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New Crowdin translations - zh-CN (#24950)
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Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
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2025-06-02 07:43:39 +10:00
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20
docs/zh/SUMMARY.md
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@@ -459,6 +459,7 @@
- [Vehicles](sim_gazebo_gz/vehicles.md)
- [Advanced Lift Drag Tool](sim_gazebo_gz/tools_avl_automation.md)
- [Worlds](sim_gazebo_gz/worlds.md)
- [Plugins](sim_gazebo_gz/plugins.md)
- [Gazebo Models Repository](sim_gazebo_gz/gazebo_models.md)
- [Multi-Vehicle Sim](sim_gazebo_gz/multi_vehicle_simulation.md)
- [Gazebo Classic Simulation](sim_gazebo_classic/index.md)
@@ -491,12 +492,17 @@
- [Versioned](msg_docs/versioned_messages.md)
- [ActuatorMotors](msg_docs/ActuatorMotors.md)
- [ActuatorServos](msg_docs/ActuatorServos.md)
- [AirspeedValidated](msg_docs/AirspeedValidated.md)
- [ArmingCheckReply](msg_docs/ArmingCheckReply.md)
- [ArmingCheckRequest](msg_docs/ArmingCheckRequest.md)
- [BatteryStatus](msg_docs/BatteryStatus.md)
- [ConfigOverrides](msg_docs/ConfigOverrides.md)
- [FixedWingLateralSetpoint](msg_docs/FixedWingLateralSetpoint.md)
- [FixedWingLongitudinalSetpoint](msg_docs/FixedWingLongitudinalSetpoint.md)
- [GotoSetpoint](msg_docs/GotoSetpoint.md)
- [HomePosition](msg_docs/HomePosition.md)
- [LateralControlConfiguration](msg_docs/LateralControlConfiguration.md)
- [LongitudinalControlConfiguration](msg_docs/LongitudinalControlConfiguration.md)
- [ManualControlSetpoint](msg_docs/ManualControlSetpoint.md)
- [ModeCompleted](msg_docs/ModeCompleted.md)
- [RegisterExtComponentReply](msg_docs/RegisterExtComponentReply.md)
@@ -525,10 +531,8 @@
- [ActuatorTest](msg_docs/ActuatorTest.md)
- [AdcReport](msg_docs/AdcReport.md)
- [Airspeed](msg_docs/Airspeed.md)
- [AirspeedValidated](msg_docs/AirspeedValidated.md)
- [AirspeedWind](msg_docs/AirspeedWind.md)
- [AutotuneAttitudeControlStatus](msg_docs/AutotuneAttitudeControlStatus.md)
- [Buffer128](msg_docs/Buffer128.md)
- [ButtonEvent](msg_docs/ButtonEvent.md)
- [CameraCapture](msg_docs/CameraCapture.md)
- [CameraStatus](msg_docs/CameraStatus.md)
@@ -567,6 +571,9 @@
- [FailsafeFlags](msg_docs/FailsafeFlags.md)
- [FailureDetectorStatus](msg_docs/FailureDetectorStatus.md)
- [FigureEightStatus](msg_docs/FigureEightStatus.md)
- [FixedWingLateralGuidanceStatus](msg_docs/FixedWingLateralGuidanceStatus.md)
- [FixedWingLateralStatus](msg_docs/FixedWingLateralStatus.md)
- [FixedWingRunwayControl](msg_docs/FixedWingRunwayControl.md)
- [FlightPhaseEstimation](msg_docs/FlightPhaseEstimation.md)
- [FollowTarget](msg_docs/FollowTarget.md)
- [FollowTargetEstimator](msg_docs/FollowTargetEstimator.md)
@@ -619,7 +626,6 @@
- [NavigatorMissionItem](msg_docs/NavigatorMissionItem.md)
- [NavigatorStatus](msg_docs/NavigatorStatus.md)
- [NormalizedUnsignedSetpoint](msg_docs/NormalizedUnsignedSetpoint.md)
- [NpfgStatus](msg_docs/NpfgStatus.md)
- [ObstacleDistance](msg_docs/ObstacleDistance.md)
- [OffboardControlMode](msg_docs/OffboardControlMode.md)
- [OnboardComputerStatus](msg_docs/OnboardComputerStatus.md)
@@ -655,13 +661,12 @@
- [RcParameterMap](msg_docs/RcParameterMap.md)
- [RoverAttitudeSetpoint](msg_docs/RoverAttitudeSetpoint.md)
- [RoverAttitudeStatus](msg_docs/RoverAttitudeStatus.md)
- [RoverMecanumGuidanceStatus](msg_docs/RoverMecanumGuidanceStatus.md)
- [RoverMecanumSetpoint](msg_docs/RoverMecanumSetpoint.md)
- [RoverMecanumStatus](msg_docs/RoverMecanumStatus.md)
- [RoverPositionSetpoint](msg_docs/RoverPositionSetpoint.md)
- [RoverRateSetpoint](msg_docs/RoverRateSetpoint.md)
- [RoverRateStatus](msg_docs/RoverRateStatus.md)
- [RoverSteeringSetpoint](msg_docs/RoverSteeringSetpoint.md)
- [RoverThrottleSetpoint](msg_docs/RoverThrottleSetpoint.md)
- [RoverVelocitySetpoint](msg_docs/RoverVelocitySetpoint.md)
- [RoverVelocityStatus](msg_docs/RoverVelocityStatus.md)
- [Rpm](msg_docs/Rpm.md)
- [RtlStatus](msg_docs/RtlStatus.md)
@@ -693,6 +698,7 @@
- [TelemetryStatus](msg_docs/TelemetryStatus.md)
- [TiltrotorExtraControls](msg_docs/TiltrotorExtraControls.md)
- [TimesyncStatus](msg_docs/TimesyncStatus.md)
- [TrajectorySetpoint6dof](msg_docs/TrajectorySetpoint6dof.md)
- [TransponderReport](msg_docs/TransponderReport.md)
- [TuneControl](msg_docs/TuneControl.md)
- [UavcanParameterRequest](msg_docs/UavcanParameterRequest.md)
@@ -716,6 +722,8 @@
- [WheelEncoders](msg_docs/WheelEncoders.md)
- [Wind](msg_docs/Wind.md)
- [YawEstimatorStatus](msg_docs/YawEstimatorStatus.md)
- [AirspeedValidatedV0](msg_docs/AirspeedValidatedV0.md)
- [VehicleAttitudeSetpointV0](msg_docs/VehicleAttitudeSetpointV0.md)
- [VehicleStatusV0](msg_docs/VehicleStatusV0.md)
- [MAVLink通讯](middleware/mavlink.md)
- [Adding Messages](mavlink/adding_messages.md)

19
docs/zh/config/safety.md
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@@ -187,7 +187,24 @@ The following settings also apply, but are not displayed in the QGC UI.
## Position (GNSS) Loss Failsafe
The _Position Loss Failsafe_ is triggered if the quality of the PX4 global position estimate falls below acceptable levels (this might be caused by GPS loss) while in a mode that requires an acceptable position estimate.
The _Position Loss Failsafe_ is triggered if the quality of the PX4 position estimate falls below acceptable levels (this might be caused by GPS loss) while in a mode that requires an acceptable position estimate.
The sections below cover first the trigger and then the failsafe action taken by the controller.
### Position Loss Failsafe Trigger
There are basically two mechanisms in PX4 to trigger position failsafes:
- A timeout since the last sensor data was fused that provides direct speed or horizontal position measurements. Sensors that fall into that category are: GNSS, optical flow, airspeed, VIO, auxiliary global position.
- The estimated horizontal position accuracy exceeds a certain threshold. This check is only done on hovering systems (rotary wing vehicles or VTOLs in hover phase).
The relevant parameters shown below.
| 参数 | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a id="EKF2_NOAID_TOUT"></a>[EKF2_NOAID_TOUT](../advanced_config/parameter_reference.md#EKF2_NOAID_TOUT) | Maximum inertial dead-reckoning time, so the time after the last data sample was received of any sensor that constrains the velocity drift [microseconds]. |
| <a id="COM_POS_FS_EPH"></a>[COM_POS_FS_EPH](../advanced_config/parameter_reference.md#COM_POS_FS_EPH) | Horizontal position error threshold for hovering vehicles (Multicopters and VTOLs in hover). Fixed-wing vehicles have this value set to infinity. |
### Position Loss Failsafe Action
The failure action is controlled by [COM_POSCTL_NAVL](../advanced_config/parameter_reference.md#COM_POSCTL_NAVL), based on whether RC control is assumed to be available (and altitude information):

16
docs/zh/contribute/docs.md
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@@ -181,11 +181,19 @@ Within the repository you created above:
5. Open previewed pages in your local editor:
First specify a local text editor file using the `EDITOR` environment variable, before calling `yarn start` to preview the library.
For example, on Windows command line you can enable VSCode as your default editor by entering:
For example, you can enable VSCode as your default editor by entering:
```sh
set EDITOR=code
```
- Windows:
```sh
set EDITOR=code
```
- Linux:
```sh
export EDITOR=code
```
The **Open in your editor** link at the bottom of each page will then open the current page in the editor (this replaces the _Open in GitHub_ link).

11
docs/zh/flight_modes_fw/land.md
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@@ -41,11 +41,12 @@ The vehicle will flare if configured to do so (see [Flaring](../flight_modes_fw/
Land mode behaviour can be configured using the parameters below.
| 参数 | 描述 |
| ----------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------- |
| <a id="NAV_LOITER_RAD"></a>[NAV_LOITER_RAD](../advanced_config/parameter_reference.md#NAV_LOITER_RAD) | The loiter radius that the controller tracks for the whole landing sequence. |
| <a id="FW_LND_ANG"></a>[FW_LND_ANG](../advanced_config/parameter_reference.md#FW_LND_ANG) | The flight path angle setpoint. |
| <a id="FW_LND_AIRSPD"></a>[FW_LND_AIRSPD](../advanced_config/parameter_reference.md#FW_LND_AIRSPD) | The airspeed setpoint. |
| 参数 | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="NAV_LOITER_RAD"></a>[NAV_LOITER_RAD](../advanced_config/parameter_reference.md#NAV_LOITER_RAD) | The loiter radius that the controller tracks for the whole landing sequence. |
| <a id="FW_LND_ANG"></a>[FW_LND_ANG](../advanced_config/parameter_reference.md#FW_LND_ANG) | The flight path angle setpoint. |
| <a id="FW_LND_AIRSPD"></a>[FW_LND_AIRSPD](../advanced_config/parameter_reference.md#FW_LND_AIRSPD) | The airspeed setpoint. |
| <a id="FW_AIRSPD_FLP_SC"></a>[FW_AIRSPD_FLP_SC](../advanced_config/parameter_reference.md#FW_AIRSPD_FLP_SC) | Factor applied to the minimum airspeed when flaps are fully deployed. Necessary if FW_LND_AIRSPD is below FW_AIRSPD_MIN. |
## See Also

