diff --git a/docs/en/SUMMARY.md b/docs/en/SUMMARY.md index 37fde4fd49..43772ac5d8 100644 --- a/docs/en/SUMMARY.md +++ b/docs/en/SUMMARY.md @@ -618,6 +618,7 @@ - [MountOrientation](msg_docs/MountOrientation.md) - [NavigatorMissionItem](msg_docs/NavigatorMissionItem.md) - [NavigatorStatus](msg_docs/NavigatorStatus.md) + - [NeuralControl](msg_docs/NeuralControl.md) - [NormalizedUnsignedSetpoint](msg_docs/NormalizedUnsignedSetpoint.md) - [ObstacleDistance](msg_docs/ObstacleDistance.md) - [OffboardControlMode](msg_docs/OffboardControlMode.md) @@ -721,6 +722,7 @@ - [EventV0](msg_docs/EventV0.md) - [HomePositionV0](msg_docs/HomePositionV0.md) - [VehicleAttitudeSetpointV0](msg_docs/VehicleAttitudeSetpointV0.md) + - [VehicleLocalPositionV0](msg_docs/VehicleLocalPositionV0.md) - [VehicleStatusV0](msg_docs/VehicleStatusV0.md) - [MAVLink Messaging](mavlink/index.md) - [Adding Messages](mavlink/adding_messages.md) diff --git a/docs/en/advanced/neural_networks.md b/docs/en/advanced/neural_networks.md index b245625d86..4f85ee7e63 100644 --- a/docs/en/advanced/neural_networks.md +++ b/docs/en/advanced/neural_networks.md @@ -7,7 +7,7 @@ This is an experimental module. Use at your own risk. ::: -The Multicopter Neural Network (NN) module ([mc_nn_control](../modules/modules_controller.md#mc_nn_control)) is an example module that allows you to experiment with using a pre-trained neural network on PX4. +The Multicopter Neural Network (NN) module ([mc_nn_control](../modules/modules_controller.md#mc-nn-control)) is an example module that allows you to experiment with using a pre-trained neural network on PX4. It might be used, for example, to experiment with controllers for non-traditional drone morphologies, computer vision tasks, and so on. The module integrates a pre-trained neural network based on the [TensorFlow Lite Micro (TFLM)](../advanced/tflm.md) module. @@ -61,7 +61,6 @@ In the [controller diagram](../flight_stack/controller_diagrams.md) you can see We hook into this flow by subscribing to messages at particular points, using our neural network to calculate outputs, and then publishing them into the next point in the flow. We also need to stop the module publishing the topic to be replaced, which is covered in [Neural Network Module: System Integration](nn_module_utilities.md) - ### Input The input can be changed to whatever you want. diff --git a/docs/en/advanced/nn_module_utilities.md b/docs/en/advanced/nn_module_utilities.md index 606b97c3ec..d00f8aff63 100644 --- a/docs/en/advanced/nn_module_utilities.md +++ b/docs/en/advanced/nn_module_utilities.md @@ -1,6 +1,6 @@ # Neural Network Module: System Integration -The neural control module ([mc_nn_control](../modules/modules_controller.md#mc_nn_control)) implements an end-to-end controller utilizing neural networks. +The neural control module ([mc_nn_control](../modules/modules_controller.md#mc-nn-control)) implements an end-to-end controller utilizing neural networks. The parts of the module directly concerned with generating the code for the trained neural network and integrating it into the module are covered in [TensorFlow Lite Micro (TFLM)](../advanced/tflm.md). This page covers the changes that were made to integrate the module into PX4, both within the module, and in larger system configuration. @@ -14,7 +14,7 @@ For more information see the developer [Getting Started](../dev_setup/getting_st ## Autostart -A line to autostart the [mc_nn_control](../modules/modules_controller.md#mc_nn_control) module has been added in the [`ROMFS/px4fmu_common/init.d/rc.mc_apps`](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/rc.mc_apps) startup script. +A line to autostart the [mc_nn_control](../modules/modules_controller.md#mc-nn-control) module has been added in the [`ROMFS/px4fmu_common/init.d/rc.mc_apps`](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d/rc.mc_apps) startup script. It checks whether the module is included by looking for the parameter [MC_NN_EN](../advanced_config/parameter_reference.md#MC_NN_EN). If this is set to `1` (the default value), the module will be started when booting PX4. diff --git a/docs/en/advanced/tflm.md b/docs/en/advanced/tflm.md index a9e7ba60e7..b8a8f993dd 