diff --git a/docs/uk/SUMMARY.md b/docs/uk/SUMMARY.md index dc24c04642..f5b17caa3d 100644 --- a/docs/uk/SUMMARY.md +++ b/docs/uk/SUMMARY.md @@ -179,6 +179,7 @@ - [CubePilot Cube Orange (CubePilot)](flight_controller/cubepilot_cube_orange.md) - [CubePilot Cube Yellow (CubePilot)](flight_controller/cubepilot_cube_yellow.md) - [Швидке підключення Cube](assembly/quick_start_cube.md) + - [Gear Up AirBrainH743](flight_controller/gearup_airbrainh743.md) - [Holybro Kakute H7v2](flight_controller/kakuteh7v2.md) - [Holybro Kakute H7mini](flight_controller/kakuteh7mini.md) - [Holybro Kakute H7](flight_controller/kakuteh7.md) @@ -255,7 +256,7 @@ - [Benewake TFmini Lidar](sensor/tfmini.md) - [LeddarOne Lidar](sensor/leddar_one.md) - [Lidar-Lite](sensor/lidar_lite.md) - - [Lightware Lidars (SF/LW)](sensor/sfxx_lidar.md) + - [Lightware Lidars (SF/LW/GRF)](sensor/sfxx_lidar.md) - [Lightware SF45 Rotary Lidar](sensor/sf45_rotating_lidar.md) - [TeraRanger](sensor/teraranger.md) - [✘ Lanbao PSK-CM8JL65-CC5](sensor/cm8jl65_ir_distance_sensor.md) @@ -932,6 +933,7 @@ - [Ліцензії](contribute/licenses.md) - [Релізи](releases/index.md) + - [Release Process](releases/release_process.md) - [main (alpha)](releases/main.md) - [1.17 (alpha)](releases/1.17.md) - [1.16 (stable)](releases/1.16.md) diff --git a/docs/uk/companion_computer/ark_jetson_pab_carrier.md b/docs/uk/companion_computer/ark_jetson_pab_carrier.md index b594192d65..8a3425dfb2 100644 --- a/docs/uk/companion_computer/ark_jetson_pab_carrier.md +++ b/docs/uk/companion_computer/ark_jetson_pab_carrier.md @@ -12,19 +12,16 @@ The [ARK Jetson Pixhawk Autopilot Bus (PAB) Carrier](https://arkelectron.gitbook ## Характеристики - **Power Requirements** - - 5V - 4A minimum (dependent on usage and peripherals) - **Additional Features** - - Pixhawk Autopilot Bus (PAB) Form Factor ([PAB Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf)) - Слот MicroSD - USA-built, NDAA compliant - Integrated 1W heater for sensor stability in extreme conditions - **Physical Details** - - Weight: - Without Jetson and Flight Controller – 80g - With Jetson, no heatsink or Flight Controller – 108g diff --git a/docs/uk/companion_computer/holybro_pixhawk_rpi_cm4_baseboard.md b/docs/uk/companion_computer/holybro_pixhawk_rpi_cm4_baseboard.md index 7342bd079a..f62faa1333 100644 --- a/docs/uk/companion_computer/holybro_pixhawk_rpi_cm4_baseboard.md +++ b/docs/uk/companion_computer/holybro_pixhawk_rpi_cm4_baseboard.md @@ -170,7 +170,6 @@ FC повинен бути налаштований для підключенн ![Image of baseboard showing FC USB-C connector](../../assets/companion_computer/holybro_pixhawk_rpi_cm4_baseboard/baseboard_fc_usb_c.jpg) 2. [Встановіть параметри](../advanced_config/parameters.md): - - `MAV_1_CONFIG` = `102` - `MAV_1_MODE = 2` - `SER_TEL2_BAUD` = `921600` @@ -184,7 +183,6 @@ FC повинен бути налаштований для підключенн 1. Connect to the RPi (using WiFi, a router, or a WiFi Dongle). 2. Увімкніть послідовний порт RPi, запустивши `RPi-config` - - Перейдіть до `3 Варіанти інтерфейсу`, потім `I6 Серійний порт`. Потім введіть: - `login shell accessible over serial → No` diff --git a/docs/uk/companion_computer/pixhawk_rpi.md b/docs/uk/companion_computer/pixhawk_rpi.md index fc42ebb5ec..2d33d41b8f 100644 --- a/docs/uk/companion_computer/pixhawk_rpi.md +++ b/docs/uk/companion_computer/pixhawk_rpi.md @@ -145,7 +145,6 @@ make px4_fmu-v6c_default upload ``` 3. Перейдіть до **Варіанти інтерфейсу**, а потім клацніть **Серійний порт**. - - Виберіть **No**, щоб вимкнути послідовний вхід у оболонку. - Виберіть **Так**, щоб увімкнути послідовний інтерфейс. - Клацніть **Завершити** та перезапустіть RPi. @@ -164,7 +163,6 @@ make px4_fmu-v6c_default upload ``` 6. Далі збережіть файл і перезапустіть RPi. - - У `nano` ви можете зберегти файл за допомогою такої послідовності комбінацій клавіш: **ctrl+x**, **ctrl+y**, **Enter**. 7. Перевірте, чи доступний послідовний порт. diff --git a/docs/uk/computer_vision/collision_prevention.md b/docs/uk/computer_vision/collision_prevention.md index ba066177f5..74201e0f07 100644 --- a/docs/uk/computer_vision/collision_prevention.md +++ b/docs/uk/computer_vision/collision_prevention.md @@ -214,7 +214,6 @@ The Lua script works by extracting the `obstacle_distance_fused` data at each ti 3. Open PlotJuggler and navigate to the **Tools > Reactive Script Editor** section. In the **Script Editor** tab, add following scripts in the appropriate sections: - - **Global code, executed once:** ```lua diff --git a/docs/uk/concept/flight_tasks.md b/docs/uk/concept/flight_tasks.md index 4753edcdd0..88586a9388 100644 --- a/docs/uk/concept/flight_tasks.md +++ b/docs/uk/concept/flight_tasks.md @@ -33,7 +33,6 @@ _Польотні завдання_ використовуються у [Реж - FlightTaskMyTask.cpp 3. Оновіть **CMakeLists.txt** для нового завдання - - Скопіюйте вміст **CMakeLists.txt** з іншого завдання, наприклад, [Orbit/CMakeLists.txt](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/flight_mode_manager/tasks/Orbit/CMakeLists.txt) - Оновіть відмітку про авторське право до поточного року diff --git a/docs/uk/config/_autotune.md b/docs/uk/config/_autotune.md index a76a63832b..dca0cf93c2 100644 --- a/docs/uk/config/_autotune.md +++ b/docs/uk/config/_autotune.md @@ -84,16 +84,9 @@ The RC sticks cannot be used during autotuning (moving the sticks will stop the If an [Enable/Disable Autotune Switch](#enable-disable-autotune-switch) is configured you can just toggle the switch to the "enabled" position. - 1. In QGroundControl, open the menu **Vehicle setup > PID Tuning**: - ![Tuning Setup > Autotune Enabled](../../assets/qgc/setup/autotune/autotune.png) - - 2. Select either the _Rate Controller_ or _Attitude Controller_ tabs. - - 3. Ensure that the **Autotune enabled** button is enabled (this will display the **Autotune** button and remove the manual tuning selectors). - - 4. Read the warning popup and click on **OK** to start tuning. + ![Tuning Setup > Autotune Enabled](../../assets/qgc/setup/autotune/autotune.png) 2. Select either the _Rate Controller_ or _Attitude Controller_ tabs. 3. Ensure that the **Autotune enabled** button is enabled (this will display the **Autotune** button and remove the manual tuning selectors). 4. Read the warning popup and click on **OK** to start tuning.
diff --git a/docs/uk/config/level_horizon_calibration.md b/docs/uk/config/level_horizon_calibration.md index a3defccee3..41d42a5922 100644 --- a/docs/uk/config/level_horizon_calibration.md +++ b/docs/uk/config/level_horizon_calibration.md @@ -22,7 +22,6 @@ Performing this calibration step is only recommended if the autopilot's orientat ::: 4. Помістіть транспортний засіб на рівну відстань на рівній поверхні: - - Для літаків це положення під час рівнопланового польоту (літаки мають тенденцію трохи підняти свої крила!) - Для коптерів це позиція утримання. diff --git a/docs/uk/config/safety.md b/docs/uk/config/safety.md index 271142256e..a3535d8675 100644 --- a/docs/uk/config/safety.md +++ b/docs/uk/config/safety.md @@ -281,7 +281,7 @@ Acting on a detected failure during flight is deactivated by default (enable by During **takeoff** the failure detector [attitude trigger](#attitude-trigger) invokes the [disarm action](#act_disarm) if the vehicle flips (disarm kills the motors but, unlike flight termination, will not launch a parachute or perform other failure actions). Note that this check is _always enabled on takeoff_, irrespective of the `CBRK_FLIGHTTERM` parameter. -The failure detector is active in all vehicle types and modes, except for those where the vehicle is _expected_ to do flips (i.e. [Acro mode (MC)](../flight_modes_mc/altitude.md), [Acro mode (FW)](../flight_modes_fw/altitude.md), and [Manual (FW)](../flight_modes_fw/manual.md)). +The failure detector is active in all vehicle types and modes, except for those where the vehicle is _expected_ to do flips (i.e. [Acro mode (MC)](../flight_modes_mc/acro.md), [Acro mode (FW)](../flight_modes_fw/acro.md), and [Manual (FW)](../flight_modes_fw/manual.md)). ### Тригер висоти diff --git a/docs/uk/config_heli/index.md b/docs/uk/config_heli/index.md index f98522d729..da65a329e3 100644 --- a/docs/uk/config_heli/index.md +++ b/docs/uk/config_heli/index.md @@ -77,7 +77,6 @@ This section contains topics related to [helicopter](../frames_helicopter/index. 3. Видаліть лопаті ротора та пропелери 4. Assign motors and servos to outputs and test (also in [Actuator configuration](../config/actuators.md)): - 1. Assign the [motors and servos to the outputs](../config/actuators.md#actuator-outputs). 2. Power the vehicle with a battery and use the [actuator testing sliders](../config/actuators.md#actuator-testing) to validate correct servo and motor assignment and direction. diff --git a/docs/uk/config_mc/pid_tuning_guide_multicopter_basic.md b/docs/uk/config_mc/pid_tuning_guide_multicopter_basic.md index 4ccd6f0e3e..7cb155a70a 100644 --- a/docs/uk/config_mc/pid_tuning_guide_multicopter_basic.md +++ b/docs/uk/config_mc/pid_tuning_guide_multicopter_basic.md @@ -140,7 +140,6 @@ Make sure to have assigned a [Kill switch](../config/safety.md#emergency-switche 13. Повторіть процес налаштування контролера нахилу для всіх осей. 14. Повторіть процес налаштування контролерів швидкості та позицій (на всіх осях). - - Використовуйте режим позиції при налаштуванні цих контролерів - Select the **Simple position control** option in the _Position control mode ..._ selector (this allows direct control for the generation of step inputs) diff --git a/docs/uk/config_rover/index.md b/docs/uk/config_rover/index.md index 82c7a91bf4..c49dc517e8 100644 --- a/docs/uk/config_rover/index.md +++ b/docs/uk/config_rover/index.md @@ -18,28 +18,37 @@ A drive mode will only work properly if all the configuration for the preceding ## Flashing the Rover Build -Rovers use a custom build that must be flashed onto your flight controller instead of the default PX4 build: +Rover is built as a [firmware variant](../dev_setup/building_px4.md#px4-make-build-targets), and must be installed as "Custom Firmware" in QGC (other vehicles are present in the default variant). -1. First build the rover firmware for your flight controller from the `main` branch (there is no release build, so you can't just select this build from QGroundControl). +The release versions of Rover firmware for different boards are attached to the associated GitHub release tag. +For example, you can find `px4_fmu-v5x_rover.px4` on [PX4-Autopilot/releases/tag/v1.16.1](https://github.com/PX4/PX4-Autopilot/releases/tag/v1.16.1). +For the `main` branch version of Rover you will need to [build the firmware](#building-rover). - To build for rover with the `make` command, replace the `_default` suffix with `_rover`. - For example, to build rover for px4_fmu-v6x boards, you would use the command: +Load the firmware onto your flight controller as "Custom Firmware" (see [Loading Firmware > Installing PX4 Main, Beta or Custom Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware)). - ```sh - make px4_fmu-v6x_rover - ``` +## Building Rover - ::: info - You can also enable the modules in default builds by adding these lines to your [board configuration](../hardware/porting_guide_config.md) (e.g. for fmu-v6x you might add them to [`main/boards/px4/fmu-v6x/default.px4board`](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)): +Rover is built as the `rover` [firmware variant](../dev_setup/building_px4.md#px4-make-build-targets). +What this means is that when building the firmware with the `make` command, you replace the `_default` suffix in the configuration target with `_rover`. - ```sh - CONFIG_MODULES_ROVER_ACKERMANN=y - CONFIG_MODULES_ROVER_DIFFERENTIAL=y - CONFIG_MODULES_ROVER_MECANUM=y - ``` +For example, to build rover for `px4_fmu-v6x` boards, you would use the following command: - Note that adding the rover modules may lead to flash overflow, in which case you will need to disable modules that you do not plan to use (such as those related to multicopter or fixed wing). +```sh +make px4_fmu-v6x_rover +``` +Note that configuration targets are constructed with the format "VENDOR_MODEL_VARIANT". + +The built firmware can be installed as custom firmware, as shown above in in [Flashing the Rover Build](#flashing-the-rover-build). + +:::info +You can also enable the modules in default builds by adding these lines to your [board configuration](../hardware/porting_guide_config.md) (e.g. for fmu-v6x you might add them to [`main/boards/px4/fmu-v6x/default.px4board`](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)): + +```sh +CONFIG_MODULES_ROVER_ACKERMANN=y +CONFIG_MODULES_ROVER_DIFFERENTIAL=y +CONFIG_MODULES_ROVER_MECANUM=y +``` + +Adding the rover modules may lead to flash overflow, in which case you will need to disable modules that you do not plan to use (such as those related to multicopter or fixed wing). ::: - -2. Load the **custom firmware** that you just built onto your flight controller (see [Loading Firmware > Installing PX4 Main, Beta or Custom Firmware](../config/firmware.md#installing-px4-main-beta-or-custom-firmware)). diff --git a/docs/uk/dev_airframes/adding_a_new_frame.md b/docs/uk/dev_airframes/adding_a_new_frame.md index 534f06bdc9..2fe074a490 100644 --- a/docs/uk/dev_airframes/adding_a_new_frame.md +++ b/docs/uk/dev_airframes/adding_a_new_frame.md @@ -307,7 +307,6 @@ If the airframe is for a **new group** you additionally need to: ``` 3. Update _QGroundControl_: - - Add the svg image for the group into: [src/AutopilotPlugins/Common/images](https://github.com/mavlink/qgroundcontrol/tree/master/src/AutoPilotPlugins/Common/Images) - Add reference to the svg image into [qgcimages.qrc](https://github.com/mavlink/qgroundcontrol/blob/master/qgcimages.qrc), following the pattern below: diff --git a/docs/uk/dev_setup/building_px4.md b/docs/uk/dev_setup/building_px4.md index 04f9cdf09d..d52cd81c07 100644 --- a/docs/uk/dev_setup/building_px4.md +++ b/docs/uk/dev_setup/building_px4.md @@ -39,16 +39,6 @@ Navigate into the **PX4-Autopilot** directory and start [Gazebo SITL](../sim_gaz make px4_sitl gz_x500 ``` -:::details -If you installed Gazebo Classic -Start [Gazebo Classic SITL](../sim_gazebo_classic/index.md) using the following command: - -```sh -make px4_sitl gazebo-classic -``` - -::: - This will bring up the PX4 console: ![PX4 Console](../../assets/toolchain/console_gazebo.png) @@ -89,6 +79,16 @@ cd PX4-Autopilot make px4_fmu-v5_default ``` +:::tip +You can also build using the [px4-dev Docker container](../test_and_ci/docker.md) without installing the toolchain locally. +From the PX4-Autopilot directory: + +```sh +./Tools/docker_run.sh 'make px4_fmu-v5_default' +``` + +::: + Успішне виконання виведе в консолі приблизно наступне в кінці: ```sh @@ -145,7 +145,8 @@ The following list shows the build commands for the [Pixhawk standard](../flight - [Pixhawk 1 (FMUv2)](../flight_controller/pixhawk.md): `make px4_fmu-v2_default` :::warning - You **must** use a supported version of GCC to build this board (e.g. the same as used by [CI/docker](../test_and_ci/docker.md)) or remove modules from the build. Збірка прошивки за допомогою компілятора GCC, який не підтримується може зазнати невдачі, оскільки обсяг памʼяті, який займає PX4, близький до ліміту пам'яті плати в 1 МБ. + You **must** use a supported version of GCC to build this board (e.g. the `gcc-arm-none-eabi` package from the current Ubuntu LTS, which is the same toolchain used by CI) or remove modules from the build. + Збірка прошивки за допомогою компілятора GCC, який не підтримується може зазнати невдачі, оскільки обсяг памʼяті, який займає PX4, близький до ліміту пам'яті плати в 1 МБ. ::: @@ -211,7 +212,7 @@ The `region 'flash' overflowed by XXXX bytes` error indicates that the firmware This is common for `make px4_fmu-v2_default` builds, where the flash size is limited to 1MB. If you're building the _vanilla_ master branch, the most likely cause is using an unsupported version of GCC. -In this case, install the version specified in the [Developer Toolchain](../dev_setup/dev_env.md) instructions. +In this case, install the `gcc-arm-none-eabi` package from the current Ubuntu LTS as described in the [Developer Toolchain](../dev_setup/dev_env.md) instructions. If building your own branch, it is possible that you have increased the firmware size over the 1MB limit. В цьому випадку вам доведеться видалити всі не потрібні при цій збірці модулі та драйвера. @@ -224,7 +225,7 @@ MacOS дозволяє тримати за замовчуванням відкр The build toolchain will then report `Too many open files` for many files, as shown below: ```sh -/usr/local/Cellar/gcc-arm-none-eabi/20171218/bin/../lib/gcc/arm-none-eabi/7.2.1/../../../../arm-none-eabi/bin/ld: cannot find NuttX/nuttx/fs/libfs.a: Too many open files +arm-none-eabi-ld: cannot find NuttX/nuttx/fs/libfs.a: Too many open files ``` Рішення полягає в збільшенні максимально дозволеної кількості відкритих файлів (наприклад, до 300). @@ -247,34 +248,9 @@ xcode-select --install sudo ln -s /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk/usr/include/* /usr/local/include/ ``` -### Ubuntu 18.04: Помилки компіляції пов'язані з arm_none_eabi_gcc - -Build issues related to `arm_none_eabi_gcc`may be due to a broken g++ toolchain installation. -Ви можете перевірити чи це так, перевіряючи чи є відсутні залежності: - -```sh -arm-none-eabi-gcc --version -arm-none-eabi-g++ --version -arm-none-eabi-gdb --version -arm-none-eabi-size --version -``` - -Приклад виводу bash з відсутніми залежностями: - -```sh -arm-none-eabi-gdb --version -arm-none-eabi-gdb: command not found -``` - -This can be resolved by removing and [reinstalling the compiler](https://askubuntu.com/questions/1243252/how-to-install-arm-none-eabi-gdb-on-ubuntu-20-04-lts-focal-fossa). - -### Ubuntu 18.04: "Visual Studio Code не може спостерігати за змінами в коді у великому робочому середовищі - -See [Visual Studio Code IDE (VSCode) > Troubleshooting](../dev_setup/vscode.md#troubleshooting). - ### Не вдалося імпортувати пакети Python -"Failed to import" errors when running the `make px4_sitl jmavsim` command indicates that some Python packages are not installed (where expected). +"Failed to import" errors when running the `make px4_sitl gz_x500` command indicates that some Python packages are not installed (where expected). ```sh Failed to import jinja2: No module named 'jinja2' @@ -282,12 +258,12 @@ You may need to install it using: pip3 install --user jinja2 ``` -Якщо ці залежності вже встановлені, це може бути тому, що на комп'ютері є декілька версій Python (наприклад Python 2.7.16, Python 3.8.3) і модуль не існує в версії, яка використовується в інструментарії збірки. +If you have already installed these dependencies this may be because there is more than one Python version on the computer (e.g. Python 2.7.16 and Python 3.8.3), and the module is not present in the version used by the build toolchain. -Ви зможете виправити це явним чином встановивши залежності як показано: +You should be able to fix this by installing the dependencies from the repository's requirements file: ```sh -pip3 install --user pyserial empty toml numpy pandas jinja2 pyyaml pyros-genmsg packaging +pip3 install --user -r Tools/setup/requirements.txt ``` ## Цілі збірки PX4 diff --git a/docs/uk/dev_setup/config_initial.md b/docs/uk/dev_setup/config_initial.md index 357d7db451..ecbe4e74ab 100644 --- a/docs/uk/dev_setup/config_initial.md +++ b/docs/uk/dev_setup/config_initial.md @@ -23,7 +23,7 @@ A Taranis RC and a mid-range Android tablet make a very inexpensive field kit. - Lenovo Thinkpad with i5-core running Windows 11 - MacBook Pro (early 2015 and later) with macOS 10.15 or later - - Lenovo Thinkpad i5 with Ubuntu Linux 20.04 or later + - Lenovo Thinkpad i5 with Ubuntu Linux 22.04 or later - **Ground control station** (computer or tablet): - iPad (may require Wifi telemetry adapter) diff --git a/docs/uk/dev_setup/dev_env.md b/docs/uk/dev_setup/dev_env.md index 6a23af23fa..d351b169d8 100644 --- a/docs/uk/dev_setup/dev_env.md +++ b/docs/uk/dev_setup/dev_env.md @@ -2,7 +2,7 @@ The _supported platforms_ for PX4 development are: -- [Ubuntu Linux (24.04/22.04)](../dev_setup/dev_env_linux_ubuntu.md) — Recommended +- [Ubuntu Linux (24.04/22.04)](../dev_setup/dev_env_linux_ubuntu.md) - [Windows (10/11)](../dev_setup/dev_env_windows_wsl.md) — via WSL2 - [macOS](../dev_setup/dev_env_mac.md) @@ -15,9 +15,9 @@ The _supported platforms_ for PX4 development are: | **NuttX based hardware:** [Pixhawk Series](../flight_controller/pixhawk_series.md), [Crazyflie](../complete_vehicles_mc/crazyflie2.md) | ✓ | ✓ | ✓ | | **Linux-based hardware:** [Raspberry Pi 2/3](../flight_controller/raspberry_pi_navio2.md) | ✓ | | | | **Simulation:** [Gazebo SITL](../sim_gazebo_gz/index.md) | ✓ | ✓ | ✓ | -| **Simulation:** [Gazebo Classic SITL](../sim_gazebo_classic/index.md) | ✓ | ✓ | ✓ | -| **Simulation:** [ROS with Gazebo Classic](../simulation/ros_interface.md) | ✓ | | ✓ | | **Simulation:** ROS 2 with Gazebo | ✓ | | ✓ | +| **Simulation:** [Gazebo Classic SITL](../sim_gazebo_classic/index.md) | | ✓ | ✓ | +| **Simulation:** [ROS with Gazebo Classic](../simulation/ros_interface.md) | | | ✓ | Experienced Docker users can also build with the containers used by our continuous integration system: [Docker Containers](../test_and_ci/docker.md) diff --git a/docs/uk/dev_setup/dev_env_linux_centos.md b/docs/uk/dev_setup/dev_env_linux_centos.md index 862a23991f..9d33cad68f 100644 --- a/docs/uk/dev_setup/dev_env_linux_centos.md +++ b/docs/uk/dev_setup/dev_env_linux_centos.md @@ -39,8 +39,9 @@ You may want to also install `python-pip` and `screen`. Виконайте скрипт нижче для встановлення GCC 7-2017-q4: :::warning -This version of GCC is out of date. -At time of writing the current version on Ubuntu is `9-2020-q2-update` (see [focal nuttx docker file](https://github.com/PX4/PX4-containers/blob/master/docker/Dockerfile_nuttx-focal#L28)) +This version of GCC is very outdated. +PX4 now uses the `gcc-arm-none-eabi` package from the current Ubuntu LTS (GCC 13.2.1 on Ubuntu 24.04). +This CentOS guide is community-maintained and may not produce working builds. ::: ```sh diff --git a/docs/uk/dev_setup/dev_env_linux_ubuntu.md b/docs/uk/dev_setup/dev_env_linux_ubuntu.md index efe9dcce63..534a3c0c1c 100644 --- a/docs/uk/dev_setup/dev_env_linux_ubuntu.md +++ b/docs/uk/dev_setup/dev_env_linux_ubuntu.md @@ -4,21 +4,14 @@ The following instructions use a bash script to set up the PX4 development envir The environment includes: -- [Gazebo Simulator](../sim_gazebo_gz/index.md) ("Harmonic") -- [Build toolchain for Pixhawk (and other NuttX-based hardware)](../dev_setup/building_px4.md#nuttx-pixhawk-based-boards). - -On Ubuntu 22.04: - -- [Gazebo Classic Simulator](../sim_gazebo_classic/index.md) can be used instead of Gazebo. - Gazebo is nearing feature-parity with Gazebo-Classic on PX4, and will soon replace it for all use cases. +- [Gazebo Simulator](../sim_gazebo_gz/index.md) (Gazebo Harmonic) +- [Build toolchain for Pixhawk (and other NuttX-based hardware)](../dev_setup/building_px4.md#nuttx-pixhawk-based-boards) using the `gcc-arm-none-eabi` compiler from the Ubuntu package manager. The build toolchain for other flight controllers, simulators, and working with ROS are discussed in the [Other Targets](#other-targets) section below. -:::details -Can I use an older version of Ubuntu? -PX4 supports the current and last Ubuntu LTS release where possible. -Older releases are not supported (so you can't raise defects against them), but may still work. -For example, Gazebo Classic setup is included in our standard build instructions for macOS, Ubuntu 18.04 and 20.04, and Windows on WSL2 for the same hosts. +:::info +PX4 targets the **current Ubuntu LTS** (24.04) for CI and release builds, with the **previous LTS** (22.04) also supported. +Older Ubuntu versions are not supported and may not work. ::: ## Симуляція та NuttX (Pixhawk) @@ -52,9 +45,7 @@ The script is intended to be run on _clean_ Ubuntu LTS installations, and may no - При появі підказки по ходу виконання скрипту підтвердить вибір. - You can use the `--no-nuttx` and `--no-sim-tools` options to omit the NuttX and/or simulation tools. -3. If you need Gazebo Classic (Ubuntu 22.04 only) then you can manually remove Gazebo and install it by following the instructions in [Gazebo Classic > Installation](../sim_gazebo_classic/index.md#installation). - -4. Перезавантажте комп'ютер при завершенні. +3. Перезавантажте комп'ютер при завершенні. :::details Additional notes @@ -63,10 +54,11 @@ These notes are provided "for information only": - This setup is supported by the PX4 Dev Team. Інструкції також можуть працювати на інших системах заснованих на Debian Linux. -- You can verify the NuttX installation by confirming the `gcc` version as shown: +- You can verify the NuttX installation by confirming `gcc` is available. + The version depends on your Ubuntu release (e.g. GCC 13.2.1 on Ubuntu 24.04): ```sh - $arm-none-eabi-gcc --version + $ arm-none-eabi-gcc --version arm-none-eabi-gcc (15:13.2.rel1-2) 13.2.1 20231009 Copyright (C) 2023 Free Software Foundation, Inc. diff --git a/docs/uk/dev_setup/dev_env_windows_wsl.md b/docs/uk/dev_setup/dev_env_windows_wsl.md index 7d475f32f0..f5f6d8e2e0 100644 --- a/docs/uk/dev_setup/dev_env_windows_wsl.md +++ b/docs/uk/dev_setup/dev_env_windows_wsl.md @@ -61,20 +61,20 @@ The approach is similar to installing PX4 in your _own_ virtual machine, as desc wsl --install ``` - - Ubuntu 20.04 ([Gazebo-Classic Simulation](../sim_gazebo_classic/index.md)) - - ```sh - wsl --install -d Ubuntu-20.04 - ``` - - Ubuntu 22.04 ([Gazebo Simulation](../sim_gazebo_gz/index.md)) ```sh wsl --install -d Ubuntu-22.04 ``` + - Ubuntu 24.04 ([Gazebo Simulation](../sim_gazebo_gz/index.md)) + + ```sh + wsl --install -d Ubuntu-24.04 + ``` + ::: info - You can also install[Ubuntu 20.04](https://www.microsoft.com/store/productId/9MTTCL66CPXJ) and [Ubuntu 22.04](https://www.microsoft.com/store/productId/9PN20MSR04DW) from the store, which allows you to delete the application using the normal Windows Add/Remove settings: + You can also [Ubuntu 24.04](https://www.microsoft.com/store/productId/9nz3klhxdjp5) or [Ubuntu 22.04](https://www.microsoft.com/store/productId/9PN20MSR04DW) from Microsoft Store, which allows you to delete the application using the normal Windows Add/Remove settings. ::: @@ -110,7 +110,7 @@ If you're using [Windows Terminal](https://learn.microsoft.com/en-us/windows/ter ``` ```sh - wsl -d Ubuntu-20.04 + wsl -d Ubuntu-24.04 ``` If you only have one version of Ubuntu, you can just use `wsl`. diff --git a/docs/uk/dev_setup/vscode.md b/docs/uk/dev_setup/vscode.md index 99b6ba7618..21327a5912 100644 --- a/docs/uk/dev_setup/vscode.md +++ b/docs/uk/dev_setup/vscode.md @@ -61,7 +61,6 @@ You must already have installed the command line [PX4 developer environment](../ Для збірки: 1. Оберіть свою ціль збірки ("cmake build config"): - - The current _cmake build target_ is shown on the blue _config_ bar at the bottom (if this is already your desired target, skip to next step). ![Select Cmake build target](../../assets/toolchain/vscode/cmake_build_config.jpg) @@ -133,10 +132,10 @@ In order for the code completion to work (and other IntelliSense magic) you need Цей розділ включає вказівки для помилок з налаштування та збірки. -### Ubuntu 18.04: "Visual Studio Code не може спостерігати за змінами в коді у великому робочому середовищі" +### "Visual Studio Code is unable to watch for file changes in this large workspace" Ця помилка з'являється при старті. -On some systems, there is an upper-limit of 8192 file handles imposed on applications, which means that VSCode might not be able to detect file modifications in `/PX4-Autopilot`. +On some systems, there is an upper-limit on file handles imposed on applications, which means that VSCode might not be able to detect file modifications in `/PX4-Autopilot`. Ви можете збільшити цей ліміт, щоб уникнути помилки, коштом споживання пам'яті. Follow the [instructions here](https://code.visualstudio.com/docs/setup/linux#_visual-studio-code-is-unable-to-watch-for-file-changes-in-this-large-workspace-error-enospc). diff --git a/docs/uk/dronecan/holybro_h_rtk_zed_f9p_gps.md b/docs/uk/dronecan/holybro_h_rtk_zed_f9p_gps.md index c164a5607a..168238617a 100644 --- a/docs/uk/dronecan/holybro_h_rtk_zed_f9p_gps.md +++ b/docs/uk/dronecan/holybro_h_rtk_zed_f9p_gps.md @@ -100,7 +100,6 @@ In order to use dual ZED-F9P GPS heading in PX4, follow these steps: 3. Components should be visible on the left panel. Click on the first `_Component_` that maps to the ZED-F9P DroneCAN node (below shown as _Component 124_). 