING STATE] Current battery warning
|
||||
uint8 WARNING_NONE = 0 # No battery low voltage warning active
|
||||
uint8 WARNING_LOW = 1 # Low voltage warning
|
||||
uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
|
||||
uint8 WARNING_EMERGENCY = 3 # Immediate landing required
|
||||
uint8 WARNING_FAILED = 4 # Battery has failed completely
|
||||
uint8 STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field
|
||||
uint8 STATE_CHARGING = 7 # Battery is charging
|
||||
uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication
|
||||
uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
|
||||
uint8 FAULT_SPIKES = 1 # Voltage spikes
|
||||
uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed
|
||||
uint8 FAULT_OVER_CURRENT = 3 # Over-current
|
||||
uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature
|
||||
uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
|
||||
uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
|
||||
uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
|
||||
uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
|
||||
uint8 FAULT_HARDWARE_FAILURE = 9 # Hardware problem
|
||||
uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
|
||||
uint8 FAULT_COUNT = 11 # Counter. Keep this as last element
|
||||
|
||||
uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication
|
||||
uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
|
||||
uint8 FAULT_SPIKES = 1 # Voltage spikes
|
||||
uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed
|
||||
uint8 FAULT_OVER_CURRENT = 3 # Over-current
|
||||
uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature
|
||||
uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
|
||||
uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
|
||||
uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
|
||||
uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
|
||||
uint8 FAULT_HARDWARE_FAILURE = 9 # Hardware problem
|
||||
uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
|
||||
uint8 FAULT_COUNT = 11 # Counter. Keep this as last element
|
||||
float32 full_charge_capacity_wh # [Wh] Compensated battery capacity
|
||||
float32 remaining_capacity_wh # [Wh] Compensated battery capacity remaining
|
||||
uint16 over_discharge_count # [-] Number of battery overdischarge
|
||||
float32 nominal_voltage # [V] Nominal voltage of the battery pack
|
||||
|
||||
float32 full_charge_capacity_wh # [Wh] Compensated battery capacity
|
||||
float32 remaining_capacity_wh # [Wh] Compensated battery capacity remaining
|
||||
uint16 over_discharge_count # [-] Number of battery overdischarge
|
||||
float32 nominal_voltage # [V] Nominal voltage of the battery pack
|
||||
|
||||
float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
|
||||
float32 ocv_estimate # [V] Open circuit voltage estimate
|
||||
float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate
|
||||
float32 volt_based_soc_estimate # [-] [@range 0, 1] Normalized volt based state of charge estimate
|
||||
float32 voltage_prediction # [V] Predicted voltage
|
||||
float32 prediction_error # [V] Prediction error
|
||||
float32 estimation_covariance_norm # [-] Norm of the covariance matrix
|
||||
float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
|
||||
float32 ocv_estimate # [V] Open circuit voltage estimate
|
||||
float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate
|
||||
float32 volt_based_soc_estimate # [-] [@range 0, 1] Normalized volt based state of charge estimate
|
||||
float32 voltage_prediction # [V] Predicted voltage
|
||||
float32 prediction_error # [V] Prediction error
|
||||
float32 estimation_covariance_norm # [-] Norm of the covariance matrix
|
||||
```
|
||||
|
||||
:::
|
||||
|
||||
@@ -4,7 +4,10 @@ pageClass: is-wide-page
|
||||
|
||||
# FixedWingLateralSetpoint (UORB message)
|
||||
|
||||
Fixed Wing Lateral Setpoint message. Used by the fw_lateral_longitudinal_control module. At least one of course, airspeed_direction, or lateral_acceleration must be finite.
|
||||
Fixed Wing Lateral Setpoint message.
|
||||
|
||||
Used by the fw_lateral_longitudinal_control module
|
||||
At least one of course, airspeed_direction, or lateral_acceleration must be finite.