100644 --- a/docs/en/advanced/tflm.md +++ b/docs/en/advanced/tflm.md @@ -1,10 +1,10 @@ # TensorFlow Lite Micro (TFLM) -The PX4 [Multicopter Neural Network](advanced/neural_networks.md) module ([mc_nn_control](../modules/modules_controller.md#mc_nn_control)) integrates a neural network that uses the [TensorFlow Lite Micro (TFLM)](https://github.com/tensorflow/tflite-micro) inference library. +The PX4 [Multicopter Neural Network](advanced/neural_networks.md) module ([mc_nn_control](../modules/modules_controller.md#mc-nn-control)) integrates a neural network that uses the [TensorFlow Lite Micro (TFLM)](https://github.com/tensorflow/tflite-micro) inference library. This is a mature inference library intended for use on embedded devices, and is hence a suitable choice for PX4. -This guide explains how the TFLM library is integrated into the [mc_nn_control](../modules/modules_controller.md#mc_nn_control) module, and the changes you would have to make to use it for your own neural network. +This guide explains how the TFLM library is integrated into the [mc_nn_control](../modules/modules_controller.md#mc-nn-control) module, and the changes you would have to make to use it for your own neural network. ::: tip For more information, see the [TFLM guide](https://ai.google.dev/edge/litert/microcontrollers/get_started). diff --git a/docs/en/advanced_config/flight_termination.md b/docs/en/advanced_config/flight_termination.md index b08f3b7808..3c84895317 100644 --- a/docs/en/advanced_config/flight_termination.md +++ b/docs/en/advanced_config/flight_termination.md @@ -3,7 +3,7 @@ The _Flight termination_ [failsafe action](../config/safety.md#failsafe-actions) irreversibly turns off controllers and sets PWM values to their parameter configured failsafe values. ::: info -Flight termination differs from the [Kill action](../config/safety.html#kill-switch) in that it is permanent until after reboot. +Flight termination differs from the [Kill action](../config/safety.md#kill-switch) in that it is permanent until after reboot. ::: ::: warning diff --git a/docs/en/advanced_config/parameter_reference.md b/docs/en/advanced_config/parameter_reference.md index 301b719658..77c3c1cd26 100644 --- a/docs/en/advanced_config/parameter_reference.md +++ b/docs/en/advanced_config/parameter_reference.md @@ -14094,6 +14094,7 @@ Sideslip measurement noise of the internal wind estimator(s) of the airspeed sel Enable checks on airspeed sensors. Controls which checks are run to check airspeed data for validity. Only applied if ASPD_PRIMARY > 0. +Note: The missing data check (bit 0) is implicitly always enabled when ASPD_DO_CHECKS > 0, even if bit 0 is not explicitly set. **Bitmask:** @@ -16397,6 +16398,8 @@ A value of 1 allows joystick control only. RC input handling and the associated A value of 2 allows either RC Transmitter or Joystick input. The first valid input is used, will fallback to other sources if the input stream becomes invalid. A value of 3 allows either input from RC or joystick. The first available source is selected and used until reboot. A value of 4 ignores any stick input. +A value of 5 allows either RC Transmitter or Joystick input. But RC has priority and whenever avaiable is immedietely used. +A value of 6 allows either RC Transmitter or Joystick input. But Joystick has priority and whenever avaiable is immedietely used. **Values:** @@ -16405,6 +16408,8 @@ A value of 4 ignores any stick input. - `2`: RC and Joystick with fallback - `3`: RC or Joystick keep first - `4`: Stick input disabled +- `5`: RC priority, Joystick fallback +- `6`: Joystick priority, RC fallback | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------- | ---- | @@ -17428,6 +17433,21 @@ GPS measurement delay relative to IMU measurements. | ------- | -------- | -------- | --------- | ------- | ---- | | ✓ | 0 | 300 | | 110 | ms | +### EKF2_GPS_MODE (`INT32`) {#EKF2_GPS_MODE} + +Fusion reset mode. + +Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available + +**Values:** + +- `0`: Automatic +- `1`: Dead-reckoning + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | | | | 0 | + ### EKF2_GPS_POS_X (`FLOAT`) {#EKF2_GPS_POS_X} X position of GPS antenna in body frame. @@ -34727,7 +34747,7 @@ SBUS RC driver. | Reboot | minValue | maxValue | increment | default | unit | | ------- | -------- | -------- | --------- | ------- | ---- | -| ✓ | | | | 300 | +| ✓ | | | | 0 | ### SER_EXT2_BAUD (`INT32`) {#SER_EXT2_BAUD} diff --git a/docs/en/airframes/airframe_reference.md b/docs/en/airframes/airframe_reference.md index 63fc7b69f9..3163cb14b0 100644 --- a/docs/en/airframes/airframe_reference.md +++ b/docs/en/airframes/airframe_reference.md @@ -45,28 +45,6 @@ div.frame_variant td, div.frame_variant th { } -## 2D Space Robot - -### Space Robot - -