42
docs/zh/flight_modes_fw/takeoff.md
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@@ -43,13 +43,14 @@ Reaching the clearance altitude causes the vehicle to enter [Hold mode](../fligh
Parameters that affect both catapult/hand-launch and runway takeoffs:
| 参数 | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="MIS_TAKEOFF_ALT"></a>[MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT) | Minimum altitude setpoint above Home that the vehicle will climb to during takeoff. |
| <a id="FW_TKO_AIRSPD"></a>[FW_TKO_AIRSPD](../advanced_config/parameter_reference.md#FW_TKO_AIRSPD) | Takeoff airspeed (is set to [FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN) if not defined by operator) |
| <a id="FW_TKO_PITCH_MIN"></a>[FW_TKO_PITCH_MIN](../advanced_config/parameter_reference.md#FW_TKO_PITCH_MIN) | This is the minimum pitch angle setpoint during the climbout phase |
| <a id="FW_T_CLMB_MAX"></a>[FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX) | Maximum climb rate. |
| <a id="FW_FLAPS_TO_SCL"></a>[FW_FLAPS_TO_SCL](../advanced_config/parameter_reference.md#FW_FLAPS_TO_SCL) | Flaps setpoint during takeoff |
| 参数 | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="MIS_TAKEOFF_ALT"></a>[MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT) | Minimum altitude setpoint above Home that the vehicle will climb to during takeoff. |
| <a id="FW_TKO_AIRSPD"></a>[FW_TKO_AIRSPD](../advanced_config/parameter_reference.md#FW_TKO_AIRSPD) | Takeoff airspeed (is set to [FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN) if not defined by operator) |
| <a id="FW_TKO_PITCH_MIN"></a>[FW_TKO_PITCH_MIN](../advanced_config/parameter_reference.md#FW_TKO_PITCH_MIN) | This is the minimum pitch angle setpoint during the climbout phase |
| <a id="FW_T_CLMB_MAX"></a>[FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX) | Maximum climb rate. |
| <a id="FW_FLAPS_TO_SCL"></a>[FW_FLAPS_TO_SCL](../advanced_config/parameter_reference.md#FW_FLAPS_TO_SCL) | Flaps setpoint during takeoff |
| <a id="FW_AIRSPD_FLP_SC"></a>[FW_AIRSPD_FLP_SC](../advanced_config/parameter_reference.md#FW_AIRSPD_FLP_SC) | Factor applied to the minimum airspeed when flaps are fully deployed. Necessary if FW_TKO_AIRSPD is below FW_AIRSPD_MIN. |
:::info
The vehicle always respects normal FW max/min throttle settings during takeoff ([FW_THR_MIN](../advanced_config/parameter_reference.md#FW_THR_MIN), [FW_THR_MAX](../advanced_config/parameter_reference.md#FW_THR_MAX)).
@@ -101,26 +102,25 @@ The _runway takeoff mode_ has the following phases:
:::info
For a smooth takeoff, the runway wheel controller possibly needs to be tuned.
It consists of a rate controller (P-I-FF-controller with the parameters [FW_WR_P](../advanced_config/parameter_reference.md#FW_WR_P), [FW_WR_I](../advanced_config/parameter_reference.md#FW_WR_I), [FW_WR_FF](../advanced_config/parameter_reference.md#FW_WR_FF)) and an outer loop that calculates heading setpoints from course errors and can be tuned via [RWTO_NPFG_PERIOD](#RWTO_NPFG_PERIOD).
It consists of a rate controller (P-I-FF-controller with the parameters [FW_WR_P](../advanced_config/parameter_reference.md#FW_WR_P), [FW_WR_I](../advanced_config/parameter_reference.md#FW_WR_I), [FW_WR_FF](../advanced_config/parameter_reference.md#FW_WR_FF)).
:::
### Parameters (Runway Takeoff)
Runway takeoff is affected by the following parameters:
| 参数 | 描述 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="RWTO_TKOFF"></a>[RWTO_TKOFF](../advanced_config/parameter_reference.md#RWTO_TKOFF) | Enable runway takeoff |
| <a id="FW_W_EN"></a>[FW_W_EN](../advanced_config/parameter_reference.md#FW_W_EN) | Enable wheel controller |
| <a id="RWTO_MAX_THR"></a>[RWTO_MAX_THR](../advanced_config/parameter_reference.md#RWTO_MAX_THR) | Max throttle during runway takeoff |
| <a id="RWTO_RAMP_TIME"></a>[RWTO_RAMP_TIME](../advanced_config/parameter_reference.md#RWTO_RAMP_TIME) | Throttle ramp up time |
| <a id="RWTO_ROT_AIRSPD"></a>[RWTO_ROT_AIRSPD](../advanced_config/parameter_reference.md#RWTO_ROT_AIRSPD) | Airspeed threshold to start rotation (pitching up). If not configured by operator is set to 0.9\*FW_TKO_AIRSPD. |
| <a id="RWTO_ROT_TIME"></a>[RWTO_ROT_TIME](../advanced_config/parameter_reference.md#RWTO_ROT_TIME) | This is the time desired to linearly ramp in takeoff pitch constraints during the takeoff rotation. |
| <a id="FW_TKO_AIRSPD"></a>[FW_TKO_AIRSPD](../advanced_config/parameter_reference.md#FW_TKO_AIRSPD) | Airspeed setpoint during the takeoff climbout phase (after rotation). If not configured by operator is set to FW_AIRSPD_MIN. |
| <a id="RWTO_NUDGE"></a>[RWTO_NUDGE](../advanced_config/parameter_reference.md#RWTO_NUDGE) | Enable wheel controller nudging while on the runway |
| <a id="FW_WING_SPAN"></a>[FW_WING_SPAN](../advanced_config/parameter_reference.md#FW_WING_SPAN) | The wingspan of the vehicle. Used to prevent wingstrikes. |
| <a id="FW_WING_HEIGHT"></a>[FW_WING_HEIGHT](../advanced_config/parameter_reference.md#FW_WING_HEIGHT) | The height of the wings above ground (ground clearance). Used to prevent wingstrikes. |
| <a id="RWTO_NPFG_PERIOD"></a>[RWTO_NPFG_PERIOD](../advanced_config/parameter_reference.md#RWTO_NPFG_PERIOD) | L1 period while steering on runway. Increase for less aggressive response to course errors. |
| 参数 | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="RWTO_TKOFF"></a>[RWTO_TKOFF](../advanced_config/parameter_reference.md#RWTO_TKOFF) | Enable runway takeoff |
| <a id="FW_W_EN"></a>[FW_W_EN](../advanced_config/parameter_reference.md#FW_W_EN) | Enable wheel controller |
| <a id="RWTO_MAX_THR"></a>[RWTO_MAX_THR](../advanced_config/parameter_reference.md#RWTO_MAX_THR) | Max throttle during runway takeoff |
| <a id="RWTO_RAMP_TIME"></a>[RWTO_RAMP_TIME](../advanced_config/parameter_reference.md#RWTO_RAMP_TIME) | Throttle ramp up time |
| <a id="RWTO_ROT_AIRSPD"></a>[RWTO_ROT_AIRSPD](../advanced_config/parameter_reference.md#RWTO_ROT_AIRSPD) | Airspeed threshold to start rotation (pitching up). If not configured by operator is set to 0.9\*FW_TKO_AIRSPD. |
| <a id="RWTO_ROT_TIME"></a>[RWTO_ROT_TIME](../advanced_config/parameter_reference.md#RWTO_ROT_TIME) | This is the time desired to linearly ramp in takeoff pitch constraints during the takeoff rotation. |
| <a id="FW_TKO_AIRSPD"></a>[FW_TKO_AIRSPD](../advanced_config/parameter_reference.md#FW_TKO_AIRSPD) | Airspeed setpoint during the takeoff climbout phase (after rotation). If not configured by operator is set to FW_AIRSPD_MIN. |
| <a id="RWTO_NUDGE"></a>[RWTO_NUDGE](../advanced_config/parameter_reference.md#RWTO_NUDGE) | Enable wheel controller nudging while on the runway |
| <a id="FW_WING_SPAN"></a>[FW_WING_SPAN](../advanced_config/parameter_reference.md#FW_WING_SPAN) | The wingspan of the vehicle. Used to prevent wingstrikes. |
| <a id="FW_WING_HEIGHT"></a>[FW_WING_HEIGHT](../advanced_config/parameter_reference.md#FW_WING_HEIGHT) | The height of the wings above ground (ground clearance). Used to prevent wingstrikes. |
## See Also

2
docs/zh/frames_plane/reptile_dragon_2.md
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@@ -325,7 +325,7 @@ Access to this cable can be accomplished by simply removing the rear hatch and u
## Firmware Build
You can't use prebuilt PX4 release (or main) firmware for this vehicle, as it depends on PX4 modules [crsf_rc](../modules/modules_driver.md#crsf-rc) and [msp_osd](../modules/modules_driver.md#msp-osd) that are not included by default.
You can't use prebuilt PX4 release (or main) firmware for this vehicle, as it depends on PX4 modules [crsf_rc](../modules/modules_driver_radio_control.md#crsf-rc) and [msp_osd](../modules/modules_driver.md#msp-osd) that are not included by default.
These require some custom configuration to enable.

4
docs/zh/middleware/uxrce_dds.md
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@@ -435,9 +435,11 @@ publications:
- topic: /fmu/out/vehicle_odometry
type: px4_msgs::msg::VehicleOdometry
rate_limit: 150.
- topic: /fmu/out/vehicle_status
type: px4_msgs::msg::VehicleStatus
rate_limit: 50.
- topic: /fmu/out/vehicle_trajectory_waypoint_desired
type: px4_msgs::msg::VehicleTrajectoryWaypoint
@@ -472,6 +474,8 @@ Each (`topic`,`type`) pairs defines:
- `/fmu/out/` for topics that are _published_ by PX4.
- `/fmu/in/` for topics that are _subscribed_ by PX4.
4. The message type (`VehicleOdometry`, `VehicleStatus`, `OffboardControlMode`, etc.) and the ROS 2 package (`px4_msgs`) that is expected to provide the message definition.
5. **(Optional)**: An additional `rate_limit` field (only for publication entries), which specifies the maximum rate (Hz) at which messages will be published on this topic by PX4 to ROS 2.
If left unspecified, the maximum publication rate limit is set to 100 Hz.
`subscriptions` and `subscriptions_multi` allow us to choose the uORB topic instance that ROS 2 topics are routed to: either a shared instance that may also be getting updates from internal PX4 uORB publishers, or a separate instance that is reserved for ROS2 publications, respectively.
Without this mechanism all ROS 2 messages would be routed to the _same_ uORB topic instance (because ROS 2 does not have the concept of [multiple topic instances](../middleware/uorb.md#multi-instance)), and it would not be possible for PX4 subscribers to differentiate between streams from ROS 2 or PX4 publishers.

32
docs/zh/modules/modules_controller.md
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@@ -91,18 +91,18 @@ fw_att_control <command> [arguments...]
status print status info
```
## fw_pos_control
## fw_lat_lon_control
Source: [modules/fw_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_pos_control)
Source: [modules/fw_lateral_longitudinal_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_lateral_longitudinal_control)
### 描述
fw_pos_control is the fixed-wing position controller.
fw_lat_lon_control computes attitude and throttle setpoints from lateral and longitudinal control setpoints.
### Usage {#fw_pos_control_usage}
### Usage {#fw_lat_lon_control_usage}
```
fw_pos_control <command> [arguments...]
fw_lat_lon_control <command> [arguments...]
Commands:
start
[vtol] VTOL mode
@@ -112,6 +112,28 @@ fw_pos_control <command> [arguments...]
status print status info
```
## fw_mode_manager
Source: [modules/fw_mode_manager](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_mode_manager)
### 描述
This implements the setpoint generation for all PX4-internal fixed-wing modes, height-rate control and higher.
It takes the current mode state of the vehicle as input and outputs setpoints consumed by the fixed-wing
lateral-longitudinal controller and and controllers below that (attitude, rate).
### Usage {#fw_mode_manager_usage}
```
fw_mode_manager <command> [arguments...]
Commands:
start
stop
status print status info
```
## fw_rate_control
Source: [modules/fw_rate_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_rate_control)

4
docs/zh/modules/modules_driver.md
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@@ -293,7 +293,9 @@ dshot <command> [arguments...]
start
telemetry Enable Telemetry on a UART
<device> UART device
-d <val> UART device
values: <device>
[-x] Swap RX/TX pins
reverse Reverse motor direction
[-m <val>] Motor index (1-based, default=all)

1
docs/zh/modules/modules_system.md
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@@ -318,6 +318,7 @@ i2c_launcher <command> [arguments...]
Commands:
start
-b <val> Bus number
-t <val> battery index for calibration values (1 or 3)
stop

26
docs/zh/msg_docs/AirspeedValidated.md
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@@ -1,21 +1,27 @@
# AirspeedValidated (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AirspeedValidated.msg)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/AirspeedValidated.msg)
```c
uint32 MESSAGE_VERSION = 1
uint64 timestamp # time since system start (microseconds)
float32 indicated_airspeed_m_s # indicated airspeed in m/s (IAS), set to NAN if invalid
float32 calibrated_airspeed_m_s # calibrated airspeed in m/s (CAS, accounts for instrumentation errors), set to NAN if invalid
float32 true_airspeed_m_s # true filtered airspeed in m/s (TAS), set to NAN if invalid
float32 indicated_airspeed_m_s # [m/s] Indicated airspeed (IAS), set to NAN if invalid
float32 calibrated_airspeed_m_s # [m/s] Calibrated airspeed (CAS), set to NAN if invalid
float32 true_airspeed_m_s # [m/s] True airspeed (TAS), set to NAN if invalid
int8 airspeed_source # Source of currently published airspeed values
int8 DISABLED = -1
int8 GROUND_MINUS_WIND = 0
int8 SENSOR_1 = 1
int8 SENSOR_2 = 2
int8 SENSOR_3 = 3
int8 SYNTHETIC = 4
# debug states
float32 calibrated_ground_minus_wind_m_s # CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
float32 true_ground_minus_wind_m_s # TAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
bool airspeed_sensor_measurement_valid # True if data from at least one airspeed sensor is declared valid.
int8 selected_airspeed_index # 1-3: airspeed sensor index, 0: groundspeed-windspeed, -1: airspeed invalid
float32 calibraded_airspeed_synth_m_s # synthetic airspeed in m/s, set to NAN if invalid
float32 airspeed_derivative_filtered # filtered indicated airspeed derivative [m/s/s]
float32 throttle_filtered # filtered fixed-wing throttle [-]
float32 pitch_filtered # filtered pitch [rad]