|
||||
|
||||
**TOPICS:** fixed_wing_lateral_setpoint
|
||||
|
||||
@@ -12,10 +15,10 @@ Fixed Wing Lateral Setpoint message. Used by the fw_lateral_longitudinal_control
|
||||
|
||||
| Name | Type | Unit [Frame] | Range/Enum | Description |
|
||||
| -------------------- | --------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| timestamp | `uint64` | | | time since system start (microseconds) |
|
||||
| timestamp | `uint64` | us | | Time since system start |
|
||||
| course | `float32` | rad | [-pi : pi] | Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly. |
|
||||
| airspeed_direction | `float32` | rad | [-pi : pi] | Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite. |
|
||||
| lateral_acceleration | `float32` | FRD | | Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite. |
|
||||
| lateral_acceleration | `float32` | m/s^2 [FRD] | | Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite. |
|
||||
|
||||
## Constants
|
||||
|
||||
@@ -31,16 +34,17 @@ Fixed Wing Lateral Setpoint message. Used by the fw_lateral_longitudinal_control
|
||||
|
||||
```c
|
||||
# Fixed Wing Lateral Setpoint message
|
||||
#
|
||||
# Used by the fw_lateral_longitudinal_control module
|
||||
# At least one of course, airspeed_direction, or lateral_acceleration must be finite.
|
||||
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp # [us] Time since system start
|
||||
|
||||
float32 course # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly.
|
||||
float32 airspeed_direction # [rad] [@range -pi, pi] Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite.
|
||||
float32 lateral_acceleration # [m/s^2] [FRD] Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite.
|
||||
float32 course # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly.
|
||||
float32 airspeed_direction # [rad] [@range -pi, pi] Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite.
|
||||
float32 lateral_acceleration # [m/s^2] [@frame FRD] Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite.
|
||||
```
|
||||
|
||||
:::
|
||||
|
||||
@@ -4,7 +4,11 @@ pageClass: is-wide-page
|
||||
|
||||
# FixedWingLongitudinalSetpoint (UORB message)
|
||||
|
||||
Fixed Wing Longitudinal Setpoint message. Used by the fw_lateral_longitudinal_control module. If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion. If both altitude and height_rate are NAN, the controller maintains the current altitude.
|
||||
Fixed Wing Longitudinal Setpoint message.
|
||||
|
||||
Used by the fw_lateral_longitudinal_control module
|
||||
If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion.
|
||||
If both altitude and height_rate are NAN, the controller maintains the current altitude.
|
||||
|
||||
**TOPICS:** fixed_wing_longitudinal_setpoint
|
||||
|
||||
@@ -12,11 +16,11 @@ Fixed Wing Longitudinal Setpoint message. Used by the fw_lateral_longitudinal_co
|
||||
|
||||
| Name | Type | Unit [Frame] | Range/Enum | Description |
|
||||
| ------------------- | --------- | ------------ | ---------- | ---------------------------------------------------------------------------------- |
|
||||
| timestamp | `uint64` | | | time since system start (microseconds) |
|
||||
| timestamp | `uint64` | us | | Time since system start |
|
||||
| altitude | `float32` | m | | Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite |
|
||||
| height_rate | `float32` | ENU | | Scalar height rate setpoint. NAN if not controlled directly |
|
||||
| height_rate | `float32` | m/s [ENU] | | Scalar height rate setpoint. NAN if not controlled directly |
|
||||
| equivalent_airspeed | `float32` | m/s | [0 : inf] | Scalar equivalent airspeed setpoint. NAN if system default should be used |
|
||||
| pitch_direct | `float32` | FRD | [-pi : pi] | NAN if not controlled, overrides total energy controller |
|
||||
| pitch_direct | `float32` | rad [FRD] | [-pi : pi] | NAN if not controlled, overrides total energy controller |
|
||||
| throttle_direct | `float32` | norm | [0 : 1] | NAN if not controlled, overrides total energy controller |
|
||||
|
||||
## Constants
|
||||
@@ -33,19 +37,20 @@ Fixed Wing Longitudinal Setpoint message. Used by the fw_lateral_longitudinal_co