- -
- -
- - - - - - - - - - -
Name
KTH Space RobotMaintainer: DISCOWER

SYS_AUTOSTART = 70000

-
- ## Airship ### Airship @@ -622,7 +600,7 @@ div.frame_variant td, div.frame_variant th { Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 50000

- Aion Robotics R1 UGV + Aion Robotics R1 UGV Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 50001

@@ -637,13 +615,27 @@ div.frame_variant td, div.frame_variant th { Generic Rover Mecanum Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 52000

- - Generic Ground Vehicle (Deprecated) -

SYS_AUTOSTART = 59000


Specific Outputs: - - - NXP Cup car: DF Robot GPX (Deprecated) - Maintainer: Katrin Moritz

SYS_AUTOSTART = 59001


Specific Outputs: + + + + +## Spacecraft + +### Free-Flyer + +
+ +
+ +
+ + + + + + + +
Name
KTH-ATMOSMaintainer: DISCOWER

SYS_AUTOSTART = 70000
diff --git a/docs/en/modules/modules_controller.md b/docs/en/modules/modules_controller.md index f2a6e3a484..1a479be0a3 100644 --- a/docs/en/modules/modules_controller.md +++ b/docs/en/modules/modules_controller.md @@ -198,7 +198,7 @@ It takes in 15 input values and outputs 4 control actions. Inputs: [pos_err(3), att(6), vel(3), ang_vel(3)] Outputs: [Actuator motors(4)] -### Usage {#mc_nn_control_usage} +### Usage {#mc-nn-control_usage} ``` mc_nn_control [arguments...] diff --git a/docs/en/modules/modules_driver.md b/docs/en/modules/modules_driver.md index 33b5a38955..7801da4db3 100644 --- a/docs/en/modules/modules_driver.md +++ b/docs/en/modules/modules_driver.md @@ -1166,6 +1166,30 @@ rgbled [arguments...] status print status info ``` +## rgbled_aw2023 + +Source: [drivers/lights/rgbled_aw2023](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled_aw2023) + +### Usage {#rgbled_aw2023_usage} + +``` +rgbled_aw2023 [arguments...] + Commands: + start + [-I] Internal I2C bus(es) + [-X] External I2C bus(es) + [-b ] board-specific bus (default=all) (external SPI: n-th bus + (default=1)) + [-f ] bus frequency in kHz + [-q] quiet startup (no message if no device found) + [-a ] I2C address + default: 69 + + stop + + status print status info +``` + ## rgbled_is31fl3195 Source: [drivers/lights/rgbled_is31fl3195](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled_is31fl3195) diff --git a/docs/en/modules/modules_driver_ins.md b/docs/en/modules/modules_driver_ins.md index 2952bacdb0..408066a914 100644 --- a/docs/en/modules/modules_driver_ins.md +++ b/docs/en/modules/modules_driver_ins.md @@ -1,5 +1,50 @@ # Modules Reference: Ins (Driver) +## MicroStrain + +Source: [drivers/ins/microstrain](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/microstrain) + +### Description + +MicroStrain by HBK Inertial Sensor Driver. +Currently supports the following sensors: + +-[CV7-AR](https://www.hbkworld.com/en/products/transducers/inertial-sensors/vertical-reference-units--vru-/3dm-cv7-ar) -[CV7-AHRS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/attitude-and-heading-reference-systems--ahrs-/3dm-cv7-ahrs) -[CV7-INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/inertial-navigation-systems--ins-/3dm-cv7-ins) -[CV7-GNSS/INS](https://www.hbkworld.com/en/products/transducers/inertial-sensors/inertial-navigation-systems--ins-/3dm-cv7-gnss-ins) + +This driver is not included in the firmware by default. +Include the module in firmware by setting the +[kconfig](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) variables: +`CONFIG_DRIVERS_INS_MICROSTRAIN` or `CONFIG_COMMON_INS`. + +### Examples + +Attempt to start driver on a specified serial device. +The driver will choose /dev/ttyS4 by default if no port is specified + +``` +microstrain start -d /dev/ttyS1 +``` + +Stop driver + +``` +microstrain stop +``` + +### Usage {#MicroStrain_usage} + +``` +MicroStrain [arguments...] + Commands: + start Start driver + [-d ] Port + values: , default: /dev/ttyS4 + + stop Stop driver + + status Driver status +``` + ## ilabs Source: [drivers/ins/ilabs](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/ilabs) @@ -14,7 +59,7 @@ After that you can use the ILABS_MODE parameter to config outputs: - Only raw sensor output (the default). - Sensor output and INS data such as position and velocity estimates. -Setup/usage information: https://docs.px4.io/main/en/sensor/ilabs.html +Setup/usage information: https://docs.px4.io/main/en/sensor/inertiallabs.html ### Examples diff --git a/docs/en/msg_docs/ActionRequest.md b/docs/en/msg_docs/ActionRequest.md index 621224b430..3579870754 100644 --- a/docs/en/msg_docs/ActionRequest.md +++ b/docs/en/msg_docs/ActionRequest.md @@ -1,27 +1,39 @@ # ActionRequest (UORB message) +Action request for the vehicle's main state + +Message represents actions requested by a PX4 internal component towards the main state machine such as a request to arm or switch mode. +It allows mapping triggers from various external interfaces like RC channels or MAVLink to cause an action. +Request are published by `manual_control` and subscribed by the `commander` and `vtol_att_control` modules. + [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActionRequest.msg) ```c -uint64 timestamp # time since system start (microseconds) +# Action request for the vehicle's main state +# +# Message represents actions requested by a PX4 internal component towards the main state machine such as a request to arm or switch mode. +# It allows mapping triggers from various external interfaces like RC channels or MAVLink to cause an action. +# Request are published by `manual_control` and subscribed by the `commander` and `vtol_att_control` modules. -uint8 action # what action is requested -uint8 ACTION_DISARM = 0 -uint8 ACTION_ARM = 1 -uint8 ACTION_TOGGLE_ARMING = 2 -uint8 ACTION_UNKILL = 3 -uint8 ACTION_KILL = 4 -uint8 ACTION_SWITCH_MODE = 5 -uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6 -uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7 -uint8 ACTION_TERMINATE = 8 +uint64 timestamp # [us] Time since system start -uint8 source # how the request was triggered -uint8 SOURCE_STICK_GESTURE = 0 -uint8 SOURCE_RC_SWITCH = 1 -uint8 SOURCE_RC_BUTTON = 2 -uint8 SOURCE_RC_MODE_SLOT = 3 +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 # Irreversably output failsafe values on all outputs, trigger parachute -uint8 mode # for ACTION_SWITCH_MODE what mode is requested according to vehicle_status_s::NAVIGATION_STATE_* +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. ``` diff --git a/docs/en/msg_docs/ActuatorArmed.md b/docs/en/msg_docs/ActuatorArmed.md index 77be55c99c..adee89cb21 100644 --- a/docs/en/msg_docs/ActuatorArmed.md +++ b/docs/en/msg_docs/ActuatorArmed.md @@ -1,7 +1,5 @@ # ActuatorArmed (UORB message) - - [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorArmed.msg) ```c @@ -11,8 +9,8 @@ bool armed # Set to true if system is armed bool prearmed # Set to true if the actuator safety is disabled but motors are not armed bool ready_to_arm # Set to true if system is ready to be armed bool lockdown # Set to true if actuators are forced to being disabled (due to emergency or HIL) -bool manual_lockdown # Set to true if manual throttle kill switch is engaged -bool force_failsafe # Set to true if the actuators are forced to the failsafe position +bool kill # Set to true if manual throttle kill switch is engaged +bool termination # Send out failsafe (by default same as disarmed) output bool in_esc_calibration_mode # IO/FMU should ignore messages from the actuator controls topics ``` diff --git a/docs/en/msg_docs/AirspeedWind.md b/docs/en/msg_docs/AirspeedWind.md index 1787170d31..23e91399b0 100644 --- a/docs/en/msg_docs/AirspeedWind.md +++ b/docs/en/msg_docs/AirspeedWind.md @@ -1,35 +1,49 @@ # AirspeedWind (UORB message) +Wind estimate (from airspeed_selector) +Contains wind estimation and airspeed innovation information estimated by the WindEstimator +in the airspeed selector module. + +This