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# AirspeedValidatedV0 (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/AirspeedValidatedV0.msg)
```c
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
float32 indicated_airspeed_m_s # indicated airspeed in m/s (IAS), set to NAN if invalid
float32 calibrated_airspeed_m_s # calibrated airspeed in m/s (CAS, accounts for instrumentation errors), set to NAN if invalid
float32 true_airspeed_m_s # true filtered airspeed in m/s (TAS), set to NAN if invalid
float32 calibrated_ground_minus_wind_m_s # CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
float32 true_ground_minus_wind_m_s # TAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
bool airspeed_sensor_measurement_valid # True if data from at least one airspeed sensor is declared valid.
int8 selected_airspeed_index # 1-3: airspeed sensor index, 0: groundspeed-windspeed, -1: airspeed invalid
float32 airspeed_derivative_filtered # filtered indicated airspeed derivative [m/s/s]
float32 throttle_filtered # filtered fixed-wing throttle [-]
float32 pitch_filtered # filtered pitch [rad]
```

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# CellularStatus (UORB message)
Cellular status
This is currently used only for logging cell status from MAVLink.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CellularStatus.msg)
```c
uint64 timestamp # time since system start (microseconds)
# Cellular status
#
# This is currently used only for logging cell status from MAVLink.
uint8 CELLULAR_STATUS_FLAG_UNKNOWN=0 # State unknown or not reportable
uint8 CELLULAR_STATUS_FLAG_FAILED=1 # velocity setpoint
uint8 CELLULAR_STATUS_FLAG_INITIALIZING=2 # Modem is being initialized
uint8 CELLULAR_STATUS_FLAG_LOCKED=3 # Modem is locked
uint8 CELLULAR_STATUS_FLAG_DISABLED=4 # Modem is not enabled and is powered down
uint8 CELLULAR_STATUS_FLAG_DISABLING=5 # Modem is currently transitioning to the CELLULAR_STATUS_FLAG_DISABLED state
uint8 CELLULAR_STATUS_FLAG_ENABLING=6 # Modem is currently transitioning to the CELLULAR_STATUS_FLAG_ENABLED state
uint8 CELLULAR_STATUS_FLAG_ENABLED=7 # Modem is enabled and powered on but not registered with a network provider and not available for data connections
uint8 CELLULAR_STATUS_FLAG_SEARCHING=8 # Modem is searching for a network provider to register
uint8 CELLULAR_STATUS_FLAG_REGISTERED=9 # Modem is registered with a network provider, and data connections and messaging may be available for use
uint8 CELLULAR_STATUS_FLAG_DISCONNECTING=10 # Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated
uint8 CELLULAR_STATUS_FLAG_CONNECTING=11 # Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered
uint8 CELLULAR_STATUS_FLAG_CONNECTED=12 # One or more packet data bearers is active and connected
uint64 timestamp # [us] Time since system start.
uint8 CELLULAR_NETWORK_FAILED_REASON_NONE=0 # No error
uint8 CELLULAR_NETWORK_FAILED_REASON_UNKNOWN=1 # Error state is unknown
uint8 CELLULAR_NETWORK_FAILED_REASON_SIM_MISSING=2 # SIM is required for the modem but missing
uint8 CELLULAR_NETWORK_FAILED_REASON_SIM_ERROR=3 # SIM is available, but not usable for connection
uint16 status # [@enum STATUS_FLAG] Status bitmap.
uint16 STATUS_FLAG_UNKNOWN = 1 # State unknown or not reportable.
uint16 STATUS_FLAG_FAILED = 2 # Modem is unusable.
uint16 STATUS_FLAG_INITIALIZING = 4 # Modem is being initialized.
uint16 STATUS_FLAG_LOCKED = 8 # Modem is locked.
uint16 STATUS_FLAG_DISABLED = 16 # Modem is not enabled and is powered down.
uint16 STATUS_FLAG_DISABLING = 32 # Modem is currently transitioning to the STATUS_FLAG_DISABLED state.
uint16 STATUS_FLAG_ENABLING = 64 # Modem is currently transitioning to the STATUS_FLAG_ENABLED state.
uint16 STATUS_FLAG_ENABLED = 128 # Modem is enabled and powered on but not registered with a network provider and not available for data connections.
uint16 STATUS_FLAG_SEARCHING = 256 # Modem is searching for a network provider to register.
uint16 STATUS_FLAG_REGISTERED = 512 # Modem is registered with a network provider, and data connections and messaging may be available for use.
uint16 STATUS_FLAG_DISCONNECTING = 1024 # Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated.
uint16 STATUS_FLAG_CONNECTING = 2048 # Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered.
uint16 STATUS_FLAG_CONNECTED = 4096 # One or more packet data bearers is active and connected.
uint16 status # Status bitmap 1: Roaming is active
uint8 failure_reason #Failure reason when status in in CELLUAR_STATUS_FAILED
uint8 type # Cellular network radio type 0: none 1: gsm 2: cdma 3: wcdma 4: lte
uint8 quality # Cellular network RSSI/RSRP in dBm, absolute value
uint16 mcc # Mobile country code. If unknown, set to: UINT16_MAX
uint16 mnc # Mobile network code. If unknown, set to: UINT16_MAX
uint16 lac # Location area code. If unknown, set to: 0
uint8 failure_reason # [@enum FAILURE_REASON] Failure reason.
uint8 FAILURE_REASON_NONE = 0 # No error.
uint8 FAILURE_REASON_UNKNOWN = 1 # Error state is unknown.
uint8 FAILURE_REASON_SIM_MISSING = 2 # SIM is required for the modem but missing.
uint8 FAILURE_REASON_SIM_ERROR = 3 # SIM is available, but not usable for connection.
uint8 type # [@enum CELLULAR_NETWORK_RADIO_TYPE] Cellular network radio type.
uint8 CELLULAR_NETWORK_RADIO_TYPE_NONE = 0 # None
uint8 CELLULAR_NETWORK_RADIO_TYPE_GSM = 1 # GSM
uint8 CELLULAR_NETWORK_RADIO_TYPE_CDMA = 2 # CDMA
uint8 CELLULAR_NETWORK_RADIO_TYPE_WCDMA = 3 # WCDMA
uint8 CELLULAR_NETWORK_RADIO_TYPE_LTE = 4 # LTE
uint8 quality # [dBm] Cellular network RSSI/RSRP, absolute value.
uint16 mcc # [@invalid UINT16_MAX] Mobile country code.
uint16 mnc # [@invalid UINT16_MAX] Mobile network code.
uint16 lac # [@invalid 0] Location area code.
```

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# FixedWingLateralGuidanceStatus (UORB message)
Fixed Wing Lateral Guidance Status message
Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FixedWingLateralGuidanceStatus.msg)
```c
# Fixed Wing Lateral Guidance Status message
# Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs
uint64 timestamp # time since system start (microseconds)
float32 course_setpoint # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. Set by guidance law
float32 lateral_acceleration_ff # [m/s^2] [FRD] lateral acceleration demand only for maintaining curvature
float32 bearing_feas # [@range 0,1] bearing feasibility
float32 bearing_feas_on_track # [@range 0,1] on-track bearing feasibility
float32 signed_track_error # [m] signed track error
float32 track_error_bound # [m] track error bound
float32 adapted_period # [s] adapted period (if auto-tuning enabled)
uint8 wind_est_valid # [boolean] true = wind estimate is valid and/or being used by controller (also indicates if wind estimate usage is disabled despite being valid)
```

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# 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.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/FixedWingLateralSetpoint.msg)
```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)
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.
```

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# FixedWingLateralStatus (UORB message)
Fixed Wing Lateral Status message
Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FixedWingLateralStatus.msg)
```c
# Fixed Wing Lateral Status message
# Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint
uint64 timestamp # time since system start (microseconds)
float32 lateral_acceleration_setpoint # [m/s^2] [FRD] resultant lateral acceleration setpoint
float32 can_run_factor # [norm] [@range 0, 1] estimate of certainty of the correct functionality of the npfg roll setpoint
```

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# 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.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/FixedWingLongitudinalSetpoint.msg)
```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)
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
```

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# FixedWingRunwayControl (UORB message)
Auxiliary control fields for fixed-wing runway takeoff/landing
Passes information from the FixedWingModeManager to the FixedWingAttitudeController
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FixedWingRunwayControl.msg)
```c
# Auxiliary control fields for fixed-wing runway takeoff/landing
# Passes information from the FixedWingModeManager to the FixedWingAttitudeController
uint64 timestamp # [us] time since system start
bool wheel_steering_enabled # Flag that enables the wheel steering.
float32 wheel_steering_nudging_rate # [norm] [@range -1, 1] [FRD] Manual wheel nudging, added to controller output. NAN is interpreted as 0.
```

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# LateralControlConfiguration (UORB message)
Fixed Wing Lateral Control Configuration message
Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/LateralControlConfiguration.msg)
```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)
float32 lateral_accel_max # [m/s^2] currently maps to a maximum roll angle, accel_max = tan(roll_max) * GRAVITY
```

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# 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.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/LongitudinalControlConfiguration.msg)
```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)
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
```

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@@ -11,6 +11,4 @@ float32 crosstrack_error # [m] Shortest distance from the vehicle to the pat
float32 distance_to_waypoint # [m] Distance from the vehicle to the current waypoint
float32 bearing_to_waypoint # [rad] Bearing towards current waypoint
# TOPICS pure_pursuit_status
```

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@@ -9,6 +9,5 @@ uint64 timestamp # time since system start (microseconds)
float32 rollspeed_integ
float32 pitchspeed_integ
float32 yawspeed_integ
float32 wheel_rate_integ # FW only and optional
```

2
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@@ -7,6 +7,4 @@ uint64 timestamp # time since system start (microseconds)
float32 yaw_setpoint # [rad] Expressed in NED frame
# TOPICS rover_attitude_setpoint
```

2
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@@ -8,6 +8,4 @@ uint64 timestamp # time since system start (microseconds)
float32 measured_yaw # [rad/s] Measured yaw rate
float32 adjusted_yaw_setpoint # [rad/s] Yaw setpoint that is being tracked (Applied slew rates)
# TOPICS rover_attitude_status
```

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# RoverPositionSetpoint (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverPositionSetpoint.msg)
```c
uint64 timestamp # time since system start (microseconds)
float32[2] position_ned # 2-dimensional position setpoint in NED frame [m]
float32[2] start_ned # (Optional) 2-dimensional start position in NED frame used to define the line that the rover will track to position_ned [m] (Defaults to vehicle position)
float32 cruising_speed # (Optional) Specify rover speed [m/s] (Defaults to maximum speed)
float32 arrival_speed # (Optional) Specify arrival speed [m/s] (Defaults to zero)
float32 yaw # [rad] [-pi,pi] from North. Optional, NAN if not set. Mecanum only. (Defaults to vehicle yaw)
```

2
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@@ -7,6 +7,4 @@ uint64 timestamp # time since system start (microseconds)
float32 yaw_rate_setpoint # [rad/s] Expressed in NED frame
# TOPICS rover_rate_setpoint
```

2
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@@ -9,6 +9,4 @@ float32 measured_yaw_rate # [rad/s] Measured yaw rate
float32 adjusted_yaw_rate_setpoint # [rad/s] Yaw rate setpoint that is being tracked (Applied slew rates)
float32 pid_yaw_rate_integral # Integral of the PID for the closed loop yaw rate controller
# TOPICS rover_rate_status
```