|
||||
|
||||
```c
|
||||
# Fixed Wing Longitudinal Setpoint message
|
||||
#
|
||||
# Used by the fw_lateral_longitudinal_control module
|
||||
# If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion.
|
||||
# If both altitude and height_rate are NAN, the controller maintains the current altitude.
|
||||
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp # [us] Time since system start
|
||||
|
||||
float32 altitude # [m] Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite
|
||||
float32 height_rate # [m/s] [ENU] Scalar height rate setpoint. NAN if not controlled directly
|
||||
float32 equivalent_airspeed # [m/s] [@range 0, inf] Scalar equivalent airspeed setpoint. NAN if system default should be used
|
||||
float32 pitch_direct # [rad] [@range -pi, pi] [FRD] NAN if not controlled, overrides total energy controller
|
||||
float32 throttle_direct # [norm] [@range 0,1] NAN if not controlled, overrides total energy controller
|
||||
float32 altitude # [m] Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite
|
||||
float32 height_rate # [m/s] [@frame ENU] Scalar height rate setpoint. NAN if not controlled directly
|
||||
float32 equivalent_airspeed # [m/s] [@range 0, inf] Scalar equivalent airspeed setpoint. NAN if system default should be used
|
||||
float32 pitch_direct # [rad] [@range -pi, pi] [@frame FRD] NAN if not controlled, overrides total energy controller
|
||||
float32 throttle_direct # [norm] [@range 0,1] NAN if not controlled, overrides total energy controller
|
||||
```
|
||||
|
||||
:::
|
||||
|
||||
@@ -4,24 +4,30 @@ pageClass: is-wide-page
|
||||
|
||||
# GotoSetpoint (UORB message)
|
||||
|
||||
Position and (optional) heading setpoints with corresponding speed constraints. Setpoints are intended as inputs to position and heading smoothers, respectively. Setpoints do not need to be kinematically consistent. Optional heading setpoints may be specified as controlled by the respective flag. Unset optional setpoints are not controlled. Unset optional constraints default to vehicle specifications.
|
||||
Position and (optional) heading setpoints with corresponding speed constraints.
|
||||
|
||||
Setpoints are intended as inputs to position and heading smoothers, respectively.
|
||||
Setpoints do not need to be kinematically consistent.
|
||||
Optional heading setpoints may be specified as controlled by the respective flag.
|
||||
Unset optional setpoints are not controlled.
|
||||
Unset optional constraints default to vehicle specifications.
|
||||
|
||||
**TOPICS:** goto_setpoint
|
||||
|
||||
## Fields
|
||||
|
||||
| Name | Type | Unit [Frame] | Range/Enum | Description |
|
||||
| ----------------------------- | ------------ | ------------ | ---------- | --------------------------------------------------------- |
|
||||
| timestamp | `uint64` | | | time since system start (microseconds) |
|
||||
| position | `float32[3]` | m | | NED local world frame |
|
||||
| flag_control_heading | `bool` | | | true if heading is to be controlled |
|
||||
| heading | `float32` | | | (optional) [rad] [-pi,pi] from North |
|
||||
| flag_set_max_horizontal_speed | `bool` | | | true if setting a non-default horizontal speed limit |
|
||||
| max_horizontal_speed | `float32` | | | (optional) [m/s] maximum speed (absolute) in the NE-plane |
|
||||
| flag_set_max_vertical_speed | `bool` | | | true if setting a non-default vertical speed limit |
|
||||
| max_vertical_speed | `float32` | | | (optional) [m/s] maximum speed (absolute) in the D-axis |
|
||||
| flag_set_max_heading_rate | `bool` | | | true if setting a non-default heading rate limit |
|
||||
| max_heading_rate | `float32` | | | (optional) [rad/s] maximum heading rate (absolute) |
|
||||
| Name | Type | Unit [Frame] | Range/Enum | Description |
|
||||
| ----------------------------- | ------------ | ------------ | ---------- | ---------------------------------------------------- |
|
||||
| timestamp | `uint64` | us | | Time since system start |
|
||||
| position | `float32[3]` | m [NED] | | NED local world frame |
|
||||
| flag_control_heading | `bool` | | | true if heading is to be controlled |
|
||||
| heading | `float32` | | | (optional) [rad] [-pi,pi] from North |
|
||||
| flag_set_max_horizontal_speed | `bool` | | | true if setting a non-default horizontal speed limit |
|
||||
| max_horizontal_speed | `float32` | m/s | | (optional) Maximum speed (absolute) in the NE-plane |
|
||||
| flag_set_max_vertical_speed | `bool` | | | true if setting a non-default vertical speed limit |
|
||||
| max_vertical_speed | `float32` | m/s | | (optional) Maximum speed (absolute) in the D-axis |
|
||||
| flag_set_max_heading_rate | `bool` | | | true if setting a non-default heading rate limit |
|
||||
| max_heading_rate | `float32` | rad/s | | (optional) Maximum heading rate (absolute) |
|
||||
|
||||
## Constants
|
||||
|
||||
@@ -37,31 +43,32 @@ Position and (optional) heading setpoints with corresponding speed constraints.