message is published by the airspeed selector for debugging purposes, and is not +subscribed to by any other modules. [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AirspeedWind.msg) ```c -uint64 timestamp # time since system start (microseconds) -uint64 timestamp_sample # the timestamp of the raw data (microseconds) +# Wind estimate (from airspeed_selector) +# +# Contains wind estimation and airspeed innovation information estimated by the WindEstimator +# in the airspeed selector module. +# +# This message is published by the airspeed selector for debugging purposes, and is not +# subscribed to by any other modules. -float32 windspeed_north # Wind component in north / X direction (m/sec) -float32 windspeed_east # Wind component in east / Y direction (m/sec) +uint64 timestamp # [us] Time since system start +uint64 timestamp_sample # [us] Timestamp of the raw data -float32 variance_north # Wind estimate error variance in north / X direction (m/sec)**2 - set to zero (no uncertainty) if not estimated -float32 variance_east # Wind estimate error variance in east / Y direction (m/sec)**2 - set to zero (no uncertainty) if not estimated +float32 windspeed_north # [m/s] Wind component in north / X direction +float32 windspeed_east # [m/s] Wind component in east / Y direction -float32 tas_innov # True airspeed innovation -float32 tas_innov_var # True airspeed innovation variance +float32 variance_north # [(m/s)^2] [@invalid 0 if not estimated] Wind estimate error variance in north / X direction +float32 variance_east # [(m/s)^2] [@invalid 0 if not estimated] Wind estimate error variance in east / Y direction -float32 tas_scale_raw # Estimated true airspeed scale factor (not validated) -float32 tas_scale_raw_var # True airspeed scale factor variance +float32 tas_innov # [m/s] True airspeed innovation +float32 tas_innov_var # [m/s] True airspeed innovation variance -float32 tas_scale_validated # Estimated true airspeed scale factor after validation +float32 tas_scale_raw # Estimated true airspeed scale factor (not validated) +float32 tas_scale_raw_var # True airspeed scale factor variance -float32 beta_innov # Sideslip measurement innovation -float32 beta_innov_var # Sideslip measurement innovation variance +float32 tas_scale_validated # Estimated true airspeed scale factor after validation -uint8 source # source of wind estimate +float32 beta_innov # [rad] Sideslip measurement innovation +float32 beta_innov_var # [rad^2] Sideslip measurement innovation variance -uint8 SOURCE_AS_BETA_ONLY = 0 # wind estimate only based on synthetic sideslip fusion -uint8 SOURCE_AS_SENSOR_1 = 1 # combined synthetic sideslip and airspeed fusion (data from first airspeed sensor) -uint8 SOURCE_AS_SENSOR_2 = 2 # combined synthetic sideslip and airspeed fusion (data from second airspeed sensor) -uint8 SOURCE_AS_SENSOR_3 = 3 # combined synthetic sideslip and airspeed fusion (data from third airspeed sensor) +uint8 source # source of wind estimate + +uint8 SOURCE_AS_BETA_ONLY = 0 # Wind estimate only based on synthetic sideslip fusion +uint8 SOURCE_AS_SENSOR_1 = 1 # Combined synthetic sideslip and airspeed fusion (data from first airspeed sensor) +uint8 SOURCE_AS_SENSOR_2 = 2 # Combined synthetic sideslip and airspeed fusion (data from second airspeed sensor) +uint8 SOURCE_AS_SENSOR_3 = 3 # Combined synthetic sideslip and airspeed fusion (data from third airspeed sensor) ``` diff --git a/docs/en/msg_docs/NeuralControl.md b/docs/en/msg_docs/NeuralControl.md new file mode 100644 index 0000000000..3e99004fbc --- /dev/null +++ b/docs/en/msg_docs/NeuralControl.md @@ -0,0 +1,26 @@ +# NeuralControl (UORB message) + +Neural control + +Debugging topic for the Neural controller, logs the inputs and output vectors of the neural network, and the time it takes to run +Publisher: mc_nn_control +Subscriber: logger + +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/NeuralControl.msg) + +```c +# Neural control +# +# Debugging topic for the Neural controller, logs the inputs and output vectors of the neural network, and the time it takes to run +# Publisher: mc_nn_control +# Subscriber: logger + +uint64 timestamp # [us] Time since system start + +float32[15] observation # Observation vector (pos error (3), att (6d), lin vel (3), ang vel (3)) +float32[4] network_output # Output from neural network + +int32 controller_time # [us] Time spent from input to output +int32 inference_time # [us] Time spent for NN inference + +``` diff --git a/docs/en/msg_docs/PositionSetpoint.md b/docs/en/msg_docs/PositionSetpoint.md index 7b92841cfb..b4e16681b7 100644 --- a/docs/en/msg_docs/PositionSetpoint.md +++ b/docs/en/msg_docs/PositionSetpoint.md @@ -31,10 +31,10 @@ float64 lon # longitude, in deg float32 alt # altitude AMSL, in m float32 yaw # yaw (only in hover), in rad [-PI..PI), NaN = leave to flight task -float32 loiter_radius # loiter major axis radius in m -float32 loiter_minor_radius # loiter minor axis radius (used for non-circular loiter shapes) in m +float32 loiter_radius # [m] [@range 0, INF] loiter major axis radius +float32 loiter_minor_radius # [m] [@range 0, INF] loiter minor axis radius (used for non-circular loiter shapes) bool loiter_direction_counter_clockwise # loiter direction is clockwise by default and can be changed using this field -float32 loiter_orientation # Orientation of the major axis with respect to true north in rad [-pi,pi) +float32 loiter_orientation # [rad] [@range -pi, pi] orientation of the major axis with respect to true north uint8 loiter_pattern # loitern pattern to follow float32 acceptance_radius # horizontal acceptance_radius (meters) diff --git a/docs/en/msg_docs/Px4ioStatus.md b/docs/en/msg_docs/Px4ioStatus.md index bba4f749fb..4b1fbb1314 100644 --- a/docs/en/msg_docs/Px4ioStatus.md +++ b/docs/en/msg_docs/Px4ioStatus.md @@ -1,7 +1,5 @@ # Px4ioStatus (UORB message) - - [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Px4ioStatus.msg) ```c @@ -36,7 +34,7 @@ bool alarm_rc_lost bool arming_failsafe_custom bool arming_fmu_armed bool arming_fmu_prearmed -bool arming_force_failsafe +bool arming_termination bool arming_io_arm_ok bool arming_lockdown bool arming_termination_failsafe diff --git a/docs/en/msg_docs/VehicleLocalPosition.md b/docs/en/msg_docs/VehicleLocalPosition.md index d380bb20e1..af84dc1ddb 100644 --- a/docs/en/msg_docs/VehicleLocalPosition.md +++ b/docs/en/msg_docs/VehicleLocalPosition.md @@ -9,7 +9,7 @@ The coordinate system origin is the vehicle position at the time when the EKF2-m # Fused local position in NED. # The coordinate system origin is the vehicle position at the time when the EKF2-module was started. -uint32 MESSAGE_VERSION = 0 +uint32 MESSAGE_VERSION = 1 uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) diff --git a/docs/en/msg_docs/VehicleLocalPositionV0.md b/docs/en/msg_docs/VehicleLocalPositionV0.md new file mode 100644 index 0000000000..05d9361dc1 --- /dev/null +++ b/docs/en/msg_docs/VehicleLocalPositionV0.md @@ -0,0 +1,96 @@ +# VehicleLocalPositionV0 (UORB message) + +Fused local position in NED. +The coordinate system origin is the vehicle position at the time when the EKF2-module was started. + +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleLocalPositionV0.msg) + +```c +# Fused local position in NED. +# The coordinate system origin is the vehicle position at the time when the EKF2-module was started. + +uint32 MESSAGE_VERSION = 0 + +uint64 timestamp # time since system start (microseconds) +uint64 timestamp_sample # the timestamp of the raw data (microseconds) + +bool xy_valid # true if x and y are valid +bool z_valid # true if z is valid +bool v_xy_valid # true if vx and vy are valid +bool v_z_valid # true if vz is valid + +# Position in local NED frame +float32 x # North position in NED earth-fixed frame, (metres) +float32 y # East position in NED earth-fixed frame, (metres) +float32 z # Down position (negative altitude) in NED earth-fixed frame, (metres) + +# Position reset delta +float32[2] delta_xy # Amount of lateral shift of position estimate in latest reset (in x and y) [m] +uint8 xy_reset_counter # Index of latest lateral position estimate reset +float32 delta_z # Amount of vertical shift of position estimate in latest reset [m] +uint8 z_reset_counter # Index of latest vertical position estimate reset + +# Velocity in NED frame +float32 vx # North velocity in NED earth-fixed frame, (metres/sec) +float32 vy # East