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```c
uint64 timestamp # time since system start (microseconds)
float32 normalized_steering_angle # [-1, 1] Normalized steering angle (Only for Ackermann-steered rovers)
float32 normalized_speed_diff # [-1, 1] Normalized speed difference between the left and right wheels of the rover (Only for Differential/Mecanum rovers)
float32 normalized_steering_angle # [-1, 1] Normalized steering angle (Ackermann only, Positiv: Steer right, Negativ: Steer left)
# TOPICS rover_steering_setpoint
float32 normalized_speed_diff # [-1, 1] Normalized speed difference between the left and right wheels of the rover (Differential/Mecanum only, Positiv = Turn right, Negativ: Turn left)
```

6
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uint64 timestamp # time since system start (microseconds)
float32 throttle_body_x # throttle setpoint along body X axis [-1, 1]
float32 throttle_body_y # throttle setpoint along body Y axis [-1, 1]
# TOPICS rover_throttle_setpoint
float32 throttle_body_x # throttle setpoint along body X axis [-1, 1] (Positiv = forwards, Negativ = backwards)
float32 throttle_body_y # throttle setpoint along body Y axis [-1, 1] (Mecanum only, Positiv = right, Negativ = left)
```

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# RoverVelocitySetpoint (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverVelocitySetpoint.msg)
```c
uint64 timestamp # time since system start (microseconds)
float32 speed # [m/s] [-inf, inf] Speed setpoint (Backwards driving if negative)
float32 bearing # [rad] [-pi,pi] from North. [invalid: NAN, speed is defined in body x direction]
float32 yaw # [rad] [-pi, pi] (Mecanum only, Optional, defaults to current vehicle yaw) Vehicle yaw setpoint in NED frame
```