|
||||
|
||||
```c
|
||||
# Position and (optional) heading setpoints with corresponding speed constraints
|
||||
# Setpoints are intended as inputs to position and heading smoothers, respectively
|
||||
# Setpoints do not need to be kinematically consistent
|
||||
# Optional heading setpoints may be specified as controlled by the respective flag
|
||||
# Unset optional setpoints are not controlled
|
||||
# Unset optional constraints default to vehicle specifications
|
||||
#
|
||||
# Setpoints are intended as inputs to position and heading smoothers, respectively.
|
||||
# Setpoints do not need to be kinematically consistent.
|
||||
# Optional heading setpoints may be specified as controlled by the respective flag.
|
||||
# Unset optional setpoints are not controlled.
|
||||
# Unset optional constraints default to vehicle specifications.
|
||||
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp # [us] Time since system start
|
||||
|
||||
# setpoints
|
||||
float32[3] position # [m] NED local world frame
|
||||
float32[3] position # [m] [@frame NED] NED local world frame
|
||||
|
||||
bool flag_control_heading # true if heading is to be controlled
|
||||
float32 heading # (optional) [rad] [-pi,pi] from North
|
||||
|
||||
# constraints
|
||||
bool flag_set_max_horizontal_speed # true if setting a non-default horizontal speed limit
|
||||
float32 max_horizontal_speed # (optional) [m/s] maximum speed (absolute) in the NE-plane
|
||||
float32 max_horizontal_speed # [m/s] (optional) Maximum speed (absolute) in the NE-plane
|
||||
|
||||
bool flag_set_max_vertical_speed # true if setting a non-default vertical speed limit
|
||||
float32 max_vertical_speed # (optional) [m/s] maximum speed (absolute) in the D-axis
|
||||
float32 max_vertical_speed # [m/s] (optional) Maximum speed (absolute) in the D-axis
|
||||
|
||||
bool flag_set_max_heading_rate # true if setting a non-default heading rate limit
|
||||
float32 max_heading_rate # (optional) [rad/s] maximum heading rate (absolute)
|
||||
float32 max_heading_rate # [rad/s] (optional) Maximum heading rate (absolute)
|
||||
```
|
||||
|
||||
:::
|
||||
|
||||
@@ -4,7 +4,9 @@ pageClass: is-wide-page
|
||||
|
||||
# LateralControlConfiguration (UORB message)
|
||||
|
||||
Fixed Wing Lateral Control Configuration message. Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
|
||||
Fixed Wing Lateral Control Configuration message.
|
||||
|
||||
Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
|
||||
|
||||
**TOPICS:** lateral_control_configuration
|
||||
|
||||
@@ -12,8 +14,8 @@ Fixed Wing Lateral Control Configuration message. Used by the fw_lateral_longitu
|
||||
|
||||
| Name | Type | Unit [Frame] | Range/Enum | Description |
|
||||
| ----------------- | --------- | ------------ | ---------- | ---------------------------------------------------------------------------- |
|
||||
| timestamp | `uint64` | | | time since system start (microseconds) |
|
||||
| lateral_accel_max | `float32` | m/s^2 | | currently maps to a maximum roll angle, accel_max = tan(roll_max) \* GRAVITY |
|
||||
| timestamp | `uint64` | us | | Time since system start |
|
||||
| lateral_accel_max | `float32` | m/s^2 | | Currently maps to a maximum roll angle, accel_max = tan(roll_max) \* GRAVITY |
|
||||
|
||||
## Constants
|
||||
|
||||
@@ -29,13 +31,14 @@ Fixed Wing Lateral Control Configuration message. Used by the fw_lateral_longitu
|
||||
|
||||
```c
|
||||
# Fixed Wing Lateral Control Configuration message
|
||||
#
|
||||
# Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
|
||||
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp # [us] Time since system start
|
||||
|
||||
float32 lateral_accel_max # [m/s^2] currently maps to a maximum roll angle, accel_max = tan(roll_max) * GRAVITY
|
||||
float32 lateral_accel_max # [m/s^2] Currently maps to a maximum roll angle, accel_max = tan(roll_max) * GRAVITY
|
||||
```
|
||||
|
||||
:::
|
||||
|
||||
@@ -4,7 +4,10 @@ pageClass: is-wide-page
|
||||
|
||||
# LongitudinalControlConfiguration (UORB message)
|
||||
|
||||
Fixed Wing Longitudinal Control Configuration message. Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages. and configure the resultant setpoints.