4. Click on the _GPS_ subsection and configure the parameters listed below: - - `GPS_TYPE`: Either set to `17` for moving baseline _base_, or set to `18` to be the moving baseline _rover_. One F9P MUST be _rover_, and the other MUST be _base_. - `GPS_AUTO_CONFIG`: set to 1 for both the rover and base diff --git a/docs/uk/esc/ark_4in1_esc.md b/docs/uk/esc/ark_4in1_esc.md index bde32573bf..859c121dd5 100644 --- a/docs/uk/esc/ark_4in1_esc.md +++ b/docs/uk/esc/ark_4in1_esc.md @@ -39,12 +39,10 @@ The ESC comes in variants without connectors that you can solder in place, and a - 10 Pin JST-SH Debug - Motor & Battery Connectors (with-connector version) - - MR30 Connector Limit Per Motor: 30A Continuous, 40A Burst - Four MR30 Motor Connectors - Dimensions (with connectors) - - Size: 77.00mm x 42.00mm x 9.43mm - Mounting Pattern: 30.5mm - Weight: 24g diff --git a/docs/uk/flight_controller/airlink.md b/docs/uk/flight_controller/airlink.md index 11f87901bf..a971101ed2 100644 --- a/docs/uk/flight_controller/airlink.md +++ b/docs/uk/flight_controller/airlink.md @@ -26,7 +26,6 @@ AIRLink має два комп'ютери та інтегрований LTE-мо ## Характеристики - **Sensors** - - 3x акселерометри, 3x гіроскопи, 3x магнітометри, 3x датчики тиску - ГНСС, далекоміри, лідари, оптичний потік, камери - 3x-кратне резервування IMU @@ -34,7 +33,6 @@ AIRLink має два комп'ютери та інтегрований LTE-мо - Стабілізація температури - **Flight Controller** - - STM32F7, ARM Cortex M7 з FPU, 216 МГц, 2 МБ Flash, 512 кБ оперативної пам'яті - STM32F1, співпроцесор вводу/виводу (IO) - Ethernet, 10/100 Мбіт/с @@ -51,7 +49,6 @@ AIRLink має два комп'ютери та інтегрований LTE-мо - Запобіжний вимикач / LED опція - **AI Mission Computer** - - 6-ядерний процесор: двоядерний Cortex-A72 + чотирьохядерний Cortex-A53 - Графічний процесор Mali-T864, OpenGL ES1.1/2.0/3.0/3.1 - VPU з декодуванням 4K VP8/9, 4K 10bits H265/H264 60fps @@ -65,7 +62,6 @@ AIRLink має два комп'ютери та інтегрований LTE-мо - 2х Video: 4-смугова MIPI CSI (FPV-камера) та 4-смугова MIPI CSI з входом HMDI (камера корисного навантаження) - **LTE/5G Connectivity Module** - - Пропускна здатність до 600 Мбіт/с - 5G sub-6 і mmWave, SA і NSA операції - 4G Cat 20, до 7xCA, 256-QAM DL/UL, 2xCA UL @@ -143,7 +139,6 @@ AIRLink Enterprise ідеально підходить для швидкого ![Left side](../../assets/flight_controller/airlink/airlink-interfaces-left.jpg) - **Left side interfaces:** - - Power input with voltage & current monitoring - Місійний комп'ютер зі ШІ з картою пам'яті micro SD - Карта micro SD для польотного контролера @@ -171,13 +166,13 @@ AIRLink Enterprise ідеально підходить для швидкого - **RC Connector - JST GH SM06B-GHS-TB** - | Номер виводу | Назва виводу | Напрямок | Напруга | Функція | | | | - | ------------ | ----------------------------- | -------- | --------------------- | ----------------- | - | --- | ------ | - | 1 | 5V | OUT | +5V | Вихід 5В | | | | - | 2 | PPM_IN | IN | +3.3V | PPM вхід | | | | - | 3 | RSSI_IN | IN | +3.3V | RSSI вхід | | | | - | 4 | FAN_OUT | OUT | +5V | Вихід вентилятора | | | | - | 5 | SBUS_OUT | OUT | +3.3V | SBUS output | 6 | GND | Ground | + \| Pin number | Pin name | Direction | Voltage | Function | + \| ---------- | -------- | --------- | ------- | ----------- | --- | --- | ------ | + \| 1 | 5V | OUT | +5V | 5V output | + \| 2 | PPM_IN | IN | +3.3V | PPM input | + \| 3 | RSSI_IN | IN | +3.3V | RSSI input | + \| 4 | FAN_OUT | OUT | +5V | Fan output | + \| 5 | SBUS_OUT | OUT | +3.3V | SBUS output | 6 | GND | Ground | * **FMU SD card - microSD** @@ -186,7 +181,6 @@ AIRLink Enterprise ідеально підходить для швидкого ![Right side](../../assets/flight_controller/airlink/airlink-interfaces-right.jpg) - **Right side interfaces:** - - Ethernet-порт з виходом живлення - Телеметричний порт - Другий GPS-порт @@ -252,7 +246,6 @@ AIRLink Enterprise ідеально підходить для швидкого ![Front side](../../assets/flight_controller/airlink/airlink-interfaces-front.jpg) - **Front side interfaces:** - - Основний порт GNSS і компаса - Основний телеметричний порт - Вхід для камери CSI @@ -310,7 +303,6 @@ AIRLink Enterprise ідеально підходить для швидкого ![Back side](../../assets/flight_controller/airlink/airlink-interfaces-back.jpg) - **Rear side interfaces:** - - Вхід SBUS - 16 вихідних каналів ШІМ - 2 гнізда для антен LTE (MIMO) diff --git a/docs/uk/flight_controller/autopilot_manufacturer_supported.md b/docs/uk/flight_controller/autopilot_manufacturer_supported.md index 9401665369..39713343d9 100644 --- a/docs/uk/flight_controller/autopilot_manufacturer_supported.md +++ b/docs/uk/flight_controller/autopilot_manufacturer_supported.md @@ -25,6 +25,7 @@ This category includes boards that are not fully compliant with the pixhawk stan - [CubePilot Cube Orange+](../flight_controller/cubepilot_cube_orangeplus.md) - [CubePilot Cube Orange](../flight_controller/cubepilot_cube_orange.md) - [CubePilot Cube Yellow](../flight_controller/cubepilot_cube_yellow.md) +- [Gear Up AirBrainH743](../flight_controller/gearup_airbrainh743.md) - [Holybro Kakute H7v2](../flight_controller/kakuteh7v2.md) - [Holybro Kakute H7mini](../flight_controller/kakuteh7mini.md) - [Holybro Kakute H7](../flight_controller/kakuteh7.md) diff --git a/docs/uk/flight_controller/gearup_airbrainh743.md b/docs/uk/flight_controller/gearup_airbrainh743.md new file mode 100644 index 0000000000..deb6f6feb6 --- /dev/null +++ b/docs/uk/flight_controller/gearup_airbrainh743.md @@ -0,0 +1,96 @@ +# Gear Up AirBrainH743 + +:::warning +PX4 не розробляє цей (або будь-який інший) автопілот. +Contact the [manufacturer](https://takeyourgear.com/) for hardware support. +::: + +:::info +This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). +::: + +Purchase from [takeyourgear.com](https://takeyourgear.com/pages/products/airbrain). + +For more information and pinout, check the [GitHub documentation](https://github.com/GearUp-Company/AirBrainH743). + +## Основні характеристики + +- MCU: Процесор STM32H743 32-біт, який працює на частоті 480 МГц +- IMU: ICM42688P +- Barometer: DPS310 +- Magnetometer: LIS2MDL (internal) +- 128MB NAND Flash for logging (W25N) +- 7x UARTs +- I2C, SPI +- 9x PWM Outputs (8 Motor outputs, 1 LED strip) +- Battery input voltage: 3S-10S +- Battery voltage/current monitoring +- 5V@2A and 10V@2.5A BEC outputs +- USB Type-C (IP68) +- EMC and ESD protection + +## Конектори та контакти + +:::warning +The pin order is different from the Pixhawk standard (compatible to the Betaflight standard). +::: + +### UARTs + +Current UART configuration: + +| UART | Пристрій | Функція | +| ------ | ---------- | --------------------------------------- | +| USART1 | /dev/ttyS0 | Console/Debug | +| USART2 | /dev/ttyS1 | RC-вхід | +| USART3 | /dev/ttyS2 | TEL4 (DJI/MSP) | +| UART4 | /dev/ttyS3 | TEL1 | +| UART5 | /dev/ttyS4 | TEL2 | +| UART7 | /dev/ttyS5 | TEL3 (ESC Telemetry) | +| UART8 | /dev/ttyS6 | GPS1 | + +### Motor/Servo Outputs + +| З’єднання | Pin | Функція | +| --------- | --- | ---------------------------- | +| ESC | M1 | Двигун 1 | +| ESC | M2 | Motor 2 | +| ESC | M3 | Motor 3 | +| ESC | M4 | Motor 4 | +| PWM | M5 | Motor 5 | +| PWM | M6 | Motor 6 | +| PWM | M7 | Motor 7 | +| PWM | M8 | Motor 8 | +| AUX | M9 | LED/PWM/etc. | + + + +## Оновлення завантажувача PX4 + +Before PX4 firmware can be installed, the _PX4 bootloader_ must be flashed. +Download the [gearup_airbrainh743_bootloader.bin](https://github.com/PX4/PX4-Autopilot/blob/main/boards/gearup/airbrainh743/extras/gearup_airbrainh743_bootloader.bin) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions. + +## Збірка прошивки + +To [build PX4](../dev_setup/building_px4.md) for this target: + +``` +make gearup_airbrainh743_default +``` + +## Встановлення прошивки PX4 + +Firmware can be installed in any of the normal ways: + +- Збудуйте та завантажте джерело: + + ``` + make gearup_airbrainh743_default upload + ``` + +- [Load the firmware](../config/firmware.md) using _QGroundControl_. + Ви можете використовувати або готове вбудоване програмне забезпечення, або власне користувацьке програмне забезпечення. + +### Системна консоль + +UART1 (ttyS0) is configured for use as the [System Console](../debug/system_console.md). diff --git a/docs/uk/flight_modes/offboard.md b/docs/uk/flight_modes/offboard.md index e2c100783d..066a1a846f 100644 --- a/docs/uk/flight_modes/offboard.md +++ b/docs/uk/flight_modes/offboard.md @@ -231,7 +231,7 @@ Ackermann rovers do not support the yaw setpoint. - Position setpoint **and** velocity setpoint (the velocity setpoint is used as feedforward; it is added to the output of the position controller and the result is used as the input to the velocity controller). - - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL). + - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT). - [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET) - Підтримуються наступні вхідні комбінації: @@ -277,7 +277,7 @@ Ackermann rovers do not support the yaw setpoint. - 12288: Задання Loiter (політ по колу, центрованому на заданій точці). - 16384: Задання бездіяльності (нульовий газ, нульовий крен/тангаж). - - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL). + - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT). - [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET) - Підтримуються наступні вхідні комбінації: @@ -286,7 +286,29 @@ Ackermann rovers do not support the yaw setpoint. ### Ровер -Rover does not support a MAVLink offboard API (ROS2 is supported). +Rover supports offboard control using the generic MAVLink position/velocity setpoint messages listed below. +These are converted into a [TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) internally, and then into rover setpoints by the rover offboard modes. +For rover-specific control setpoints and better behaviour we recommend using the [Rover Setpoints](#rover-setpoints) via ROS 2. + +:::info +Rover MAVLink setpoints are gated by the MAVLink parameter [MAV_FWDEXTSP](../advanced_config/parameter_reference.md#MAV_FWDEXTSP) (Forward external setpoint messages). +::: + +- [SET_POSITION_TARGET_LOCAL_NED](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_LOCAL_NED) + - Position setpoint: `x`, `y` in [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) (`z` is ignored by rover modules). + - Velocity setpoint: `vx`, `vy` in [MAV_FRAME_LOCAL_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_LOCAL_NED) or [MAV_FRAME_BODY_NED](https://mavlink.io/en/messages/common.html#MAV_FRAME_BODY_NED). + - `yaw`/`yaw_rate`: + - Ackermann/Differential: ignored (in velocity control the yaw setpoint is derived from the velocity direction). + - Mecanum: can be controlled independently (decoupled) using `yaw`/`yaw_rate`. + - Acceleration setpoints (`afx`, `afy`, `afz`) are ignored by rover modules. + +- [SET_POSITION_TARGET_GLOBAL_INT](https://mavlink.io/en/messages/common.html#SET_POSITION_TARGET_GLOBAL_INT) + - Position setpoint: `lat_int`, `lon_int`, `alt` (converted into local NED internally; rover modules only use the horizontal components). + - Velocity setpoint: `vx`, `vy`, `vz` (rover modules use only the horizontal components). + - PX4 supports the following `coordinate_frame` values (only): [MAV_FRAME_GLOBAL_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_INT), [MAV_FRAME_GLOBAL_RELATIVE_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_RELATIVE_ALT_INT), [MAV_FRAME_GLOBAL_TERRAIN_ALT_INT](https://mavlink.io/en/messages/common.html#MAV_FRAME_GLOBAL_TERRAIN_ALT_INT). + +- [SET_ATTITUDE_TARGET](https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET) + - Not supported for rover offboard control. ## Параметри для відключення diff --git a/docs/uk/flight_modes_fw/mission.md b/docs/uk/flight_modes_fw/mission.md index 57ce4be8f6..a45e78c840 100644 --- a/docs/uk/flight_modes_fw/mission.md +++ b/docs/uk/flight_modes_fw/mission.md @@ -28,7 +28,6 @@ _Режим місії_ змушує транспортний засіб вик На високому рівні всі типи транспортних засобів ведуть себе однаково, коли ввімкнено режим МІСІЯ: 1. Якщо місія не збережена, або якщо PX4 завершив виконання всіх команд місії, або якщо [місія не є можливою](#mission-feasibility-checks): - - Якщо літає транспортний засіб, він буде марнувати час. - Якщо посадять транспортний засіб, він буде "чекати". diff --git a/docs/uk/flight_modes_mc/follow_me.md b/docs/uk/flight_modes_mc/follow_me.md index fae197203d..3eef36e4f3 100644 --- a/docs/uk/flight_modes_mc/follow_me.md +++ b/docs/uk/flight_modes_mc/follow_me.md @@ -115,7 +115,6 @@ The altitude control mode determine whether the vehicle altitude is relative to Відносна відстань до дрона до цілі зміниться, коли ви підніметесь та опуститесь (використовуйте обережно в гірській місцевості). - `2D + Terrain` makes the drone follow at a fixed height relative to the terrain underneath it, using information from a distance sensor. - - If the vehicle does not have a distance sensor following will be identical to `2D tracking`. - Датчики відстані не завжди точні, і транспортні засоби можуть бути "скачущими" під час польоту в цьому режимі. - Зверніть увагу, що висота вимірюється відносно землі під транспортним засобом, а не цільового об'єкта. diff --git a/docs/uk/flight_modes_mc/mission.md b/docs/uk/flight_modes_mc/mission.md index 1743800936..d603c354df 100644 --- a/docs/uk/flight_modes_mc/mission.md +++ b/docs/uk/flight_modes_mc/mission.md @@ -30,7 +30,6 @@ They may also be created by a MAVLink API such as [MAVSDK](../robotics/mavsdk.md На високому рівні всі типи транспортних засобів ведуть себе однаково, коли ввімкнено режим МІСІЯ: 1. Якщо місія не збережена, або якщо PX4 завершив виконання всіх команд місії, або якщо [місія не є можливою](#mission-feasibility-checks): - - Якщо літає транспортний засіб, він буде утримувати. - Якщо посадять транспортний засіб, він буде "чекати". diff --git a/docs/uk/flight_modes_vtol/return.md b/docs/uk/flight_modes_vtol/return.md index 956e5eff47..96ee9c4d43 100644 --- a/docs/uk/flight_modes_vtol/return.md +++ b/docs/uk/flight_modes_vtol/return.md @@ -49,7 +49,6 @@ VTOL підтримує [інші типи повернення PX4](../flight_m Місійний маршрут посадки для літального апарату типу VTOL складається з [MAV_CMD_DO_LAND_START](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_LAND_START), однієї або кількох маршрутних точок розташування та [MAV_CMD_NAV_VTOL_LAND](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_VTOL_LAND). - Якщо призначенням є точка збору або домашня локація, апарат: - - Переводиться в режим ожидання/спірального спуску на висоту [RTL_DESCEND_ALT](#RTL_DESCEND_ALT). - Кружляє протягом короткого часу, визначеного [RTL_LAND_DELAY](#RTL_LAND_DELAY). - Повертається по напрямку до призначення (центр кругового руху). diff --git a/docs/uk/flight_stack/controller_diagrams.md b/docs/uk/flight_stack/controller_diagrams.md index 1ba9439e2a..c124360410 100644 --- a/docs/uk/flight_stack/controller_diagrams.md +++ b/docs/uk/flight_stack/controller_diagrams.md @@ -30,7 +30,7 @@ The diagrams use the standard [PX4 notation](../contribute/notation.md) (and eac ::: info The IMU pipeline is: - gyro data > apply calibration parameters > remove estimated bias > notch filter (`IMU_GYRO_NF0_BW` and `IMU_GYRO_NF0_FRQ`) > low-pass filter (`IMU_GYRO_CUTOFF`) > vehicle_angular_velocity (_filtered angular rate used by the P and I controllers_) > derivative -> low-pass filter (`IMU_DGYRO_CUTOFF`) > vehicle_angular_acceleration (_filtered angular acceleration used by the D controller_) + gyro data > apply calibration parameters > remove estimated bias > notch filter (`IMU_GYRO_NF0_BW` and `IMU_GYRO_NF0_FRQ`) > low-pass filter (`IMU_GYRO_CUTOFF`) > vehicle_angular_velocity (\_filtered angular rate used by the P and I controllers_) > derivative -> low-pass filter (`IMU_DGYRO_CUTOFF`) > vehicle_angular_acceleration (\_filtered angular acceleration used by the D controller_) ![IMU pipeline](../../assets/diagrams/px4_imu_pipeline.png) @@ -177,7 +177,7 @@ The angular position of the control effectors (ailerons, elevators, rudders, ... Крім того, оскільки керуючі поверхні ефективніші при високій швидкості і менш ефективні при низькій швидкості, контролер, налаштований на крейсерську швидкість, масштабується за допомогою вимірів швидкості повітря (якщо використовується такий датчик). :::info -If no airspeed sensor is used then gain scheduling for the FW attitude controller is disabled (it's open loop); no correction is/can be made in TECS using airspeed feedback. +If no airspeed sensor is used then gain scheduling for the FW attitude controller is disabled (it's open loop); no correction is/can be made in TECS using airspeed feedback. ::: The feedforward gain is used to compensate for aerodynamic damping. @@ -187,7 +187,7 @@ The feedforward gain is used to compensate for aerodynamic damping. ### Поворотна координація Контролери крену та тангажу мають однакову структуру, і довжинна та поперечна динаміка вважаються достатньо роз'єднаними, щоб працювати незалежно один від одного. -Контролер курсу, однак, генерує встановлення швидкості курсу, використовуючи обмеження координації повороту для мінімізації бокового прискорення, що виникає, коли літак слідкує. Алгоритм узгодження повороту базується виключно на узгодженому розрахунку геометрії повороту. +Контролер курсу, однак, генерує встановлення швидкості курсу, використовуючи обмеження координації повороту для мінімізації бокового прискорення, що виникає, коли літак слідкує. Алгоритм узгодження повороту базується виключно на узгодженому розрахунку геометрії повороту. $$\dot{\Psi}_{sp} = \frac{g}{V_T} \tan{\phi_{sp}} \cos{\theta_{sp}}$$ diff --git a/docs/uk/flying/package_delivery_mission.md b/docs/uk/flying/package_delivery_mission.md index a5d2e0020f..66b1a04238 100644 --- a/docs/uk/flying/package_delivery_mission.md +++ b/docs/uk/flying/package_delivery_mission.md @@ -33,7 +33,6 @@ Note that if landed, the next mission item after deployment should be another `W 1. Create a normal mission with a `Takeoff` mission item, and additional waypoints for your required flight path. 2. Додайте маршрутну точку на карті, де ви хочете випустити посилку. - - Щоб скинути посилку під час польоту, установіть відповідну висоту для маршрутної точки (і переконайтеся, що маршрутна точка знаходиться в безпечному місці для скидання посилки). - If you'd like to land the vehicle to make the delivery you will need to change the `Waypoint` to a `Land` mission item. diff --git a/docs/uk/frames_rover/index.md b/docs/uk/frames_rover/index.md index f2d7e9e4b7..3b41101abc 100644 --- a/docs/uk/frames_rover/index.md +++ b/docs/uk/frames_rover/index.md @@ -7,6 +7,12 @@ Support for rover is [experimental](../airframes/index.md#experimental-vehicles) Maintainer volunteers, [contribution](../contribute/index.md) of new features, new frame configurations, or other improvements would all be very welcome! ::: +:::tip +Rover is not in the default PX4 firmware downloaded from QGC. +Unlike for other vehicle types you will need to install it as custom firmware. +For more information see [Flashing the Rover Build](../config_rover/index.md#flashing-the-rover-build). +::: + ![Rovers](../../assets/airframes/rover/rovers.png) PX4 provides support for the three most common types of rovers: diff --git a/docs/uk/getting_started/led_meanings.md b/docs/uk/getting_started/led_meanings.md index 8efd036093..372219fe86 100644 --- a/docs/uk/getting_started/led_meanings.md +++ b/docs/uk/getting_started/led_meanings.md @@ -20,7 +20,7 @@ It is possible to have a GPS lock (Green LED) and still not be able to arm the v ::: :::tip -In the event of an error (blinking red), or if the vehicle can't achieve GPS lock (change from blue to green), check for more detailed status information in _QGroundControl_ including calibration status, and errors messages reported by the [Preflight Checks (Internal)](../flying/pre_flight_checks.md). +In the event of an error (blinking red), or if the vehicle can't achieve GPS lock (change from blue to green), check for more detailed status information in _QGroundControl_ including calibration status, and errors messages reported by the [Preflight Checks (Internal)](../flying/pre_flight_checks.md). Також перевірте, чи правильно підключений GPS-модуль, чи правильно Pixhawk зчитує ваш GPS, і чи правильно GPS передає дані про місцеперебування. ::: @@ -47,7 +47,8 @@ In the event of an error (blinking red), or if the vehicle can't achieve GPS loc Під час аварійного режиму апарат намагатиметься повернутися до місця зльоту або може просто знизитися там, де він зараз перебуває. - **[Solid Amber] Low Battery Warning:** Indicates your vehicle's battery is running dangerously low. - Після певного моменту пристрій перейде у failsafe режим. Однак цей режим повинен сигналізувати про те, що настав час завершити політ. + Після певного моменту пристрій перейде у failsafe режим. However, this mode should signal caution that it's time to end + this flight. - **[Blinking Red] Error / Setup Required:** Indicates that your autopilot needs to be configured or calibrated before flying. Під'єднайте автопілот до наземної станції керування, щоб перевірити, в чому проблема. @@ -77,11 +78,11 @@ The LED labels shown above are commonly used, but might differ on some boards. Більш детальна інформація про те, як інтерпретувати світлодіодні індикатори, наведені нижче (де "х" означає "будь-який стан") -| Червоний/помаранчевий | Синій | Зелений | Значення | -| --------------------- | ----- | ------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -| 10 Гц | x | x | Overload CPU load > 80%, or RAM usage > 98% | -| ВИМК | x | x | Overload CPU load <= 80%, or RAM usage <= 98% | -| NA | ВИМК | 4 Гц | actuator_armed->armed && failsafe | -| NA | УВІМК | 4 Гц | actuator_armed->armed && !failsafe | -| NA | ВИМК | 1 Гц | !actuator_armed-> armed && actuator_armed->ready_to_arm | -| NA | ВИМК | 10 Гц | !actuator_armed->armed && !actuator_armed->ready_to_arm | +| Червоний/помаранчевий | Синій | Зелений | Значення | +| --------------------- | ----- | ------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| 10 Гц | x | x | Overload CPU load > 80%, or RAM usage > 98% | +| ВИМК | x | x | Overload CPU load <= 80%, or RAM usage <= 98% | +| NA | ВИМК | 4 Гц | actuator_armed->armed && failsafe | +| NA | УВІМК | 4 Гц | actuator_armed->armed && !failsafe | +| NA | ВИМК | 1 Гц | !actuator_armed-> armed && actuator_armed->ready_to_arm | +| NA | ВИМК | 10 Гц | !actuator_armed->armed && !actuator_armed->ready_to_arm | diff --git a/docs/uk/getting_started/tunes.md b/docs/uk/getting_started/tunes.md index 87318465d1..febad4e7b7 100644 --- a/docs/uk/getting_started/tunes.md +++ b/docs/uk/getting_started/tunes.md @@ -13,7 +13,7 @@ You can search for tune use using the string `TUNE_ID_name`(e.g. \`TUNE_ID_PARAC Ці мелодії відтворюються під час завантаження. - + #### Сигнал запуску diff --git a/docs/uk/gps_compass/rtk_gps.md b/docs/uk/gps_compass/rtk_gps.md index 4366911cb5..3cd95c567b 100644 --- a/docs/uk/gps_compass/rtk_gps.md +++ b/docs/uk/gps_compass/rtk_gps.md @@ -152,7 +152,6 @@ This should be set by default, but if not, follow the [MAVLink2 configuration in ![survey-in](../../assets/qgc/setup/rtk/qgc_rtk_survey-in.png) 4. Після завершення опитування: - - The RTK GPS icon changes to white and _QGroundControl_ starts to stream position data to the vehicle: ![RTK streaming](../../assets/qgc/setup/rtk/qgc_rtk_streaming.png) diff --git a/docs/uk/index.md b/docs/uk/index.md index b0ec59c754..729767f521 100644 --- a/docs/uk/index.md +++ b/docs/uk/index.md @@ -3,19 +3,11 @@ import { useData } from 'vitepress' const { site } = useData(); -
- # Посібник користувача автопілота PX4 [![Releases](https://img.shields.io/badge/release-main-blue.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![Discuss](https://img.shields.io/badge/discuss-px4-ff69b4.svg)](https://discuss.px4.io//) [![Discord](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode) -PX4 is the _Professional Autopilot_. -Розроблений розробниками світового класу з дрон індустрії та наукових закладів і активно підтримується спільнотою у світі. Він дозволяє працювати з різними типами безпілотних транспортних засобів від гоночних, вантажних дронів до сухопутних автомобілів та надводних човнів. - -:::tip -This guide contains everything you need to assemble, configure, and safely fly a PX4-based vehicle. -Хочете зробити внесок? Check out the [Development](development/development.md) section. -::: +PX4 is an open-source autopilot for drones and autonomous vehicles. It runs on multirotors, fixed-wing, VTOL, helicopters, rovers, and more. This guide covers everything from assembly and configuration to flight operations and development.
@@ -29,83 +21,43 @@ Documented changes since the stable release are captured in the evolving [releas
-## Як почати? +## For Developers -[Basic Concepts](getting_started/px4_basic_concepts.md) should be read by all users! -It provides an overview of PX4, including features provided by the flight stack (flight modes and safety features) and the supported hardware (flight controller, vehicle types, telemetry systems, RC control systems). +:::tip +Building on PX4 or extending the platform? Start here: [Development Guide](development/development.md). Set up your [dev environment](dev_setup/config_initial.md), [build from source](dev_setup/building_px4.md), run [SITL simulation](simulation/index.md), or integrate via [ROS 2](ros2/index.md) and [MAVSDK](https://mavsdk.mavlink.io/). +::: -Залежно від того, чого ви хочете досягти, наступні поради допоможуть вам мандрувати по цьому посібнику: +## Початок роботи -### I want a vehicle that works with PX4 +Start with [Basic Concepts](getting_started/px4_basic_concepts.md) for an overview of the flight stack, flight modes, safety features, and supported hardware. -In the [Multicopter](frames_multicopter/index.md), [VTOL](frames_vtol/index.md), and [Plane (Fixed-Wing)](frames_plane/index.md) sections you'll find topics like the following (these links are for multicopter): +## Build a Vehicle -- [Complete Vehicles](complete_vehicles_mc/index.md) list "Ready to Fly" (RTF) pre-built vehicles -- [Kits](frames_multicopter/kits.md) lists drones that you have to build yourself from a set of preselected parts -- [DIY Builds](frames_multicopter/diy_builds.md) shows some examples of drones that have been built using parts that were sourced individually +Pick your frame type: [Multicopter](frames_multicopter/index.md), [Fixed-Wing](frames_plane/index.md), [VTOL](frames_vtol/index.md), [Helicopter](frames_helicopter/index.md), or [Rover](frames_rover/index.md). Each section covers complete vehicles, kits, and DIY builds. For assembly instructions see [Assembling a Multicopter](assembly/assembly_mc.md) or the equivalent for your frame. -Both kits and complete vehicles usually include everything you need except for a battery and RC System. -Kits are usually not hard to build, provide a good introduction to how drones fit together, and are relatively inexpensive. -We provide generic instructions for assembly, such as [Assembling a Multicopter](assembly/assembly_mc.md), and most kits come with specific instructions too. +## Configure and Tune -If the kits and complete drones aren't quite right for you then you can build a vehicle from scratch, but this requires more knowledge. -[Airframe Builds](airframes/index.md) lists the supported frame starting points to give you some idea of what is possible. +Once assembled, follow the configuration guide for your vehicle type (e.g. [Multicopter Configuration](config_mc/index.md)). This covers sensor calibration, flight mode setup, and tuning. -Once you have a vehicle that supports PX4 you will need to configure it and calibrate the sensors. -Each vehicle type has its own configuration section that explains the main steps, such as [Multicopter Configuration/Tuning](config_mc/index.md). +## Апаратне забезпечення(Hardware) -### I want to add a payload/camera +The [Hardware Selection & Setup](hardware/drone_parts.md) section covers flight controllers, sensors, telemetry, RC systems, and payloads. See [Payloads](payloads/index.md) for camera and delivery integrations. -The [Payloads](payloads/index.md) section describes how to add a camera and how to configure PX4 to enable you to deliver packages. +## Fly -### I am modifying a supported vehicle +Read [Operations](config/operations.md) to understand safety features and failsafe behavior before your first flight. Then see [Basic Flying (Multicopter)](flying/basic_flying_mc.md) or the equivalent for your frame type. -The [Hardware Selection & Setup](hardware/drone_parts.md) section provides both high level and product-specific information about hardware that you might use with PX4 and its configuration. -This is the first place you should look if you want to modify a drone and add new components. +## Підтримка -### I want to fly - -Before you fly you should read [Operations](config/operations.md) to understand how to set up the safety features of your vehicle and the common behaviours of all frame types. -Once you've done that you're ready to fly. - -Basic instructions for flying each vehicle type are provided in the respective sections, such as [Basic Flying (Multicopter)](flying/basic_flying_mc.md). - -### I want to run PX4 on a new Flight Controller and extend the platform - -The [Development](development/development.md) section explains how to support new airframes and types of vehicles, modify flight algorithms, add new modes, integrate new hardware, communicate with PX4 from outside the flight controller, and contribute to PX4. - -## Отримання допомоги - -The [Support](contribute/support.md) page explains how to get help from the core dev team and the wider community. - -Серед інших речей, які вона покриває: - -- [Forums where you can get help](contribute/support.md#forums-and-chat) -- [Diagnosing issues](contribute/support.md#diagnosing-problems) -- [How to report bugs](contribute/support.md#issue-bug-reporting) -- [Weekly dev call](contribute/support.md#weekly-dev-call) - -## Reporting Bugs & Issues - -If you have any problems using PX4 first post them on the [support forums](contribute/support.md#forums-and-chat) (as they may be caused by vehicle configuration). - -If directed by the development team, code issues may be raised on [Github here](https://github.com/PX4/PX4-Autopilot/issues). -Where possible provide [flight logs](getting_started/flight_reporting.md) and other information requested in the issue template. +Get help on the [discussion forums](https://discuss.px4.io/) or [Discord](https://discord.gg/dronecode). See the [Support](contribute/support.md) page for diagnosing problems, reporting bugs, and joining the [weekly dev call](contribute/dev_call.md). ## Долучитись до проєкту -Information on how to contribute to code and documentation can be found in the [Contributing](contribute/index.md) section: - -- [Code](contribute/index.md) -- [Documentation](contribute/docs.md) -- [Translation](contribute/translation.md) +See the [Contributing](contribute/index.md) section for code, [documentation](contribute/docs.md), and [translation](contribute/translation.md) guidelines. ## Переклади -There are several [translations](contribute/translation.md) of this guide. -Ви можете отримати доступ до вибору конкретного доступного переклада з меню Мови (вгорі праворуч): - -![Language Selector](../assets/vuepress/language_selector.png) +There are several [translations](contribute/translation.md) of this guide. Use the language selector in the top navigation. @@ -141,9 +93,9 @@ The calendar default timezone is Central European Time (CET). ## Управління -The PX4 flight stack is hosted under the governance of the [Dronecode Project](https://dronecode.org/). +The PX4 Autopilot project is hosted by the [Dronecode Foundation](https://www.dronecode.org/), a [Linux Foundation](https://www.linuxfoundation.org/) Collaborative Project. Dronecode holds all PX4 trademarks and serves as the project's legal guardian, ensuring vendor-neutral stewardship. No single company owns the name or controls the roadmap. The source code is licensed under the [BSD 3-Clause](https://opensource.org/license/BSD-3-Clause) license, so you are free to use, modify, and distribute it in your own projects. -Dronecode Logo Linux Foundation Logo +Dronecode Logo Linux Foundation Logo
 