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uint64 timestamp # time since system start (microseconds)
float32 measured_speed_body_x # [m/s] Measured speed in body x direction. Positiv: forwards, Negativ: backwards
float32 speed_body_x_setpoint # [m/s] Speed setpoint in body x direction. Positiv: forwards, Negativ: backwards
float32 adjusted_speed_body_x_setpoint # [m/s] Post slew rate speed setpoint in body x direction. Positiv: forwards, Negativ: backwards
float32 measured_speed_body_y # [m/s] Measured speed in body y direction. Positiv: right, Negativ: left
float32 speed_body_y_setpoint # [m/s] Speed setpoint in body y direction. Positiv: right, Negativ: left (Only for mecanum rovers)
float32 adjusted_speed_body_y_setpoint # [m/s] Post slew rate speed setpoint in body y direction. Positiv: right, Negativ: left (Only for mecanum rovers)
float32 pid_throttle_body_x_integral # Integral of the PID for the closed loop controller of the speed in body x direction
float32 pid_throttle_body_y_integral # Integral of the PID for the closed loop controller of the speed in body y direction
# TOPICS rover_velocity_status
float32 measured_speed_body_y # [m/s] Measured speed in body y direction. Positiv: right, Negativ: left (Mecanum only)
float32 adjusted_speed_body_y_setpoint # [m/s] Post slew rate speed setpoint in body y direction. Positiv: right, Negativ: left (Mecanum only)
float32 pid_throttle_body_y_integral # Integral of the PID for the closed loop controller of the speed in body y direction (Mecanum only)
```

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# TrajectorySetpoint6dof (UORB message)
Trajectory setpoint in NED frame
Input to position controller.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TrajectorySetpoint6dof.msg)
```c
# Trajectory setpoint in NED frame
# Input to position controller.
uint64 timestamp # time since system start (microseconds)
# NED local world frame
float32[3] position # in meters
float32[3] velocity # in meters/second
float32[3] acceleration # in meters/second^2
float32[3] jerk # in meters/second^3 (for logging only)
float32[4] quaternion # unit quaternion
float32[3] angular_velocity # angular velocity in radians/second
```

6
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitudeSetpoint.msg)
```c
uint32 MESSAGE_VERSION = 0
uint32 MESSAGE_VERSION = 1
uint64 timestamp # time since system start (microseconds)
@@ -16,10 +16,6 @@ float32[4] q_d # Desired quaternion for quaternion control
# For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
float32[3] thrust_body # Normalized thrust command in body FRD frame [-1,1]
bool reset_integral # Reset roll/pitch/yaw integrals (navigation logic change)
bool fw_control_yaw_wheel # control heading with steering wheel (used for auto takeoff on runway)
# TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
```

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# VehicleAttitudeSetpointV0 (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleAttitudeSetpointV0.msg)
```c
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
float32 yaw_sp_move_rate # rad/s (commanded by user)
# For quaternion-based attitude control
float32[4] q_d # Desired quaternion for quaternion control
# For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand.
# For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
float32[3] thrust_body # Normalized thrust command in body FRD frame [-1,1]
bool reset_integral # Reset roll/pitch/yaw integrals (navigation logic change)
bool fw_control_yaw_wheel # control heading with steering wheel (used for auto takeoff on runway)
# TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
```

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@@ -11,127 +11,127 @@ Follows the MAVLink COMMAND_INT / COMMAND_LONG definition
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
uint64 timestamp # [us] Time since system start.
uint16 VEHICLE_CMD_CUSTOM_0 = 0 # test command
uint16 VEHICLE_CMD_CUSTOM_1 = 1 # test command
uint16 VEHICLE_CMD_CUSTOM_2 = 2 # test command
uint16 VEHICLE_CMD_NAV_WAYPOINT = 16 # Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude|
uint16 VEHICLE_CMD_NAV_LOITER_UNLIM = 17 # Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|
uint16 VEHICLE_CMD_NAV_LOITER_TURNS = 18 # Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|
uint16 VEHICLE_CMD_NAV_LOITER_TIME = 19 # Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude|
uint16 VEHICLE_CMD_NAV_RETURN_TO_LAUNCH = 20 # Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
uint16 VEHICLE_CMD_NAV_LAND = 21 # Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|
uint16 VEHICLE_CMD_NAV_TAKEOFF = 22 # Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|
uint16 VEHICLE_CMD_NAV_PRECLAND = 23 # Attempt a precision landing
uint16 VEHICLE_CMD_DO_ORBIT = 34 # Start orbiting on the circumference of a circle defined by the parameters. |Radius [m] |Velocity [m/s] |Yaw behaviour |Empty |Latitude/X |Longitude/Y |Altitude/Z |
uint16 VEHICLE_CMD_DO_FIGUREEIGHT = 35 # Start flying on the outline of a figure eight defined by the parameters. |Major Radius [m] |Minor Radius [m] |Velocity [m/s] |Orientation |Latitude/X |Longitude/Y |Altitude/Z |
uint16 VEHICLE_CMD_NAV_ROI = 80 # Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|
uint16 VEHICLE_CMD_NAV_PATHPLANNING = 81 # Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|
uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84 # Takeoff from ground / hand and transition to fixed wing |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|
uint16 VEHICLE_CMD_NAV_VTOL_LAND = 85 # Transition to MC and land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|
uint16 VEHICLE_CMD_NAV_GUIDED_LIMITS = 90 # set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty|
uint16 VEHICLE_CMD_NAV_GUIDED_MASTER = 91 # set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty|
uint16 VEHICLE_CMD_NAV_DELAY = 93 # Delay the next navigation command a number of seconds or until a specified time |Delay in seconds (decimal, -1 to enable time-of-day fields)| hour (24h format, UTC, -1 to ignore)| minute (24h format, UTC, -1 to ignore)| second (24h format, UTC)| Empty| Empty| Empty|
uint16 VEHICLE_CMD_NAV_LAST = 95 # NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
uint16 VEHICLE_CMD_CONDITION_DELAY = 112 # Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty|
uint16 VEHICLE_CMD_CONDITION_CHANGE_ALT = 113 # Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude|
uint16 VEHICLE_CMD_CONDITION_DISTANCE = 114 # Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty|
uint16 VEHICLE_CMD_CONDITION_YAW = 115 # Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty|
uint16 VEHICLE_CMD_CONDITION_LAST = 159 # NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
uint16 VEHICLE_CMD_CONDITION_GATE = 4501 # Wait until passing a threshold |2D coord mode: 0: Orthogonal to planned route | Altitude mode: 0: Ignore altitude| Empty| Empty| Lat| Lon| Alt|
uint16 VEHICLE_CMD_DO_SET_MODE = 176 # Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty|
uint16 VEHICLE_CMD_DO_JUMP = 177 # Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty|
uint16 VEHICLE_CMD_DO_CHANGE_SPEED = 178 # Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty|
uint16 VEHICLE_CMD_DO_SET_HOME = 179 # Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude|
uint16 VEHICLE_CMD_DO_SET_PARAMETER = 180 # Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty|
uint16 VEHICLE_CMD_DO_SET_RELAY = 181 # Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty|
uint16 VEHICLE_CMD_DO_REPEAT_RELAY = 182 # Cycle a relay on and off for a desired number of cycles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty|
uint16 VEHICLE_CMD_DO_REPEAT_SERVO = 184 # Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|
uint16 VEHICLE_CMD_DO_FLIGHTTERMINATION = 185 # Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty|
uint16 VEHICLE_CMD_DO_CHANGE_ALTITUDE = 186 # Set the vehicle to Loiter mode and change the altitude to specified value |Altitude| Frame of new altitude | Empty| Empty| Empty| Empty| Empty|
uint16 VEHICLE_CMD_DO_SET_ACTUATOR = 187 # Sets actuators (e.g. servos) to a desired value. |Actuator 1| Actuator 2| Actuator 3| Actuator 4| Actuator 5| Actuator 6| Index|
uint16 VEHICLE_CMD_DO_LAND_START = 189 # Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0/0 if not needed. If specified then it will be used to help find the closest landing sequence. |Empty| Empty| Empty| Empty| Latitude| Longitude| Empty|
uint16 VEHICLE_CMD_DO_GO_AROUND = 191 # Mission command to safely abort an autonomous landing. |Altitude (meters)| Empty| Empty| Empty| Empty| Empty| Empty|
uint16 VEHICLE_CMD_DO_REPOSITION = 192 # Reposition to specific WGS84 GPS position. |Ground speed [m/s] |Bitmask |Loiter radius [m] for planes |Yaw [deg] |Latitude |Longitude |Altitude |
uint16 VEHICLE_CMD_CUSTOM_0 = 0 # Test command.
uint16 VEHICLE_CMD_CUSTOM_1 = 1 # Test command.
uint16 VEHICLE_CMD_CUSTOM_2 = 2 # Test command.
uint16 VEHICLE_CMD_NAV_WAYPOINT = 16 # Navigate to MISSION. |[s] (decimal) Hold time. (ignored by fixed wing, time to stay at MISSION for rotary wing)|[m] Acceptance radius (if the sphere with this radius is hit, the MISSION counts as reached)|0 to pass through the WP, if > 0 radius [m] to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.|Desired yaw angle at MISSION (rotary wing)|Latitude|Longitude|Altitude|
uint16 VEHICLE_CMD_NAV_LOITER_UNLIM = 17 # Loiter around this MISSION an unlimited amount of time. |Unused|Unused|[m] Radius around MISSION. If positive loiter clockwise, else counter-clockwise|Desired yaw angle.|Latitude|Longitude|Altitude|
uint16 VEHICLE_CMD_NAV_LOITER_TURNS = 18 # Loiter around this MISSION for X turns. |Turns|Unused|Radius around MISSION [m]. If positive loiter clockwise, else counter-clockwise|Desired yaw angle.|Latitude|Longitude|Altitude|
uint16 VEHICLE_CMD_NAV_LOITER_TIME = 19 # Loiter around this MISSION for time. |[s] Seconds (decimal)|Unused|Radius around MISSION [m]. If positive loiter clockwise, else counter-clockwise|Desired yaw angle.|Latitude|Longitude|Altitude|
uint16 VEHICLE_CMD_NAV_RETURN_TO_LAUNCH = 20 # Return to launch location. |Unused|Unused|Unused|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_NAV_LAND = 21 # Land at location. |Unused|Unused|Unused|Desired yaw angle.|Latitude|Longitude|Altitude|
uint16 VEHICLE_CMD_NAV_TAKEOFF = 22 # Takeoff from ground / hand. |Unused (FW pitch from FW_TKO_PITCH_MIN)|Unused|Unused|[deg] [@range 0,360] Yaw angle in NED if yaw source available, ignored otherwise|Latitude (WGS-84)|Longitude (WGS-84)|[m] Altitude AMSL|
uint16 VEHICLE_CMD_NAV_PRECLAND = 23 # Attempt a precision landing.
uint16 VEHICLE_CMD_DO_ORBIT = 34 # Start orbiting on the circumference of a circle defined by the parameters. |[m] Radius|[m/s] Velocity|[@enum ORBIT_YAW_BEHAVIOUR] Yaw behaviour|Unused|Latitude/X|Longitude/Y|Altitude/Z|
uint16 VEHICLE_CMD_DO_FIGUREEIGHT = 35 # Start flying on the outline of a figure eight defined by the parameters. |[m] Major radius|[m] Minor radius|[m/s] Velocity|Orientation|Latitude/X|Longitude/Y|Altitude/Z|
uint16 VEHICLE_CMD_NAV_ROI = 80 # Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |[@enum VEHICLE_ROI] Region of interest mode.|MISSION index/ target ID.|ROI index (allows a vehicle to manage multiple ROI's)|Unused|x the location of the fixed ROI (see MAV_FRAME)|y|z|
uint16 VEHICLE_CMD_NAV_PATHPLANNING = 81 # Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning|0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid|Unused|[deg] [@range 0, 360] Yaw angle at goal, in compass degrees|Latitude/X of goal|Longitude/Y of goal|Altitude/Z of goal|
uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84 # Takeoff from ground / hand and transition to fixed wing. |Minimum pitch (if airspeed sensor present), desired pitch without sensor|Unused|Unused|Yaw angle (if magnetometer present), ignored without magnetometer|Latitude|Longitude|Altitude|
uint16 VEHICLE_CMD_NAV_VTOL_LAND = 85 # Transition to MC and land at location. |Unused|Unused|Unused|Desired yaw angle.|Latitude|Longitude|Altitude|
uint16 VEHICLE_CMD_NAV_GUIDED_LIMITS = 90 # Set limits for external control. |[s] Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout|[m] Absolute altitude min AMSL - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit|[m] Absolute altitude max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit|[m] Horizontal move limit (AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit|Unused|Unused|Unused|
uint16 VEHICLE_CMD_NAV_GUIDED_MASTER = 91 # Set id of master controller. |System ID|Component ID|Unused|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_NAV_DELAY = 93 # Delay the next navigation command a number of seconds or until a specified time. |[s] Delay (decimal, -1 to enable time-of-day fields)|[h] hour (24h format, UTC, -1 to ignore)|minute (24h format, UTC, -1 to ignore)|second (24h format, UTC)|Unused|Unused|Unused|
uint16 VEHICLE_CMD_NAV_LAST = 95 # NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration.|Unused|Unused|Unused|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_CONDITION_DELAY = 112 # Delay mission state machine. |[s] Delay (decimal seconds)|Unused|Unused|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_CONDITION_CHANGE_ALT = 113 # Ascend/descend at rate. Delay mission state machine until desired altitude reached.|Descent / Ascend rate (m/s)|Unused|Unused|Unused|Unused|Unused|Finish Altitude|
uint16 VEHICLE_CMD_CONDITION_DISTANCE = 114 # Delay mission state machine until within desired distance of next NAV point. |Distance [m]|Unused|Unused|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_CONDITION_YAW = 115 # Reach a certain target angle. |[deg] [@range 0,360] Target angle. 0 is north|[deg/s] Speed during yaw change|[@range -1,1] Direction: negative: counter clockwise, positive: clockwise |[ 1,0] Relative offset or absolute angle|Unused|Unused|Unused|
uint16 VEHICLE_CMD_CONDITION_LAST = 159 # NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration. |Unused|Unused|Unused|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_CONDITION_GATE = 4501 # Wait until passing a threshold. |2D coord mode: 0: Orthogonal to planned route|Altitude mode: 0: Ignore altitude|Unused|Unused|Lat|Lon|Alt|
uint16 VEHICLE_CMD_DO_SET_MODE = 176 # Set system mode. |Mode, as defined by ENUM MAV_MODE|Unused|Unused|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_DO_JUMP = 177 # Jump to the desired command in the mission list. Repeat this action only the specified number of times. |Sequence number|Repeat count|Unused|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_DO_CHANGE_SPEED = 178 # Change speed and/or throttle set points. |[@enum SPEED_TYPE] Speed type (0=Airspeed, 1=Ground Speed)|Speed (m/s, -1 indicates no change)|[%] Throttle ( Percent, -1 indicates no change)|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_DO_SET_HOME = 179 # Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)|Unused|Unused|Unused|Latitude|Longitude|Altitude|
uint16 VEHICLE_CMD_DO_SET_PARAMETER = 180 # Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number|Parameter value|Unused|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_DO_SET_RELAY = 181 # Set a relay to a condition. |Relay number|Setting (1=on, 0=off, others possible depending on system hardware)|Unused|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_DO_REPEAT_RELAY = 182 # Cycle a relay on and off for a desired number of cycles with a desired period. |Relay number|Cycle count|[s] Cycle time (decimal seconds)|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_DO_REPEAT_SERVO = 184 # Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number|[us] PWM rate (1000 to 2000 typical)|Cycle count|[s] Cycle time|Unused|Unused|Unused|
uint16 VEHICLE_CMD_DO_FLIGHTTERMINATION = 185 # Terminate flight immediately. |Flight termination activated if > 0.5|Unused|Unused|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_DO_CHANGE_ALTITUDE = 186 # Set the vehicle to Loiter mode and change the altitude to specified value. |Altitude|Frame of new altitude|Unused|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_DO_SET_ACTUATOR = 187 # Sets actuators (e.g. servos) to a desired value. |Actuator 1|Actuator 2|Actuator 3|Actuator 4|Actuator 5|Actuator 6|Index|
uint16 VEHICLE_CMD_DO_LAND_START = 189 # Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0/0 if not needed. If specified then it will be used to help find the closest landing sequence. |Unused|Unused|Unused|Unused|Latitude|Longitude|Unused|
uint16 VEHICLE_CMD_DO_GO_AROUND = 191 # Mission command to safely abort an autonomous landing. |[m] Altitude|Unused|Unused|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_DO_REPOSITION = 192 # Reposition to specific WGS84 GPS position. |[m/s] Ground speed|Bitmask|[m] Loiter radius for planes|[deg] Yaw|Latitude|Longitude|Altitude|
uint16 VEHICLE_CMD_DO_PAUSE_CONTINUE = 193
uint16 VEHICLE_CMD_DO_SET_ROI_LOCATION = 195 # Sets the region of interest (ROI) to a location. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Latitude| Longitude| Altitude|
uint16 VEHICLE_CMD_DO_SET_ROI_WPNEXT_OFFSET = 196 # Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| pitch offset from next waypoint| roll offset from next waypoint| yaw offset from next waypoint|
uint16 VEHICLE_CMD_DO_SET_ROI_NONE = 197 # Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
uint16 VEHICLE_CMD_DO_CONTROL_VIDEO = 200 # Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|
uint16 VEHICLE_CMD_DO_SET_ROI = 201 # Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|
uint16 VEHICLE_CMD_DO_SET_ROI_LOCATION = 195 # Sets the region of interest (ROI) to a location. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Unused|Unused|Unused|Unused|Latitude|Longitude|Altitude|
uint16 VEHICLE_CMD_DO_SET_ROI_WPNEXT_OFFSET = 196 # Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Unused|Unused|Unused|Unused|Pitch offset from next waypoint|Roll offset from next waypoint|Yaw offset from next waypoint|