|
||||
Fixed Wing Longitudinal Control Configuration message.
|
||||
|
||||
Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages
|
||||
and configure the resultant setpoints.
|
||||
|
||||
**TOPICS:** longitudinal_control_configuration
|
||||
|
||||
@@ -12,16 +15,16 @@ Fixed Wing Longitudinal Control Configuration message. Used by the fw_lateral_lo
|
||||
|
||||
| Name | Type | Unit [Frame] | Range/Enum | Description |
|
||||
| ----------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------- |
|
||||
| timestamp | `uint64` | | | time since system start (microseconds) |
|
||||
| pitch_min | `float32` | rad | [-pi : pi] | defaults to FW_P_LIM_MIN if NAN. |
|
||||
| pitch_max | `float32` | rad | [-pi : pi] | defaults to FW_P_LIM_MAX if NAN. |
|
||||
| throttle_min | `float32` | norm | [0 : 1] | deaults to FW_THR_MIN if NAN. |
|
||||
| throttle_max | `float32` | norm | [0 : 1] | defaults to FW_THR_MAX if NAN. |
|
||||
| climb_rate_target | `float32` | m/s | | target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. |
|
||||
| sink_rate_target | `float32` | m/s | | target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. |
|
||||
| speed_weight | `float32` | | [0 : 2] | , 0=pitch controls altitude only, 2=pitch controls airspeed only |
|
||||
| enforce_low_height_condition | `bool` | boolean | | if true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking |
|
||||
| disable_underspeed_protection | `bool` | boolean | | if true, underspeed handling is disabled in the altitude controller |
|
||||
| timestamp | `uint64` | us | | Time since system start |
|
||||
| pitch_min | `float32` | rad | [-pi : pi] | Defaults to FW_P_LIM_MIN if NAN. |
|
||||
| pitch_max | `float32` | rad | [-pi : pi] | Defaults to FW_P_LIM_MAX if NAN. |
|
||||
| throttle_min | `float32` | norm | [0 : 1] | Defaults to FW_THR_MIN if NAN. |
|
||||
| throttle_max | `float32` | norm | [0 : 1] | Defaults to FW_THR_MAX if NAN. |
|
||||
| climb_rate_target | `float32` | m/s | | Target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. |
|
||||
| sink_rate_target | `float32` | m/s | | Target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. |
|
||||
| speed_weight | `float32` | | [0 : 2] | 0=pitch controls altitude only, 2=pitch controls airspeed only |
|
||||
| enforce_low_height_condition | `bool` | | | If true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking |
|
||||
| disable_underspeed_protection | `bool` | | | If true, underspeed handling is disabled in the altitude controller |
|
||||
|
||||
## Constants
|
||||
|
||||
@@ -37,22 +40,23 @@ Fixed Wing Longitudinal Control Configuration message. Used by the fw_lateral_lo
|
||||
|
||||
```c
|
||||
# Fixed Wing Longitudinal Control Configuration message
|
||||
#
|
||||
# Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages
|
||||
# and configure the resultant setpoints.
|
||||
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp # [us] Time since system start
|
||||
|
||||
float32 pitch_min # [rad][@range -pi, pi] defaults to FW_P_LIM_MIN if NAN.
|
||||
float32 pitch_max # [rad][@range -pi, pi] defaults to FW_P_LIM_MAX if NAN.
|
||||
float32 throttle_min # [norm] [@range 0,1] deaults to FW_THR_MIN if NAN.
|
||||
float32 throttle_max # [norm] [@range 0,1] defaults to FW_THR_MAX if NAN.