velocity in NED earth-fixed frame, (metres/sec) +float32 vz # Down velocity in NED earth-fixed frame, (metres/sec) +float32 z_deriv # Down position time derivative in NED earth-fixed frame, (metres/sec) + +# Velocity reset delta +float32[2] delta_vxy # Amount of lateral shift of velocity estimate in latest reset (in x and y) [m/s] +uint8 vxy_reset_counter # Index of latest vertical velocity estimate reset +float32 delta_vz # Amount of vertical shift of velocity estimate in latest reset [m/s] +uint8 vz_reset_counter # Index of latest vertical velocity estimate reset + +# Acceleration in NED frame +float32 ax # North velocity derivative in NED earth-fixed frame, (metres/sec^2) +float32 ay # East velocity derivative in NED earth-fixed frame, (metres/sec^2) +float32 az # Down velocity derivative in NED earth-fixed frame, (metres/sec^2) + +float32 heading # Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians) +float32 heading_var +float32 unaided_heading # Same as heading but generated by integrating corrected gyro data only +float32 delta_heading # Heading delta caused by latest heading reset [rad] +uint8 heading_reset_counter # Index of latest heading reset +bool heading_good_for_control + +float32 tilt_var + +# Position of reference point (local NED frame origin) in global (GPS / WGS84) frame +bool xy_global # true if position (x, y) has a valid global reference (ref_lat, ref_lon) +bool z_global # true if z has a valid global reference (ref_alt) +uint64 ref_timestamp # Time when reference position was set since system start, (microseconds) +float64 ref_lat # Reference point latitude, (degrees) +float64 ref_lon # Reference point longitude, (degrees) +float32 ref_alt # Reference altitude AMSL, (metres) + +# Distance to surface +bool dist_bottom_valid # true if distance to bottom surface is valid +float32 dist_bottom # Distance from from bottom surface to ground, (metres) +float32 dist_bottom_var # terrain estimate variance (m^2) + +float32 delta_dist_bottom # Amount of vertical shift of dist bottom estimate in latest reset [m] +uint8 dist_bottom_reset_counter # Index of latest dist bottom estimate reset + +uint8 dist_bottom_sensor_bitfield # bitfield indicating what type of sensor is used to estimate dist_bottom +uint8 DIST_BOTTOM_SENSOR_NONE = 0 +uint8 DIST_BOTTOM_SENSOR_RANGE = 1 # (1 << 0) a range sensor is used to estimate dist_bottom field +uint8 DIST_BOTTOM_SENSOR_FLOW = 2 # (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case) + +float32 eph # Standard deviation of horizontal position error, (metres) +float32 epv # Standard deviation of vertical position error, (metres) +float32 evh # Standard deviation of horizontal velocity error, (metres/sec) +float32 evv # Standard deviation of vertical velocity error, (metres/sec) + +bool dead_reckoning # True if this position is estimated through dead-reckoning + +# estimator specified vehicle limits +float32 vxy_max # maximum horizontal speed - set to 0 when limiting not required (meters/sec) +float32 vz_max # maximum vertical speed - set to 0 when limiting not required (meters/sec) +float32 hagl_min # minimum height above ground level - set to 0 when limiting not required (meters) +float32 hagl_max # maximum height above ground level - set to 0 when limiting not required (meters) + +# TOPICS vehicle_local_position vehicle_local_position_groundtruth external_ins_local_position +# TOPICS estimator_local_position + +``` diff --git a/docs/en/msg_docs/Wind.md b/docs/en/msg_docs/Wind.md index 2a27cf9ced..7ddb2e62eb 100644 --- a/docs/en/msg_docs/Wind.md +++ b/docs/en/msg_docs/Wind.md @@ -1,24 +1,34 @@ # Wind (UORB message) +Wind estimate (from EKF2) +Contains the system-wide estimate of horizontal wind velocity and its variance. +Published by the navigation filter (EKF2) for use by other flight modules and libraries. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Wind.