uint16 VEHICLE_CMD_DO_SET_ROI_NONE = 197 # Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Unused|Unused|Unused|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_DO_CONTROL_VIDEO = 200 # Control onboard camera system. |Camera ID (-1 for all)|Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw|Transmission mode: 0: video stream, >0: single images every n seconds (decimal seconds)|Recording: 0: disabled, 1: enabled compressed, 2: enabled raw|Unused|Unused|Unused|
uint16 VEHICLE_CMD_DO_SET_ROI = 201 # Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |[@enum VEHICLE_ROI] Region of interest mode.|MISSION index/ target ID.|ROI index (allows a vehicle to manage multiple ROI's)|Unused|x the location of the fixed ROI (see MAV_FRAME)|y|z|
uint16 VEHICLE_CMD_DO_DIGICAM_CONTROL=203
uint16 VEHICLE_CMD_DO_MOUNT_CONFIGURE=204 # Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty|
uint16 VEHICLE_CMD_DO_MOUNT_CONTROL=205 # Mission command to control a camera or antenna mount |pitch or lat in degrees, depending on mount mode.| roll or lon in degrees depending on mount mode| yaw or alt (in meters) depending on mount mode| reserved| reserved| reserved| MAV_MOUNT_MODE enum value|
uint16 VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST=206 # Mission command to set TRIG_DIST for this flight |Camera trigger distance (meters)| Shutter integration time (ms)| Empty| Empty| Empty| Empty| Empty|
uint16 VEHICLE_CMD_DO_FENCE_ENABLE=207 # Mission command to enable the geofence |enable? (0=disable, 1=enable)| Empty| Empty| Empty| Empty| Empty| Empty|
uint16 VEHICLE_CMD_DO_PARACHUTE=208 # Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty|
uint16 VEHICLE_CMD_DO_MOTOR_TEST=209 # motor test command |Instance (1, ...)| throttle type| throttle| timeout [s]| Motor count | Test order| Empty|
uint16 VEHICLE_CMD_DO_INVERTED_FLIGHT=210 # Change to/from inverted flight |inverted (0=normal, 1=inverted)| Empty| Empty| Empty| Empty| Empty| Empty|
uint16 VEHICLE_CMD_DO_GRIPPER = 211 # Command to operate a gripper
uint16 VEHICLE_CMD_DO_SET_CAM_TRIGG_INTERVAL=214 # Mission command to set TRIG_INTERVAL for this flight |Camera trigger distance (meters)| Shutter integration time (ms)| Empty| Empty| Empty| Empty| Empty|
uint16 VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT=220 # Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1, w (1 in null-rotation)| q2 - quaternion param #2, x (0 in null-rotation)| q3 - quaternion param #3, y (0 in null-rotation)| q4 - quaternion param #4, z (0 in null-rotation)| Empty| Empty| Empty|
uint16 VEHICLE_CMD_DO_GUIDED_MASTER=221 # set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty|
uint16 VEHICLE_CMD_DO_GUIDED_LIMITS=222 # set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty|
uint16 VEHICLE_CMD_DO_LAST = 240 # NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
uint16 VEHICLE_CMD_PREFLIGHT_CALIBRATION = 241 # Trigger calibration. This command will be only accepted if in pre-flight mode. See mavlink spec MAV_CMD_PREFLIGHT_CALIBRATION
uint16 PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION = 3# param value for VEHICLE_CMD_PREFLIGHT_CALIBRATION to start temperature calibration
uint16 VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242 # Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units|
uint16 VEHICLE_CMD_PREFLIGHT_UAVCAN = 243 # UAVCAN configuration. If param 1 == 1 actuator mapping and direction assignment should be started
uint16 VEHICLE_CMD_PREFLIGHT_STORAGE = 245 # Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|
uint16 VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246 # Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|
uint16 VEHICLE_CMD_OBLIQUE_SURVEY=260 # Mission command to set a Camera Auto Mount Pivoting Oblique Survey for this flight|Camera trigger distance (meters)| Shutter integration time (ms)| Camera minimum trigger interval| Number of positions| Roll| Pitch| Empty|
uint16 VEHICLE_CMD_DO_SET_STANDARD_MODE=262 # Enable the specified standard MAVLink mode |MAV_STANDARD_MODE|
uint16 VEHICLE_CMD_GIMBAL_DEVICE_INFORMATION = 283 # Command to ask information about a low level gimbal
uint16 VEHICLE_CMD_DO_MOUNT_CONFIGURE=204 # Mission command to configure a camera or antenna mount. |[@enum MAV_MOUNT_MODE] Mount operation mode|Stabilize roll? (1 = yes, 0 = no)|Stabilize pitch? (1 = yes, 0 = no)|stabilize yaw? (1 = yes, 0 = no)|Unused|Unused|Unused|
uint16 VEHICLE_CMD_DO_MOUNT_CONTROL=205 # Mission command to control a camera or antenna mount. |[deg] Pitch or lat, depending on mount mode.|[deg] Roll or lon depending on mount mode|[deg]/[m] Yaw or alt depending on mount mode|Unused|Unused|Unused|[@enum MAV_MOUNT_MODE]|
uint16 VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST=206 # Mission command to set TRIG_DIST for this flight. |[m] Camera trigger distance|[ms] Shutter integration time|Unused|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_DO_FENCE_ENABLE=207 # Mission command to enable the geofence. |enable? (0=disable, 1=enable)|Unused|Unused|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_DO_PARACHUTE=208 # Mission command to trigger a parachute. |action [@enum PARACHUTE_ACTION] (0=disable, 1=enable, 2=release, for some systems see [@enum PARACHUTE_ACTION], not in general message set.)|Unused|Unused|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_DO_MOTOR_TEST=209 # Motor test command. |Instance (@range 1, )|throttle type|throttle|timeout [s]|Motor count|Test order|Unused|
uint16 VEHICLE_CMD_DO_INVERTED_FLIGHT=210 # Change to/from inverted flight. |inverted (0=normal, 1=inverted)|Unused|Unused|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_DO_GRIPPER = 211 # Command to operate a gripper.
uint16 VEHICLE_CMD_DO_SET_CAM_TRIGG_INTERVAL=214 # Mission command to set TRIG_INTERVAL for this flight. |[m] Camera trigger distance|Shutter integration time (ms)|Unused|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT=220 # Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1, w (1 in null-rotation)|q2 - quaternion param #2, x (0 in null-rotation)|q3 - quaternion param #3, y (0 in null-rotation)|q4 - quaternion param #4, z (0 in null-rotation)|Unused|Unused|Unused|
uint16 VEHICLE_CMD_DO_GUIDED_MASTER=221 # Set id of master controller. |System ID|Component ID|Unused|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_DO_GUIDED_LIMITS=222 # Set limits for external control. |[s] Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout|[m] Absolute altitude min(AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit|[m] Absolute altitude max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit|[m] Horizontal move limit (AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit|Unused|Unused|Unused|
uint16 VEHICLE_CMD_DO_LAST = 240 # NOP - This command is only used to mark the upper limit of the DO commands in the enumeration. |Unused|Unused|Unused|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_PREFLIGHT_CALIBRATION = 241 # Trigger calibration. This command will be only accepted if in pre-flight mode. See MAVLink spec MAV_CMD_PREFLIGHT_CALIBRATION.
uint16 PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION = 3# Param value for VEHICLE_CMD_PREFLIGHT_CALIBRATION to start temperature calibration.
uint16 VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242 # Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow|X axis offset (or generic dimension 1), in the sensor's raw units|Y axis offset (or generic dimension 2), in the sensor's raw units|Z axis offset (or generic dimension 3), in the sensor's raw units|Generic dimension 4, in the sensor's raw units|Generic dimension 5, in the sensor's raw units|Generic dimension 6, in the sensor's raw units|
uint16 VEHICLE_CMD_PREFLIGHT_UAVCAN = 243 # UAVCAN configuration. If param 1 == 1 actuator mapping and direction assignment should be started.
uint16 VEHICLE_CMD_PREFLIGHT_STORAGE = 245 # Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM|Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM|Unused|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246 # Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.|0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.|Unused|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_OBLIQUE_SURVEY=260 # Mission command to set a Camera Auto Mount Pivoting Oblique Survey for this flight. |[m] Camera trigger distance|[ms] Shutter integration time|Camera minimum trigger interval|Number of positions|Roll|Pitch|Unused|
uint16 VEHICLE_CMD_DO_SET_STANDARD_MODE=262 # Enable the specified standard MAVLink mode. |MAV_STANDARD_MODE|
uint16 VEHICLE_CMD_GIMBAL_DEVICE_INFORMATION = 283 # Command to ask information about a low level gimbal.
uint16 VEHICLE_CMD_MISSION_START = 300 # start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)|
uint16 VEHICLE_CMD_ACTUATOR_TEST = 310 # Actuator testing command|value [-1,1]|timeout [s]|Empty|Empty|output function|
uint16 VEHICLE_CMD_CONFIGURE_ACTUATOR = 311 # Actuator configuration command|configuration|Empty|Empty|Empty|output function|
uint16 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400 # Arms / Disarms a component |1 to arm, 0 to disarm
uint16 VEHICLE_CMD_RUN_PREARM_CHECKS = 401 # Instructs a target system to run pre-arm checks.
uint16 VEHICLE_CMD_INJECT_FAILURE = 420 # Inject artificial failure for testing purposes
uint16 VEHICLE_CMD_START_RX_PAIR = 500 # Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|
uint16 VEHICLE_CMD_REQUEST_MESSAGE = 512 # Request to send a single instance of the specified message
uint16 VEHICLE_CMD_REQUEST_CAMERA_INFORMATION = 521 # Request camera information (CAMERA_INFORMATION). |0: No action 1: Request camera capabilities| Reserved (all remaining params)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)| Reserved (default:0)|
uint16 VEHICLE_CMD_SET_CAMERA_MODE = 530 # Set camera capture mode (photo, video, etc.)
uint16 VEHICLE_CMD_SET_CAMERA_ZOOM = 531 # Set camera zoom
uint16 VEHICLE_CMD_MISSION_START = 300 # Start running a mission. |first_item: the first mission item to run|last_item: the last mission item to run (after this item is run, the mission ends)|
uint16 VEHICLE_CMD_ACTUATOR_TEST = 310 # Actuator testing command. |[@range -1,1] value|[s] timeout|Unused|Unused|output function|
uint16 VEHICLE_CMD_CONFIGURE_ACTUATOR = 311 # Actuator configuration command. |configuration|Unused|Unused|Unused|output function|
uint16 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400 # Arms / Disarms a component. |1 to arm, 0 to disarm.
uint16 VEHICLE_CMD_RUN_PREARM_CHECKS = 401 # Instructs a target system to run pre-arm checks.
uint16 VEHICLE_CMD_INJECT_FAILURE = 420 # Inject artificial failure for testing purposes.
uint16 VEHICLE_CMD_START_RX_PAIR = 500 # Starts receiver pairing. |0:Spektrum|0:Spektrum DSM2, 1:Spektrum DSMX|
uint16 VEHICLE_CMD_REQUEST_MESSAGE = 512 # Request to send a single instance of the specified message.
uint16 VEHICLE_CMD_REQUEST_CAMERA_INFORMATION = 521 # Request camera information (CAMERA_INFORMATION). |0: No action 1: Request camera capabilities|Reserved (all remaining params)|Reserved (default:0)|Reserved (default:0)|Reserved (default:0)|Reserved (default:0)|Reserved (default:0)|
uint16 VEHICLE_CMD_SET_CAMERA_MODE = 530 # Set camera capture mode (photo, video, etc.).
uint16 VEHICLE_CMD_SET_CAMERA_ZOOM = 531 # Set camera zoom.
uint16 VEHICLE_CMD_SET_CAMERA_FOCUS = 532
uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW = 1000 # Setpoint to be sent to a gimbal manager to set a gimbal pitch and yaw
uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE = 1001 # Gimbal configuration to set which sysid/compid is in primary and secondary control
uint16 VEHICLE_CMD_IMAGE_START_CAPTURE = 2000 # Start image capture sequence.
uint16 VEHICLE_CMD_DO_TRIGGER_CONTROL = 2003 # Enable or disable on-board camera triggering system
uint16 VEHICLE_CMD_VIDEO_START_CAPTURE = 2500 # Start a video capture.
uint16 VEHICLE_CMD_VIDEO_STOP_CAPTURE = 2501 # Stop the current video capture.
uint16 VEHICLE_CMD_LOGGING_START = 2510 # start streaming ULog data
uint16 VEHICLE_CMD_LOGGING_STOP = 2511 # stop streaming ULog data
uint16 VEHICLE_CMD_CONTROL_HIGH_LATENCY = 2600 # control starting/stopping transmitting data over the high latency link
uint16 VEHICLE_CMD_DO_VTOL_TRANSITION = 3000 # Command VTOL transition
uint16 VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST = 3001 # Request arm authorization
uint16 VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001 # Prepare a payload deployment in the flight plan
uint16 VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002 # Control a pre-programmed payload deployment
uint16 VEHICLE_CMD_FIXED_MAG_CAL_YAW = 42006 # Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location.
uint16 VEHICLE_CMD_DO_WINCH = 42600 # Command to operate winch.
uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW = 1000 # Setpoint to be sent to a gimbal manager to set a gimbal pitch and yaw.
uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE = 1001 # Gimbal configuration to set which sysid/compid is in primary and secondary control.
uint16 VEHICLE_CMD_IMAGE_START_CAPTURE = 2000 # Start image capture sequence.
uint16 VEHICLE_CMD_DO_TRIGGER_CONTROL = 2003 # Enable or disable on-board camera triggering system.
uint16 VEHICLE_CMD_VIDEO_START_CAPTURE = 2500 # Start a video capture.
uint16 VEHICLE_CMD_VIDEO_STOP_CAPTURE = 2501 # Stop the current video capture.
uint16 VEHICLE_CMD_LOGGING_START = 2510 # Start streaming ULog data.
uint16 VEHICLE_CMD_LOGGING_STOP = 2511 # Stop streaming ULog data.
uint16 VEHICLE_CMD_CONTROL_HIGH_LATENCY = 2600 # Control starting/stopping transmitting data over the high latency link.
uint16 VEHICLE_CMD_DO_VTOL_TRANSITION = 3000 # Command VTOL transition.
uint16 VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST = 3001 # Request arm authorization.
uint16 VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001 # Prepare a payload deployment in the flight plan.
uint16 VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002 # Control a pre-programmed payload deployment.
uint16 VEHICLE_CMD_FIXED_MAG_CAL_YAW = 42006 # Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location.
uint16 VEHICLE_CMD_DO_WINCH = 42600 # Command to operate winch.
uint16 VEHICLE_CMD_EXTERNAL_POSITION_ESTIMATE = 43003 # external reset of estimator global position when deadreckoning
uint16 VEHICLE_CMD_EXTERNAL_POSITION_ESTIMATE = 43003 # External reset of estimator global position when dead reckoning.
uint16 VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE = 43004
# PX4 vehicle commands (beyond 16 bit mavlink commands)
uint32 VEHICLE_CMD_PX4_INTERNAL_START = 65537 # start of PX4 internal only vehicle commands (> UINT16_MAX)
uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000 # Sets the GPS coordinates of the vehicle local origin (0,0,0) position. |Empty|Empty|Empty|Empty|Latitude|Longitude|Altitude|
uint32 VEHICLE_CMD_SET_NAV_STATE = 100001 # Change mode by specifying nav_state directly. |nav_state|Empty|Empty|Empty|Empty|Empty|Empty|
# PX4 vehicle commands (beyond 16 bit MAVLink commands).
uint32 VEHICLE_CMD_PX4_INTERNAL_START = 65537 # Start of PX4 internal only vehicle commands (> UINT16_MAX).
uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000 # Sets the GPS coordinates of the vehicle local origin (0,0,0) position. |Unused|Unused|Unused|Unused|Latitude (WGS-84)|Longitude (WGS-84)|[m] Altitude (AMSL from GNSS, positive above ground)|
uint32 VEHICLE_CMD_SET_NAV_STATE = 100001 # Change mode by specifying nav_state directly. |nav_state|Unused|Unused|Unused|Unused|Unused|Unused|
uint8 VEHICLE_MOUNT_MODE_RETRACT = 0 # Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization |
uint8 VEHICLE_MOUNT_MODE_NEUTRAL = 1 # Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. |
uint8 VEHICLE_MOUNT_MODE_MAVLINK_TARGETING = 2 # Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization |
uint8 VEHICLE_MOUNT_MODE_RC_TARGETING = 3 # Load neutral position and start RC Roll,Pitch,Yaw control with stabilization |
uint8 VEHICLE_MOUNT_MODE_GPS_POINT = 4 # Load neutral position and start to point to Lat,Lon,Alt |
uint8 VEHICLE_MOUNT_MODE_ENUM_END = 5 #
uint8 VEHICLE_MOUNT_MODE_RETRACT = 0 # Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization.
uint8 VEHICLE_MOUNT_MODE_NEUTRAL = 1 # Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory.
uint8 VEHICLE_MOUNT_MODE_MAVLINK_TARGETING = 2 # Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization.
uint8 VEHICLE_MOUNT_MODE_RC_TARGETING = 3 # Load neutral position and start RC Roll,Pitch,Yaw control with stabilization.
uint8 VEHICLE_MOUNT_MODE_GPS_POINT = 4 # Load neutral position and start to point to Lat,Lon,Alt.
uint8 VEHICLE_MOUNT_MODE_ENUM_END = 5 #
uint8 VEHICLE_ROI_NONE = 0 # No region of interest |
uint8 VEHICLE_ROI_WPNEXT = 1 # Point toward next MISSION |
uint8 VEHICLE_ROI_WPINDEX = 2 # Point toward given MISSION |
uint8 VEHICLE_ROI_LOCATION = 3 # Point toward fixed location |
uint8 VEHICLE_ROI_TARGET = 4 # Point toward target
uint8 VEHICLE_ROI_NONE = 0 # No region of interest.
uint8 VEHICLE_ROI_WPNEXT = 1 # Point toward next MISSION.
uint8 VEHICLE_ROI_WPINDEX = 2 # Point toward given MISSION.
uint8 VEHICLE_ROI_LOCATION = 3 # Point toward fixed location.
uint8 VEHICLE_ROI_TARGET = 4 # Point toward target.
uint8 VEHICLE_ROI_ENUM_END = 5
uint8 PARACHUTE_ACTION_DISABLE = 0
@@ -163,13 +163,13 @@ uint8 FAILURE_TYPE_SLOW = 5
uint8 FAILURE_TYPE_DELAYED = 6
uint8 FAILURE_TYPE_INTERMITTENT = 7
# used as param1 in DO_CHANGE_SPEED command
# Used as param1 in DO_CHANGE_SPEED command.
uint8 SPEED_TYPE_AIRSPEED = 0
uint8 SPEED_TYPE_GROUNDSPEED = 1
uint8 SPEED_TYPE_CLIMB_SPEED = 2
uint8 SPEED_TYPE_DESCEND_SPEED = 3
# used as param3 in CMD_DO_ORBIT
# Used as param3 in CMD_DO_ORBIT.
uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER = 0
uint8 ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING = 1
uint8 ORBIT_YAW_BEHAVIOUR_UNCONTROLLED = 2
@@ -177,29 +177,29 @@ uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE = 3
uint8 ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED = 4
uint8 ORBIT_YAW_BEHAVIOUR_UNCHANGED = 5