|
||||
float32 climb_rate_target # [m/s] target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
|
||||
float32 sink_rate_target # [m/s] target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
|
||||
float32 speed_weight # [@range 0,2], 0=pitch controls altitude only, 2=pitch controls airspeed only
|
||||
bool enforce_low_height_condition # [boolean] if true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking
|
||||
bool disable_underspeed_protection # [boolean] if true, underspeed handling is disabled in the altitude controller
|
||||
float32 pitch_min # [rad] [@range -pi, pi] Defaults to FW_P_LIM_MIN if NAN.
|
||||
float32 pitch_max # [rad] [@range -pi, pi] Defaults to FW_P_LIM_MAX if NAN.
|
||||
float32 throttle_min # [norm] [@range 0,1] Defaults to FW_THR_MIN if NAN.
|
||||
float32 throttle_max # [norm] [@range 0,1] Defaults to FW_THR_MAX if NAN.
|
||||
float32 climb_rate_target # [m/s] Target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
|
||||
float32 sink_rate_target # [m/s] Target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
|
||||
float32 speed_weight # [-] [@range 0,2] 0=pitch controls altitude only, 2=pitch controls airspeed only
|
||||
bool enforce_low_height_condition # If true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking
|
||||
bool disable_underspeed_protection # If true, underspeed handling is disabled in the altitude controller
|
||||
```
|
||||
|
||||
:::
|
||||
|
||||
@@ -22,12 +22,12 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
|
||||
- [BatteryStatus](BatteryStatus.md) — Battery status.
|
||||
- [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors.
|
||||
- [Event](Event.md) — Events interface.
|
||||
- [FixedWingLateralSetpoint](FixedWingLateralSetpoint.md) — Fixed Wing Lateral Setpoint message. Used by the fw_lateral_longitudinal_control module. At least one of course, airspeed_direction, or lateral_acceleration must be finite.
|
||||
- [FixedWingLongitudinalSetpoint](FixedWingLongitudinalSetpoint.md) — Fixed Wing Longitudinal Setpoint message. Used by the fw_lateral_longitudinal_control module. If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion. If both altitude and height_rate are NAN, the controller maintains the current altitude.
|
||||
- [GotoSetpoint](GotoSetpoint.md) — Position and (optional) heading setpoints with corresponding speed constraints. Setpoints are intended as inputs to position and heading smoothers, respectively. Setpoints do not need to be kinematically consistent. Optional heading setpoints may be specified as controlled by the respective flag. Unset optional setpoints are not controlled. Unset optional constraints default to vehicle specifications.
|
||||
- [FixedWingLateralSetpoint](FixedWingLateralSetpoint.md) — Fixed Wing Lateral Setpoint message.
|
||||
- [FixedWingLongitudinalSetpoint](FixedWingLongitudinalSetpoint.md) — Fixed Wing Longitudinal Setpoint message.
|
||||
- [GotoSetpoint](GotoSetpoint.md) — Position and (optional) heading setpoints with corresponding speed constraints.
|
||||
- [HomePosition](HomePosition.md) — GPS home position in WGS84 coordinates.
|
||||
- [LateralControlConfiguration](LateralControlConfiguration.md) — Fixed Wing Lateral Control Configuration message. Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
|
||||
- [LongitudinalControlConfiguration](LongitudinalControlConfiguration.md) — Fixed Wing Longitudinal Control Configuration message. Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages. and configure the resultant setpoints.
|
||||
- [LateralControlConfiguration](LateralControlConfiguration.md) — Fixed Wing Lateral Control Configuration message.
|
||||
- [LongitudinalControlConfiguration](LongitudinalControlConfiguration.md) — Fixed Wing Longitudinal Control Configuration message.
|
||||
- [ManualControlSetpoint](ManualControlSetpoint.md)
|
||||
- [ModeCompleted](ModeCompleted.md) — Mode completion result, published by an active mode. The possible values of nav_state are defined in the VehicleStatus msg. Note that this is not always published (e.g. when a user switches modes or on. failsafe activation).
|
||||
- [RaptorInput](RaptorInput.md) — Raptor Input.
|
||||
|
||||
Reference in New Issue
Block a user