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/Wind.msg) ```c -uint64 timestamp # time since system start (microseconds) -uint64 timestamp_sample # the timestamp of the raw data (microseconds) +# Wind estimate (from EKF2) +# +# Contains the system-wide estimate of horizontal wind velocity and its variance. +# Published by the navigation filter (EKF2) for use by other flight modules and libraries. -float32 windspeed_north # Wind component in north / X direction (m/sec) -float32 windspeed_east # Wind component in east / Y direction (m/sec) +uint32 MESSAGE_VERSION = 0 -float32 variance_north # Wind estimate error variance in north / X direction (m/sec)**2 - set to zero (no uncertainty) if not estimated -float32 variance_east # Wind estimate error variance in east / Y direction (m/sec)**2 - set to zero (no uncertainty) if not estimated +uint64 timestamp # [us] Time since system start +uint64 timestamp_sample # [us] Timestamp of the raw data -float32 tas_innov # True airspeed innovation -float32 tas_innov_var # True airspeed innovation variance +float32 windspeed_north # [m/s] Wind component in north / X direction +float32 windspeed_east # [m/s] Wind component in east / Y direction -float32 beta_innov # Sideslip measurement innovation -float32 beta_innov_var # Sideslip measurement innovation variance +float32 variance_north # [(m/s)^2] [@invalid 0 if not estimated] Wind estimate error variance in north / X direction +float32 variance_east # [(m/s)^2] [@invalid 0 if not estimated] Wind estimate error variance in east / Y direction + +float32 tas_innov # [m/s] True airspeed innovation +float32 tas_innov_var # [(m/s)^2] True airspeed innovation variance + +float32 beta_innov # [rad] Sideslip measurement innovation +float32 beta_innov_var # [rad^2] Sideslip measurement innovation variance # TOPICS wind estimator_wind diff --git a/docs/en/msg_docs/index.md b/docs/en/msg_docs/index.md index c7abbd2e78..c6e0c5c298 100644 --- a/docs/en/msg_docs/index.md +++ b/docs/en/msg_docs/index.md @@ -74,10 +74,11 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [VehicleRatesSetpoint](VehicleRatesSetpoint.md) - [VehicleStatus](VehicleStatus.md) — Encodes the system state of the vehicle published by commander - [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE +- [Wind](Wind.md) — Wind estimate (from EKF2) ## Unversioned Messages -- [ActionRequest](ActionRequest.md) +- [ActionRequest](ActionRequest.md) — Action request for the vehicle's main state - [ActuatorArmed](ActuatorArmed.md) - [ActuatorControlsStatus](ActuatorControlsStatus.md) - [ActuatorOutputs](ActuatorOutputs.md) @@ -85,7 +86,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [ActuatorTest](ActuatorTest.md) - [AdcReport](AdcReport.md) - [Airspeed](Airspeed.md) — Airspeed data from sensors -- [AirspeedWind](AirspeedWind.md) +- [AirspeedWind](AirspeedWind.md) — Wind estimate (from airspeed_selector) - [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md) - [BatteryInfo](BatteryInfo.md) — Battery information - [ButtonEvent](ButtonEvent.md) @@ -187,6 +188,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [NavigatorMissionItem](NavigatorMissionItem.md) - [NavigatorStatus](NavigatorStatus.md) — Current status of a Navigator mode The possible values of nav_state are defined in the VehicleStatus msg. +- [NeuralControl](NeuralControl.md) — Neural control - [NormalizedUnsignedSetpoint](NormalizedUnsignedSetpoint.md) - [ObstacleDistance](ObstacleDistance.md) — Obstacle distances in front of the sensor. - [OffboardControlMode](OffboardControlMode.md) — Off-board control mode @@ -296,7 +298,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [VehicleTorqueSetpoint](VehicleTorqueSetpoint.md) - [VelocityLimits](VelocityLimits.md) — Velocity and yaw rate limits for a multicopter position slow mode only - [WheelEncoders](WheelEncoders.md) -- [Wind](Wind.md) - [YawEstimatorStatus](YawEstimatorStatus.md) - [AirspeedValidatedV0](AirspeedValidatedV0.md) - [ArmingCheckReplyV0](ArmingCheckReplyV0.md) @@ -305,4 +306,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m Events interface - [HomePositionV0](HomePositionV0.md) — GPS home position in WGS84 coordinates. - [VehicleAttitudeSetpointV0](VehicleAttitudeSetpointV0.md) +- [VehicleLocalPositionV0](VehicleLocalPositionV0.md) — Fused local position in NED. + The coordinate system origin is the vehicle position at the time when the EKF2-module was started. - [VehicleStatusV0](VehicleStatusV0.md) — Encodes the system state of the vehicle published by commander