# used as param1 in ARM_DISARM command
# Used as param1 in ARM_DISARM command.
int8 ARMING_ACTION_DISARM = 0
int8 ARMING_ACTION_ARM = 1
# param2 in VEHICLE_CMD_DO_GRIPPER
# param2 in VEHICLE_CMD_DO_GRIPPER.
uint8 GRIPPER_ACTION_RELEASE = 0
uint8 GRIPPER_ACTION_GRAB = 1
uint8 ORB_QUEUE_LENGTH = 8
float32 param1 # Parameter 1, as defined by MAVLink uint16 VEHICLE_CMD enum.
float32 param2 # Parameter 2, as defined by MAVLink uint16 VEHICLE_CMD enum.
float32 param3 # Parameter 3, as defined by MAVLink uint16 VEHICLE_CMD enum.
float32 param4 # Parameter 4, as defined by MAVLink uint16 VEHICLE_CMD enum.
float64 param5 # Parameter 5, as defined by MAVLink uint16 VEHICLE_CMD enum.
float64 param6 # Parameter 6, as defined by MAVLink uint16 VEHICLE_CMD enum.
float32 param7 # Parameter 7, as defined by MAVLink uint16 VEHICLE_CMD enum.
uint32 command # Command ID
uint8 target_system # System which should execute the command
uint8 target_component # Component which should execute the command, 0 for all components
uint8 source_system # System sending the command
uint16 source_component # Component / mode executor sending the command
uint8 confirmation # 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
float32 param1 # Parameter 1, as defined by MAVLink uint16 VEHICLE_CMD enum.
float32 param2 # Parameter 2, as defined by MAVLink uint16 VEHICLE_CMD enum.
float32 param3 # Parameter 3, as defined by MAVLink uint16 VEHICLE_CMD enum.
float32 param4 # Parameter 4, as defined by MAVLink uint16 VEHICLE_CMD enum.
float64 param5 # Parameter 5, as defined by MAVLink uint16 VEHICLE_CMD enum.
float64 param6 # Parameter 6, as defined by MAVLink uint16 VEHICLE_CMD enum.
float32 param7 # Parameter 7, as defined by MAVLink uint16 VEHICLE_CMD enum.
uint32 command # Command ID.
uint8 target_system # System which should execute the command.
uint8 target_component # Component which should execute the command, 0 for all components.
uint8 source_system # System sending the command.
uint16 source_component # Component / mode executor sending the command.
uint8 confirmation # 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command).
bool from_external
uint16 COMPONENT_MODE_EXECUTOR_START = 1000

38
docs/zh/msg_docs/index.md
View File

@@ -15,10 +15,18 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [ActuatorMotors](ActuatorMotors.md) — Motor control message
- [ActuatorServos](ActuatorServos.md) — Servo control message
- [AirspeedValidated](AirspeedValidated.md)
- [ArmingCheckReply](ArmingCheckReply.md)
- [ArmingCheckRequest](ArmingCheckRequest.md)
- [BatteryStatus](BatteryStatus.md)
- [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors
- [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
@@ -26,6 +34,11 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
Unset optional setpoints are not controlled
Unset optional constraints default to vehicle specifications
- [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.
- [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.
@@ -79,8 +92,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [Airspeed](Airspeed.md)
- [AirspeedValidated](AirspeedValidated.md)
- [AirspeedWind](AirspeedWind.md)
- [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md)
@@ -95,7 +106,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [CanInterfaceStatus](CanInterfaceStatus.md)
- [CellularStatus](CellularStatus.md)
- [CellularStatus](CellularStatus.md) — Cellular status
- [CollisionConstraints](CollisionConstraints.md) — Local setpoint constraints in NED frame
setting something to NaN means that no limit is provided
@@ -164,6 +175,14 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [FigureEightStatus](FigureEightStatus.md)
- [FixedWingLateralGuidanceStatus](FixedWingLateralGuidanceStatus.md) — Fixed Wing Lateral Guidance Status message
Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs
- [FixedWingLateralStatus](FixedWingLateralStatus.md) — Fixed Wing Lateral Status message
Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint
- [FixedWingRunwayControl](FixedWingRunwayControl.md) — Auxiliary control fields for fixed-wing runway takeoff/landing
- [FlightPhaseEstimation](FlightPhaseEstimation.md)
- [FollowTarget](FollowTarget.md)
@@ -270,8 +289,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [NormalizedUnsignedSetpoint](NormalizedUnsignedSetpoint.md)
- [NpfgStatus](NpfgStatus.md)
- [ObstacleDistance](ObstacleDistance.md) — Obstacle distances in front of the sensor.
- [OffboardControlMode](OffboardControlMode.md) — Off-board control mode
@@ -343,6 +360,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [RoverAttitudeStatus](RoverAttitudeStatus.md)
- [RoverPositionSetpoint](RoverPositionSetpoint.md)
- [RoverRateSetpoint](RoverRateSetpoint.md)
- [RoverRateStatus](RoverRateStatus.md)
@@ -351,6 +370,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [RoverThrottleSetpoint](RoverThrottleSetpoint.md)
- [RoverVelocitySetpoint](RoverVelocitySetpoint.md)
- [RoverVelocityStatus](RoverVelocityStatus.md)
- [Rpm](Rpm.md)
@@ -419,6 +440,9 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [TimesyncStatus](TimesyncStatus.md)
- [TrajectorySetpoint6dof](TrajectorySetpoint6dof.md) — Trajectory setpoint in NED frame
Input to position controller.
- [TransponderReport](TransponderReport.md)
- [TuneControl](TuneControl.md) — This message is used to control the tunes, when the tune_id is set to CUSTOM
@@ -471,4 +495,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [YawEstimatorStatus](YawEstimatorStatus.md)
- [AirspeedValidatedV0](AirspeedValidatedV0.md)
- [VehicleAttitudeSetpointV0](VehicleAttitudeSetpointV0.md)
- [VehicleStatusV0](VehicleStatusV0.md) — Encodes the system state of the vehicle published by commander

181
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@@ -345,6 +345,7 @@ The used types also define the compatibility with different vehicle types.
The following sections provide a list of supported setpoint types:
- [GotoSetpointType](#go-to-setpoint-gotosetpointtype): Smooth position and (optionally) heading control
- [FwLateralLongitudinalSetpointType](#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype): Direct control of lateral and longitudinal fixed wing dynamics
- [DirectActuatorsSetpointType](#direct-actuator-control-setpoint-directactuatorssetpointtype): Direct control of motors and flight surface servo setpoints
:::tip
@@ -359,7 +360,7 @@ You can add your own setpoint types by adding a class that inherits from `px4_ro
This setpoint type is currently only supported for multicopters.
:::
Smoothly control position and (optionally) heading setpoints with the [px4_ros2::GotoSetpointType](https://github.com/Auterion/px4-ros2-interface-lib/blob/main/px4_ros2_cpp/include/px4_ros2/control/setpoint_types/goto.hpp) setpoint type.
Smoothly control position and (optionally) heading setpoints with the [`px4_ros2::GotoSetpointType`](https://github.com/Auterion/px4-ros2-interface-lib/blob/main/px4_ros2_cpp/include/px4_ros2/control/setpoint_types/goto.hpp) setpoint type.
The setpoint type is streamed to FMU based position and heading smoothers formulated with time-optimal, maximum-jerk trajectories, with velocity and acceleration constraints.
The most trivial use is simply inputting a 3D position into the update method:
@@ -404,6 +405,137 @@ _goto_setpoint->update(
max_heading_rate_rad_s);
```
#### Fixed-Wing Lateral and Longitudinal Setpoint (FwLateralLongitudinalSetpointType)
<Badge type="warning" text="Fixed wing only" />
:::info
This setpoint type is supported for fixed-wing vehicles and for VTOLs in fixed-wing mode.
:::
Use the [`px4_ros2::FwLateralLongitudinalSetpointType`](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1FwLateralLongitudinalSetpointType.html) to directly control the lateral and longitudinal dynamics of a fixed-wing vehicle — that is, side-to-side motion (turning/banking) and forward/vertical motion (speeding up and climbing/descending), respectively.
This setpoint is streamed to the PX4 [_FwLateralLongitudinalControl_ module](../modules/modules_controller.md#fw-lat-lon-control), which decouples lateral and longitudinal inputs while ensuring that vehicle limits are respected.
To control the vehicle, at least one lateral **and** one longitudinal setpoint must be provided:
1. Of the longitudinal inputs: either `altitude` or `height_rate` must be finite to control vertical motion.
If both are set to `NAN`, the vehicle will maintain its current altitude.
2. Of the lateral inputs: at least one of `course`, `airspeed_direction`, or `lateral_acceleration` must be finite.
For a detailed description of the controllable parameters, please refer to message definitions ([FixedWingLateralSetpoint](../msg_docs/FixedWingLateralSetpoint.md) and [FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md)).
##### 基本用法
This type has a number of update methods, each allowing you to specify an increasing number of setpoints.
The simplest method is `updateWithAltitude()`, which allows you to specify a `course` and `altitude` target setpoint:
```cpp
const float altitude_msl = 500.F;
const float course = 0.F; // due North
_fw_lateral_longitudinal_setpoint->updateWithAltitude(altitude_msl, course);
```
PX4 uses the setpoints to compute the _roll angle_, _pitch angle_ and _throttle_ setpoints that are sent to lower level controllers.
Note that the commanded flight is expected to be relatively gentle/unaggressive when using this method.
This is done as follows:
- Lateral control output:
course setpoint (set by user) &rarr; airspeed direction (heading) setpoint &rarr; lateral acceleration setpoint &rarr; roll angle setpoint.
- Longitudinal control output:
altitude setpoint (set by user) &rarr; height rate setpoint &rarr; pitch angle setpoint and throttle settings.
The `updateWithHeightRate()` method allows you to set a target `course` and `height_rate` (this is useful if the speed of ascent or descent matters, or needs to be dynamically controlled):
```cpp
const float height_rate = 2.F;
const float course = 0.F; // due North
_fw_lateral_longitudinal_setpoint->updateWithHeightRate(height_rate, course);
```
The `updateWithAltitude()` and `updateWithHeightRate()` methods allow you to additionally control the equivalent airspeed or lateral acceleration by specifying them as the third and fourth arguments, respectively:
```cpp
const float altitude_msl = 500.F;
const float course = 0.F; // due North
const float equivalent_aspd = 15.F; // m/s
const float lateral_acceleration = 2.F; // FRD, used as feedforward
_fw_lateral_longitudinal_setpoint->updateWithAltitude(altitude_msl,
course,
equivalent_aspd,
lateral_acceleration);
```
The equivalent airspeed and lateral acceleration arguments are defined as `std::optional<float>`, so you can omit any of them by passing `std::nullopt`.
:::tip
If both lateral acceleration and course setpoints are provided, the lateral acceleration setpoint will be used as feedforward.
:::
##### Full Control Using the Setpoint Struct
For full flexibility, you can create and pass a [`FwLateralLongitudinalSetpoint`](https://auterion.github.io/px4-ros2-interface-lib/structpx4__ros2_1_1FwLateralLongitudinalSetpoint.html) struct.
Each field is templated with `std::optional<float>`.
:::tip
If both course and airspeed direction are set: airspeed direction takes precedence, course is not controlled.
Lateral acceleration is treated as feedforward if either course or airspeed direction are also finite.
If both altitude and height rate are set: height rate takes precedence, altitude is not controlled.
:::
```cpp
px4_ros2::FwLateralLongitudinalSetpoint setpoint_s;
setpoint_s.withCourse(0.F);
// setpoint_s.withAirspeedDirection(0.2F); // uncontrolled
setpoint_s.withLateralAcceleration(2.F); // feedforward
//setpoint_s.withAltitude(500.F); // uncontrolled
setpoint_s.withHeightRate(2.F);
setpoint_s.withEquivalentAirspeed(15.F);
_fw_lateral_longitudinal_setpoint->update(setpoint_s);
```
The diagram below illustrates the interaction between the `FwLateralLongitudinalSetpointType` and PX4 when all inputs are set.
![FW ROS Interaction](../../assets/middleware/ros2/px4_ros2_interface_lib/fw_lat_long_ros_interaction.svg)
##### Advanced Configuration (Optional)
You can also pass a [`FwControlConfiguration`](https://auterion.github.io/px4-ros2-interface-lib/structpx4__ros2_1_1FwControlConfiguration.html) struct along with the setpoint to override default controller settings and constraints such as pitch limits, throttle limits, and target sink/climb rates.
This is intended for advanced users:
```cpp
px4_ros2::FwLateralLongitudinalSetpoint setpoint_s;
setpoint_s.withAirspeedDirection(0.F);
setpoint_s.withLateralAcceleration(2.F); // feedforward
setpoint_s.withAltitude(500.F);
setpoint_s.withEquivalentAirspeed(15.F);
px4_ros2::FwControlConfiguration config_s;
config_s.withTargetClimbRate(3.F);
config_s.withMaxAcceleration(5.F);
config_s.withThrottleLimits(0.4F, 0.6F);
_fw_lateral_longitudinal_setpoint->update(setpoint_s, config_s);
```
All configuration fields are defined as `std::optional<float>`.
Unset values will default to the PX4 configuration.
See [LateralControlConfiguration](../msg_docs/LateralControlConfiguration.md) and [FixedWingLongitudinalConfiguration](../msg_docs/LongitudinalControlConfiguration.md) for more information on configuration options.
:::info
For safety, PX4 automatically limits configuration values to stay within the vehicle’s constraints.
For example, throttle overrides are clamped to remain between [`FW_THR_MIN`](../advanced_config/parameter_reference.md#FW_THR_MIN)
and [`FW_THR_MAX`](../advanced_config/parameter_reference.md#FW_THR_MAX).
:::
#### Direct Actuator Control Setpoint (DirectActuatorsSetpointType)
Actuators can be directly controlled using the [px4_ros2::DirectActuatorsSetpointType](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1DirectActuatorsSetpointType.html) setpoint type.
@@ -415,11 +547,55 @@ For example to control a quadrotor, you need to set the first 4 motors according
If you want to control an actuator that does not control the vehicle's motion, but for example a payload servo, see [below](#controlling-an-independent-actuator-servo).
:::
### Controlling a VTOL
<Badge type="warning" text="Experimental" />
To control a VTOL in an external flight mode, ensure you're returning the correct setpoint type based on the current flight configuration:
- Multicopter mode: use a setpoint type that is compatible with multicopter control. For example: either the [`GotoSetpointType`](#go-to-setpoint-gotosetpointtype) or the [`TrajectorySetpointType`](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1TrajectorySetpointType.html).
- Fixed-wing mode: Use the [`FwLateralLongitudinalSetpointType`](#fixed-wing-lateral-and-longitudinal-setpoint-fwlaterallongitudinalsetpointtype).
As long as the VTOL remains in either multicopter or fixed-wing mode throughout the external mode, no additional handling is required.
If you would like to command a VTOL transition in your external mode, you need to use the [VTOL API](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1VTOL.html). The VTOL API provides the functionality to command a transition and query the current state of the vehicle.
Use this API with caution!
Commanding transitions externally makes the user partially responsible for ensuring smooth and safe behavior, unlike onboard transitions (e.g. via RC switch) where PX4 handles the full process:
1. Ensure that both the `TrajectorySetpointType` and the `FwLateralLongitudinalSetpointType` are available to your mode.
2. Create an instance of `px4_ros2::VTOL` in the constructor of your mode.
3. To command a transition, you can use the `toMulticopter()` or `toFixedwing()` methods on your VTOL object to set the desired state.
4. During transition, send the following combination of setpoints:
```cpp
// Assuming the instance of the px4_ros2::VTOL object is called vtol
// Send TrajectorySetpointType as follows:
Eigen::Vector3f acceleration_sp = vtol.computeAccelerationSetpointDuringTransition();
Eigen::Vector3f velocity_sp{NAN, NAN, 0.f};
_trajectory_setpoint->update(velocity_sp, acceleration_sp);
// Send FwLateralLongitudinalSetpointType with lateral input to realign vehicle as desired
float course_sp = 0.F; // North
_fw_lateral_longitudinal_setpoint->updateWithAltitude(NAN, course_sp)
```
This will ensure that the transition is handled properly within PX4.
You can optionally pass a deceleration setpoint to `computeAccelerationSetpointDuringTransition()` to be used during back-transitions.
To check the current state of the vehicle, use the `getCurrentState()` method on your `px4_ros2::VTOL` object.
See [this external flight mode implementation](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/examples/cpp/modes/vtol) for a practical example on how to use this API.
### Controlling an Independent Actuator/Servo
If you want to control an independent actuator (a servo), follow these steps:
1. [Configure the output](../payloads/generic_actuator_control.md#generic-actuator-control-with-mavlink)
1. [Configure the output](../payloads/generic_actuator_control.md#generic-actuator-control-with-mavlink).
2. Create an instance of [px4_ros2::PeripheralActuatorControls](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1PeripheralActuatorControls.html) in the constructor of your mode.
3. Call the `set()` method to control the actuator(s).
This can be done independently of any active setpoints.
@@ -431,6 +607,7 @@ You can access PX4 telemetry topics directly via the following classes:
- [OdometryGlobalPosition](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1OdometryGlobalPosition.html): Global position
- [OdometryLocalPosition](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1OdometryLocalPosition.html): Local position, velocity, acceleration, and heading
- [OdometryAttitude](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1OdometryAttitude.html): Vehicle attitude
- [OdometryAirspeed](https://auterion.github.io/px4-ros2-interface-lib/classpx4__ros2_1_1OdometryAirspeed.html): Airspeed
For example, you can query the vehicle's current position estimate as follows:

5
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View File

@@ -396,6 +396,11 @@ As long as the world file and the model file are in the Gazebo search path (`GZ_
However, `make px4_sitl gz_<model>_<world>` won't work with them.
:::
## Extending Gazebo with Plugins
World, vehicle (model), and sensor behaviour can be customised using plugins.
For more information see [Gazebo Plugins](../sim_gazebo_gz/plugins.md).
## 基于gazebo的多飞行器仿真
Multi-Vehicle simulation is supported on Linux hosts.

92
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View File

@@ -0,0 +1,92 @@
# Gazebo Plugins
Gazebo plugins extend the simulator with custom functionality not provided by default. They can be attached to different entity types and allow you to add new sensors, modify world physics, or interact with the simulation environment.
## Plugin Types
Plugins can be attached to these entity types:
- **World** - Global simulation behavior
- **Model** - Specific model functionality
- **Sensor** - Custom sensor implementations
- **Actor** - Dynamic entity behavior
## Supported Plugins
PX4 currently supports these plugins:
- [OpticalFlowSystem](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/gz_plugins/optical_flow): Provides optical flow sensor simulation using OpenCV-based flow calculation.
- [GstCameraSystem](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/gz_plugins/gstreamer): Streams camera feeds via UDP (RTP/H.264) or RTMP with optional NVIDIA CUDA hardware acceleration.
- [MovingPlatformController](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/gz_plugins/moving_platform_controller): Controls moving platforms (ships, trucks, etc.) for takeoff and landing scenarios.
Includes configurable velocity, heading, and random fluctuations.
## Plugin Registration
Plugins must be registered in the [server.config](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/simulation/gz_bridge/server.config) file to be available in your world:
```xml
<server_config>
<plugins>
<!-- Core Gazebo systems -->
<plugin entity_name="*" entity_type="world" filename="gz-sim-physics-system" name="gz::sim::systems::Physics"/>
<!-- Custom PX4 plugins -->
<plugin entity_name="*" entity_type="world" filename="libOpticalFlowSystem.so" name="custom::OpticalFlowSystem"/>
<plugin entity_name="*" entity_type="world" filename="libGstCameraSystem.so" name="custom::GstCameraSystem"/>
</plugins>
</server_config>
```
## Creating Custom Plugins
When developing new plugins:
1. **Follow the plugin architecture** - Implement desired interfaces.
You can start by copying the [Template plugin](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/gz_plugins/template_plugin) which is a simple example that only implements `ISystemPreUpdate` and `ISystemPostUpdate`.
The interfaces are specified in the official [Gazebo documentation](https://gazebosim.org/api/sim/9/createsystemplugins.html).
2. **Register your plugin** - Add it to [server.config](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/simulation/gz_bridge/server.config) for discovery.
3. **Use the custom namespace** - Follow the pattern `custom::YourPluginName`.
### Example Plugin Structure
```cpp
class YourCustomSystem :
public gz::sim::System,
public gz::sim::ISystemPreUpdate,
public gz::sim::ISystemPostUpdate
{
public:
void PreUpdate(const gz::sim::UpdateInfo &_info,
gz::sim::EntityComponentManager &_ecm) final;
void PostUpdate(const gz::sim::UpdateInfo &_info,
const gz::sim::EntityComponentManager &_ecm) final;
};
// Plugin registration
GZ_ADD_PLUGIN(YourCustomSystem, gz::sim::System,
YourCustomSystem::ISystemPreUpdate,
YourCustomSystem::ISystemPostUpdate)
GZ_ADD_PLUGIN_ALIAS(YourCustomSystem, "custom::YourCustomSystem")
```
## Enabling a Plugin
For world plugins all you need to do is [register the plugin](#plugin-registration) (add it to the `server.config`).
It will then be available to all worlds and vehicles.
The process for adding vehicle model/sensor plugins is not documented.
This can tracked through [PX4-Autopilot#2493](https://github.com/PX4/PX4-Autopilot/issues/24939).
## Resources
- **PX4 Plugins**: [Repository source code](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/gz_plugins)
- **Official Gazebo Documentation**: [System Plugins Guide](https://gazebosim.org/api/sim/9/createsystemplugins.html)
- **Server Configuration**: [Configuration Reference](https://gazebosim.org/api/sim/9/server_config.html)
- **PX4 Gazebo-classic Plugins**: [PX4 Gazebo Classic Plugins](https://github.com/PX4/PX4-SITL_gazebo-classic/tree/main/src)
:::info
Plugins for modern Gazebo are still evolving. The plugin system differs from Gazebo Classic.
:::

2
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@@ -71,7 +71,7 @@ For ExpressLRS receivers wire to the flight controller UART as shown below (wiri
### Firmware Configuration/Build
CRSF telemetry support is not included in any PX4 firmware by default.
To use this feature you must build and upload custom firmware that includes [crsf-rc](../modules/modules_driver.md#crsf-rc) and removes [rc_input](../modules/modules_driver.md#rc-input).
To use this feature you must build and upload custom firmware that includes [crsf-rc](../modules/modules_driver_radio_control.md#crsf-rc) and removes [rc_input](../modules/modules_driver_radio_control.md#rc-input).
步骤如下：

10
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View File

@@ -10,9 +10,7 @@ For an S.Bus receiver (or encoder - e.g. from Futaba, RadioLink, etc.) you will
Then [Start the PX4 RC Driver](#start_driver) on the device, as shown below.
<a id="start_driver"></a>
## 启动驱动程序
## Starting the Driver {#start_driver}
To start the RC driver on a particular UART (e.g. in this case `/dev/ttyS2`):
@@ -20,11 +18,9 @@ To start the RC driver on a particular UART (e.g. in this case `/dev/ttyS2`):
linux_sbus start|stop|status -d &lt;device&gt; -c &lt;channel&gt;
```
For other driver usage information see: [rc_input](../modules/modules_driver.md#rc-input).
For other driver usage information see: [rc_input](../modules/modules_driver_radio_control.md#rc-input).
<a id="signal_inverter_circuit"></a>
## 信号反相器电路 (仅限S.Bus)
## Signal Inverter Circuit (S.Bus only) {#signal_inverter_circuit}
S.Bus is an _inverted_ UART communication signal.