diff --git a/docs/uk/middleware/dds_topics.md b/docs/uk/middleware/dds_topics.md index 02481cb7d5..174dc6c859 100644 --- a/docs/uk/middleware/dds_topics.md +++ b/docs/uk/middleware/dds_topics.md @@ -95,192 +95,200 @@ They are not build into the module, and hence are neither published or subscribe :::details See messages -- [BatteryInfo](../msg_docs/BatteryInfo.md) -- [TakeoffStatus](../msg_docs/TakeoffStatus.md) -- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md) -- [Airspeed](../msg_docs/Airspeed.md) -- [PpsCapture](../msg_docs/PpsCapture.md) -- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md) -- [CameraCapture](../msg_docs/CameraCapture.md) -- [Px4ioStatus](../msg_docs/Px4ioStatus.md) -- [FuelTankStatus](../msg_docs/FuelTankStatus.md) -- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md) -- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md) -- [AirspeedWind](../msg_docs/AirspeedWind.md) -- [OrbTest](../msg_docs/OrbTest.md) -- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md) -- [GpioOut](../msg_docs/GpioOut.md) -- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md) -- [Gripper](../msg_docs/Gripper.md) -- [VehicleAirData](../msg_docs/VehicleAirData.md) -- [TuneControl](../msg_docs/TuneControl.md) -- [DebugVect](../msg_docs/DebugVect.md) -- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md) -- [HomePositionV0](../msg_docs/HomePositionV0.md) -- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md) -- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md) -- [EstimatorBias](../msg_docs/EstimatorBias.md) -- [GpioConfig](../msg_docs/GpioConfig.md) -- [SystemPower](../msg_docs/SystemPower.md) -- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md) -- [MissionResult](../msg_docs/MissionResult.md) -- [PowerButtonState](../msg_docs/PowerButtonState.md) -- [EscStatus](../msg_docs/EscStatus.md) -- [HealthReport](../msg_docs/HealthReport.md) -- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md) -- [SensorGyro](../msg_docs/SensorGyro.md) -- [GpioRequest](../msg_docs/GpioRequest.md) -- [DebugKeyValue](../msg_docs/DebugKeyValue.md) -- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md) -- [ParameterUpdate](../msg_docs/ParameterUpdate.md) -- [SensorAirflow](../msg_docs/SensorAirflow.md) -- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md) -- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md) -- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md) -- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md) -- [ActionRequest](../msg_docs/ActionRequest.md) -- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md) -- [PwmInput](../msg_docs/PwmInput.md) -- [PowerMonitor](../msg_docs/PowerMonitor.md) -- [Mission](../msg_docs/Mission.md) -- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md) -- [FigureEightStatus](../msg_docs/FigureEightStatus.md) -- [RadioStatus](../msg_docs/RadioStatus.md) -- [VehicleRoi](../msg_docs/VehicleRoi.md) -- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md) -- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md) -- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md) -- [Rpm](../msg_docs/Rpm.md) -- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md) -- [Ping](../msg_docs/Ping.md) -- [QshellReq](../msg_docs/QshellReq.md) -- [SensorMag](../msg_docs/SensorMag.md) -- [EstimatorStates](../msg_docs/EstimatorStates.md) -- [SensorUwb](../msg_docs/SensorUwb.md) -- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md) -- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md) -- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md) -- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md) -- [SensorHygrometer](../msg_docs/SensorHygrometer.md) -- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md) -- [AdcReport](../msg_docs/AdcReport.md) -- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md) -- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md) -- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md) -- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) -- [SensorCorrection](../msg_docs/SensorCorrection.md) -- [UlogStream](../msg_docs/UlogStream.md) -- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md) -- [GpsInjectData](../msg_docs/GpsInjectData.md) -- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md) -- [LoggerStatus](../msg_docs/LoggerStatus.md) -- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md) -- [SensorBaro](../msg_docs/SensorBaro.md) -- [OrbTestMedium](../msg_docs/OrbTestMedium.md) -- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) -- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md) -- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md) -- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md) -- [UlogStreamAck](../msg_docs/UlogStreamAck.md) -- [DatamanRequest](../msg_docs/DatamanRequest.md) -- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md) -- [PositionSetpoint](../msg_docs/PositionSetpoint.md) -- [DatamanResponse](../msg_docs/DatamanResponse.md) -- [LedControl](../msg_docs/LedControl.md) -- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md) -- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md) -- [Event](../msg_docs/Event.md) -- [ActuatorArmed](../msg_docs/ActuatorArmed.md) - [GpioIn](../msg_docs/GpioIn.md) -- [SensorGyroFft](../msg_docs/SensorGyroFft.md) -- [SensorAccel](../msg_docs/SensorAccel.md) -- [SensorsStatus](../msg_docs/SensorsStatus.md) -- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md) -- [GeneratorStatus](../msg_docs/GeneratorStatus.md) -- [DifferentialPressure](../msg_docs/DifferentialPressure.md) -- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md) -- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md) -- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md) -- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md) -- [RoverRateStatus](../msg_docs/RoverRateStatus.md) -- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md) -- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md) -- [VelocityLimits](../msg_docs/VelocityLimits.md) -- [MagWorkerData](../msg_docs/MagWorkerData.md) -- [Cpuload](../msg_docs/Cpuload.md) -- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md) -- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md) -- [MavlinkLog](../msg_docs/MavlinkLog.md) -- [SensorTemp](../msg_docs/SensorTemp.md) -- [LandingGearWheel](../msg_docs/LandingGearWheel.md) -- [OrbTestLarge](../msg_docs/OrbTestLarge.md) -- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md) -- [CellularStatus](../msg_docs/CellularStatus.md) -- [QshellRetval](../msg_docs/QshellRetval.md) -- [OrbitStatus](../msg_docs/OrbitStatus.md) -- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md) -- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md) -- [LogMessage](../msg_docs/LogMessage.md) -- [SatelliteInfo](../msg_docs/SatelliteInfo.md) -- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md) -- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md) -- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md) -- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md) -- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md) -- [EstimatorStatus](../msg_docs/EstimatorStatus.md) -- [NeuralControl](../msg_docs/NeuralControl.md) -- [TaskStackInfo](../msg_docs/TaskStackInfo.md) -- [RcParameterMap](../msg_docs/RcParameterMap.md) -- [SensorSelection](../msg_docs/SensorSelection.md) -- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md) -- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md) -- [ActuatorTest](../msg_docs/ActuatorTest.md) -- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md) -- [MountOrientation](../msg_docs/MountOrientation.md) -- [CameraStatus](../msg_docs/CameraStatus.md) -- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md) -- [FollowTarget](../msg_docs/FollowTarget.md) -- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md) -- [ButtonEvent](../msg_docs/ButtonEvent.md) -- [DebugArray](../msg_docs/DebugArray.md) -- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md) -- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md) -- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md) -- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md) -- [VehicleImu](../msg_docs/VehicleImu.md) -- [GpsDump](../msg_docs/GpsDump.md) -- [WheelEncoders](../msg_docs/WheelEncoders.md) -- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md) -- [DebugValue](../msg_docs/DebugValue.md) +- [SystemPower](../msg_docs/SystemPower.md) +- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md) +- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md) - [LandingTargetPose](../msg_docs/LandingTargetPose.md) -- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md) -- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md) -- [RtlStatus](../msg_docs/RtlStatus.md) -- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md) -- [GimbalControls](../msg_docs/GimbalControls.md) -- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md) -- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md) -- [HeaterStatus](../msg_docs/HeaterStatus.md) -- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md) -- [RcChannels](../msg_docs/RcChannels.md) -- [TecsStatus](../msg_docs/TecsStatus.md) -- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md) -- [InputRc](../msg_docs/InputRc.md) -- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md) -- [GeofenceResult](../msg_docs/GeofenceResult.md) -- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md) -- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md) -- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md) -- [NavigatorStatus](../msg_docs/NavigatorStatus.md) -- [CameraTrigger](../msg_docs/CameraTrigger.md) -- [EscReport](../msg_docs/EscReport.md) -- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md) -- [GeofenceStatus](../msg_docs/GeofenceStatus.md) -- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md) -- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md) -- [EventV0](../msg_docs/EventV0.md) -- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md) +- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md) +- [EstimatorBias](../msg_docs/EstimatorBias.md) +- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md) +- [LogMessage](../msg_docs/LogMessage.md) +- [PowerMonitor](../msg_docs/PowerMonitor.md) - [VehicleConstraints](../msg_docs/VehicleConstraints.md) +- [SensorAirflow](../msg_docs/SensorAirflow.md) +- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md) +- [ActuatorArmed](../msg_docs/ActuatorArmed.md) +- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md) +- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md) +- [DifferentialPressure](../msg_docs/DifferentialPressure.md) +- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md) +- [PwmInput](../msg_docs/PwmInput.md) +- [OrbTestMedium](../msg_docs/OrbTestMedium.md) +- [QshellReq](../msg_docs/QshellReq.md) +- [GeofenceStatus](../msg_docs/GeofenceStatus.md) +- [RcChannels](../msg_docs/RcChannels.md) +- [Cpuload](../msg_docs/Cpuload.md) +- [DebugArray](../msg_docs/DebugArray.md) +- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md) +- [Mission](../msg_docs/Mission.md) +- [Airspeed](../msg_docs/Airspeed.md) +- [LedControl](../msg_docs/LedControl.md) +- [HealthReport](../msg_docs/HealthReport.md) +- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md) +- [FigureEightStatus](../msg_docs/FigureEightStatus.md) +- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md) +- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md) +- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md) +- [InputRc](../msg_docs/InputRc.md) +- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md) +- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md) +- [SensorCorrection](../msg_docs/SensorCorrection.md) +- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md) +- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md) +- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md) +- [SensorSelection](../msg_docs/SensorSelection.md) +- [DeviceInformation](../msg_docs/DeviceInformation.md) +- [CameraTrigger](../msg_docs/CameraTrigger.md) +- [SensorAccel](../msg_docs/SensorAccel.md) +- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md) +- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md) +- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md) +- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md) +- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md) +- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md) +- [VehicleImu](../msg_docs/VehicleImu.md) +- [MissionResult](../msg_docs/MissionResult.md) +- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md) +- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md) +- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md) +- [OrbTest](../msg_docs/OrbTest.md) +- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md) +- [FuelTankStatus](../msg_docs/FuelTankStatus.md) +- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md) +- [OrbitStatus](../msg_docs/OrbitStatus.md) +- [Px4ioStatus](../msg_docs/Px4ioStatus.md) +- [RtlStatus](../msg_docs/RtlStatus.md) +- [ButtonEvent](../msg_docs/ButtonEvent.md) +- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md) +- [DebugValue](../msg_docs/DebugValue.md) +- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md) +- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) +- [SensorHygrometer](../msg_docs/SensorHygrometer.md) +- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md) +- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md) +- [GpioOut](../msg_docs/GpioOut.md) +- [ActuatorTest](../msg_docs/ActuatorTest.md) +- [SensorBaro](../msg_docs/SensorBaro.md) +- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md) +- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md) +- [RoverRateStatus](../msg_docs/RoverRateStatus.md) +- [TecsStatus](../msg_docs/TecsStatus.md) +- [PpsCapture](../msg_docs/PpsCapture.md) +- [RaptorStatus](../msg_docs/RaptorStatus.md) +- [EventV0](../msg_docs/EventV0.md) +- [GpioRequest](../msg_docs/GpioRequest.md) +- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md) +- [MagWorkerData](../msg_docs/MagWorkerData.md) +- [FollowTarget](../msg_docs/FollowTarget.md) +- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md) +- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md) +- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md) +- [ActionRequest](../msg_docs/ActionRequest.md) +- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md) +- [GpsInjectData](../msg_docs/GpsInjectData.md) +- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md) +- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md) +- [UlogStream](../msg_docs/UlogStream.md) +- [DebugKeyValue](../msg_docs/DebugKeyValue.md) +- [NavigatorStatus](../msg_docs/NavigatorStatus.md) +- [MountOrientation](../msg_docs/MountOrientation.md) +- [RcParameterMap](../msg_docs/RcParameterMap.md) +- [AdcReport](../msg_docs/AdcReport.md) +- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md) +- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md) +- [MavlinkLog](../msg_docs/MavlinkLog.md) +- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md) +- [GpioConfig](../msg_docs/GpioConfig.md) +- [GainCompression](../msg_docs/GainCompression.md) +- [DebugVect](../msg_docs/DebugVect.md) +- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md) +- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md) +- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md) +- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md) +- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) +- [SensorUwb](../msg_docs/SensorUwb.md) +- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md) +- [VelocityLimits](../msg_docs/VelocityLimits.md) +- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md) +- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md) +- [EscStatus](../msg_docs/EscStatus.md) +- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md) +- [HeaterStatus](../msg_docs/HeaterStatus.md) +- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md) +- [GeofenceResult](../msg_docs/GeofenceResult.md) +- [PowerButtonState](../msg_docs/PowerButtonState.md) +- [Rpm](../msg_docs/Rpm.md) +- [WheelEncoders](../msg_docs/WheelEncoders.md) +- [LoggerStatus](../msg_docs/LoggerStatus.md) +- [CellularStatus](../msg_docs/CellularStatus.md) +- [TuneControl](../msg_docs/TuneControl.md) +- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md) +- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md) +- [OrbTestLarge](../msg_docs/OrbTestLarge.md) +- [BatteryInfo](../msg_docs/BatteryInfo.md) +- [CameraStatus](../msg_docs/CameraStatus.md) +- [QshellRetval](../msg_docs/QshellRetval.md) +- [SensorMag](../msg_docs/SensorMag.md) +- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md) +- [TaskStackInfo](../msg_docs/TaskStackInfo.md) +- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md) +- [AirspeedWind](../msg_docs/AirspeedWind.md) +- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md) +- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md) +- [GpsDump](../msg_docs/GpsDump.md) +- [SensorTemp](../msg_docs/SensorTemp.md) +- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md) +- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md) +- [SensorsStatus](../msg_docs/SensorsStatus.md) +- [EstimatorStatus](../msg_docs/EstimatorStatus.md) +- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md) +- [VehicleAirData](../msg_docs/VehicleAirData.md) +- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md) +- [TakeoffStatus](../msg_docs/TakeoffStatus.md) +- [GeneratorStatus](../msg_docs/GeneratorStatus.md) +- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md) +- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md) +- [LandingGearWheel](../msg_docs/LandingGearWheel.md) +- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md) +- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md) +- [RaptorInput](../msg_docs/RaptorInput.md) +- [SensorGyro](../msg_docs/SensorGyro.md) +- [ParameterUpdate](../msg_docs/ParameterUpdate.md) +- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md) +- [PositionSetpoint](../msg_docs/PositionSetpoint.md) +- [EstimatorStates](../msg_docs/EstimatorStates.md) +- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md) +- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md) +- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md) +- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md) +- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md) +- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md) +- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md) +- [HomePositionV0](../msg_docs/HomePositionV0.md) +- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md) +- [SatelliteInfo](../msg_docs/SatelliteInfo.md) - [IrlockReport](../msg_docs/IrlockReport.md) +- [Ping](../msg_docs/Ping.md) +- [CameraCapture](../msg_docs/CameraCapture.md) +- [Vtx](../msg_docs/Vtx.md) +- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md) +- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md) +- [EscReport](../msg_docs/EscReport.md) +- [Gripper](../msg_docs/Gripper.md) +- [UlogStreamAck](../msg_docs/UlogStreamAck.md) +- [SensorGyroFft](../msg_docs/SensorGyroFft.md) +- [VehicleRoi](../msg_docs/VehicleRoi.md) +- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md) +- [NeuralControl](../msg_docs/NeuralControl.md) +- [DatamanResponse](../msg_docs/DatamanResponse.md) +- [GimbalControls](../msg_docs/GimbalControls.md) +- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md) +- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md) +- [DatamanRequest](../msg_docs/DatamanRequest.md) +- [Event](../msg_docs/Event.md) +- [RadioStatus](../msg_docs/RadioStatus.md) +- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md) +- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md) ::: diff --git a/docs/uk/middleware/uxrce_dds.md b/docs/uk/middleware/uxrce_dds.md index 9fe31af33d..bc384fb82d 100644 --- a/docs/uk/middleware/uxrce_dds.md +++ b/docs/uk/middleware/uxrce_dds.md @@ -335,7 +335,7 @@ The configuration can be done using the [UXRCE-DDS parameters](../advanced_confi - [UXRCE_DDS_NS_IDX](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX) : Index-based namespace definition. Setting this parameter to any value other than `-1` creates a namespace with the prefix `uav_` and the specified value, e.g. `uav_0`, `uav_1`, etc. See [namespace](#customizing-the-namespace) for methods to define richer or arbitrary namespaces. - - [`UXRCE_DDS_FLCTRL`](../advanced_config/parameter_reference.md#UXRCE_DDS_FLCTRL) : Serial port hardware flow control enable. + - [`UXRCE_DDS_FLCTRL`](../advanced_config/parameter_reference.md#UXRCE_DDS_FLCTRL) : Serial port hardware flow control enable. To use hardware flow control, a custom MicroXRCE Agent needs to be adopted. Please refer to [this PR](https://github.com/eProsima/Micro-XRCE-DDS-Agent/pull/407) for the required changes, cherry-pick them on top of the [agent version](#build-run-within-ros-2-workspace) you need to use and then run the agent with the additional `--flow-control` option. :::info diff --git a/docs/uk/modules/module_template.md b/docs/uk/modules/module_template.md index 93ed9e86de..4ac3e4031e 100644 --- a/docs/uk/modules/module_template.md +++ b/docs/uk/modules/module_template.md @@ -35,8 +35,8 @@ PX4-Autopilot contains a template for writing a new application (module) that ru ```cpp WorkItemExample::WorkItemExample() : - ModuleParams(nullptr), - ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::test1) + ModuleParams(nullptr), + ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::test1) { } ``` diff --git a/docs/uk/modules/modules_driver.md b/docs/uk/modules/modules_driver.md index b87be5aec8..7ac0fd1012 100644 --- a/docs/uk/modules/modules_driver.md +++ b/docs/uk/modules/modules_driver.md @@ -45,6 +45,26 @@ atxxxx [arguments...] status print status info ``` +## auterion_autostarter + +Source: [drivers/auterion_autostarter](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/auterion_autostarter) + +### Опис + +Driver for starting and auto-detecting different power monitors. + +### Usage {#auterion_autostarter_usage} + +``` +auterion_autostarter [arguments...] + Commands: + start + + stop + + status print status info +``` + ## batmon Source: [drivers/smart_battery/batmon](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/smart_battery/batmon) @@ -925,26 +945,6 @@ pca9685_pwm_out [arguments...] status print status info ``` -## pm_selector_auterion - -Source: [drivers/power_monitor/pm_selector_auterion](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/power_monitor/pm_selector_auterion) - -### Опис - -Driver for starting and auto-detecting different power monitors. - -### Usage {#pm_selector_auterion_usage} - -``` -pm_selector_auterion [arguments...] - Commands: - start - - stop - - status print status info -``` - ## pmw3901 Source: [drivers/optical_flow/pmw3901](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/optical_flow/pmw3901) @@ -1109,7 +1109,7 @@ px4io [arguments...] ## rgbled -Source: [drivers/lights/rgbled_ncp5623c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled_ncp5623c) +Source: [drivers/lights/rgbled](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled) ### Usage {#rgbled_usage} @@ -1124,9 +1124,7 @@ rgbled [arguments...] [-f ] bus frequency in kHz [-q] quiet startup (no message if no device found) [-a ] I2C address - default: 57 - [-o ] RGB PWM Assignment - default: 123 + default: 85 stop @@ -1438,6 +1436,30 @@ tap_esc [arguments...] default: 4 ``` +## tmp102 + +Source: [drivers/temperature_sensor/tmp102](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/temperature_sensor/tmp102) + +### Usage {#tmp102_usage} + +``` +tmp102 [arguments...] + Commands: + start + [-I] Internal I2C bus(es) + [-X] External I2C bus(es) + [-b ] board-specific bus (default=all) (external SPI: n-th bus + (default=1)) + [-f ] bus frequency in kHz + [-q] quiet startup (no message if no device found) + [-a ] I2C address + default: 72 + + stop + + status print status info +``` + ## tone_alarm Source: [drivers/tone_alarm](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/tone_alarm) @@ -1627,6 +1649,76 @@ voxlpm [arguments...] status print status info ``` +## vtx + +Source: [drivers/vtx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/vtx) + +### Опис + +This module communicates with a VTX camera via serial port. It can be used to +configure the camera settings and to control the camera's video transmission. +Supported protocols are: + +- SmartAudio v1, v2.0, v2.1 +- Tramp + +### Usage {#vtx_usage} + +``` +vtx [arguments...] + Commands: + start + -d VTX device + values: + + Sets an entry in the mapping table: + + + stop + + status print status info +``` + +## vtxtable + +Source: [drivers/vtxtable](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/vtxtable) + +### Опис + +Manages the VTX frequency, power level and RC mapping table for VTX configuration. + +### Usage {#vtxtable_usage} + +``` +vtxtable [arguments...] + Commands: + status Shows the current VTX table configuration. + + name Sets the VTX table name: + + bands Sets the number of bands: + + band Sets the band frequencies: <1-index> + + + channels Sets the number of channels: + + powerlevels Sets number of power levels: + + powervalues Sets the power level values: + + powerlabels Sets the power level labels: <3 chars...> + + Sets an entry in the mapping table: <0-index> + + + clear Clears the VTX table configuration. + + save Saves the VTX config to a file: + + load Loads the VTX config from a file: +``` + ## zenoh Source: [modules/zenoh](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/zenoh) diff --git a/docs/uk/modules/modules_template.md b/docs/uk/modules/modules_template.md index a02a7276ee..b9ae801ac2 100644 --- a/docs/uk/modules/modules_template.md +++ b/docs/uk/modules/modules_template.md @@ -1,5 +1,36 @@ # Modules Reference: Template +## mc_raptor + +Source: [modules/mc_raptor](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_raptor) + +### Опис + +RAPTOR Policy Flight Mode + +### Usage {#mc_raptor_usage} + +``` +mc_raptor [arguments...] + Commands: + start + + intref Modify internal reference + lissajous Set Lissajous trajectory parameters + Amplitude X [m] + Amplitude Y [m] + Amplitude Z [m] + Frequency a + Frequency b + Frequency c + Total duration [s] + Ramp duration [s] + + stop + + status print status info +``` + ## module Source: [templates/template_module](https://github.com/PX4/PX4-Autopilot/tree/main/src/templates/template_module) diff --git a/docs/uk/msg_docs/ActionRequest.md b/docs/uk/msg_docs/ActionRequest.md index 584b06d718..71b4bfde29 100644 --- a/docs/uk/msg_docs/ActionRequest.md +++ b/docs/uk/msg_docs/ActionRequest.md @@ -1,12 +1,57 @@ +--- +pageClass: is-wide-page +--- + # ActionRequest (повідомлення UORB) -Action request for the vehicle's main state +Action request for the vehicle's main state. Message represents actions requested by a PX4 internal component towards the main state machine such as a request to arm or switch mode. It allows mapping triggers from various external interfaces like RC channels or MAVLink to cause an action. Request are published by `manual_control` and subscribed by the `commander` and `vtol_att_control` modules. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActionRequest.msg) +**TOPICS:** action_request + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------- | -------- | ---------------------------------------------------------------- | ----------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| action | `uint8` | | [ACTION](#ACTION) | Requested action | +| source | `uint8` | | [SOURCE](#SOURCE) | Request trigger type, such as a switch, button or gesture | +| mode | `uint8` | | | Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration. | + +## Enums + +### ACTION {#ACTION} + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---------------------------------------------------------------------------------------- | +| ACTION_DISARM | `uint8` | 0 | Disarm vehicle | +| ACTION_ARM | `uint8` | 1 | Arm vehicle | +| ACTION_TOGGLE_ARMING | `uint8` | 2 | Toggle arming | +| ACTION_UNKILL | `uint8` | 3 | Revert a kill action | +| ACTION_KILL | `uint8` | 4 | Kill vehicle (instantly stop the motors) | +| ACTION_SWITCH_MODE | `uint8` | 5 | Switch mode. The target mode is set in the `mode` field. | +| ACTION_VTOL_TRANSITION_TO_MULTICOPTER | `uint8` | 6 | Transition to hover flight | +| ACTION_VTOL_TRANSITION_TO_FIXEDWING | `uint8` | 7 | Transition to fast forward flight | +| ACTION_TERMINATION | `uint8` | 8 | Irreversibly output failsafe values on all outputs, trigger parachute | + +### SOURCE {#SOURCE} + +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------------- | +| SOURCE_STICK_GESTURE | `uint8` | 0 | Triggered by holding the sticks in a certain position | +| SOURCE_RC_SWITCH | `uint8` | 1 | Triggered by an RC switch moving into a certain position | +| SOURCE_RC_BUTTON | `uint8` | 2 | Triggered by a momentary button on the RC being pressed or held | +| SOURCE_RC_MODE_SLOT | `uint8` | 3 | Mode change through the RC mode selection mechanism | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActionRequest.msg) + +:::details +Click here to see original file ```c # Action request for the vehicle's main state @@ -35,5 +80,6 @@ uint8 SOURCE_RC_BUTTON = 2 # Triggered by a momentary button on the RC bein uint8 SOURCE_RC_MODE_SLOT = 3 # Mode change through the RC mode selection mechanism uint8 mode # Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration. - ``` + +::: diff --git a/docs/uk/msg_docs/ActuatorArmed.md b/docs/uk/msg_docs/ActuatorArmed.md index d8d2a8d0ce..9571672f6a 100644 --- a/docs/uk/msg_docs/ActuatorArmed.md +++ b/docs/uk/msg_docs/ActuatorArmed.md @@ -1,6 +1,30 @@ +--- +pageClass: is-wide-page +--- + # ActuatorArmed (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorArmed.msg) +**TOPICS:** actuator_armed + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| -------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| armed | `bool` | | | Set to true if system is armed | +| prearmed | `bool` | | | Set to true if the actuator safety is disabled but motors are not armed | +| ready_to_arm | `bool` | | | Set to true if system is ready to be armed | +| lockdown | `bool` | | | Set to true if actuators are forced to being disabled (due to emergency or HIL) | +| kill | `bool` | | | Set to true if manual throttle kill switch is engaged | +| termination | `bool` | | | Send out failsafe (by default same as disarmed) output | +| in_esc_calibration_mode | `bool` | | | IO/FMU should ignore messages from the actuator controls topics | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorArmed.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -12,5 +36,6 @@ bool lockdown # Set to true if actuators are forced to being disabled (due to e bool kill # Set to true if manual throttle kill switch is engaged bool termination # Send out failsafe (by default same as disarmed) output bool in_esc_calibration_mode # IO/FMU should ignore messages from the actuator controls topics - ``` + +::: diff --git a/docs/uk/msg_docs/ActuatorControlsStatus.md b/docs/uk/msg_docs/ActuatorControlsStatus.md index 46ab0382b1..d7ecf6f6b5 100644 --- a/docs/uk/msg_docs/ActuatorControlsStatus.md +++ b/docs/uk/msg_docs/ActuatorControlsStatus.md @@ -1,6 +1,24 @@ +--- +pageClass: is-wide-page +--- + # ActuatorControlsStatus (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorControlsStatus.msg) +**TOPICS:** actuator_controls_status_0 actuator_controls_status_1 + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| control_power | `float32[3]` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorControlsStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -8,5 +26,6 @@ uint64 timestamp # time since system start (microseconds) float32[3] control_power # TOPICS actuator_controls_status_0 actuator_controls_status_1 - ``` + +::: diff --git a/docs/uk/msg_docs/ActuatorMotors.md b/docs/uk/msg_docs/ActuatorMotors.md index f9b6a826f2..bb061ef8ae 100644 --- a/docs/uk/msg_docs/ActuatorMotors.md +++ b/docs/uk/msg_docs/ActuatorMotors.md @@ -1,11 +1,39 @@ +--- +pageClass: is-wide-page +--- + # ActuatorMotors (повідомлення UORB) -Повідомлення про керування двигуном +Motor control message. Normalised thrust setpoint for up to 12 motors. Published by the vehicle's allocation and consumed by the ESC protocol drivers e.g. PWM, DSHOT, UAVCAN. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg) +**TOPICS:** actuator_motors + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | ------------- | ---------------------------------------------------------------- | ---------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on | +| reversible_flags | `uint16` | | | Bitset indicating which motors are configured to be reversible | +| control | `float32[12]` | | [-1 : 1] | Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors) | + +## Constants + +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | +| ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | | +| NUM_CONTROLS | `uint8` | 12 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg) + +:::details +Click here to see original file ```c # Motor control message @@ -24,5 +52,6 @@ uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 # uint8 NUM_CONTROLS = 12 # float32[12] control # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors) - ``` + +::: diff --git a/docs/uk/msg_docs/ActuatorOutputs.md b/docs/uk/msg_docs/ActuatorOutputs.md index cdc9e214e5..68446e67ba 100644 --- a/docs/uk/msg_docs/ActuatorOutputs.md +++ b/docs/uk/msg_docs/ActuatorOutputs.md @@ -1,6 +1,32 @@ +--- +pageClass: is-wide-page +--- + # ActuatorOutputs (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorOutputs.msg) +**TOPICS:** actuator_outputs actuator_outputs_sim actuator_outputs_debug + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------- | ------------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| noutputs | `uint32` | | | valid outputs | +| output | `float32[16]` | | | output data, in natural output units | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------- | +| NUM_ACTUATOR_OUTPUTS | `uint8` | 16 | | +| NUM_ACTUATOR_OUTPUT_GROUPS | `uint8` | 4 | for sanity checking | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorOutputs.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -11,5 +37,6 @@ float32[16] output # output data, in natural output units # actuator_outputs_sim is used for SITL, HITL & SIH (with an output range of [-1, 1]) # TOPICS actuator_outputs actuator_outputs_sim actuator_outputs_debug - ``` + +::: diff --git a/docs/uk/msg_docs/ActuatorServos.md b/docs/uk/msg_docs/ActuatorServos.md index 6dfe1ddd7a..dcd37b31bb 100644 --- a/docs/uk/msg_docs/ActuatorServos.md +++ b/docs/uk/msg_docs/ActuatorServos.md @@ -1,11 +1,37 @@ +--- +pageClass: is-wide-page +--- + # ActuatorServos (повідомлення UORB) -Повідомлення про керування сервоприводом +Servo control message. Normalised output setpoint for up to 8 servos. Published by the vehicle's allocation and consumed by the actuator output drivers. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorServos.msg) +**TOPICS:** actuator_servos + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on | +| control | `float32[8]` | | [-1 : 1] | Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed. | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | +| NUM_CONTROLS | `uint8` | 8 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorServos.msg) + +:::details +Click here to see original file ```c # Servo control message @@ -20,5 +46,6 @@ uint64 timestamp_sample # [us] Sampling timestamp of the data this control resp uint8 NUM_CONTROLS = 8 # float32[8] control # [-] [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed. - ``` + +::: diff --git a/docs/uk/msg_docs/ActuatorServosTrim.md b/docs/uk/msg_docs/ActuatorServosTrim.md index e6fc148fe0..eaa760e4a7 100644 --- a/docs/uk/msg_docs/ActuatorServosTrim.md +++ b/docs/uk/msg_docs/ActuatorServosTrim.md @@ -1,8 +1,32 @@ +--- +pageClass: is-wide-page +--- + # ActuatorServosTrim (повідомлення UORB) -Підлаштування сервоприводів, що додаються як зміщення до виходів сервоприводів +Servo trims, added as offset to servo outputs. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorServosTrim.msg) +**TOPICS:** actuator_servostrim + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------- | ------------ | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| trim | `float32[8]` | | | range: [-1, 1] | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------- | ------- | -------- | ---- | +| NUM_CONTROLS | `uint8` | 8 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorServosTrim.msg) + +:::details +Click here to see original file ```c # Servo trims, added as offset to servo outputs @@ -10,5 +34,6 @@ uint64 timestamp # time since system start (microseconds) uint8 NUM_CONTROLS = 8 float32[8] trim # range: [-1, 1] - ``` + +::: diff --git a/docs/uk/msg_docs/ActuatorTest.md b/docs/uk/msg_docs/ActuatorTest.md index 6bc89a09fd..c07d77a528 100644 --- a/docs/uk/msg_docs/ActuatorTest.md +++ b/docs/uk/msg_docs/ActuatorTest.md @@ -1,6 +1,39 @@ +--- +pageClass: is-wide-page +--- + # ActuatorTest (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorTest.msg) +**TOPICS:** actuator_test + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| action | `uint8` | | | one of ACTION\_\* | +| function | `uint16` | | | actuator output function | +| value | `float32` | | | range: [-1, 1], where 1 means maximum positive output, | +| timeout_ms | `uint32` | | | timeout in ms after which to exit test mode (if 0, do not time out) | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------- | ------- | -------- | -------------------------------------------------------------------------------------------------------------------- | +| ACTION_RELEASE_CONTROL | `uint8` | 0 | exit test mode for the given function | +| ACTION_DO_CONTROL | `uint8` | 1 | enable actuator test mode | +| FUNCTION_MOTOR1 | `uint8` | 101 | | +| MAX_NUM_MOTORS | `uint8` | 12 | | +| FUNCTION_SERVO1 | `uint8` | 201 | | +| MAX_NUM_SERVOS | `uint8` | 8 | | +| ORB_QUEUE_LENGTH | `uint8` | 16 | > = MAX_NUM_MOTORS to support code in esc_calibration | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorTest.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -24,5 +57,6 @@ float32 value # range: [-1, 1], where 1 means maximum positive output, uint32 timeout_ms # timeout in ms after which to exit test mode (if 0, do not time out) uint8 ORB_QUEUE_LENGTH = 16 # >= MAX_NUM_MOTORS to support code in esc_calibration - ``` + +::: diff --git a/docs/uk/msg_docs/AdcReport.md b/docs/uk/msg_docs/AdcReport.md index 0865953206..96718298b9 100644 --- a/docs/uk/msg_docs/AdcReport.md +++ b/docs/uk/msg_docs/AdcReport.md @@ -1,10 +1,32 @@ +--- +pageClass: is-wide-page +--- + # AdcReport (повідомлення UORB) ADC raw data. Communicates raw data from an analog-to-digital converter (ADC) to other modules, such as battery status. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AdcReport.msg) +**TOPICS:** adc_report + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| channel_id | `int16[16]` | | | ADC channel IDs, negative for non-existent, TODO: should be kept same as array index | +| raw_data | `int32[16]` | | | ADC channel raw value, accept negative value, valid if channel ID is positive | +| resolution | `uint32` | | | ADC channel resolution | +| v_ref | `float32` | V | | ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AdcReport.msg) + +:::details +Click here to see original file ```c # ADC raw data. @@ -17,5 +39,6 @@ int16[16] channel_id # [-] ADC channel IDs, negative for non-existent, TODO: sh int32[16] raw_data # [-] ADC channel raw value, accept negative value, valid if channel ID is positive uint32 resolution # [-] ADC channel resolution float32 v_ref # [V] ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution) - ``` + +::: diff --git a/docs/uk/msg_docs/Airspeed.md b/docs/uk/msg_docs/Airspeed.md index 8717f30d78..a9a866769b 100644 --- a/docs/uk/msg_docs/Airspeed.md +++ b/docs/uk/msg_docs/Airspeed.md @@ -1,11 +1,32 @@ +--- +pageClass: is-wide-page +--- + # Airspeed (повідомлення UORB) -Airspeed data from sensors +Airspeed data from sensors. This is published by airspeed sensor drivers, CAN airspeed sensors, simulators. It is subscribed by the airspeed selector module, which validates the data from multiple sensors and passes on a single estimation to the EKF, controllers and telemetry providers. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Airspeed.msg) +**TOPICS:** airspeed + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | --------------------------------------------------------------------------- | -------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Timestamp of the raw data | +| indicated_airspeed_m_s | `float32` | m/s | | Indicated airspeed | +| true_airspeed_m_s | `float32` | m/s | | True airspeed | +| confidence | `float32` | | [0 : 1] | Confidence value for this sensor | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Airspeed.msg) + +:::details +Click here to see original file ```c # Airspeed data from sensors @@ -18,5 +39,6 @@ uint64 timestamp_sample # [us] Timestamp of the raw data float32 indicated_airspeed_m_s # [m/s] Indicated airspeed float32 true_airspeed_m_s # [m/s] True airspeed float32 confidence # [@range 0,1] Confidence value for this sensor - ``` + +::: diff --git a/docs/uk/msg_docs/AirspeedValidated.md b/docs/uk/msg_docs/AirspeedValidated.md index 1aa9bdbd02..306128407a 100644 --- a/docs/uk/msg_docs/AirspeedValidated.md +++ b/docs/uk/msg_docs/AirspeedValidated.md @@ -1,11 +1,56 @@ +--- +pageClass: is-wide-page +--- + # AirspeedValidated (повідомлення UORB) -Validated airspeed +Validated airspeed. Provides information about airspeed (indicated, true, calibrated) and the source of the data. Used by controllers, estimators and for airspeed reporting to operator. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/AirspeedValidated.msg) +**TOPICS:** airspeed_validated + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ----------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| indicated_airspeed_m_s | `float32` | m/s | | Indicated airspeed (IAS) (Invalid: NaN) | +| calibrated_airspeed_m_s | `float32` | m/s | | Calibrated airspeed (CAS) (Invalid: NaN) | +| true_airspeed_m_s | `float32` | m/s | | True airspeed (TAS) (Invalid: NaN) | +| airspeed_source | `int8` | | [SOURCE](#SOURCE) | Source of currently published airspeed values | +| calibrated_ground_minus_wind_m_s | `float32` | m/s | | CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption (Invalid: NaN) | +| calibraded_airspeed_synth_m_s | `float32` | m/s | | Synthetic airspeed (Invalid: NaN) | +| airspeed_derivative_filtered | `float32` | m/s^2 | | Filtered indicated airspeed derivative | +| throttle_filtered | `float32` | | | Filtered fixed-wing throttle | +| pitch_filtered | `float32` | rad | | Filtered pitch | + +## Enums + +### SOURCE {#SOURCE} + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------------------------------------------------------------------- | ------ | -------- | ----------------------- | +| SOURCE_DISABLED | `int8` | -1 | Disabled | +| SOURCE_GROUND_MINUS_WIND | `int8` | 0 | Ground speed minus wind | +| SOURCE_SENSOR_1 | `int8` | 1 | Sensor 1 | +| SOURCE_SENSOR_2 | `int8` | 2 | Sensor 2 | +| SOURCE_SENSOR_3 | `int8` | 3 | Sensor 3 | +| SOURCE_SYNTHETIC | `int8` | 4 | Synthetic airspeed | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 1 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/AirspeedValidated.msg) + +:::details +Click here to see original file ```c # Validated airspeed @@ -35,5 +80,6 @@ float32 calibraded_airspeed_synth_m_s # [m/s] [@invalid NaN] Synthetic airsp float32 airspeed_derivative_filtered # [m/s^2] Filtered indicated airspeed derivative float32 throttle_filtered # [-] Filtered fixed-wing throttle float32 pitch_filtered # [rad] Filtered pitch - ``` + +::: diff --git a/docs/uk/msg_docs/AirspeedValidatedV0.md b/docs/uk/msg_docs/AirspeedValidatedV0.md index 8bca98a224..6fdd9f47d1 100644 --- a/docs/uk/msg_docs/AirspeedValidatedV0.md +++ b/docs/uk/msg_docs/AirspeedValidatedV0.md @@ -1,6 +1,39 @@ +--- +pageClass: is-wide-page +--- + # AirspeedValidatedV0 (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/AirspeedValidatedV0.msg) +**TOPICS:** airspeed_validatedv0 + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| indicated_airspeed_m_s | `float32` | | | indicated airspeed in m/s (IAS), set to NAN if invalid | +| calibrated_airspeed_m_s | `float32` | | | calibrated airspeed in m/s (CAS, accounts for instrumentation errors), set to NAN if invalid | +| true_airspeed_m_s | `float32` | | | true filtered airspeed in m/s (TAS), set to NAN if invalid | +| calibrated_ground_minus_wind_m_s | `float32` | | | CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid | +| true_ground_minus_wind_m_s | `float32` | | | TAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid | +| airspeed_sensor_measurement_valid | `bool` | | | True if data from at least one airspeed sensor is declared valid. | +| selected_airspeed_index | `int8` | | | 1-3: airspeed sensor index, 0: groundspeed-windspeed, -1: airspeed invalid | +| airspeed_derivative_filtered | `float32` | | | filtered indicated airspeed derivative [m/s/s] | +| throttle_filtered | `float32` | | | filtered fixed-wing throttle [-] | +| pitch_filtered | `float32` | | | filtered pitch [rad] | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/AirspeedValidatedV0.msg) + +:::details +Click here to see original file ```c uint32 MESSAGE_VERSION = 0 @@ -21,5 +54,6 @@ int8 selected_airspeed_index # 1-3: airspeed sensor index, 0: groundspeed-win float32 airspeed_derivative_filtered # filtered indicated airspeed derivative [m/s/s] float32 throttle_filtered # filtered fixed-wing throttle [-] float32 pitch_filtered # filtered pitch [rad] - ``` + +::: diff --git a/docs/uk/msg_docs/AirspeedWind.md b/docs/uk/msg_docs/AirspeedWind.md index ba3b6bbe1e..e3a90ba5ee 100644 --- a/docs/uk/msg_docs/AirspeedWind.md +++ b/docs/uk/msg_docs/AirspeedWind.md @@ -1,6 +1,10 @@ +--- +pageClass: is-wide-page +--- + # AirspeedWind (повідомлення UORB) -Wind estimate (from airspeed_selector) +Wind estimate (from airspeed_selector). Contains wind estimation and airspeed innovation information estimated by the WindEstimator in the airspeed selector module. @@ -8,7 +12,42 @@ in the airspeed selector module. This message is published by the airspeed selector for debugging purposes, and is not subscribed to by any other modules. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AirspeedWind.msg) +**TOPICS:** airspeed_wind + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| -------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Timestamp of the raw data | +| windspeed_north | `float32` | m/s | | Wind component in north / X direction | +| windspeed_east | `float32` | m/s | | Wind component in east / Y direction | +| variance_north | `float32` | (m/s)^2 | | Wind estimate error variance in north / X direction (Invalid: 0 if not estimated) | +| variance_east | `float32` | (m/s)^2 | | Wind estimate error variance in east / Y direction (Invalid: 0 if not estimated) | +| tas_innov | `float32` | m/s | | True airspeed innovation | +| tas_innov_var | `float32` | m/s | | True airspeed innovation variance | +| tas_scale_raw | `float32` | | | Estimated true airspeed scale factor (not validated) | +| tas_scale_raw_var | `float32` | | | True airspeed scale factor variance | +| tas_scale_validated | `float32` | | | Estimated true airspeed scale factor after validation | +| beta_innov | `float32` | rad | | Sideslip measurement innovation | +| beta_innov_var | `float32` | rad^2 | | Sideslip measurement innovation variance | +| source | `uint8` | | | source of wind estimate | + +## Constants + +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------------------------------------------- | +| SOURCE_AS_BETA_ONLY | `uint8` | 0 | Wind estimate only based on synthetic sideslip fusion | +| SOURCE_AS_SENSOR_1 | `uint8` | 1 | Combined synthetic sideslip and airspeed fusion (data from first airspeed sensor) | +| SOURCE_AS_SENSOR_2 | `uint8` | 2 | Combined synthetic sideslip and airspeed fusion (data from second airspeed sensor) | +| SOURCE_AS_SENSOR_3 | `uint8` | 3 | Combined synthetic sideslip and airspeed fusion (data from third airspeed sensor) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AirspeedWind.msg) + +:::details +Click here to see original file ```c # Wind estimate (from airspeed_selector) @@ -45,5 +84,6 @@ uint8 SOURCE_AS_BETA_ONLY = 0 # Wind estimate only based on synthetic sideslip f uint8 SOURCE_AS_SENSOR_1 = 1 # Combined synthetic sideslip and airspeed fusion (data from first airspeed sensor) uint8 SOURCE_AS_SENSOR_2 = 2 # Combined synthetic sideslip and airspeed fusion (data from second airspeed sensor) uint8 SOURCE_AS_SENSOR_3 = 3 # Combined synthetic sideslip and airspeed fusion (data from third airspeed sensor) - ``` + +::: diff --git a/docs/uk/msg_docs/ArmingCheckReply.md b/docs/uk/msg_docs/ArmingCheckReply.md index d1e79e5a49..732d88cb1c 100644 --- a/docs/uk/msg_docs/ArmingCheckReply.md +++ b/docs/uk/msg_docs/ArmingCheckReply.md @@ -1,6 +1,10 @@ +--- +pageClass: is-wide-page +--- + # ArmingCheckReply (повідомлення UORB) -Arming check reply +Arming check reply. This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode. The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station). @@ -9,7 +13,55 @@ The request is sent regularly to all registered ROS modes, even while armed, so Note that the external component is identified by its registration_id, which is allocated to the component during registration (arming_check_id in RegisterExtComponentReply). The message is not used by internal/FMU components, as their mode requirements are known at compile time. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg) +**TOPICS:** arming_checkreply + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| -------------------------------------------------------------------------------------------------------------------- | ---------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start. | +| request_id | `uint8` | | | Id of ArmingCheckRequest for which this is a response | +| registration_id | `uint8` | | | Id of external component emitting this response | +| health_component_index | `uint8` | | [HEALTH_COMPONENT_INDEX](#HEALTH_COMPONENT_INDEX) | | +| health_component_is_present | `bool` | | | Unused. Intended for use with health events interface (health_component_t in events.json) | +| health_component_warning | `bool` | | | Unused. Intended for use with health events interface (health_component_t in events.json) | +| health_component_error | `bool` | | | Unused. Intended for use with health events interface (health_component_t in events.json) | +| can_arm_and_run | `bool` | | | True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed | +| num_events | `uint8` | | | Number of queued failure messages (Event) in the events field | +| events | `Event[5]` | | | Arming failure reasons (Queue of events to report to GCS) | +| mode_req_angular_velocity | `bool` | | | Requires angular velocity estimate (e.g. from gyroscope) | +| mode_req_attitude | `bool` | | | Requires an attitude estimate | +| mode_req_local_alt | `bool` | | | Requires a local altitude estimate | +| mode_req_local_position | `bool` | | | Requires a local position estimate | +| mode_req_local_position_relaxed | `bool` | | | Requires a more relaxed global position estimate | +| mode_req_global_position | `bool` | | | Requires a global position estimate | +| mode_req_global_position_relaxed | `bool` | | | Requires a relaxed global position estimate | +| mode_req_mission | `bool` | | | Requires an uploaded mission | +| mode_req_home_position | `bool` | | | Requires a home position (such as RTL/Return mode) | +| mode_req_prevent_arming | `bool` | | | Prevent arming (such as in Land mode) | +| mode_req_manual_control | `bool` | | | Requires a manual controller | + +## Enums + +### HEALTH_COMPONENT_INDEX {#HEALTH_COMPONENT_INDEX} + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------- | +| HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 | Index of health component for which this response applies | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 1 | | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg) + +:::details +Click here to see original file ```c # Arming check reply @@ -55,5 +107,6 @@ bool mode_req_prevent_arming # Prevent arming (such as in Land mode) bool mode_req_manual_control # Requires a manual controller uint8 ORB_QUEUE_LENGTH = 4 - ``` + +::: diff --git a/docs/uk/msg_docs/ArmingCheckReplyV0.md b/docs/uk/msg_docs/ArmingCheckReplyV0.md index 48917da802..80ddfcd015 100644 --- a/docs/uk/msg_docs/ArmingCheckReplyV0.md +++ b/docs/uk/msg_docs/ArmingCheckReplyV0.md @@ -1,6 +1,50 @@ +--- +pageClass: is-wide-page +--- + # ArmingCheckReplyV0 (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckReplyV0.msg) +**TOPICS:** arming_checkreplyv0 + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| request_id | `uint8` | | | | +| registration_id | `uint8` | | | | +| health_component_index | `uint8` | | | HEALTH_COMPONENT_INDEX_\* | +| health_component_is_present | `bool` | | | | +| health_component_warning | `bool` | | | | +| health_component_error | `bool` | | | | +| can_arm_and_run | `bool` | | | whether arming is possible, and if it's a navigation mode, if it can run | +| num_events | `uint8` | | | | +| events | `EventV0[5]` | | | | +| mode_req_angular_velocity | `bool` | | | | +| mode_req_attitude | `bool` | | | | +| mode_req_local_alt | `bool` | | | | +| mode_req_local_position | `bool` | | | | +| mode_req_local_position_relaxed | `bool` | | | | +| mode_req_global_position | `bool` | | | | +| mode_req_mission | `bool` | | | | +| mode_req_home_position | `bool` | | | | +| mode_req_prevent_arming | `bool` | | | | +| mode_req_manual_control | `bool` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | +| HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 | | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckReplyV0.msg) + +:::details +Click here to see original file ```c uint32 MESSAGE_VERSION = 0 @@ -37,5 +81,6 @@ bool mode_req_manual_control uint8 ORB_QUEUE_LENGTH = 4 - ``` + +::: diff --git a/docs/uk/msg_docs/ArmingCheckRequest.md b/docs/uk/msg_docs/ArmingCheckRequest.md index 45fd9a48f4..bf878f600f 100644 --- a/docs/uk/msg_docs/ArmingCheckRequest.md +++ b/docs/uk/msg_docs/ArmingCheckRequest.md @@ -1,6 +1,10 @@ +--- +pageClass: is-wide-page +--- + # ArmingCheckRequest (повідомлення UORB) -Arming check request +Arming check request. Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes. All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information. @@ -9,7 +13,28 @@ The request is sent regularly, even while armed, so that the FMU always knows th The reply will include the published request_id, allowing correlation of all arming check information for a particular request. The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply). -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg) +**TOPICS:** arming_checkrequest + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| request_id | `uint8` | | | Id of this request. Allows correlation with associated ArmingCheckReply messages. | +| valid_registrations_mask | `uint32` | | | Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive) | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 1 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg) + +:::details +Click here to see original file ```c # Arming check request @@ -28,5 +53,6 @@ uint64 timestamp # [us] Time since system start uint8 request_id # [-] Id of this request. Allows correlation with associated ArmingCheckReply messages. uint32 valid_registrations_mask # [-] Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive) - ``` + +::: diff --git a/docs/uk/msg_docs/ArmingCheckRequestV0.md b/docs/uk/msg_docs/ArmingCheckRequestV0.md index f5680c11f2..6e5b4e3aaa 100644 --- a/docs/uk/msg_docs/ArmingCheckRequestV0.md +++ b/docs/uk/msg_docs/ArmingCheckRequestV0.md @@ -1,3 +1,7 @@ +--- +pageClass: is-wide-page +--- + # ArmingCheckRequestV0 (UORB message) Arming check request. @@ -9,7 +13,27 @@ The request is sent regularly, even while armed, so that the FMU always knows th The reply will include the published request_id, allowing correlation of all arming check information for a particular request. The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply). -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckRequestV0.msg) +**TOPICS:** arming_checkrequestv0 + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start. | +| request_id | `uint8` | | | Id of this request. Allows correlation with associated ArmingCheckReply messages. | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckRequestV0.msg) + +:::details +Click here to see original file ```c # Arming check request. @@ -26,5 +50,6 @@ uint32 MESSAGE_VERSION = 0 uint64 timestamp # [us] Time since system start. uint8 request_id # Id of this request. Allows correlation with associated ArmingCheckReply messages. - ``` + +::: diff --git a/docs/uk/msg_docs/AutotuneAttitudeControlStatus.md b/docs/uk/msg_docs/AutotuneAttitudeControlStatus.md index afda316aa2..0d2bfa03a8 100644 --- a/docs/uk/msg_docs/AutotuneAttitudeControlStatus.md +++ b/docs/uk/msg_docs/AutotuneAttitudeControlStatus.md @@ -1,13 +1,68 @@ +--- +pageClass: is-wide-page +--- + # AutotuneAttitudeControlStatus (повідомлення UORB) -Autotune attitude control status +Autotune attitude control status. This message is published by the fw_autotune_attitude_control and mc_autotune_attitude_control modules when the user engages autotune, and is subscribed to by the respective attitude controllers to command rate setpoints. The rate_sp field is consumed by the controllers, while the remaining fields (model coefficients, gains, filters, and autotune state) are used for logging and debugging. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AutotuneAttitudeControlStatus.msg) +**TOPICS:** autotune_attitudecontrol_status + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------ | ------------ | ---------------------------------------------------------------- | --------------- | -------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| coeff | `float32[5]` | | | Coefficients of the identified discrete-time model | +| coeff_var | `float32[5]` | | | Coefficients' variance of the identified discrete-time model | +| fitness | `float32` | | | Fitness of the parameter estimate | +| innov | `float32` | rad/s | | Innovation (residual error between model and measured output) | +| dt_model | `float32` | s | | Model sample time used for identification | +| kc | `float32` | | | Proportional rate-loop gain (ideal form) | +| ki | `float32` | | | Integral rate-loop gain (ideal form) | +| kd | `float32` | | | Derivative rate-loop gain (ideal form) | +| kff | `float32` | | | Feedforward rate-loop gain | +| att_p | `float32` | | | Proportional attitude gain | +| rate_sp | `float32[3]` | rad/s | | Rate setpoint commanded to the attitude controller. | +| u_filt | `float32` | | | Filtered input signal (normalized torque setpoint) used in system identification. | +| y_filt | `float32` | rad/s | | Filtered output signal (angular velocity) used in system identification. | +| state | `uint8` | | [STATE](#STATE) | Current state of the autotune procedure. | + +## Enums + +### STATE {#STATE} + +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------- | +| STATE_IDLE | `uint8` | 0 | Idle (not running) | +| STATE_INIT | `uint8` | 1 | Initialize filters and setup | +| STATE_ROLL_AMPLITUDE_DETECTION | `uint8` | 2 | FW only: determine required excitation amplitude (roll) | +| STATE_ROLL | `uint8` | 3 | Roll-axis excitation and model identification | +| STATE_ROLL_PAUSE | `uint8` | 4 | Pause to return to level flight | +| STATE_PITCH_AMPLITUDE_DETECTION | `uint8` | 5 | FW only: determine required excitation amplitude (pitch) | +| STATE_PITCH | `uint8` | 6 | Pitch-axis excitation and model identification | +| STATE_PITCH_PAUSE | `uint8` | 7 | Pause to return to level flight | +| STATE_YAW_AMPLITUDE_DETECTION | `uint8` | 8 | FW only: determine required excitation amplitude (yaw) | +| STATE_YAW | `uint8` | 9 | Yaw-axis excitation and model identification | +| STATE_YAW_PAUSE | `uint8` | 10 | Pause to return to level flight | +| STATE_VERIFICATION | `uint8` | 11 | Verify model and candidate gains | +| STATE_APPLY | `uint8` | 12 | Apply gains | +| STATE_TEST | `uint8` | 13 | Test gains in closed-loop | +| STATE_COMPLETE | `uint8` | 14 | Tuning completed successfully | +| STATE_FAIL | `uint8` | 15 | Tuning failed (model invalid or controller unstable) | +| STATE_WAIT_FOR_DISARM | `uint8` | 16 | Waiting for disarm before finalizing | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AutotuneAttitudeControlStatus.msg) + +:::details +Click here to see original file ```c # Autotune attitude control status @@ -55,5 +110,6 @@ uint8 STATE_TEST = 13 # Test gains in closed-loop uint8 STATE_COMPLETE = 14 # Tuning completed successfully uint8 STATE_FAIL = 15 # Tuning failed (model invalid or controller unstable) uint8 STATE_WAIT_FOR_DISARM = 16 # Waiting for disarm before finalizing - ``` + +::: diff --git a/docs/uk/msg_docs/BatteryInfo.md b/docs/uk/msg_docs/BatteryInfo.md index 4b0c2823ce..af6f4d4f1d 100644 --- a/docs/uk/msg_docs/BatteryInfo.md +++ b/docs/uk/msg_docs/BatteryInfo.md @@ -1,11 +1,30 @@ +--- +pageClass: is-wide-page +--- + # BatteryInfo (UORB message) -Battery information +Battery information. Static or near-invariant battery information. Should be streamed at low rate. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/BatteryInfo.msg) +**TOPICS:** battery_info + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| id | `uint8` | | | Must match the id in the battery_status message for the same battery | +| serial_number | `char[32]` | | | Serial number of the battery pack in ASCII characters, 0 terminated (Invalid: 0 All bytes) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/BatteryInfo.msg) + +:::details +Click here to see original file ```c # Battery information @@ -17,5 +36,6 @@ uint64 timestamp # [us] Time since system start uint8 id # Must match the id in the battery_status message for the same battery char[32] serial_number # [@invalid 0 All bytes] Serial number of the battery pack in ASCII characters, 0 terminated - ``` + +::: diff --git a/docs/uk/msg_docs/BatteryStatus.md b/docs/uk/msg_docs/BatteryStatus.md index df35417e0f..348bccb768 100644 --- a/docs/uk/msg_docs/BatteryStatus.md +++ b/docs/uk/msg_docs/BatteryStatus.md @@ -1,12 +1,117 @@ +--- +pageClass: is-wide-page +--- + # BatteryStatus (повідомлення UORB) -Battery status +Battery status. Battery status information for up to 3 battery instances. These are populated from power module and smart battery device drivers, and one battery updated from MAVLink. Battery instance information is also logged and streamed in MAVLink telemetry. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/BatteryStatus.msg) +**TOPICS:** battery_status + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| -------------------------------------------------------------------------------------- | ------------- | ---------------------------------------------------------------- | ----------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| connected | `bool` | | | Whether or not a battery is connected. For power modules this is based on a voltage threshold. | +| voltage_v | `float32` | V | | Battery voltage (Invalid: 0) | +| current_a | `float32` | A | | Battery current (Invalid: -1) | +| current_average_a | `float32` | A | | Battery current average (for FW average in level flight) (Invalid: -1) | +| discharged_mah | `float32` | mAh | | Discharged amount (Invalid: -1) | +| remaining | `float32` | | [0 : 1] | Remaining capacity (Invalid: -1) | +| scale | `float32` | | [1 : -] | Scaling factor to compensate for lower actuation power caused by voltage sag (Invalid: -1) | +| time_remaining_s | `float32` | s | | Predicted time remaining until battery is empty under previous averaged load (Invalid: NaN) | +| temperature | `float32` | °C | | Temperature of the battery (Invalid: NaN) | +| cell_count | `uint8` | | | Number of cells (Invalid: 0) | +| source | `uint8` | | [SOURCE](#SOURCE) | Battery source | +| priority | `uint8` | | | Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 | +| capacity | `uint16` | mAh | | Capacity of the battery when fully charged | +| cycle_count | `uint16` | | | Number of discharge cycles the battery has experienced | +| average_time_to_empty | `uint16` | minutes | | Predicted remaining battery capacity based on the average rate of discharge | +| manufacture_date | `uint16` | | | Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512 | +| state_of_health | `uint16` | % | [0 : 100] | State of health. FullChargeCapacity/DesignCapacity | +| max_error | `uint16` | % | [1 : 100] | Max error, expected margin of error in the state-of-charge calculation | +| id | `uint8` | | | ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed | +| interface_error | `uint16` | | | Interface error counter | +| voltage_cell_v | `float32[14]` | V | | Battery individual cell voltages (Invalid: 0) | +| max_cell_voltage_delta | `float32` | V | | Max difference between individual cell voltages | +| is_powering_off | `bool` | | | Power off event imminent indication, false if unknown | +| is_required | `bool` | | | Set if the battery is explicitly required before arming | +| warning | `uint8` | | [WARNING](#WARNING)[STATE](#STATE) | Current battery warning | +| faults | `uint16` | | [FAULT](#FAULT) | Smart battery supply status/fault flags (bitmask) for health indication | +| full_charge_capacity_wh | `float32` | Wh | | Compensated battery capacity | +| remaining_capacity_wh | `float32` | Wh | | Compensated battery capacity remaining | +| over_discharge_count | `uint16` | | | Number of battery overdischarge | +| nominal_voltage | `float32` | V | | Nominal voltage of the battery pack | +| internal_resistance_estimate | `float32` | Ohm | | Internal resistance per cell estimate | +| ocv_estimate | `float32` | V | | Open circuit voltage estimate | +| ocv_estimate_filtered | `float32` | V | | Filtered open circuit voltage estimate | +| volt_based_soc_estimate | `float32` | | [0 : 1] | Normalized volt based state of charge estimate | +| voltage_prediction | `float32` | V | | Predicted voltage | +| prediction_error | `float32` | V | | Prediction error | +| estimation_covariance_norm | `float32` | | | Norm of the covariance matrix | + +## Enums + +### SOURCE {#SOURCE} + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------- | +| SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) | +| SOURCE_EXTERNAL | `uint8` | 1 | External (MAVLink, CAN, or external driver) | +| SOURCE_ESCS | `uint8` | 2 | ESCs (via ESC telemetry) | + +### WARNING {#WARNING} + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------ | ------- | -------- | -------------------------------------------- | +| WARNING_NONE | `uint8` | 0 | No battery low voltage warning active | +| WARNING_LOW | `uint8` | 1 | Low voltage warning | +| WARNING_CRITICAL | `uint8` | 2 | Critical voltage, return / abort immediately | +| WARNING_EMERGENCY | `uint8` | 3 | Immediate landing required | +| WARNING_FAILED | `uint8` | 4 | Battery has failed completely | + +### STATE {#STATE} + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field | +| STATE_CHARGING | `uint8` | 7 | Battery is charging | + +### FAULT {#FAULT} + +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------------------------------------------------------------------------------- | +| FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged | +| FAULT_SPIKES | `uint8` | 1 | Voltage spikes | +| FAULT_CELL_FAIL | `uint8` | 2 | One or more cells have failed | +| FAULT_OVER_CURRENT | `uint8` | 3 | Over-current | +| FAULT_OVER_TEMPERATURE | `uint8` | 4 | Over-temperature | +| FAULT_UNDER_TEMPERATURE | `uint8` | 5 | Under-temperature fault | +| FAULT_INCOMPATIBLE_VOLTAGE | `uint8` | 6 | Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) | +| FAULT_INCOMPATIBLE_FIRMWARE | `uint8` | 7 | Battery firmware is not compatible with current autopilot firmware | +| FAULT_INCOMPATIBLE_MODEL | `uint8` | 8 | Battery model is not supported by the system | +| FAULT_HARDWARE_FAILURE | `uint8` | 9 | Hardware problem | +| FAULT_FAILED_TO_ARM | `uint8` | 10 | Battery had a problem while arming | +| FAULT_COUNT | `uint8` | 11 | Counter. Keep this as last element | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 1 | | +| MAX_INSTANCES | `uint8` | 3 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/BatteryStatus.msg) + +:::details +Click here to see original file ```c # Battery status @@ -88,5 +193,6 @@ float32 volt_based_soc_estimate # [-] [@range 0, 1] Normalized volt based float32 voltage_prediction # [V] Predicted voltage float32 prediction_error # [V] Prediction error float32 estimation_covariance_norm # [-] Norm of the covariance matrix - ``` + +::: diff --git a/docs/uk/msg_docs/BatteryStatusV0.md b/docs/uk/msg_docs/BatteryStatusV0.md index cd900a1f17..699eedd680 100644 --- a/docs/uk/msg_docs/BatteryStatusV0.md +++ b/docs/uk/msg_docs/BatteryStatusV0.md @@ -1,12 +1,118 @@ +--- +pageClass: is-wide-page +--- + # BatteryStatusV0 (UORB message) -Battery status +Battery status. Battery status information for up to 4 battery instances. These are populated from power module and smart battery device drivers, and one battery updated from MAVLink. Battery instance information is also logged and streamed in MAVLink telemetry. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/BatteryStatusV0.msg) +**TOPICS:** battery_statusv0 + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| -------------------------------------------------------------------------------------- | ------------- | ---------------------------------------------------------------- | ----------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| connected | `bool` | | | Whether or not a battery is connected. For power modules this is based on a voltage threshold. | +| voltage_v | `float32` | V | | Battery voltage (Invalid: 0) | +| current_a | `float32` | A | | Battery current (Invalid: -1) | +| current_average_a | `float32` | A | | Battery current average (for FW average in level flight) (Invalid: -1) | +| discharged_mah | `float32` | mAh | | Discharged amount (Invalid: -1) | +| remaining | `float32` | | [0 : 1] | Remaining capacity (Invalid: -1) | +| scale | `float32` | | [1 : -] | Scaling factor to compensate for lower actuation power caused by voltage sag (Invalid: -1) | +| time_remaining_s | `float32` | s | | Predicted time remaining until battery is empty under previous averaged load (Invalid: NaN) | +| temperature | `float32` | °C | | Temperature of the battery (Invalid: NaN) | +| cell_count | `uint8` | | | Number of cells (Invalid: 0) | +| source | `uint8` | | [SOURCE](#SOURCE) | Battery source | +| priority | `uint8` | | | Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 | +| capacity | `uint16` | mAh | | Capacity of the battery when fully charged | +| cycle_count | `uint16` | | | Number of discharge cycles the battery has experienced | +| average_time_to_empty | `uint16` | minutes | | Predicted remaining battery capacity based on the average rate of discharge | +| serial_number | `uint16` | | | Serial number of the battery pack | +| manufacture_date | `uint16` | | | Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512 | +| state_of_health | `uint16` | % | [0 : 100] | State of health. FullChargeCapacity/DesignCapacity | +| max_error | `uint16` | % | [1 : 100] | Max error, expected margin of error in the state-of-charge calculation | +| id | `uint8` | | | ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed | +| interface_error | `uint16` | | | Interface error counter | +| voltage_cell_v | `float32[14]` | V | | Battery individual cell voltages (Invalid: 0) | +| max_cell_voltage_delta | `float32` | | | Max difference between individual cell voltages | +| is_powering_off | `bool` | | | Power off event imminent indication, false if unknown | +| is_required | `bool` | | | Set if the battery is explicitly required before arming | +| warning | `uint8` | | [WARNING](#WARNING)[STATE](#STATE) | Current battery warning | +| faults | `uint16` | | [FAULT](#FAULT) | Smart battery supply status/fault flags (bitmask) for health indication | +| full_charge_capacity_wh | `float32` | Wh | | Compensated battery capacity | +| remaining_capacity_wh | `float32` | Wh | | Compensated battery capacity remaining | +| over_discharge_count | `uint16` | | | Number of battery overdischarge | +| nominal_voltage | `float32` | V | | Nominal voltage of the battery pack | +| internal_resistance_estimate | `float32` | Ohm | | Internal resistance per cell estimate | +| ocv_estimate | `float32` | V | | Open circuit voltage estimate | +| ocv_estimate_filtered | `float32` | V | | Filtered open circuit voltage estimate | +| volt_based_soc_estimate | `float32` | | [0 : 1] | Normalized volt based state of charge estimate | +| voltage_prediction | `float32` | V | | Predicted voltage | +| prediction_error | `float32` | V | | Prediction error | +| estimation_covariance_norm | `float32` | | | Norm of the covariance matrix | + +## Enums + +### SOURCE {#SOURCE} + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------- | +| SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) | +| SOURCE_EXTERNAL | `uint8` | 1 | External (MAVLink, CAN, or external driver) | +| SOURCE_ESCS | `uint8` | 2 | ESCs (via ESC telemetry) | + +### WARNING {#WARNING} + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------ | ------- | -------- | -------------------------------------------- | +| WARNING_NONE | `uint8` | 0 | No battery low voltage warning active | +| WARNING_LOW | `uint8` | 1 | Low voltage warning | +| WARNING_CRITICAL | `uint8` | 2 | Critical voltage, return / abort immediately | +| WARNING_EMERGENCY | `uint8` | 3 | Immediate landing required | +| WARNING_FAILED | `uint8` | 4 | Battery has failed completely | + +### STATE {#STATE} + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field | +| STATE_CHARGING | `uint8` | 7 | Battery is charging | + +### FAULT {#FAULT} + +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------------------------------------------------------------------------------- | +| FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged | +| FAULT_SPIKES | `uint8` | 1 | Voltage spikes | +| FAULT_CELL_FAIL | `uint8` | 2 | One or more cells have failed | +| FAULT_OVER_CURRENT | `uint8` | 3 | Over-current | +| FAULT_OVER_TEMPERATURE | `uint8` | 4 | Over-temperature | +| FAULT_UNDER_TEMPERATURE | `uint8` | 5 | Under-temperature fault | +| FAULT_INCOMPATIBLE_VOLTAGE | `uint8` | 6 | Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) | +| FAULT_INCOMPATIBLE_FIRMWARE | `uint8` | 7 | Battery firmware is not compatible with current autopilot firmware | +| FAULT_INCOMPATIBLE_MODEL | `uint8` | 8 | Battery model is not supported by the system | +| FAULT_HARDWARE_FAILURE | `uint8` | 9 | Hardware problem | +| FAULT_FAILED_TO_ARM | `uint8` | 10 | Battery had a problem while arming | +| FAULT_COUNT | `uint8` | 11 | Counter. Keep this as last element | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | +| MAX_INSTANCES | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/BatteryStatusV0.msg) + +:::details +Click here to see original file ```c # Battery status @@ -88,5 +194,6 @@ float32 volt_based_soc_estimate # [@range 0, 1] Normalized volt based state of c float32 voltage_prediction # [V] Predicted voltage float32 prediction_error # [V] Prediction error float32 estimation_covariance_norm # Norm of the covariance matrix - ``` + +::: diff --git a/docs/uk/msg_docs/ButtonEvent.md b/docs/uk/msg_docs/ButtonEvent.md index 51d6c08572..782bf6b33a 100644 --- a/docs/uk/msg_docs/ButtonEvent.md +++ b/docs/uk/msg_docs/ButtonEvent.md @@ -1,6 +1,30 @@ +--- +pageClass: is-wide-page +--- + # ButtonEvent (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ButtonEvent.msg) +**TOPICS:** button_event safety_button + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| triggered | `bool` | | | Set to true if the event is triggered | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 2 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ButtonEvent.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -9,5 +33,6 @@ bool triggered # Set to true if the event is triggered # TOPICS button_event safety_button uint8 ORB_QUEUE_LENGTH = 2 - ``` + +::: diff --git a/docs/uk/msg_docs/CameraCapture.md b/docs/uk/msg_docs/CameraCapture.md index ef13c1d9d9..6d9ea6b5e5 100644 --- a/docs/uk/msg_docs/CameraCapture.md +++ b/docs/uk/msg_docs/CameraCapture.md @@ -1,6 +1,31 @@ +--- +pageClass: is-wide-page +--- + # CameraCapture (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CameraCapture.msg) +**TOPICS:** camera_capture + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------ | ------------ | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_utc | `uint64` | | | Capture time in UTC / GPS time | +| seq | `uint32` | | | Image sequence number | +| lat | `float64` | | | Latitude in degrees (WGS84) | +| lon | `float64` | | | Longitude in degrees (WGS84) | +| alt | `float32` | | | Altitude (AMSL) | +| ground_distance | `float32` | | | Altitude above ground (meters) | +| q | `float32[4]` | | | Attitude of the camera relative to NED earth-fixed frame when using a gimbal, otherwise vehicle attitude | +| result | `int8` | | | 1 for success, 0 for failure, -1 if camera does not provide feedback | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CameraCapture.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -12,5 +37,6 @@ float32 alt # Altitude (AMSL) float32 ground_distance # Altitude above ground (meters) float32[4] q # Attitude of the camera relative to NED earth-fixed frame when using a gimbal, otherwise vehicle attitude int8 result # 1 for success, 0 for failure, -1 if camera does not provide feedback - ``` + +::: diff --git a/docs/uk/msg_docs/CameraStatus.md b/docs/uk/msg_docs/CameraStatus.md index e991994c13..9bed7b71f2 100644 --- a/docs/uk/msg_docs/CameraStatus.md +++ b/docs/uk/msg_docs/CameraStatus.md @@ -1,11 +1,31 @@ +--- +pageClass: is-wide-page +--- + # CameraStatus (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CameraStatus.msg) +**TOPICS:** camera_status + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| -------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| active_sys_id | `uint8` | | | mavlink system id of the currently active camera | +| active_comp_id | `uint8` | | | mavlink component id of currently active camera | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CameraStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) uint8 active_sys_id # mavlink system id of the currently active camera uint8 active_comp_id # mavlink component id of currently active camera - ``` + +::: diff --git a/docs/uk/msg_docs/CameraTrigger.md b/docs/uk/msg_docs/CameraTrigger.md index ccef5baa80..19d9bd4342 100644 --- a/docs/uk/msg_docs/CameraTrigger.md +++ b/docs/uk/msg_docs/CameraTrigger.md @@ -1,6 +1,32 @@ +--- +pageClass: is-wide-page +--- + # CameraTrigger (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CameraTrigger.msg) +**TOPICS:** camera_trigger + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_utc | `uint64` | | | UTC timestamp | +| seq | `uint32` | | | Image sequence number | +| feedback | `bool` | | | Trigger feedback from camera | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint32` | 2 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CameraTrigger.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -10,5 +36,6 @@ uint32 seq # Image sequence number bool feedback # Trigger feedback from camera uint32 ORB_QUEUE_LENGTH = 2 - ``` + +::: diff --git a/docs/uk/msg_docs/CanInterfaceStatus.md b/docs/uk/msg_docs/CanInterfaceStatus.md index 2200bf182c..907269e25b 100644 --- a/docs/uk/msg_docs/CanInterfaceStatus.md +++ b/docs/uk/msg_docs/CanInterfaceStatus.md @@ -1,6 +1,27 @@ +--- +pageClass: is-wide-page +--- + # CanInterfaceStatus (повідомлення UORB) -[вихідний файл](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CanInterfaceStatus.msg) +**TOPICS:** can_interfacestatus + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| інтерфейс | `uint8` | | | | +| io_errors | `uint64` | | | | +| frames_tx | `uint64` | | | | +| frames_rx | `uint64` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CanInterfaceStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -9,5 +30,6 @@ uint8 interface uint64 io_errors uint64 frames_tx uint64 frames_rx - ``` + +::: diff --git a/docs/uk/msg_docs/CellularStatus.md b/docs/uk/msg_docs/CellularStatus.md index 9ba5a00378..ecaac52960 100644 --- a/docs/uk/msg_docs/CellularStatus.md +++ b/docs/uk/msg_docs/CellularStatus.md @@ -1,10 +1,73 @@ +--- +pageClass: is-wide-page +--- + # CellularStatus (повідомлення UORB) -Cellular status +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) +**TOPICS:** cellular_status + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------- | -------- | ---------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| status | `uint16` | | [STATUS_FLAG](#STATUS_FLAG) | Status bitmap | +| failure_reason | `uint8` | | [FAILURE_REASON](#FAILURE_REASON) | Failure reason | +| type | `uint8` | | [CELLULAR_NETWORK_RADIO_TYPE](#CELLULAR_NETWORK_RADIO_TYPE) | Cellular network radio type | +| quality | `uint8` | dBm | | Cellular network RSSI/RSRP, absolute value | +| mcc | `uint16` | | | Mobile country code (Invalid: UINT16_MAX) | +| mnc | `uint16` | | | Mobile network code (Invalid: UINT16_MAX) | +| lac | `uint16` | | | Location area code (Invalid: 0) | + +## Enums + +### STATUS_FLAG {#STATUS_FLAG} + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------- | -------- | -------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| STATUS_FLAG_UNKNOWN | `uint16` | 1 | State unknown or not reportable | +| STATUS_FLAG_FAILED | `uint16` | 2 | Modem is unusable | +| STATUS_FLAG_INITIALIZING | `uint16` | 4 | Modem is being initialized | +| STATUS_FLAG_LOCKED | `uint16` | 8 | Modem is locked | +| STATUS_FLAG_DISABLED | `uint16` | 16 | Modem is not enabled and is powered down | +| STATUS_FLAG_DISABLING | `uint16` | 32 | Modem is currently transitioning to the STATUS_FLAG_DISABLED state | +| STATUS_FLAG_ENABLING | `uint16` | 64 | Modem is currently transitioning to the STATUS_FLAG_ENABLED state | +| STATUS_FLAG_ENABLED | `uint16` | 128 | Modem is enabled and powered on but not registered with a network provider and not available for data connections | +| STATUS_FLAG_SEARCHING | `uint16` | 256 | Modem is searching for a network provider to register | +| STATUS_FLAG_REGISTERED | `uint16` | 512 | Modem is registered with a network provider, and data connections and messaging may be available for use | +| STATUS_FLAG_DISCONNECTING | `uint16` | 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 | +| STATUS_FLAG_CONNECTING | `uint16` | 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 | +| STATUS_FLAG_CONNECTED | `uint16` | 4096 | One or more packet data bearers is active and connected | + +### FAILURE_REASON {#FAILURE_REASON} + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ----------------------------------------------- | +| FAILURE_REASON_NONE | `uint8` | 0 | No error | +| FAILURE_REASON_UNKNOWN | `uint8` | 1 | Error state is unknown | +| FAILURE_REASON_SIM_MISSING | `uint8` | 2 | SIM is required for the modem but missing | +| FAILURE_REASON_SIM_ERROR | `uint8` | 3 | SIM is available, but not usable for connection | + +### CELLULAR_NETWORK_RADIO_TYPE {#CELLULAR_NETWORK_RADIO_TYPE} + +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ----- | +| CELLULAR_NETWORK_RADIO_TYPE_NONE | `uint8` | 0 | None | +| CELLULAR_NETWORK_RADIO_TYPE_GSM | `uint8` | 1 | GSM | +| CELLULAR_NETWORK_RADIO_TYPE_CDMA | `uint8` | 2 | CDMA | +| CELLULAR_NETWORK_RADIO_TYPE_WCDMA | `uint8` | 3 | WCDMA | +| CELLULAR_NETWORK_RADIO_TYPE_LTE | `uint8` | 4 | LTE | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CellularStatus.msg) + +:::details +Click here to see original file ```c # Cellular status @@ -45,5 +108,6 @@ 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 - ``` + +::: diff --git a/docs/uk/msg_docs/CollisionConstraints.md b/docs/uk/msg_docs/CollisionConstraints.md index 1d66dac8ba..62f92fda19 100644 --- a/docs/uk/msg_docs/CollisionConstraints.md +++ b/docs/uk/msg_docs/CollisionConstraints.md @@ -1,9 +1,27 @@ +--- +pageClass: is-wide-page +--- + # CollisionConstraints (повідомлення UORB) -Обмеження локальної заданої точки в рамці NED -встановлення чого-небудь на NaN означає, що обмеження не надано +Local setpoint constraints in NED frame. setting something to NaN means that no limit is provided. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CollisionConstraints.msg) +**TOPICS:** collision_constraints + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| -------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| original_setpoint | `float32[2]` | | | velocities demanded | +| adapted_setpoint | `float32[2]` | | | velocities allowed | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CollisionConstraints.msg) + +:::details +Click here to see original file ```c # Local setpoint constraints in NED frame @@ -13,5 +31,6 @@ uint64 timestamp # time since system start (microseconds) float32[2] original_setpoint # velocities demanded float32[2] adapted_setpoint # velocities allowed - ``` + +::: diff --git a/docs/uk/msg_docs/ConfigOverrides.md b/docs/uk/msg_docs/ConfigOverrides.md index ac8abc1b26..6af879b8d1 100644 --- a/docs/uk/msg_docs/ConfigOverrides.md +++ b/docs/uk/msg_docs/ConfigOverrides.md @@ -1,8 +1,40 @@ +--- +pageClass: is-wide-page +--- + # ConfigOverrides (повідомлення UORB) -Конфігуровані перевизначення (зовнішніми) режимами або виконавцями режимів +Configurable overrides by (external) modes or mode executors. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ConfigOverrides.msg) +**TOPICS:** config_overrides config_overrides_request + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| disable_auto_disarm | `bool` | | | Prevent the drone from automatically disarming after landing (if configured) | +| defer_failsafes | `bool` | | | Defer all failsafes that can be deferred (until the flag is cleared) | +| defer_failsafes_timeout_s | `int16` | | | Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout | +| disable_auto_set_home | `bool` | | | Prevent the drone from automatically setting the home position on arm or takeoff | +| source_type | `int8` | | | | +| source_id | `uint8` | | | ID depending on source_type | + +## Constants + +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 1 | | +| SOURCE_TYPE_MODE | `int8` | 0 | | +| SOURCE_TYPE_MODE_EXECUTOR | `int8` | 1 | | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ConfigOverrides.msg) + +:::details +Click here to see original file ```c # Configurable overrides by (external) modes or mode executors @@ -26,5 +58,6 @@ uint8 source_id # ID depending on source_type uint8 ORB_QUEUE_LENGTH = 4 # TOPICS config_overrides config_overrides_request - ``` + +::: diff --git a/docs/uk/msg_docs/ConfigOverridesV0.md b/docs/uk/msg_docs/ConfigOverridesV0.md index b9bda0d3a9..20358bc0eb 100644 --- a/docs/uk/msg_docs/ConfigOverridesV0.md +++ b/docs/uk/msg_docs/ConfigOverridesV0.md @@ -1,8 +1,39 @@ +--- +pageClass: is-wide-page +--- + # ConfigOverridesV0 (UORB message) -Конфігуровані перевизначення (зовнішніми) режимами або виконавцями режимів +Configurable overrides by (external) modes or mode executors. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ConfigOverridesV0.msg) +**TOPICS:** config_overrides config_overrides_request + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| disable_auto_disarm | `bool` | | | Prevent the drone from automatically disarming after landing (if configured) | +| defer_failsafes | `bool` | | | Defer all failsafes that can be deferred (until the flag is cleared) | +| defer_failsafes_timeout_s | `int16` | | | Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout | +| source_type | `int8` | | | | +| source_id | `uint8` | | | ID depending on source_type | + +## Constants + +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | +| SOURCE_TYPE_MODE | `int8` | 0 | | +| SOURCE_TYPE_MODE_EXECUTOR | `int8` | 1 | | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ConfigOverridesV0.msg) + +:::details +Click here to see original file ```c # Configurable overrides by (external) modes or mode executors @@ -26,5 +57,6 @@ uint8 source_id # ID depending on source_type uint8 ORB_QUEUE_LENGTH = 4 # TOPICS config_overrides config_overrides_request - ``` + +::: diff --git a/docs/uk/msg_docs/ControlAllocatorStatus.md b/docs/uk/msg_docs/ControlAllocatorStatus.md index eb6cb73385..c8fa45e6a0 100644 --- a/docs/uk/msg_docs/ControlAllocatorStatus.md +++ b/docs/uk/msg_docs/ControlAllocatorStatus.md @@ -1,6 +1,40 @@ +--- +pageClass: is-wide-page +--- + # ControlAllocatorStatus (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ControlAllocatorStatus.msg) +**TOPICS:** control_allocatorstatus + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| torque_setpoint_achieved | `bool` | | | Boolean indicating whether the 3D torque setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved. | +| unallocated_torque | `float32[3]` | | | Unallocated torque. Equal to 0 if the setpoint was achieved. | +| thrust_setpoint_achieved | `bool` | | | Boolean indicating whether the 3D thrust setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved. | +| unallocated_thrust | `float32[3]` | | | Unallocated thrust. Equal to 0 if the setpoint was achieved. | +| actuator_saturation | `int8[16]` | | | Indicates actuator saturation status. | +| handled_motor_failure_mask | `uint16` | | | Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector | +| motor_stop_mask | `uint16` | | | Bitmaks of motors stopped by failure injection | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------ | ------ | -------- | ----------------------------------------------------------------------------------------------------------------------------------------------------- | +| ACTUATOR_SATURATION_OK | `int8` | 0 | The actuator is not saturated | +| ACTUATOR_SATURATION_UPPER_DYN | `int8` | 1 | The actuator is saturated (with a value <= the desired value) because it cannot increase its value faster | +| ACTUATOR_SATURATION_UPPER | `int8` | 2 | The actuator is saturated (with a value <= the desired value) because it has reached its maximum value | +| ACTUATOR_SATURATION_LOWER_DYN | `int8` | -1 | The actuator is saturated (with a value >= the desired value) because it cannot decrease its value faster | +| ACTUATOR_SATURATION_LOWER | `int8` | -2 | The actuator is saturated (with a value >= the desired value) because it has reached its minimum value | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ControlAllocatorStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -25,5 +59,6 @@ int8[16] actuator_saturation # Indicates actuator saturation status. uint16 handled_motor_failure_mask # Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector uint16 motor_stop_mask # Bitmaks of motors stopped by failure injection - ``` + +::: diff --git a/docs/uk/msg_docs/Cpuload.md b/docs/uk/msg_docs/Cpuload.md index 25c6df0828..74f34510eb 100644 --- a/docs/uk/msg_docs/Cpuload.md +++ b/docs/uk/msg_docs/Cpuload.md @@ -1,10 +1,30 @@ +--- +pageClass: is-wide-page +--- + # Cpuload (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Cpuload.msg) +**TOPICS:** cpuload + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------ | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| load | `float32` | | | processor load from 0 to 1 | +| ram_usage | `float32` | | | RAM usage from 0 to 1 | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Cpuload.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) float32 load # processor load from 0 to 1 float32 ram_usage # RAM usage from 0 to 1 - ``` + +::: diff --git a/docs/uk/msg_docs/DatamanRequest.md b/docs/uk/msg_docs/DatamanRequest.md index 72d0f3981f..fe83821570 100644 --- a/docs/uk/msg_docs/DatamanRequest.md +++ b/docs/uk/msg_docs/DatamanRequest.md @@ -1,6 +1,29 @@ +--- +pageClass: is-wide-page +--- + # DatamanRequest (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DatamanRequest.msg) +**TOPICS:** dataman_request + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| client_id | `uint8` | | | | +| request_type | `uint8` | | | id/read/write/clear | +| item | `uint8` | | | dm_item_t | +| index | `uint32` | | | | +| data | `uint8[56]` | | | | +| data_length | `uint32` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DatamanRequest.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -11,5 +34,6 @@ uint8 item # dm_item_t uint32 index uint8[56] data uint32 data_length - ``` + +::: diff --git a/docs/uk/msg_docs/DatamanResponse.md b/docs/uk/msg_docs/DatamanResponse.md index 0d884388b5..f4d49f334c 100644 --- a/docs/uk/msg_docs/DatamanResponse.md +++ b/docs/uk/msg_docs/DatamanResponse.md @@ -1,6 +1,40 @@ +--- +pageClass: is-wide-page +--- + # DatamanResponse (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DatamanResponse.msg) +**TOPICS:** dataman_response + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| client_id | `uint8` | | | | +| request_type | `uint8` | | | id/read/write/clear | +| item | `uint8` | | | dm_item_t | +| index | `uint32` | | | | +| data | `uint8[56]` | | | | +| status | `uint8` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| STATUS_SUCCESS | `uint8` | 0 | | +| STATUS_FAILURE_ID_ERR | `uint8` | 1 | | +| STATUS_FAILURE_NO_DATA | `uint8` | 2 | | +| STATUS_FAILURE_READ_FAILED | `uint8` | 3 | | +| STATUS_FAILURE_WRITE_FAILED | `uint8` | 4 | | +| STATUS_FAILURE_CLEAR_FAILED | `uint8` | 5 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DatamanResponse.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -18,5 +52,6 @@ uint8 STATUS_FAILURE_READ_FAILED = 3 uint8 STATUS_FAILURE_WRITE_FAILED = 4 uint8 STATUS_FAILURE_CLEAR_FAILED = 5 uint8 status - ``` + +::: diff --git a/docs/uk/msg_docs/DebugArray.md b/docs/uk/msg_docs/DebugArray.md index a104c73441..a2cd924b89 100644 --- a/docs/uk/msg_docs/DebugArray.md +++ b/docs/uk/msg_docs/DebugArray.md @@ -1,6 +1,32 @@ +--- +pageClass: is-wide-page +--- + # DebugArray (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugArray.msg) +**TOPICS:** debug_array + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------- | ------------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| id | `uint16` | | | unique ID of debug array, used to discriminate between arrays | +| name | `char[10]` | | | name of the debug array (max. 10 characters) | +| data | `float32[58]` | | | data | + +## Constants + +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------- | ------- | -------- | ---- | +| ARRAY_SIZE | `uint8` | 58 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugArray.msg) + +:::details +Click here to see original file ```c uint8 ARRAY_SIZE = 58 @@ -8,5 +34,6 @@ uint64 timestamp # time since system start (microseconds) uint16 id # unique ID of debug array, used to discriminate between arrays char[10] name # name of the debug array (max. 10 characters) float32[58] data # data - ``` + +::: diff --git a/docs/uk/msg_docs/DebugKeyValue.md b/docs/uk/msg_docs/DebugKeyValue.md index a6711f14eb..d99cfd3494 100644 --- a/docs/uk/msg_docs/DebugKeyValue.md +++ b/docs/uk/msg_docs/DebugKeyValue.md @@ -1,10 +1,30 @@ +--- +pageClass: is-wide-page +--- + # DebugKeyValue (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugKeyValue.msg) +**TOPICS:** debug_keyvalue + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------- | ---------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| key | `char[10]` | | | max. 10 characters as key / name | +| value | `float32` | | | the value to send as debug output | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugKeyValue.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) char[10] key # max. 10 characters as key / name float32 value # the value to send as debug output - ``` + +::: diff --git a/docs/uk/msg_docs/DebugValue.md b/docs/uk/msg_docs/DebugValue.md index 3cd0af41bc..229522b22c 100644 --- a/docs/uk/msg_docs/DebugValue.md +++ b/docs/uk/msg_docs/DebugValue.md @@ -1,10 +1,30 @@ +--- +pageClass: is-wide-page +--- + # DebugValue (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugValue.msg) +**TOPICS:** debug_value + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| ind | `int8` | | | index of debug variable | +| value | `float32` | | | the value to send as debug output | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugValue.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) int8 ind # index of debug variable float32 value # the value to send as debug output - ``` + +::: diff --git a/docs/uk/msg_docs/DebugVect.md b/docs/uk/msg_docs/DebugVect.md index 4813408fb1..398a1f5c9b 100644 --- a/docs/uk/msg_docs/DebugVect.md +++ b/docs/uk/msg_docs/DebugVect.md @@ -1,6 +1,27 @@ +--- +pageClass: is-wide-page +--- + # DebugVect (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugVect.msg) +**TOPICS:** debug_vect + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------- | ---------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| name | `char[10]` | | | max. 10 characters as key / name | +| x | `float32` | | | x value | +| y | `float32` | | | y value | +| z | `float32` | | | z value | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugVect.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -8,5 +29,6 @@ char[10] name # max. 10 characters as key / name float32 x # x value float32 y # y value float32 z # z value - ``` + +::: diff --git a/docs/uk/msg_docs/DeviceInformation.md b/docs/uk/msg_docs/DeviceInformation.md index d415461f94..c3638f9196 100644 --- a/docs/uk/msg_docs/DeviceInformation.md +++ b/docs/uk/msg_docs/DeviceInformation.md @@ -1,11 +1,58 @@ +--- +pageClass: is-wide-page +--- + # DeviceInformation (UORB message) -Device information +Device information. Can be used to uniquely associate a device_id from a sensor topic with a physical device using serial number. as well as tracking of the used firmware versions on the devices. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DeviceInformation.msg) +**TOPICS:** device_information + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | ---------- | ---------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_type | `uint8` | | [DEVICE_TYPE](#DEVICE_TYPE) | Type of the device. Matches MAVLink DEVICE_TYPE enum | +| vendor_name | `char[32]` | | | Name of the device vendor | +| model_name | `char[32]` | | | Name of the device model | +| `uint32` | | | Unique device ID for the sensor. Does not change between power cycles. (Invalid: 0 if not available) | | +| firmware_version | `char[24]` | | | Firmware version. (Invalid: empty if not available) | +| hardware_version | `char[24]` | | | Hardware version. (Invalid: empty if not available) | +| serial_number | `char[33]` | | | Device serial number or unique identifier. (Invalid: empty if not available) | + +## Enums + +### DEVICE_TYPE {#DEVICE_TYPE} + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---------------------- | +| DEVICE_TYPE_GENERIC | `uint8` | 0 | Generic/unknown sensor | +| DEVICE_TYPE_AIRSPEED | `uint8` | 1 | Датчик швидкості | +| DEVICE_TYPE_ESC | `uint8` | 2 | ESC | +| DEVICE_TYPE_SERVO | `uint8` | 3 | Servo | +| DEVICE_TYPE_GPS | `uint8` | 4 | GPS | +| DEVICE_TYPE_MAGNETOMETER | `uint8` | 5 | Магнітометр | +| DEVICE_TYPE_PARACHUTE | `uint8` | 6 | Парашут | +| DEVICE_TYPE_RANGEFINDER | `uint8` | 7 | Rangefinder | +| DEVICE_TYPE_WINCH | `uint8` | 8 | Winch | +| DEVICE_TYPE_BAROMETER | `uint8` | 9 | Барометр | +| DEVICE_TYPE_OPTICAL_FLOW | `uint8` | 10 | Optical flow | +| DEVICE_TYPE_ACCELEROMETER | `uint8` | 11 | Accelerometer | +| DEVICE_TYPE_GYROSCOPE | `uint8` | 12 | Gyroscope | +| DEVICE_TYPE_DIFFERENTIAL_PRESSURE | `uint8` | 13 | Differential pressure | +| DEVICE_TYPE_BATTERY | `uint8` | 14 | Battery | +| DEVICE_TYPE_HYGROMETER | `uint8` | 15 | Hygrometer | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DeviceInformation.msg) + +:::details +Click here to see original file ```c # Device information @@ -41,5 +88,6 @@ uint32 device_id # [-] [@invalid 0 if not available] Unique device ID char[24] firmware_version # [-] [@invalid empty if not available] Firmware version. char[24] hardware_version # [-] [@invalid empty if not available] Hardware version. char[33] serial_number # [-] [@invalid empty if not available] Device serial number or unique identifier. - ``` + +::: diff --git a/docs/uk/msg_docs/DifferentialPressure.md b/docs/uk/msg_docs/DifferentialPressure.md index 66963b01f5..0f5c2c41d5 100644 --- a/docs/uk/msg_docs/DifferentialPressure.md +++ b/docs/uk/msg_docs/DifferentialPressure.md @@ -1,11 +1,33 @@ +--- +pageClass: is-wide-page +--- + # DifferentialPressure (повідомлення UORB) -Differential-pressure (airspeed) sensor +Differential-pressure (airspeed) sensor. This is populated by airspeed sensor drivers and used by the sensor module to calculate airspeed. The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding `SensorBaro` instance). -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DifferentialPressure.msg) +**TOPICS:** differential_pressure + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------ | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time of publication (since system start) | +| timestamp_sample | `uint64` | us | | Time of raw data capture | +| device_id | `uint32` | | | Unique device ID for the sensor that does not change between power cycles | +| differential_pressure_pa | `float32` | Pa | | Differential pressure reading (may be negative) | +| temperature | `float32` | degC | | Temperature (Invalid: NaN if unknown) | +| error_count | `uint32` | | | Number of errors detected by driver | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DifferentialPressure.msg) + +:::details +Click here to see original file ```c # Differential-pressure (airspeed) sensor @@ -20,5 +42,6 @@ uint32 device_id # [-] Unique device ID for the sensor that doe float32 differential_pressure_pa # [Pa] Differential pressure reading (may be negative) float32 temperature # [degC] [@invalid NaN if unknown] Temperature uint32 error_count # [-] Number of errors detected by driver - ``` + +::: diff --git a/docs/uk/msg_docs/DistanceSensor.md b/docs/uk/msg_docs/DistanceSensor.md index c66f69b4eb..d0e173a9bc 100644 --- a/docs/uk/msg_docs/DistanceSensor.md +++ b/docs/uk/msg_docs/DistanceSensor.md @@ -1,8 +1,64 @@ +--- +pageClass: is-wide-page +--- + # DistanceSensor (повідомлення UORB) -Дані повідомлення DISTANCE_SENSOR +DISTANCE_SENSOR message data. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DistanceSensor.msg) +**TOPICS:** distance_sensor + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| min_distance | `float32` | | | Minimum distance the sensor can measure (in m) | +| max_distance | `float32` | | | Maximum distance the sensor can measure (in m) | +| current_distance | `float32` | | | Current distance reading (in m) | +| variance | `float32` | | | Measurement variance (in m^2), 0 for unknown / invalid readings | +| signal_quality | `int8` | | | Signal quality in percent (0...100%), where 0 = invalid signal, 100 = perfect signal, and -1 = unknown signal quality. | +| type | `uint8` | | | Type from MAV_DISTANCE_SENSOR enum | +| h_fov | `float32` | | | Sensor horizontal field of view (rad) | +| v_fov | `float32` | | | Sensor vertical field of view (rad) | +| q | `float32[4]` | | | Quaterion sensor orientation with respect to the vehicle body frame to specify the orientation ROTATION_CUSTOM | +| orientation | `uint8` | | | Direction the sensor faces from MAV_SENSOR_ORIENTATION enum | +| mode | `uint8` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------------------------------------------------------- | +| MAV_DISTANCE_SENSOR_LASER | `uint8` | 0 | | +| MAV_DISTANCE_SENSOR_ULTRASOUND | `uint8` | 1 | | +| MAV_DISTANCE_SENSOR_INFRARED | `uint8` | 2 | | +| MAV_DISTANCE_SENSOR_RADAR | `uint8` | 3 | | +| ROTATION_YAW_0 | `uint8` | 0 | MAV_SENSOR_ROTATION_NONE | +| ROTATION_YAW_45 | `uint8` | 1 | MAV_SENSOR_ROTATION_YAW_45 | +| ROTATION_YAW_90 | `uint8` | 2 | MAV_SENSOR_ROTATION_YAW_90 | +| ROTATION_YAW_135 | `uint8` | 3 | MAV_SENSOR_ROTATION_YAW_135 | +| ROTATION_YAW_180 | `uint8` | 4 | MAV_SENSOR_ROTATION_YAW_180 | +| ROTATION_YAW_225 | `uint8` | 5 | MAV_SENSOR_ROTATION_YAW_225 | +| ROTATION_YAW_270 | `uint8` | 6 | MAV_SENSOR_ROTATION_YAW_270 | +| ROTATION_YAW_315 | `uint8` | 7 | MAV_SENSOR_ROTATION_YAW_315 | +| ROTATION_FORWARD_FACING | `uint8` | 0 | MAV_SENSOR_ROTATION_NONE | +| ROTATION_RIGHT_FACING | `uint8` | 2 | MAV_SENSOR_ROTATION_YAW_90 | +| ROTATION_BACKWARD_FACING | `uint8` | 4 | MAV_SENSOR_ROTATION_YAW_180 | +| ROTATION_LEFT_FACING | `uint8` | 6 | MAV_SENSOR_ROTATION_YAW_270 | +| ROTATION_UPWARD_FACING | `uint8` | 24 | MAV_SENSOR_ROTATION_PITCH_90 | +| ROTATION_DOWNWARD_FACING | `uint8` | 25 | MAV_SENSOR_ROTATION_PITCH_270 | +| ROTATION_CUSTOM | `uint8` | 100 | MAV_SENSOR_ROTATION_CUSTOM | +| MODE_UNKNOWN | `uint8` | 0 | | +| MODE_ENABLED | `uint8` | 1 | | +| MODE_DISABLED | `uint8` | 2 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DistanceSensor.msg) + +:::details +Click here to see original file ```c # DISTANCE_SENSOR message data @@ -52,5 +108,6 @@ uint8 mode uint8 MODE_UNKNOWN = 0 uint8 MODE_ENABLED = 1 uint8 MODE_DISABLED = 2 - ``` + +::: diff --git a/docs/uk/msg_docs/DistanceSensorModeChangeRequest.md b/docs/uk/msg_docs/DistanceSensorModeChangeRequest.md index ab957de133..a54d1d5f68 100644 --- a/docs/uk/msg_docs/DistanceSensorModeChangeRequest.md +++ b/docs/uk/msg_docs/DistanceSensorModeChangeRequest.md @@ -1,6 +1,31 @@ +--- +pageClass: is-wide-page +--- + # DistanceSensorModeChangeRequest (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DistanceSensorModeChangeRequest.msg) +**TOPICS:** distance_sensormode_changerequest + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| -------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| request_on_off | `uint8` | | | request to disable/enable the distance sensor | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------ | ------- | -------- | ---- | +| REQUEST_OFF | `uint8` | 0 | | +| REQUEST_ON | `uint8` | 1 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DistanceSensorModeChangeRequest.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -8,5 +33,6 @@ uint64 timestamp # time since system start (microseconds) uint8 request_on_off # request to disable/enable the distance sensor uint8 REQUEST_OFF = 0 uint8 REQUEST_ON = 1 - ``` + +::: diff --git a/docs/uk/msg_docs/DronecanNodeStatus.md b/docs/uk/msg_docs/DronecanNodeStatus.md index 5c8a8d7862..042c340f70 100644 --- a/docs/uk/msg_docs/DronecanNodeStatus.md +++ b/docs/uk/msg_docs/DronecanNodeStatus.md @@ -1,6 +1,43 @@ +--- +pageClass: is-wide-page +--- + # DronecanNodeStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DronecanNodeStatus.msg) +**TOPICS:** dronecan_nodestatus + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| node_id | `uint16` | | | The node ID which this data comes from | +| uptime_sec | `uint32` | | | Node uptime | +| health | `uint8` | | | | +| mode | `uint8` | | | | +| sub_mode | `uint8` | | | | +| vendor_specific_status_code | `uint16` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------------------------------------- | +| HEALTH_OK | `uint8` | 0 | The node is functioning properly. | +| HEALTH_WARNING | `uint8` | 1 | A critical parameter went out of range or the node encountered a minor failure. | +| HEALTH_ERROR | `uint8` | 2 | The node encountered a major failure. | +| HEALTH_CRITICAL | `uint8` | 3 | The node suffered a fatal malfunction. | +| MODE_OPERATIONAL | `uint8` | 0 | Normal operating mode. | +| MODE_INITIALIZATION | `uint8` | 1 | Initialization is in progress; this mode is entered immediately after startup. | +| MODE_MAINTENANCE | `uint8` | 2 | Наприклад, calibration, the bootloader is running, etc. | +| MODE_SOFTWARE_UPDATE | `uint8` | 3 | New software/firmware is being loaded. | +| MODE_OFFLINE | `uint8` | 7 | The node is no longer available. | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DronecanNodeStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -44,5 +81,6 @@ uint8 sub_mode # Optional, vendor-specific node status code, e.g. a fault code or a status bitmask. # uint16 vendor_specific_status_code - ``` + +::: diff --git a/docs/uk/msg_docs/Ekf2Timestamps.md b/docs/uk/msg_docs/Ekf2Timestamps.md index eb0cdab8fe..bc85f54628 100644 --- a/docs/uk/msg_docs/Ekf2Timestamps.md +++ b/docs/uk/msg_docs/Ekf2Timestamps.md @@ -1,11 +1,38 @@ +--- +pageClass: is-wide-page +--- + # Ekf2Timestamps (повідомлення UORB) -це повідомлення містить (відносні) відмітки часу введення датчиків, які використовує EKF2. -Це може бути використано для відтворення. +це повідомлення містить (відносні) відмітки часу введення датчиків, які використовує EKF2. Це може бути використано для відтворення. -поле мітки часу - це посилання на час ekf2 і відповідає мітці часу теми sensor_combined. +**TOPICS:** ekf2_timestamps -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Ekf2Timestamps.msg) +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| airspeed_timestamp_rel | `int16` | | | | +| airspeed_validated_timestamp_rel | `int16` | | | | +| distance_sensor_timestamp_rel | `int16` | | | | +| optical_flow_timestamp_rel | `int16` | | | | +| vehicle_air_data_timestamp_rel | `int16` | | | | +| vehicle_magnetometer_timestamp_rel | `int16` | | | | +| visual_odometry_timestamp_rel | `int16` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------- | +| RELATIVE_TIMESTAMP_INVALID | `int16` | 32767 | (0x7fff) If one of the relative timestamps | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Ekf2Timestamps.msg) + +:::details +Click here to see original file ```c # this message contains the (relative) timestamps of the sensor inputs used by EKF2. @@ -32,5 +59,6 @@ int16 vehicle_magnetometer_timestamp_rel int16 visual_odometry_timestamp_rel # Note: this is a high-rate logged topic, so it needs to be as small as possible - ``` + +::: diff --git a/docs/uk/msg_docs/EscReport.md b/docs/uk/msg_docs/EscReport.md index 29ba577826..89f7de7fdf 100644 --- a/docs/uk/msg_docs/EscReport.md +++ b/docs/uk/msg_docs/EscReport.md @@ -1,6 +1,62 @@ +--- +pageClass: is-wide-page +--- + # EscReport (UORB повідомлення) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscReport.msg) +**TOPICS:** esc_report + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| -------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| esc_errorcount | `uint32` | | | Number of reported errors by ESC - if supported | +| esc_rpm | `int32` | | | Motor RPM, negative for reverse rotation [RPM] - if supported | +| esc_voltage | `float32` | | | Voltage measured from current ESC [V] - if supported | +| esc_current | `float32` | | | Current measured from current ESC [A] - if supported | +| esc_temperature | `float32` | | | Temperature measured from current ESC [degC] - if supported | +| esc_address | `uint8` | | | Address of current ESC (in most cases 1-8 / must be set by driver) | +| esc_cmdcount | `uint8` | | | Counter of number of commands | +| esc_state | `uint8` | | | State of ESC - depend on Vendor | +| actuator_function | `uint8` | | | actuator output function (one of Motor1...MotorN) | +| failures | `uint16` | | | Bitmask to indicate the internal ESC faults | +| esc_power | `int8` | | | Applied power 0-100 in % (negative values reserved) | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | | +| ACTUATOR_FUNCTION_MOTOR2 | `uint8` | 102 | | +| ACTUATOR_FUNCTION_MOTOR3 | `uint8` | 103 | | +| ACTUATOR_FUNCTION_MOTOR4 | `uint8` | 104 | | +| ACTUATOR_FUNCTION_MOTOR5 | `uint8` | 105 | | +| ACTUATOR_FUNCTION_MOTOR6 | `uint8` | 106 | | +| ACTUATOR_FUNCTION_MOTOR7 | `uint8` | 107 | | +| ACTUATOR_FUNCTION_MOTOR8 | `uint8` | 108 | | +| ACTUATOR_FUNCTION_MOTOR9 | `uint8` | 109 | | +| ACTUATOR_FUNCTION_MOTOR10 | `uint8` | 110 | | +| ACTUATOR_FUNCTION_MOTOR11 | `uint8` | 111 | | +| ACTUATOR_FUNCTION_MOTOR12 | `uint8` | 112 | | +| FAILURE_OVER_CURRENT | `uint8` | 0 | (1 << 0) | +| FAILURE_OVER_VOLTAGE | `uint8` | 1 | (1 << 1) | +| FAILURE_MOTOR_OVER_TEMPERATURE | `uint8` | 2 | (1 << 2) | +| FAILURE_OVER_RPM | `uint8` | 3 | (1 << 3) | +| FAILURE_INCONSISTENT_CMD | `uint8` | 4 | (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries) | +| FAILURE_MOTOR_STUCK | `uint8` | 5 | (1 << 5) | +| FAILURE_GENERIC | `uint8` | 6 | (1 << 6) | +| FAILURE_MOTOR_WARN_TEMPERATURE | `uint8` | 7 | (1 << 7) | +| FAILURE_WARN_ESC_TEMPERATURE | `uint8` | 8 | (1 << 8) | +| FAILURE_OVER_ESC_TEMPERATURE | `uint8` | 9 | (1 << 9) | +| ESC_FAILURE_COUNT | `uint8` | 10 | Counter - keep it as last element! | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscReport.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -43,5 +99,6 @@ uint8 FAILURE_MOTOR_WARN_TEMPERATURE = 7 # (1 << 7) uint8 FAILURE_WARN_ESC_TEMPERATURE = 8 # (1 << 8) uint8 FAILURE_OVER_ESC_TEMPERATURE = 9 # (1 << 9) uint8 ESC_FAILURE_COUNT = 10 # Counter - keep it as last element! - ``` + +::: diff --git a/docs/uk/msg_docs/EscStatus.md b/docs/uk/msg_docs/EscStatus.md index 9166ecd5f2..96f426faef 100644 --- a/docs/uk/msg_docs/EscStatus.md +++ b/docs/uk/msg_docs/EscStatus.md @@ -1,6 +1,41 @@ +--- +pageClass: is-wide-page +--- + # EscStatus (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscStatus.msg) +**TOPICS:** esc_status + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------- | -------------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| counter | `uint16` | | | incremented by the writing thread everytime new data is stored | +| esc_count | `uint8` | | | number of connected ESCs | +| esc_connectiontype | `uint8` | | | how ESCs connected to the system | +| esc_online_flags | `uint8` | | | Bitmask indicating which ESC is online/offline | +| esc_armed_flags | `uint8` | | | Bitmask indicating which ESC is armed. For ESC's where the arming state is not known (returned by the ESC), the arming bits should always be set. | +| esc | `EscReport[8]` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---------------------------------------------------------------------------------------------------- | +| CONNECTED_ESC_MAX | `uint8` | 8 | The number of ESCs supported. Current (Q2/2013) we support 8 ESCs | +| ESC_CONNECTION_TYPE_PPM | `uint8` | 0 | Traditional PPM ESC | +| ESC_CONNECTION_TYPE_SERIAL | `uint8` | 1 | Serial Bus connected ESC | +| ESC_CONNECTION_TYPE_ONESHOT | `uint8` | 2 | One Shot PPM | +| ESC_CONNECTION_TYPE_I2C | `uint8` | 3 | I2C | +| ESC_CONNECTION_TYPE_CAN | `uint8` | 4 | CAN-Bus | +| ESC_CONNECTION_TYPE_DSHOT | `uint8` | 5 | DShot | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -31,5 +66,6 @@ uint8 esc_online_flags # Bitmask indicating which ESC is online/offline uint8 esc_armed_flags # Bitmask indicating which ESC is armed. For ESC's where the arming state is not known (returned by the ESC), the arming bits should always be set. EscReport[8] esc - ``` + +::: diff --git a/docs/uk/msg_docs/EstimatorAidSource1d.md b/docs/uk/msg_docs/EstimatorAidSource1d.md index 3d78f0f4a1..809de10fec 100644 --- a/docs/uk/msg_docs/EstimatorAidSource1d.md +++ b/docs/uk/msg_docs/EstimatorAidSource1d.md @@ -1,6 +1,36 @@ +--- +pageClass: is-wide-page +--- + # EstimatorAidSource1d (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource1d.msg) +**TOPICS:** estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt estimator_aid_src_airspeed estimator_aid_src_sideslip estimator_aid_src_fake_hgt estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| estimator_instance | `uint8` | | | | +| device_id | `uint32` | | | | +| time_last_fuse | `uint64` | | | | +| observation | `float32` | | | | +| observation_variance | `float32` | | | | +| innovation | `float32` | | | | +| innovation_filtered | `float32` | | | | +| innovation_variance | `float32` | | | | +| test_ratio | `float32` | | | normalized innovation squared | +| test_ratio_filtered | `float32` | | | signed filtered test ratio | +| innovation_rejected | `bool` | | | true if the observation has been rejected | +| fused | `bool` | | | true if the sample was successfully fused | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource1d.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -30,5 +60,6 @@ bool fused # true if the sample was successfully fused # TOPICS estimator_aid_src_airspeed estimator_aid_src_sideslip # TOPICS estimator_aid_src_fake_hgt # TOPICS estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw - ``` + +::: diff --git a/docs/uk/msg_docs/EstimatorAidSource2d.md b/docs/uk/msg_docs/EstimatorAidSource2d.md index 51ad6a860c..8fd13db4b3 100644 --- a/docs/uk/msg_docs/EstimatorAidSource2d.md +++ b/docs/uk/msg_docs/EstimatorAidSource2d.md @@ -1,6 +1,36 @@ +--- +pageClass: is-wide-page +--- + # EstimatorAidSource2d (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource2d.msg) +**TOPICS:** estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos estimator_aid_src_aux_global_position estimator_aid_src_aux_vel estimator_aid_src_optical_flow estimator_aid_src_drag + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| estimator_instance | `uint8` | | | | +| device_id | `uint32` | | | | +| time_last_fuse | `uint64` | | | | +| observation | `float64[2]` | | | | +| observation_variance | `float32[2]` | | | | +| innovation | `float32[2]` | | | | +| innovation_filtered | `float32[2]` | | | | +| innovation_variance | `float32[2]` | | | | +| test_ratio | `float32[2]` | | | normalized innovation squared | +| test_ratio_filtered | `float32[2]` | | | signed filtered test ratio | +| innovation_rejected | `bool` | | | true if the observation has been rejected | +| fused | `bool` | | | true if the sample was successfully fused | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource2d.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -29,5 +59,6 @@ bool fused # true if the sample was successfully fused # TOPICS estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos estimator_aid_src_aux_global_position # TOPICS estimator_aid_src_aux_vel estimator_aid_src_optical_flow # TOPICS estimator_aid_src_drag - ``` + +::: diff --git a/docs/uk/msg_docs/EstimatorAidSource3d.md b/docs/uk/msg_docs/EstimatorAidSource3d.md index f4faabd00b..5e90c2aa9f 100644 --- a/docs/uk/msg_docs/EstimatorAidSource3d.md +++ b/docs/uk/msg_docs/EstimatorAidSource3d.md @@ -1,6 +1,36 @@ +--- +pageClass: is-wide-page +--- + # EstimatorAidSource3d (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource3d.msg) +**TOPICS:** estimator_aid_src_ev_vel estimator_aid_src_gnss_vel estimator_aid_src_gravity estimator_aid_src_mag + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| estimator_instance | `uint8` | | | | +| device_id | `uint32` | | | | +| time_last_fuse | `uint64` | | | | +| observation | `float32[3]` | | | | +| observation_variance | `float32[3]` | | | | +| innovation | `float32[3]` | | | | +| innovation_filtered | `float32[3]` | | | | +| innovation_variance | `float32[3]` | | | | +| test_ratio | `float32[3]` | | | normalized innovation squared | +| test_ratio_filtered | `float32[3]` | | | signed filtered test ratio | +| innovation_rejected | `bool` | | | true if the observation has been rejected | +| fused | `bool` | | | true if the sample was successfully fused | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource3d.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -27,5 +57,6 @@ bool innovation_rejected # true if the observation has been rejected bool fused # true if the sample was successfully fused # TOPICS estimator_aid_src_ev_vel estimator_aid_src_gnss_vel estimator_aid_src_gravity estimator_aid_src_mag - ``` + +::: diff --git a/docs/uk/msg_docs/EstimatorBias.md b/docs/uk/msg_docs/EstimatorBias.md index 59e8965948..8239338d7c 100644 --- a/docs/uk/msg_docs/EstimatorBias.md +++ b/docs/uk/msg_docs/EstimatorBias.md @@ -1,6 +1,30 @@ +--- +pageClass: is-wide-page +--- + # EstimatorBias (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorBias.msg) +**TOPICS:** estimator_baro_bias estimator_gnss_hgt_bias + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| bias | `float32` | | | estimated barometric altitude bias (m) | +| bias_var | `float32` | | | estimated barometric altitude bias variance (m^2) | +| innov | `float32` | | | innovation of the last measurement fusion (m) | +| innov_var | `float32` | | | innovation variance of the last measurement fusion (m^2) | +| innov_test_ratio | `float32` | | | normalized innovation squared test ratio | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorBias.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -15,5 +39,6 @@ float32 innov_var # innovation variance of the last measurement fusion (m^2) float32 innov_test_ratio # normalized innovation squared test ratio # TOPICS estimator_baro_bias estimator_gnss_hgt_bias - ``` + +::: diff --git a/docs/uk/msg_docs/EstimatorBias3d.md b/docs/uk/msg_docs/EstimatorBias3d.md index 9f74e6acd5..35548f2562 100644 --- a/docs/uk/msg_docs/EstimatorBias3d.md +++ b/docs/uk/msg_docs/EstimatorBias3d.md @@ -1,6 +1,30 @@ +--- +pageClass: is-wide-page +--- + # EstimatorBias3d (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorBias3d.msg) +**TOPICS:** estimator_bias3d estimator_ev_pos_bias + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| bias | `float32[3]` | | | estimated barometric altitude bias (m) | +| bias_var | `float32[3]` | | | estimated barometric altitude bias variance (m^2) | +| innov | `float32[3]` | | | innovation of the last measurement fusion (m) | +| innov_var | `float32[3]` | | | innovation variance of the last measurement fusion (m^2) | +| innov_test_ratio | `float32[3]` | | | normalized innovation squared test ratio | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorBias3d.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -17,5 +41,6 @@ float32[3] innov_test_ratio # normalized innovation squared test ratio # TOPICS estimator_bias3d # TOPICS estimator_ev_pos_bias - ``` + +::: diff --git a/docs/uk/msg_docs/EstimatorEventFlags.md b/docs/uk/msg_docs/EstimatorEventFlags.md index 2e498da7b4..1f2669d4ff 100644 --- a/docs/uk/msg_docs/EstimatorEventFlags.md +++ b/docs/uk/msg_docs/EstimatorEventFlags.md @@ -1,6 +1,42 @@ +--- +pageClass: is-wide-page +--- + # EstimatorEventFlags (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorEventFlags.msg) +**TOPICS:** estimator_eventflags + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| information_event_changes | `uint32` | | | number of information event changes | +| gps_checks_passed | `bool` | | | 0 - true when gps quality checks are passing passed | +| reset_vel_to_gps | `bool` | | | 1 - true when the velocity states are reset to the gps measurement | +| reset_vel_to_flow | `bool` | | | 2 - true when the velocity states are reset using the optical flow measurement | +| reset_vel_to_vision | `bool` | | | 3 - true when the velocity states are reset to the vision system measurement | +| reset_vel_to_zero | `bool` | | | 4 - true when the velocity states are reset to zero | +| reset_pos_to_last_known | `bool` | | | 5 - true when the position states are reset to the last known position | +| reset_pos_to_gps | `bool` | | | 6 - true when the position states are reset to the gps measurement | +| reset_pos_to_vision | `bool` | | | 7 - true when the position states are reset to the vision system measurement | +| starting_gps_fusion | `bool` | | | 8 - true when the filter starts using gps measurements to correct the state estimates | +| starting_vision_pos_fusion | `bool` | | | 9 - true when the filter starts using vision system position measurements to correct the state estimates | +| starting_vision_vel_fusion | `bool` | | | 10 - true when the filter starts using vision system velocity measurements to correct the state estimates | +| starting_vision_yaw_fusion | `bool` | | | 11 - true when the filter starts using vision system yaw measurements to correct the state estimates | +| yaw_aligned_to_imu_gps | `bool` | | | 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data | +| reset_hgt_to_baro | `bool` | | | 13 - true when the vertical position state is reset to the baro measurement | +| reset_hgt_to_gps | `bool` | | | 14 - true when the vertical position state is reset to the gps measurement | +| reset_hgt_to_rng | `bool` | | | 15 - true when the vertical position state is reset to the rng measurement | +| reset_hgt_to_ev | `bool` | | | 16 - true when the vertical position state is reset to the ev measurement | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorEventFlags.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -25,5 +61,6 @@ bool reset_hgt_to_baro # 13 - true when the vertical position s bool reset_hgt_to_gps # 14 - true when the vertical position state is reset to the gps measurement bool reset_hgt_to_rng # 15 - true when the vertical position state is reset to the rng measurement bool reset_hgt_to_ev # 16 - true when the vertical position state is reset to the ev measurement - ``` + +::: diff --git a/docs/uk/msg_docs/EstimatorGpsStatus.md b/docs/uk/msg_docs/EstimatorGpsStatus.md index 7f85e94423..8a9ae0e57f 100644 --- a/docs/uk/msg_docs/EstimatorGpsStatus.md +++ b/docs/uk/msg_docs/EstimatorGpsStatus.md @@ -1,6 +1,39 @@ +--- +pageClass: is-wide-page +--- + # EstimatorGpsStatus (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorGpsStatus.msg) +**TOPICS:** estimator_gpsstatus + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| checks_passed | `bool` | | | | +| check_fail_gps_fix | `bool` | | | 0 : insufficient fix type (no 3D solution) | +| check_fail_min_sat_count | `bool` | | | 1 : minimum required sat count fail | +| check_fail_max_pdop | `bool` | | | 2 : maximum allowed PDOP fail | +| check_fail_max_horz_err | `bool` | | | 3 : maximum allowed horizontal position error fail | +| check_fail_max_vert_err | `bool` | | | 4 : maximum allowed vertical position error fail | +| check_fail_max_spd_err | `bool` | | | 5 : maximum allowed speed error fail | +| check_fail_max_horz_drift | `bool` | | | 6 : maximum allowed horizontal position drift fail - requires stationary vehicle | +| check_fail_max_vert_drift | `bool` | | | 7 : maximum allowed vertical position drift fail - requires stationary vehicle | +| check_fail_max_horz_spd_err | `bool` | | | 8 : maximum allowed horizontal speed fail - requires stationary vehicle | +| check_fail_max_vert_spd_err | `bool` | | | 9 : maximum allowed vertical velocity discrepancy fail | +| check_fail_spoofed_gps | `bool` | | | 10 : GPS signal is spoofed | +| position_drift_rate_horizontal_m_s | `float32` | | | Horizontal position rate magnitude (m/s) | +| position_drift_rate_vertical_m_s | `float32` | | | Vertical position rate magnitude (m/s) | +| filtered_horizontal_speed_m_s | `float32` | | | Filtered horizontal velocity magnitude (m/s) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorGpsStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -23,5 +56,6 @@ bool check_fail_spoofed_gps # 10 : GPS signal is spoofed float32 position_drift_rate_horizontal_m_s # Horizontal position rate magnitude (m/s) float32 position_drift_rate_vertical_m_s # Vertical position rate magnitude (m/s) float32 filtered_horizontal_speed_m_s # Filtered horizontal velocity magnitude (m/s) - ``` + +::: diff --git a/docs/uk/msg_docs/EstimatorInnovations.md b/docs/uk/msg_docs/EstimatorInnovations.md index c08d5f92e1..2d477368a2 100644 --- a/docs/uk/msg_docs/EstimatorInnovations.md +++ b/docs/uk/msg_docs/EstimatorInnovations.md @@ -1,6 +1,44 @@ +--- +pageClass: is-wide-page +--- + # EstimatorInnovations (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorInnovations.msg) +**TOPICS:** estimator_innovations estimator_innovation_variances estimator_innovation_test_ratios + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| gps_hvel | `float32[2]` | | | horizontal GPS velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) | +| `float32` | | | vertical GPS velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) | | +| gps_hpos | `float32[2]` | | | horizontal GPS position innovation (m) and innovation variance (m\*\*2) | +| `float32` | | | vertical GPS position innovation (m) and innovation variance (m\*\*2) | | +| ev_hvel | `float32[2]` | | | horizontal external vision velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) | +| `float32` | | | vertical external vision velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) | | +| ev_hpos | `float32[2]` | | | horizontal external vision position innovation (m) and innovation variance (m\*\*2) | +| `float32` | | | vertical external vision position innovation (m) and innovation variance (m\*\*2) | | +| rng_vpos | `float32` | | | range sensor height innovation (m) and innovation variance (m\*\*2) | +| baro_vpos | `float32` | | | barometer height innovation (m) and innovation variance (m\*\*2) | +| aux_hvel | `float32[2]` | | | horizontal auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)\*\*2) | +| flow | `float32[2]` | | | flow innvoation (rad/sec) and innovation variance ((rad/sec)\*\*2) | +| heading | `float32` | | | heading innovation (rad) and innovation variance (rad\*\*2) | +| mag_field | `float32[3]` | | | earth magnetic field innovation (Gauss) and innovation variance (Gauss\*\*2) | +| gravity | `float32[3]` | | | gravity innovation from accelerometerr vector (m/s\*\*2) | +| drag | `float32[2]` | | | drag specific force innovation (m/sec\*\*2) and innovation variance ((m/sec)\*\*2) | +| airspeed | `float32` | | | airspeed innovation (m/sec) and innovation variance ((m/sec)\*\*2) | +| beta | `float32` | | | synthetic sideslip innovation (rad) and innovation variance (rad\*\*2) | +| hagl | `float32` | | | height of ground innovation (m) and innovation variance (m\*\*2) | +| hagl_rate | `float32` | | | height of ground rate innovation (m/s) and innovation variance ((m/s)\*\*2) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorInnovations.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -42,5 +80,6 @@ float32 hagl_rate # height of ground rate innovation (m/s) and innovation varian # the test ratio will be put in the first component of the vector. # TOPICS estimator_innovations estimator_innovation_variances estimator_innovation_test_ratios - ``` + +::: diff --git a/docs/uk/msg_docs/EstimatorSelectorStatus.md b/docs/uk/msg_docs/EstimatorSelectorStatus.md index 0bab0a4f48..0fb11005fd 100644 --- a/docs/uk/msg_docs/EstimatorSelectorStatus.md +++ b/docs/uk/msg_docs/EstimatorSelectorStatus.md @@ -1,6 +1,38 @@ +--- +pageClass: is-wide-page +--- + # EstimatorSelectorStatus (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorSelectorStatus.msg) +**TOPICS:** estimator_selectorstatus + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| primary_instance | `uint8` | | | | +| instances_available | `uint8` | | | | +| instance_changed_count | `uint32` | | | | +| last_instance_change | `uint64` | | | | +| accel_device_id | `uint32` | | | | +| baro_device_id | `uint32` | | | | +| gyro_device_id | `uint32` | | | | +| mag_device_id | `uint32` | | | | +| combined_test_ratio | `float32[9]` | | | | +| relative_test_ratio | `float32[9]` | | | | +| healthy | `bool[9]` | | | | +| accumulated_gyro_error | `float32[4]` | | | | +| accumulated_accel_error | `float32[4]` | | | | +| gyro_fault_detected | `bool` | | | | +| accel_fault_detected | `bool` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorSelectorStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -25,5 +57,6 @@ float32[4] accumulated_gyro_error float32[4] accumulated_accel_error bool gyro_fault_detected bool accel_fault_detected - ``` + +::: diff --git a/docs/uk/msg_docs/EstimatorSensorBias.md b/docs/uk/msg_docs/EstimatorSensorBias.md index 1c3be3cba0..d881564e12 100644 --- a/docs/uk/msg_docs/EstimatorSensorBias.md +++ b/docs/uk/msg_docs/EstimatorSensorBias.md @@ -1,9 +1,44 @@ +--- +pageClass: is-wide-page +--- + # EstimatorSensorBias (повідомлення UORB) -Показання датчиків та похибки в процесі роботи в одиницях СІ. Показання датчиків компенсуються для статичних зсувів, -похибки шкали, зсув під час роботи та тепловий зсув (якщо термокомпенсація увімкнена та доступна). +Показання датчиків та похибки в процесі роботи в одиницях СІ. Sensor readings are compensated for static offsets,. scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available). -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorSensorBias.msg) +**TOPICS:** estimator_sensorbias + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| gyro_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| gyro_bias | `float32[3]` | | | gyroscope in-run bias in body frame (rad/s) | +| gyro_bias_limit | `float32` | | | magnitude of maximum gyroscope in-run bias in body frame (rad/s) | +| gyro_bias_variance | `float32[3]` | | | | +| gyro_bias_valid | `bool` | | | | +| gyro_bias_stable | `bool` | | | true when the gyro bias estimate is stable enough to use for calibration | +| accel_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| accel_bias | `float32[3]` | | | accelerometer in-run bias in body frame (m/s^2) | +| accel_bias_limit | `float32` | | | magnitude of maximum accelerometer in-run bias in body frame (m/s^2) | +| accel_bias_variance | `float32[3]` | | | | +| accel_bias_valid | `bool` | | | | +| accel_bias_stable | `bool` | | | true when the accel bias estimate is stable enough to use for calibration | +| mag_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| mag_bias | `float32[3]` | | | magnetometer in-run bias in body frame (Gauss) | +| mag_bias_limit | `float32` | | | magnitude of maximum magnetometer in-run bias in body frame (Gauss) | +| mag_bias_variance | `float32[3]` | | | | +| mag_bias_valid | `bool` | | | | +| mag_bias_stable | `bool` | | | true when the mag bias estimate is stable enough to use for calibration | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorSensorBias.msg) + +:::details +Click here to see original file ```c # @@ -36,5 +71,6 @@ float32 mag_bias_limit # magnitude of maximum magnetometer in-run bias float32[3] mag_bias_variance bool mag_bias_valid bool mag_bias_stable # true when the mag bias estimate is stable enough to use for calibration - ``` + +::: diff --git a/docs/uk/msg_docs/EstimatorStates.md b/docs/uk/msg_docs/EstimatorStates.md index cea102c17b..aade307f41 100644 --- a/docs/uk/msg_docs/EstimatorStates.md +++ b/docs/uk/msg_docs/EstimatorStates.md @@ -1,6 +1,27 @@ +--- +pageClass: is-wide-page +--- + # EstimatorStates (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStates.msg) +**TOPICS:** estimator_states + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | ------------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| states | `float32[25]` | | | Internal filter states | +| n_states | `uint8` | | | Number of states effectively used | +| covariances | `float32[24]` | | | Diagonal Elements of Covariance Matrix | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStates.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -10,5 +31,6 @@ float32[25] states # Internal filter states uint8 n_states # Number of states effectively used float32[24] covariances # Diagonal Elements of Covariance Matrix - ``` + +::: diff --git a/docs/uk/msg_docs/EstimatorStatus.md b/docs/uk/msg_docs/EstimatorStatus.md index 95b8227483..64c57e7f53 100644 --- a/docs/uk/msg_docs/EstimatorStatus.md +++ b/docs/uk/msg_docs/EstimatorStatus.md @@ -1,6 +1,109 @@ +--- +pageClass: is-wide-page +--- + # EstimatorStatus (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg) +**TOPICS:** estimator_status + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| output_tracking_error | `float32[3]` | | | return a vector containing the output predictor angular, velocity and position tracking error magnitudes (rad), (m/s), (m) | +| gps_check_fail_flags | `uint16` | | | Bitmask to indicate status of GPS checks - see definition below | +| control_mode_flags | `uint64` | | | Bitmask to indicate EKF logic state | +| filter_fault_flags | `uint32` | | | Bitmask to indicate EKF internal faults | +| pos_horiz_accuracy | `float32` | | | 1-Sigma estimated horizontal position accuracy relative to the estimators origin (m) | +| pos_vert_accuracy | `float32` | | | 1-Sigma estimated vertical position accuracy relative to the estimators origin (m) | +| hdg_test_ratio | `float32` | | | low-pass filtered ratio of the largest heading innovation component to the innovation test limit | +| vel_test_ratio | `float32` | | | low-pass filtered ratio of the largest velocity innovation component to the innovation test limit | +| pos_test_ratio | `float32` | | | low-pass filtered ratio of the largest horizontal position innovation component to the innovation test limit | +| hgt_test_ratio | `float32` | | | low-pass filtered ratio of the vertical position innovation to the innovation test limit | +| tas_test_ratio | `float32` | | | low-pass filtered ratio of the true airspeed innovation to the innovation test limit | +| hagl_test_ratio | `float32` | | | low-pass filtered ratio of the height above ground innovation to the innovation test limit | +| beta_test_ratio | `float32` | | | low-pass filtered ratio of the synthetic sideslip innovation to the innovation test limit | +| solution_status_flags | `uint16` | | | Bitmask indicating which filter kinematic state outputs are valid for flight control use. | +| reset_count_vel_ne | `uint8` | | | number of horizontal position reset events (allow to wrap if count exceeds 255) | +| reset_count_vel_d | `uint8` | | | number of vertical velocity reset events (allow to wrap if count exceeds 255) | +| reset_count_pos_ne | `uint8` | | | number of horizontal position reset events (allow to wrap if count exceeds 255) | +| reset_count_pod_d | `uint8` | | | number of vertical position reset events (allow to wrap if count exceeds 255) | +| reset_count_quat | `uint8` | | | number of quaternion reset events (allow to wrap if count exceeds 255) | +| time_slip | `float32` | | | cumulative amount of time in seconds that the EKF inertial calculation has slipped relative to system time | +| pre_flt_fail_innov_heading | `bool` | | | | +| pre_flt_fail_innov_height | `bool` | | | | +| pre_flt_fail_innov_pos_horiz | `bool` | | | | +| pre_flt_fail_innov_vel_horiz | `bool` | | | | +| pre_flt_fail_innov_vel_vert | `bool` | | | | +| pre_flt_fail_mag_field_disturbed | `bool` | | | | +| accel_device_id | `uint32` | | | | +| gyro_device_id | `uint32` | | | | +| baro_device_id | `uint32` | | | | +| mag_device_id | `uint32` | | | | +| health_flags | `uint8` | | | Bitmask to indicate sensor health states (vel, pos, hgt) | +| timeout_flags | `uint8` | | | Bitmask to indicate timeout flags (vel, pos, hgt) | +| mag_inclination_deg | `float32` | | | | +| mag_inclination_ref_deg | `float32` | | | | +| mag_strength_gs | `float32` | | | | +| mag_strength_ref_gs | `float32` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------- | +| GPS_CHECK_FAIL_GPS_FIX | `uint8` | 0 | 0 : insufficient fix type (no 3D solution) | +| GPS_CHECK_FAIL_MIN_SAT_COUNT | `uint8` | 1 | 1 : minimum required sat count fail | +| GPS_CHECK_FAIL_MAX_PDOP | `uint8` | 2 | 2 : maximum allowed PDOP fail | +| GPS_CHECK_FAIL_MAX_HORZ_ERR | `uint8` | 3 | 3 : maximum allowed horizontal position error fail | +| GPS_CHECK_FAIL_MAX_VERT_ERR | `uint8` | 4 | 4 : maximum allowed vertical position error fail | +| GPS_CHECK_FAIL_MAX_SPD_ERR | `uint8` | 5 | 5 : maximum allowed speed error fail | +| GPS_CHECK_FAIL_MAX_HORZ_DRIFT | `uint8` | 6 | 6 : maximum allowed horizontal position drift fail - requires stationary vehicle | +| GPS_CHECK_FAIL_MAX_VERT_DRIFT | `uint8` | 7 | 7 : maximum allowed vertical position drift fail - requires stationary vehicle | +| GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR | `uint8` | 8 | 8 : maximum allowed horizontal speed fail - requires stationary vehicle | +| GPS_CHECK_FAIL_MAX_VERT_SPD_ERR | `uint8` | 9 | 9 : maximum allowed vertical velocity discrepancy fail | +| GPS_CHECK_FAIL_SPOOFED | `uint8` | 10 | 10 : GPS signal is spoofed | +| GPS_CHECK_FAIL_JAMMED | `uint8` | 11 | 11 : GPS signal is jammed | +| CS_TILT_ALIGN | `uint8` | 0 | 0 - true if the filter tilt alignment is complete | +| CS_YAW_ALIGN | `uint8` | 1 | 1 - true if the filter yaw alignment is complete | +| CS_GNSS_POS | `uint8` | 2 | 2 - true if GNSS position measurements are being fused | +| CS_OPT_FLOW | `uint8` | 3 | 3 - true if optical flow measurements are being fused | +| CS_MAG_HDG | `uint8` | 4 | 4 - true if a simple magnetic yaw heading is being fused | +| CS_MAG_3D | `uint8` | 5 | 5 - true if 3-axis magnetometer measurement are being fused | +| CS_MAG_DEC | `uint8` | 6 | 6 - true if synthetic magnetic declination measurements are being fused | +| CS_IN_AIR | `uint8` | 7 | 7 - true when thought to be airborne | +| CS_WIND | `uint8` | 8 | 8 - true when wind velocity is being estimated | +| CS_BARO_HGT | `uint8` | 9 | 9 - true when baro data is being fused | +| CS_RNG_HGT | `uint8` | 10 | 10 - true when range finder data is being fused for height aiding | +| CS_GPS_HGT | `uint8` | 11 | 11 - true when GPS altitude is being fused | +| CS_EV_POS | `uint8` | 12 | 12 - true when local position data from external vision is being fused | +| CS_EV_YAW | `uint8` | 13 | 13 - true when yaw data from external vision measurements is being fused | +| CS_EV_HGT | `uint8` | 14 | 14 - true when height data from external vision measurements is being fused | +| CS_BETA | `uint8` | 15 | 15 - true when synthetic sideslip measurements are being fused | +| CS_MAG_FIELD | `uint8` | 16 | 16 - true when only the magnetic field states are updated by the magnetometer | +| CS_FIXED_WING | `uint8` | 17 | 17 - true when thought to be operating as a fixed wing vehicle with constrained sideslip | +| CS_MAG_FAULT | `uint8` | 18 | 18 - true when the magnetometer has been declared faulty and is no longer being used | +| CS_ASPD | `uint8` | 19 | 19 - true when airspeed measurements are being fused | +| CS_GND_EFFECT | `uint8` | 20 | 20 - true when when protection from ground effect induced static pressure rise is active | +| CS_RNG_STUCK | `uint8` | 21 | 21 - true when a stuck range finder sensor has been detected | +| CS_GPS_YAW | `uint8` | 22 | 22 - true when yaw (not ground course) data from a GPS receiver is being fused | +| CS_MAG_ALIGNED | `uint8` | 23 | 23 - true when the in-flight mag field alignment has been completed | +| CS_EV_VEL | `uint8` | 24 | 24 - true when local frame velocity data fusion from external vision measurements is intended | +| CS_SYNTHETIC_MAG_Z | `uint8` | 25 | 25 - true when we are using a synthesized measurement for the magnetometer Z component | +| CS_VEHICLE_AT_REST | `uint8` | 26 | 26 - true when the vehicle is at rest | +| CS_GPS_YAW_FAULT | `uint8` | 27 | 27 - true when the GNSS heading has been declared faulty and is no longer being used | +| CS_RNG_FAULT | `uint8` | 28 | 28 - true when the range finder has been declared faulty and is no longer being used | +| CS_GNSS_VEL | `uint8` | 44 | 44 - true if GNSS velocity measurement fusion is intended | +| CS_GNSS_FAULT | `uint8` | 45 | 45 - true if GNSS measurements have been declared faulty and are no longer used | +| CS_YAW_MANUAL | `uint8` | 46 | 46 - true if yaw has been set manually | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -130,5 +233,6 @@ float32 mag_inclination_deg float32 mag_inclination_ref_deg float32 mag_strength_gs float32 mag_strength_ref_gs - ``` + +::: diff --git a/docs/uk/msg_docs/EstimatorStatusFlags.md b/docs/uk/msg_docs/EstimatorStatusFlags.md index af4ee8c081..29d6a2cd0e 100644 --- a/docs/uk/msg_docs/EstimatorStatusFlags.md +++ b/docs/uk/msg_docs/EstimatorStatusFlags.md @@ -1,6 +1,85 @@ +--- +pageClass: is-wide-page +--- + # EstimatorStatusFlags (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatusFlags.msg) +**TOPICS:** estimator_statusflags + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| control_status_changes | `uint32` | | | number of filter control status (cs) changes | +| cs_tilt_align | `bool` | | | 0 - true if the filter tilt alignment is complete | +| cs_yaw_align | `bool` | | | 1 - true if the filter yaw alignment is complete | +| cs_gnss_pos | `bool` | | | 2 - true if GNSS position measurement fusion is intended | +| cs_opt_flow | `bool` | | | 3 - true if optical flow measurements fusion is intended | +| cs_mag_hdg | `bool` | | | 4 - true if a simple magnetic yaw heading fusion is intended | +| cs_mag_3d | `bool` | | | 5 - true if 3-axis magnetometer measurement fusion is intended | +| cs_mag_dec | `bool` | | | 6 - true if synthetic magnetic declination measurements fusion is intended | +| cs_in_air | `bool` | | | 7 - true when the vehicle is airborne | +| cs_wind | `bool` | | | 8 - true when wind velocity is being estimated | +| cs_baro_hgt | `bool` | | | 9 - true when baro data is being fused | +| cs_rng_hgt | `bool` | | | 10 - true when range finder data is being fused for height aiding | +| cs_gps_hgt | `bool` | | | 11 - true when GPS altitude is being fused | +| cs_ev_pos | `bool` | | | 12 - true when local position data fusion from external vision is intended | +| cs_ev_yaw | `bool` | | | 13 - true when yaw data from external vision measurements fusion is intended | +| cs_ev_hgt | `bool` | | | 14 - true when height data from external vision measurements is being fused | +| cs_fuse_beta | `bool` | | | 15 - true when synthetic sideslip measurements are being fused | +| cs_mag_field_disturbed | `bool` | | | 16 - true when the mag field does not match the expected strength | +| cs_fixed_wing | `bool` | | | 17 - true when the vehicle is operating as a fixed wing vehicle | +| cs_mag_fault | `bool` | | | 18 - true when the magnetometer has been declared faulty and is no longer being used | +| cs_fuse_aspd | `bool` | | | 19 - true when airspeed measurements are being fused | +| cs_gnd_effect | `bool` | | | 20 - true when protection from ground effect induced static pressure rise is active | +| cs_rng_stuck | `bool` | | | 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough | +| cs_gnss_yaw | `bool` | | | 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended | +| cs_mag_aligned_in_flight | `bool` | | | 23 - true when the in-flight mag field alignment has been completed | +| cs_ev_vel | `bool` | | | 24 - true when local frame velocity data fusion from external vision measurements is intended | +| cs_synthetic_mag_z | `bool` | | | 25 - true when we are using a synthesized measurement for the magnetometer Z component | +| cs_vehicle_at_rest | `bool` | | | 26 - true when the vehicle is at rest | +| cs_gnss_yaw_fault | `bool` | | | 27 - true when the GNSS heading has been declared faulty and is no longer being used | +| cs_rng_fault | `bool` | | | 28 - true when the range finder has been declared faulty and is no longer being used | +| cs_inertial_dead_reckoning | `bool` | | | 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift | +| cs_wind_dead_reckoning | `bool` | | | 30 - true if we are navigationg reliant on wind relative measurements | +| cs_rng_kin_consistent | `bool` | | | 31 - true when the range finder kinematic consistency check is passing | +| cs_fake_pos | `bool` | | | 32 - true when fake position measurements are being fused | +| cs_fake_hgt | `bool` | | | 33 - true when fake height measurements are being fused | +| cs_gravity_vector | `bool` | | | 34 - true when gravity vector measurements are being fused | +| cs_mag | `bool` | | | 35 - true if 3-axis magnetometer measurement fusion (mag states only) is intended | +| cs_ev_yaw_fault | `bool` | | | 36 - true when the EV heading has been declared faulty and is no longer being used | +| cs_mag_heading_consistent | `bool` | | | 37 - true when the heading obtained from mag data is declared consistent with the filter | +| cs_aux_gpos | `bool` | | | 38 - true if auxiliary global position measurement fusion is intended | +| cs_rng_terrain | `bool` | | | 39 - true if we are fusing range finder data for terrain | +| cs_opt_flow_terrain | `bool` | | | 40 - true if we are fusing flow data for terrain | +| cs_valid_fake_pos | `bool` | | | 41 - true if a valid constant position is being fused | +| cs_constant_pos | `bool` | | | 42 - true if the vehicle is at a constant position | +| cs_baro_fault | `bool` | | | 43 - true when the current baro has been declared faulty and is no longer being used | +| cs_gnss_vel | `bool` | | | 44 - true if GNSS velocity measurement fusion is intended | +| cs_gnss_fault | `bool` | | | 45 - true if GNSS true if GNSS measurements (lat, lon, vel) have been declared faulty | +| cs_yaw_manual | `bool` | | | 46 - true if yaw has been set manually | +| cs_gnss_hgt_fault | `bool` | | | 47 - true if GNSS true if GNSS measurements (alt) have been declared faulty | +| fault_status_changes | `uint32` | | | number of filter fault status (fs) changes | +| fs_bad_mag_x | `bool` | | | 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error | +| fs_bad_mag_y | `bool` | | | 1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error | +| fs_bad_mag_z | `bool` | | | 2 - true if the fusion of the magnetometer Z-axis has encountered a numerical error | +| fs_bad_hdg | `bool` | | | 3 - true if the fusion of the heading angle has encountered a numerical error | +| fs_bad_mag_decl | `bool` | | | 4 - true if the fusion of the magnetic declination has encountered a numerical error | +| fs_bad_airspeed | `bool` | | | 5 - true if fusion of the airspeed has encountered a numerical error | +| fs_bad_sideslip | `bool` | | | 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error | +| fs_bad_optflow_x | `bool` | | | 7 - true if fusion of the optical flow X axis has encountered a numerical error | +| fs_bad_optflow_y | `bool` | | | 8 - true if fusion of the optical flow Y axis has encountered a numerical error | +| fs_bad_acc_vertical | `bool` | | | 10 - true if bad vertical accelerometer data has been detected | +| fs_bad_acc_clipping | `bool` | | | 11 - true if delta velocity data contains clipping (asymmetric railing) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatusFlags.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -71,19 +150,6 @@ bool fs_bad_optflow_x # 7 - true if fusion of the optical flow X axis h bool fs_bad_optflow_y # 8 - true if fusion of the optical flow Y axis has encountered a numerical error bool fs_bad_acc_vertical # 10 - true if bad vertical accelerometer data has been detected bool fs_bad_acc_clipping # 11 - true if delta velocity data contains clipping (asymmetric railing) - - -# innovation test failures -uint32 innovation_fault_status_changes # number of innovation fault status (reject) changes -bool reject_hor_vel # 0 - true if horizontal velocity observations have been rejected -bool reject_ver_vel # 1 - true if vertical velocity observations have been rejected -bool reject_hor_pos # 2 - true if horizontal position observations have been rejected -bool reject_ver_pos # 3 - true if vertical position observations have been rejected -bool reject_yaw # 7 - true if the yaw observation has been rejected -bool reject_airspeed # 8 - true if the airspeed observation has been rejected -bool reject_sideslip # 9 - true if the synthetic sideslip observation has been rejected -bool reject_hagl # 10 - true if the height above ground observation has been rejected -bool reject_optflow_x # 11 - true if the X optical flow observation has been rejected -bool reject_optflow_y # 12 - true if the Y optical flow observation has been rejected - ``` + +::: diff --git a/docs/uk/msg_docs/Event.md b/docs/uk/msg_docs/Event.md index a8fe496cde..5be6cbba4a 100644 --- a/docs/uk/msg_docs/Event.md +++ b/docs/uk/msg_docs/Event.md @@ -1,8 +1,36 @@ +--- +pageClass: is-wide-page +--- + # Event (повідомлення UORB) -Інтерфейс подій +Events interface. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/Event.msg) +**TOPICS:** event + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| id | `uint32` | | | Event ID | +| event_sequence | `uint16` | | | Event sequence number | +| arguments | `uint8[25]` | | | (optional) arguments, depend on event id | +| log_levels | `uint8` | | | Log levels: 4 bits MSB: internal, 4 bits LSB: external | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 1 | | +| ORB_QUEUE_LENGTH | `uint8` | 16 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/Event.msg) + +:::details +Click here to see original file ```c # Events interface @@ -17,5 +45,6 @@ uint8[25] arguments # (optional) arguments, depend on event id uint8 log_levels # Log levels: 4 bits MSB: internal, 4 bits LSB: external uint8 ORB_QUEUE_LENGTH = 16 - ``` + +::: diff --git a/docs/uk/msg_docs/EventV0.md b/docs/uk/msg_docs/EventV0.md index 19cfa7b70c..4bf5f84e9c 100644 --- a/docs/uk/msg_docs/EventV0.md +++ b/docs/uk/msg_docs/EventV0.md @@ -1,9 +1,36 @@ +--- +pageClass: is-wide-page +--- + # EventV0 (UORB message) -this message is required here in the msg_old folder because other msg are depending on it -Events interface +this message is required here in the msg_old folder because other msg are depending on it. Events interface. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/EventV0.msg) +**TOPICS:** eventv0 + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| id | `uint32` | | | Event ID | +| event_sequence | `uint16` | | | Event sequence number | +| arguments | `uint8[25]` | | | (optional) arguments, depend on event id | +| log_levels | `uint8` | | | Log levels: 4 bits MSB: internal, 4 bits LSB: external | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | +| ORB_QUEUE_LENGTH | `uint8` | 16 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/EventV0.msg) + +:::details +Click here to see original file ```c # this message is required here in the msg_old folder because other msg are depending on it @@ -20,5 +47,6 @@ uint8[25] arguments # (optional) arguments, depend on event id uint8 log_levels # Log levels: 4 bits MSB: internal, 4 bits LSB: external uint8 ORB_QUEUE_LENGTH = 16 - ``` + +::: diff --git a/docs/uk/msg_docs/FailsafeFlags.md b/docs/uk/msg_docs/FailsafeFlags.md index 800450a3a2..de1c3eb243 100644 --- a/docs/uk/msg_docs/FailsafeFlags.md +++ b/docs/uk/msg_docs/FailsafeFlags.md @@ -1,3 +1,7 @@ +--- +pageClass: is-wide-page +--- + # FailsafeFlags (повідомлення UORB) Input flags for the failsafe state machine set by the arming & health checks. @@ -5,7 +9,61 @@ Input flags for the failsafe state machine set by the arming & health checks. Flags must be named such that false == no failure (e.g. \_invalid, \_unhealthy, \_lost) The flag comments are used as label for the failsafe state machine simulation -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FailsafeFlags.msg) +**TOPICS:** failsafe_flags + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| mode_req_angular_velocity | `uint32` | | | | +| mode_req_attitude | `uint32` | | | | +| mode_req_local_alt | `uint32` | | | | +| mode_req_local_position | `uint32` | | | | +| mode_req_local_position_relaxed | `uint32` | | | | +| mode_req_global_position | `uint32` | | | | +| mode_req_global_position_relaxed | `uint32` | | | | +| mode_req_mission | `uint32` | | | | +| mode_req_offboard_signal | `uint32` | | | | +| mode_req_home_position | `uint32` | | | | +| mode_req_wind_and_flight_time_compliance | `uint32` | | | if set, mode cannot be entered if wind or flight time limit exceeded | +| mode_req_prevent_arming | `uint32` | | | if set, cannot arm while in this mode | +| mode_req_manual_control | `uint32` | | | | +| mode_req_other | `uint32` | | | other requirements, not covered above (for external modes) | +| angular_velocity_invalid | `bool` | | | Angular velocity invalid | +| attitude_invalid | `bool` | | | Attitude invalid | +| local_altitude_invalid | `bool` | | | Local altitude invalid | +| local_position_invalid | `bool` | | | Local position estimate invalid | +| local_position_invalid_relaxed | `bool` | | | Local position with reduced accuracy requirements invalid (e.g. flying with optical flow) | +| local_velocity_invalid | `bool` | | | Local velocity estimate invalid | +| global_position_invalid | `bool` | | | Global position estimate invalid | +| global_position_invalid_relaxed | `bool` | | | Global position estimate invalid with relaxed accuracy requirements | +| auto_mission_missing | `bool` | | | No mission available | +| offboard_control_signal_lost | `bool` | | | Offboard signal lost | +| home_position_invalid | `bool` | | | No home position available | +| manual_control_signal_lost | `bool` | | | Manual control (RC) signal lost | +| gcs_connection_lost | `bool` | | | GCS connection lost | +| battery_warning | `uint8` | | | Battery warning level (see BatteryStatus.msg) | +| battery_low_remaining_time | `bool` | | | Low battery based on remaining flight time | +| battery_unhealthy | `bool` | | | Battery unhealthy | +| geofence_breached | `bool` | | | Geofence breached (one or multiple) | +| mission_failure | `bool` | | | Mission failure | +| vtol_fixed_wing_system_failure | `bool` | | | vehicle in fixed-wing system failure failsafe mode (after quad-chute) | +| wind_limit_exceeded | `bool` | | | Wind limit exceeded | +| flight_time_limit_exceeded | `bool` | | | Maximum flight time exceeded | +| position_accuracy_low | `bool` | | | Position estimate has dropped below threshold, but is currently still declared valid | +| navigator_failure | `bool` | | | Navigator failed to execute a mode | +| fd_critical_failure | `bool` | | | Critical failure (attitude/altitude limit exceeded, or external ATS) | +| fd_esc_arming_failure | `bool` | | | ESC failed to arm | +| fd_imbalanced_prop | `bool` | | | Imbalanced propeller detected | +| fd_motor_failure | `bool` | | | Motor failure | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FailsafeFlags.msg) + +:::details +Click here to see original file ```c # Input flags for the failsafe state machine set by the arming & health checks. @@ -68,5 +126,6 @@ bool fd_critical_failure # Critical failure (attitude/altitude limi bool fd_esc_arming_failure # ESC failed to arm bool fd_imbalanced_prop # Imbalanced propeller detected bool fd_motor_failure # Motor failure - ``` + +::: diff --git a/docs/uk/msg_docs/FailureDetectorStatus.md b/docs/uk/msg_docs/FailureDetectorStatus.md index 111bd96b78..176312bd59 100644 --- a/docs/uk/msg_docs/FailureDetectorStatus.md +++ b/docs/uk/msg_docs/FailureDetectorStatus.md @@ -1,6 +1,34 @@ +--- +pageClass: is-wide-page +--- + # FailureDetectorStatus (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FailureDetectorStatus.msg) +**TOPICS:** failure_detectorstatus + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| fd_roll | `bool` | | | | +| fd_pitch | `bool` | | | | +| fd_alt | `bool` | | | | +| fd_ext | `bool` | | | | +| fd_arm_escs | `bool` | | | | +| fd_battery | `bool` | | | | +| fd_imbalanced_prop | `bool` | | | | +| fd_motor | `bool` | | | | +| imbalanced_prop_metric | `float32` | | | Metric of the imbalanced propeller check (low-passed) | +| motor_failure_mask | `uint16` | | | Bit-mask with motor indices, indicating critical motor failures | +| motor_stop_mask | `uint16` | | | Bitmaks of motors stopped by failure injection | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FailureDetectorStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -18,5 +46,6 @@ bool fd_motor float32 imbalanced_prop_metric # Metric of the imbalanced propeller check (low-passed) uint16 motor_failure_mask # Bit-mask with motor indices, indicating critical motor failures uint16 motor_stop_mask # Bitmaks of motors stopped by failure injection - ``` + +::: diff --git a/docs/uk/msg_docs/FigureEightStatus.md b/docs/uk/msg_docs/FigureEightStatus.md index f8fdd32ff2..9ac9b200f7 100644 --- a/docs/uk/msg_docs/FigureEightStatus.md +++ b/docs/uk/msg_docs/FigureEightStatus.md @@ -1,6 +1,30 @@ +--- +pageClass: is-wide-page +--- + # FigureEightStatus (повідомлення UORB) -[вихідний файл](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FigureEightStatus.msg) +**TOPICS:** figure_eightstatus + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| major_radius | `float32` | | | Major axis radius of the figure eight [m]. Positive values orbit clockwise, negative values orbit counter-clockwise. | +| minor_radius | `float32` | | | Minor axis radius of the figure eight [m]. | +| orientation | `float32` | | | Orientation of the major axis of the figure eight [rad]. | +| frame | `uint8` | | | The coordinate system of the fields: x, y, z. | +| x | `int32` | | | X coordinate of center point. Coordinate system depends on frame field: local = x position in meters _ 1e4, global = latitude in degrees _ 1e7. | +| y | `int32` | | | Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters _ 1e4, global = latitude in degrees _ 1e7. | +| z | `float32` | | | Altitude of center point. Coordinate system depends on frame field. | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FigureEightStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -11,5 +35,6 @@ uint8 frame # The coordinate system of the fields: x, y, z. int32 x # X coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7. int32 y # Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters * 1e4, global = latitude in degrees * 1e7. float32 z # Altitude of center point. Coordinate system depends on frame field. - ``` + +::: diff --git a/docs/uk/msg_docs/FixedWingLateralGuidanceStatus.md b/docs/uk/msg_docs/FixedWingLateralGuidanceStatus.md index 02dc50b410..1cef22460f 100644 --- a/docs/uk/msg_docs/FixedWingLateralGuidanceStatus.md +++ b/docs/uk/msg_docs/FixedWingLateralGuidanceStatus.md @@ -1,9 +1,33 @@ +--- +pageClass: is-wide-page +--- + # 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 +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) +**TOPICS:** fixed_winglateral_guidancestatus + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------------ | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| course_setpoint | `float32` | rad | [-pi : pi] | Desired direction of travel over ground w.r.t (true) North. Set by guidance law | +| lateral_acceleration_ff | `float32` | FRD | | lateral acceleration demand only for maintaining curvature | +| bearing_feas | `float32` | | [0 : 1] | bearing feasibility | +| bearing_feas_on_track | `float32` | | [0 : 1] | on-track bearing feasibility | +| signed_track_error | `float32` | m | | signed track error | +| track_error_bound | `float32` | m | | track error bound | +| adapted_period | `float32` | s | | adapted period (if auto-tuning enabled) | +| wind_est_valid | `uint8` | boolean | | true = wind estimate is valid and/or being used by controller (also indicates if wind estimate usage is disabled despite being valid) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FixedWingLateralGuidanceStatus.msg) + +:::details +Click here to see original file ```c # Fixed Wing Lateral Guidance Status message @@ -19,5 +43,6 @@ 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) - ``` + +::: diff --git a/docs/uk/msg_docs/FixedWingLateralSetpoint.md b/docs/uk/msg_docs/FixedWingLateralSetpoint.md index 153167bb62..b4c3f069dd 100644 --- a/docs/uk/msg_docs/FixedWingLateralSetpoint.md +++ b/docs/uk/msg_docs/FixedWingLateralSetpoint.md @@ -1,10 +1,34 @@ +--- +pageClass: is-wide-page +--- + # FixedWingLateralSetpoint (UORB message) -Fixed Wing Lateral Setpoint message -Used by the fw_lateral_longitudinal_control module -At least one of course, airspeed_direction, or lateral_acceleration must be finite. +Fixed Wing Lateral Setpoint message. Used by the fw_lateral_longitudinal_control module. At least one of course, airspeed_direction, or lateral_acceleration must be finite. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/FixedWingLateralSetpoint.msg) +**TOPICS:** fixed_winglateral_setpoint + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| course | `float32` | rad | [-pi : pi] | Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly. | +| airspeed_direction | `float32` | rad | [-pi : pi] | Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite. | +| lateral_acceleration | `float32` | FRD | | Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite. | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/FixedWingLateralSetpoint.msg) + +:::details +Click here to see original file ```c # Fixed Wing Lateral Setpoint message @@ -18,5 +42,6 @@ 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. - ``` + +::: diff --git a/docs/uk/msg_docs/FixedWingLateralStatus.md b/docs/uk/msg_docs/FixedWingLateralStatus.md index 9214d1e9e0..694d0b58f3 100644 --- a/docs/uk/msg_docs/FixedWingLateralStatus.md +++ b/docs/uk/msg_docs/FixedWingLateralStatus.md @@ -1,9 +1,27 @@ +--- +pageClass: is-wide-page +--- + # FixedWingLateralStatus (UORB message) -Fixed Wing Lateral Status message -Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint +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) +**TOPICS:** fixed_winglateral_status + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | --------------------------------------------------------------------------- | ---------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| lateral_acceleration_setpoint | `float32` | FRD | | resultant lateral acceleration setpoint | +| can_run_factor | `float32` | norm | [0 : 1] | estimate of certainty of the correct functionality of the npfg roll setpoint | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FixedWingLateralStatus.msg) + +:::details +Click here to see original file ```c # Fixed Wing Lateral Status message @@ -13,5 +31,6 @@ 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 - ``` + +::: diff --git a/docs/uk/msg_docs/FixedWingLongitudinalSetpoint.md b/docs/uk/msg_docs/FixedWingLongitudinalSetpoint.md index 6b8fb29e5b..6f9514b496 100644 --- a/docs/uk/msg_docs/FixedWingLongitudinalSetpoint.md +++ b/docs/uk/msg_docs/FixedWingLongitudinalSetpoint.md @@ -1,11 +1,36 @@ +--- +pageClass: is-wide-page +--- + # FixedWingLongitudinalSetpoint (UORB message) -Fixed Wing Longitudinal Setpoint message -Used by the fw_lateral_longitudinal_control module -If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion. -If both altitude and height_rate are NAN, the controller maintains the current altitude. +Fixed Wing Longitudinal Setpoint message. Used by the fw_lateral_longitudinal_control module. If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion. If both altitude and height_rate are NAN, the controller maintains the current altitude. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/FixedWingLongitudinalSetpoint.msg) +**TOPICS:** fixed_winglongitudinal_setpoint + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| altitude | `float32` | m | | Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite | +| height_rate | `float32` | ENU | | Scalar height rate setpoint. NAN if not controlled directly | +| equivalent_airspeed | `float32` | m/s | [0 : inf] | Scalar equivalent airspeed setpoint. NAN if system default should be used | +| pitch_direct | `float32` | FRD | [-pi : pi] | NAN if not controlled, overrides total energy controller | +| throttle_direct | `float32` | norm | [0 : 1] | NAN if not controlled, overrides total energy controller | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/FixedWingLongitudinalSetpoint.msg) + +:::details +Click here to see original file ```c # Fixed Wing Longitudinal Setpoint message @@ -22,5 +47,6 @@ float32 height_rate # [m/s] [ENU] Scalar height rate setpoint. NAN if not con 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 - ``` + +::: diff --git a/docs/uk/msg_docs/FixedWingRunwayControl.md b/docs/uk/msg_docs/FixedWingRunwayControl.md index 9e9f5ff428..3843f72858 100644 --- a/docs/uk/msg_docs/FixedWingRunwayControl.md +++ b/docs/uk/msg_docs/FixedWingRunwayControl.md @@ -1,19 +1,54 @@ +--- +pageClass: is-wide-page +--- + # FixedWingRunwayControl (UORB message) -Auxiliary control fields for fixed-wing runway takeoff/landing +Auxiliary control fields for fixed-wing runway takeoff/landing. -Passes information from the FixedWingModeManager to the FixedWingAttitudeController +**TOPICS:** fixed_wingrunway_control -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FixedWingRunwayControl.msg) +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------------------ | --------- | ---------------------------------------------------------------- | ---------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | time since system start | +| runway_takeoff_state | `uint8` | | | Current state of runway takeoff state machine | +| wheel_steering_enabled | `bool` | | | Flag that enables the wheel steering. | +| wheel_steering_nudging_rate | `float32` | FRD | [-1 : 1] | Manual wheel nudging, added to controller output. NAN is interpreted as 0. | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | -------------------------------------------------------------------------------- | +| STATE_THROTTLE_RAMP | `uint8` | 0 | ramping up throttle | +| STATE_CLAMPED_TO_RUNWAY | `uint8` | 1 | clamped to runway, controlling yaw directly (wheel or rudder) | +| STATE_CLIMBOUT | `uint8` | 2 | climbout to safe height before navigation | +| STATE_FLYING | `uint8` | 3 | navigate freely | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FixedWingRunwayControl.msg) + +:::details +Click here to see original file ```c # Auxiliary control fields for fixed-wing runway takeoff/landing -# Passes information from the FixedWingModeManager to the FixedWingAttitudeController +# Passes information from the FixedWingModeManager to the FixedWingAttitudeController (wheel control) and FixedWingLandDetector (takeoff state) uint64 timestamp # [us] time since system start +uint8 STATE_THROTTLE_RAMP = 0 # ramping up throttle +uint8 STATE_CLAMPED_TO_RUNWAY = 1 # clamped to runway, controlling yaw directly (wheel or rudder) +uint8 STATE_CLIMBOUT = 2 # climbout to safe height before navigation +uint8 STATE_FLYING = 3 # navigate freely + +uint8 runway_takeoff_state # Current state of runway takeoff state machine + 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. - ``` + +::: diff --git a/docs/uk/msg_docs/FlightPhaseEstimation.md b/docs/uk/msg_docs/FlightPhaseEstimation.md index 4bba29c6e4..2a898f54b9 100644 --- a/docs/uk/msg_docs/FlightPhaseEstimation.md +++ b/docs/uk/msg_docs/FlightPhaseEstimation.md @@ -1,6 +1,33 @@ +--- +pageClass: is-wide-page +--- + # FlightPhaseEstimation (повідомлення UORB) -[вихідний файл](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FlightPhaseEstimation.msg) +**TOPICS:** flight_phaseestimation + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| flight_phase | `uint8` | | | Estimate of current flight phase | + +## Constants + +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------- | +| FLIGHT_PHASE_UNKNOWN | `uint8` | 0 | vehicle flight phase is unknown | +| FLIGHT_PHASE_LEVEL | `uint8` | 1 | Vehicle is in level flight | +| FLIGHT_PHASE_DESCEND | `uint8` | 2 | vehicle is in descend | +| FLIGHT_PHASE_CLIMB | `uint8` | 3 | vehicle is climbing | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FlightPhaseEstimation.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -11,5 +38,6 @@ uint8 FLIGHT_PHASE_UNKNOWN = 0 # vehicle flight phase is unknown uint8 FLIGHT_PHASE_LEVEL = 1 # Vehicle is in level flight uint8 FLIGHT_PHASE_DESCEND = 2 # vehicle is in descend uint8 FLIGHT_PHASE_CLIMB = 3 # vehicle is climbing - ``` + +::: diff --git a/docs/uk/msg_docs/FollowTarget.md b/docs/uk/msg_docs/FollowTarget.md index ac833b250c..55c848731d 100644 --- a/docs/uk/msg_docs/FollowTarget.md +++ b/docs/uk/msg_docs/FollowTarget.md @@ -1,6 +1,30 @@ +--- +pageClass: is-wide-page +--- + # FollowTarget (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FollowTarget.msg) +**TOPICS:** follow_target + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| lat | `float64` | | | target position (deg \* 1e7) | +| lon | `float64` | | | target position (deg \* 1e7) | +| alt | `float32` | | | target position | +| vy | `float32` | | | target vel in y | +| vx | `float32` | | | target vel in x | +| vz | `float32` | | | target vel in z | +| est_cap | `uint8` | | | target reporting capabilities | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FollowTarget.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -14,5 +38,6 @@ float32 vx # target vel in x float32 vz # target vel in z uint8 est_cap # target reporting capabilities - ``` + +::: diff --git a/docs/uk/msg_docs/FollowTargetEstimator.md b/docs/uk/msg_docs/FollowTargetEstimator.md index 00d5760b36..df4a781847 100644 --- a/docs/uk/msg_docs/FollowTargetEstimator.md +++ b/docs/uk/msg_docs/FollowTargetEstimator.md @@ -1,6 +1,34 @@ +--- +pageClass: is-wide-page +--- + # FollowTargetEstimator (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FollowTargetEstimator.msg) +**TOPICS:** follow_targetestimator + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------------------ | ------------ | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| last_filter_reset_timestamp | `uint64` | | | time of last filter reset (microseconds) | +| valid | `bool` | | | True if estimator states are okay to be used | +| stale | `bool` | | | True if estimator stopped receiving follow_target messages for some time. The estimate can still be valid, though it might be inaccurate. | +| lat_est | `float64` | | | Estimated target latitude | +| lon_est | `float64` | | | Estimated target longitude | +| alt_est | `float32` | | | Estimated target altitude | +| pos_est | `float32[3]` | | | Estimated target NED position (m) | +| vel_est | `float32[3]` | | | Estimated target NED velocity (m/s) | +| acc_est | `float32[3]` | | | Estimated target NED acceleration (m^2/s) | +| prediction_count | `uint64` | | | | +| fusion_count | `uint64` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FollowTargetEstimator.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -19,5 +47,6 @@ float32[3] acc_est # Estimated target NED acceleration (m^2/s) uint64 prediction_count uint64 fusion_count - ``` + +::: diff --git a/docs/uk/msg_docs/FollowTargetStatus.md b/docs/uk/msg_docs/FollowTargetStatus.md index ea7f92f7b7..d2820f5c90 100644 --- a/docs/uk/msg_docs/FollowTargetStatus.md +++ b/docs/uk/msg_docs/FollowTargetStatus.md @@ -1,6 +1,30 @@ +--- +pageClass: is-wide-page +--- + # FollowTargetStatus (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FollowTargetStatus.msg) +**TOPICS:** follow_targetstatus + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | microseconds | | time since system start | +| tracked_target_course | `float32` | rad | | Tracked target course in NED local frame (North is course zero) | +| follow_angle | `float32` | rad | | Current follow angle setting | +| orbit_angle_setpoint | `float32` | rad | | Current orbit angle setpoint from the smooth trajectory generator | +| angular_rate_setpoint | `float32` | rad/s | | Angular rate commanded from Jerk-limited Orbit Angle trajectory for Orbit Angle | +| desired_position_raw | `float32[3]` | m | | Raw 'idealistic' desired drone position if a drone could teleport from place to places | +| in_emergency_ascent | `bool` | bool | | True when doing emergency ascent (when distance to ground is below safety altitude) | +| gimbal_pitch | `float32` | rad | | Gimbal pitch commanded to track target in the center of the frame | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FollowTargetStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # [microseconds] time since system start @@ -15,5 +39,6 @@ float32[3] desired_position_raw # [m] Raw 'idealistic' desired drone position bool in_emergency_ascent # [bool] True when doing emergency ascent (when distance to ground is below safety altitude) float32 gimbal_pitch # [rad] Gimbal pitch commanded to track target in the center of the frame - ``` + +::: diff --git a/docs/uk/msg_docs/FuelTankStatus.md b/docs/uk/msg_docs/FuelTankStatus.md index f36eaff6dc..3908246f79 100644 --- a/docs/uk/msg_docs/FuelTankStatus.md +++ b/docs/uk/msg_docs/FuelTankStatus.md @@ -1,6 +1,39 @@ +--- +pageClass: is-wide-page +--- + # FuelTankStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FuelTankStatus.msg) +**TOPICS:** fuel_tankstatus + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| maximum_fuel_capacity | `float32` | | | maximum fuel capacity. Must always be provided, either from the driver or a parameter | +| consumed_fuel | `float32` | | | consumed fuel, NaN if not measured. Should not be inferred from the max fuel capacity | +| fuel_consumption_rate | `float32` | | | fuel consumption rate, NaN if not measured | +| percent_remaining | `uint8` | | | percentage of remaining fuel, UINT8_MAX if not provided | +| remaining_fuel | `float32` | | | remaining fuel, NaN if not measured. Should not be inferred from the max fuel capacity | +| fuel_tank_id | `uint8` | | | identifier for the fuel tank. Must match ID of other messages for same fuel system. 0 by default when only a single tank exists | +| fuel_type | `uint32` | | | type of fuel based on MAV_FUEL_TYPE enum. Set to MAV_FUEL_TYPE_UNKNOWN if unknown or it does not fit the provided types | +| temperature | `float32` | | | fuel temperature in Kelvin, NaN if not measured | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| MAV_FUEL_TYPE_UNKNOWN | `uint8` | 0 | fuel type not specified. Fuel levels are normalized (i.e., maximum is 1, and other levels are relative to 1). | +| MAV_FUEL_TYPE_LIQUID | `uint8` | 1 | represents generic liquid fuels, such as gasoline or diesel. Fuel levels are measured in millilitres (ml), and flow rates in millilitres per second (ml/s). | +| MAV_FUEL_TYPE_GAS | `uint8` | 2 | represents a gas fuel, such as hydrogen, methane, or propane. Fuel levels are in kilo-Pascal (kPa), and flow rates are in milliliters per second (ml/s). | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FuelTankStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -20,5 +53,6 @@ uint8 MAV_FUEL_TYPE_LIQUID = 1 # represents generic liquid fuels, such as gasol uint8 MAV_FUEL_TYPE_GAS = 2 # represents a gas fuel, such as hydrogen, methane, or propane. Fuel levels are in kilo-Pascal (kPa), and flow rates are in milliliters per second (ml/s). float32 temperature # fuel temperature in Kelvin, NaN if not measured - ``` + +::: diff --git a/docs/uk/msg_docs/GainCompression.md b/docs/uk/msg_docs/GainCompression.md index e26c1e8fcc..c128d6f3cc 100644 --- a/docs/uk/msg_docs/GainCompression.md +++ b/docs/uk/msg_docs/GainCompression.md @@ -1,6 +1,26 @@ +--- +pageClass: is-wide-page +--- + # GainCompression (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GainCompression.msg) +**TOPICS:** gain_compression + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | --------------------------------------------------------------------------- | ------------------------------------------------------------------- | +| timestamp | `uint64` | | | Time since system start (microseconds) | +| compression_gains | `float32[3]` | [FRD] | [0 : 1] | Multiplicative gain to modify the output of the controller per axis | +| spectral_damper_hpf | `float32[3]` | [FRD] | | Squared output of spectral damper high-pass filter | +| spectral_damper_out | `float32[3]` | [FRD] | | Spectral damper output squared | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GainCompression.msg) + +:::details +Click here to see original file ```c uint64 timestamp # Time since system start (microseconds) @@ -8,5 +28,6 @@ uint64 timestamp # Time since system start (microseconds) float32[3] compression_gains # [-] [@frame FRD] [@range 0, 1] Multiplicative gain to modify the output of the controller per axis float32[3] spectral_damper_hpf # [-] [@frame FRD] Squared output of spectral damper high-pass filter float32[3] spectral_damper_out # [-] [@frame FRD] Spectral damper output squared - ``` + +::: diff --git a/docs/uk/msg_docs/GeneratorStatus.md b/docs/uk/msg_docs/GeneratorStatus.md index d767d91b20..3a0562b865 100644 --- a/docs/uk/msg_docs/GeneratorStatus.md +++ b/docs/uk/msg_docs/GeneratorStatus.md @@ -1,6 +1,62 @@ +--- +pageClass: is-wide-page +--- + # GeneratorStatus (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GeneratorStatus.msg) +**TOPICS:** generator_status + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| status | `uint64` | | | Status flags | +| battery_current | `float32` | A | | Current into/out of battery. Positive for out. Negative for in. NaN: field not provided. | +| load_current | `float32` | A | | Current going to the UAV. If battery current not available this is the DC current from the generator. Positive for out. Negative for in. NaN: field not provided | +| power_generated | `float32` | W | | The power being generated. NaN: field not provided | +| bus_voltage | `float32` | V | | Voltage of the bus seen at the generator, or battery bus if battery bus is controlled by generator and at a different voltage to main bus. | +| bat_current_setpoint | `float32` | A | | The target battery current. Positive for out. Negative for in. NaN: field not provided | +| runtime | `uint32` | s | | Seconds this generator has run since it was rebooted. UINT32_MAX: field not provided. | +| time_until_maintenance | `int32` | s | | Seconds until this generator requires maintenance. A negative value indicates maintenance is past-due. INT32_MAX: field not provided. | +| generator_speed | `uint16` | rpm | | Speed of electrical generator or alternator. UINT16_MAX: field not provided. | +| rectifier_temperature | `int16` | degC | | The temperature of the rectifier or power converter. INT16_MAX: field not provided. | +| generator_temperature | `int16` | degC | | The temperature of the mechanical motor, fuel cell core or generator. INT16_MAX: field not provided. | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | -------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| STATUS_FLAG_OFF | `uint64` | 1 | Generator is off. | +| STATUS_FLAG_READY | `uint64` | 2 | Generator is ready to start generating power. | +| STATUS_FLAG_GENERATING | `uint64` | 4 | Generator is generating power. | +| STATUS_FLAG_CHARGING | `uint64` | 8 | Generator is charging the batteries (generating enough power to charge and provide the load). | +| STATUS_FLAG_REDUCED_POWER | `uint64` | 16 | Generator is operating at a reduced maximum power. | +| STATUS_FLAG_MAXPOWER | `uint64` | 32 | Generator is providing the maximum output. | +| STATUS_FLAG_OVERTEMP_WARNING | `uint64` | 64 | Generator is near the maximum operating temperature, cooling is insufficient. | +| STATUS_FLAG_OVERTEMP_FAULT | `uint64` | 128 | Generator hit the maximum operating temperature and shutdown. | +| STATUS_FLAG_ELECTRONICS_OVERTEMP_WARNING | `uint64` | 256 | Power electronics are near the maximum operating temperature, cooling is insufficient. | +| STATUS_FLAG_ELECTRONICS_OVERTEMP_FAULT | `uint64` | 512 | Power electronics hit the maximum operating temperature and shutdown. | +| STATUS_FLAG_ELECTRONICS_FAULT | `uint64` | 1024 | Power electronics experienced a fault and shutdown. | +| STATUS_FLAG_POWERSOURCE_FAULT | `uint64` | 2048 | The power source supplying the generator failed e.g. mechanical generator stopped, tether is no longer providing power, solar cell is in shade, hydrogen reaction no longer happening. | +| STATUS_FLAG_COMMUNICATION_WARNING | `uint64` | 4096 | Generator controller having communication problems. | +| STATUS_FLAG_COOLING_WARNING | `uint64` | 8192 | Power electronic or generator cooling system error. | +| STATUS_FLAG_POWER_RAIL_FAULT | `uint64` | 16384 | Generator controller power rail experienced a fault. | +| STATUS_FLAG_OVERCURRENT_FAULT | `uint64` | 32768 | Generator controller exceeded the overcurrent threshold and shutdown to prevent damage. | +| STATUS_FLAG_BATTERY_OVERCHARGE_CURRENT_FAULT | `uint64` | 65536 | Generator controller detected a high current going into the batteries and shutdown to prevent battery damage. | +| STATUS_FLAG_OVERVOLTAGE_FAULT | `uint64` | 131072 | Generator controller exceeded it's overvoltage threshold and shutdown to prevent it exceeding the voltage rating. | +| STATUS_FLAG_BATTERY_UNDERVOLT_FAULT | `uint64` | 262144 | Batteries are under voltage (generator will not start). | +| STATUS_FLAG_START_INHIBITED | `uint64` | 524288 | Generator start is inhibited by e.g. a safety switch. | +| STATUS_FLAG_MAINTENANCE_REQUIRED | `uint64` | 1048576 | Generator requires maintenance. | +| STATUS_FLAG_WARMING_UP | `uint64` | 2097152 | Generator is not ready to generate yet. | +| STATUS_FLAG_IDLE | `uint64` | 4194304 | Generator is idle. | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GeneratorStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -47,5 +103,6 @@ uint16 generator_speed # [rpm] Speed of electrical generator or alte int16 rectifier_temperature # [degC] The temperature of the rectifier or power converter. INT16_MAX: field not provided. int16 generator_temperature # [degC] The temperature of the mechanical motor, fuel cell core or generator. INT16_MAX: field not provided. - ``` + +::: diff --git a/docs/uk/msg_docs/GeofenceResult.md b/docs/uk/msg_docs/GeofenceResult.md index e5993e5c55..8c27e83dee 100644 --- a/docs/uk/msg_docs/GeofenceResult.md +++ b/docs/uk/msg_docs/GeofenceResult.md @@ -1,6 +1,38 @@ +--- +pageClass: is-wide-page +--- + # GeofenceResult (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GeofenceResult.msg) +**TOPICS:** geofence_result + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| geofence_max_dist_triggered | `bool` | | | true the check for max distance from Home is triggered | +| geofence_max_alt_triggered | `bool` | | | true the check for max altitude above Home is triggered | +| geofence_custom_fence_triggered | `bool` | | | true the check for custom inclusion/exclusion geofence(s) is triggered | +| geofence_action | `uint8` | | | action to take when the geofence is breached | + +## Constants + +\| Name | Type | Value | Description | +\| ------------------------------------------------------- | ------- | ----- | ------------------------------- | ------ | +\| GF_ACTION_NONE | `uint8` | 0 | no action on geofence violation | +\| GF_ACTION_WARN | `uint8` | 1 | critical mavlink message | +\| GF_ACTION_LOITER | `uint8` | 2 | switch to AUTO | LOITER | +\| GF_ACTION_RTL | `uint8` | 3 | switch to AUTO | RTL | +\| GF_ACTION_TERMINATE | `uint8` | 4 | flight termination | +\| GF_ACTION_LAND | `uint8` | 5 | switch to AUTO | LAND | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GeofenceResult.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -16,5 +48,6 @@ bool geofence_max_alt_triggered # true the check for max altitude above Home is bool geofence_custom_fence_triggered # true the check for custom inclusion/exclusion geofence(s) is triggered uint8 geofence_action # action to take when the geofence is breached - ``` + +::: diff --git a/docs/uk/msg_docs/GeofenceStatus.md b/docs/uk/msg_docs/GeofenceStatus.md index 1189efcccd..8d28fc8ee5 100644 --- a/docs/uk/msg_docs/GeofenceStatus.md +++ b/docs/uk/msg_docs/GeofenceStatus.md @@ -1,6 +1,32 @@ +--- +pageClass: is-wide-page +--- + # GeofenceStatus (повідомлення UORB) -[вихідний файл](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GeofenceStatus.msg) +**TOPICS:** geofence_status + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| -------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| geofence_id | `uint32` | | | loaded geofence id | +| status | `uint8` | | | Current geofence status | + +## Constants + +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| GF_STATUS_LOADING | `uint8` | 0 | | +| GF_STATUS_READY | `uint8` | 1 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GeofenceStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -10,5 +36,6 @@ uint8 status # Current geofence status uint8 GF_STATUS_LOADING = 0 uint8 GF_STATUS_READY = 1 - ``` + +::: diff --git a/docs/uk/msg_docs/GimbalControls.md b/docs/uk/msg_docs/GimbalControls.md index 5c2d18dbec..693d3a3c83 100644 --- a/docs/uk/msg_docs/GimbalControls.md +++ b/docs/uk/msg_docs/GimbalControls.md @@ -1,6 +1,33 @@ +--- +pageClass: is-wide-page +--- + # GimbalControls (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalControls.msg) +**TOPICS:** gimbal_controls + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp the data this control response is based on was sampled | +| control | `float32[3]` | | | Normalized output. 1 means maximum positive position. -1 maximum negative position. 0 means no deflection. NaN maps to disarmed. | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------ | ------- | -------- | ---- | +| INDEX_ROLL | `uint8` | 0 | | +| INDEX_PITCH | `uint8` | 1 | | +| INDEX_YAW | `uint8` | 2 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalControls.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -9,6 +36,7 @@ uint8 INDEX_PITCH = 1 uint8 INDEX_YAW = 2 uint64 timestamp_sample # the timestamp the data this control response is based on was sampled -float32[3] control - +float32[3] control # Normalized output. 1 means maximum positive position. -1 maximum negative position. 0 means no deflection. NaN maps to disarmed. ``` + +::: diff --git a/docs/uk/msg_docs/GimbalDeviceAttitudeStatus.md b/docs/uk/msg_docs/GimbalDeviceAttitudeStatus.md index 032a3876ee..796fbf9b25 100644 --- a/docs/uk/msg_docs/GimbalDeviceAttitudeStatus.md +++ b/docs/uk/msg_docs/GimbalDeviceAttitudeStatus.md @@ -1,6 +1,47 @@ +--- +pageClass: is-wide-page +--- + # GimbalDeviceAttitudeStatus (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalDeviceAttitudeStatus.msg) +**TOPICS:** gimbal_deviceattitude_status + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| target_system | `uint8` | | | | +| target_component | `uint8` | | | | +| device_flags | `uint16` | | | | +| q | `float32[4]` | | | | +| angular_velocity_x | `float32` | | | | +| angular_velocity_y | `float32` | | | | +| angular_velocity_z | `float32` | | | | +| failure_flags | `uint32` | | | | +| delta_yaw | `float32` | | | | +| delta_yaw_velocity | `float32` | | | | +| gimbal_device_id | `uint8` | | | | +| received_from_mavlink | `bool` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| DEVICE_FLAGS_RETRACT | `uint16` | 1 | | +| DEVICE_FLAGS_NEUTRAL | `uint16` | 2 | | +| DEVICE_FLAGS_ROLL_LOCK | `uint16` | 4 | | +| DEVICE_FLAGS_PITCH_LOCK | `uint16` | 8 | | +| DEVICE_FLAGS_YAW_LOCK | `uint16` | 16 | | +| DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME | `uint16` | 32 | | +| DEVICE_FLAGS_YAW_IN_EARTH_FRAME | `uint16` | 64 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalDeviceAttitudeStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -29,5 +70,6 @@ float32 delta_yaw_velocity uint8 gimbal_device_id bool received_from_mavlink - ``` + +::: diff --git a/docs/uk/msg_docs/GimbalDeviceInformation.md b/docs/uk/msg_docs/GimbalDeviceInformation.md index 32198d9828..4617e7a707 100644 --- a/docs/uk/msg_docs/GimbalDeviceInformation.md +++ b/docs/uk/msg_docs/GimbalDeviceInformation.md @@ -1,6 +1,55 @@ +--- +pageClass: is-wide-page +--- + # GimbalDeviceInformation (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalDeviceInformation.msg) +**TOPICS:** gimbal_deviceinformation + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| vendor_name | `uint8[32]` | | | | +| model_name | `uint8[32]` | | | | +| custom_name | `uint8[32]` | | | | +| firmware_version | `uint32` | | | | +| hardware_version | `uint32` | | | | +| uid | `uint64` | | | | +| cap_flags | `uint16` | | | | +| custom_cap_flags | `uint16` | | | | +| roll_min | `float32` | rad | | | +| roll_max | `float32` | rad | | | +| pitch_min | `float32` | rad | | | +| pitch_max | `float32` | rad | | | +| yaw_min | `float32` | rad | | | +| yaw_max | `float32` | rad | | | +| gimbal_device_id | `uint8` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT | `uint32` | 1 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL | `uint32` | 2 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS | `uint32` | 4 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW | `uint32` | 8 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK | `uint32` | 16 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS | `uint32` | 32 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW | `uint32` | 64 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK | `uint32` | 128 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS | `uint32` | 256 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW | `uint32` | 512 | | +| GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK | `uint32` | 1024 | | +| GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW | `uint32` | 2048 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalDeviceInformation.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -39,5 +88,6 @@ float32 yaw_min # [rad] float32 yaw_max # [rad] uint8 gimbal_device_id - ``` + +::: diff --git a/docs/uk/msg_docs/GimbalDeviceSetAttitude.md b/docs/uk/msg_docs/GimbalDeviceSetAttitude.md index 3bdee26d4b..fc8535333c 100644 --- a/docs/uk/msg_docs/GimbalDeviceSetAttitude.md +++ b/docs/uk/msg_docs/GimbalDeviceSetAttitude.md @@ -1,6 +1,40 @@ +--- +pageClass: is-wide-page +--- + # GimbalDeviceSetAttitude (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalDeviceSetAttitude.msg) +**TOPICS:** gimbal_deviceset_attitude + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------ | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| target_system | `uint8` | | | | +| target_component | `uint8` | | | | +| flags | `uint16` | | | | +| q | `float32[4]` | | | | +| angular_velocity_x | `float32` | | | | +| angular_velocity_y | `float32` | | | | +| angular_velocity_z | `float32` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| GIMBAL_DEVICE_FLAGS_RETRACT | `uint32` | 1 | | +| GIMBAL_DEVICE_FLAGS_NEUTRAL | `uint32` | 2 | | +| GIMBAL_DEVICE_FLAGS_ROLL_LOCK | `uint32` | 4 | | +| GIMBAL_DEVICE_FLAGS_PITCH_LOCK | `uint32` | 8 | | +| GIMBAL_DEVICE_FLAGS_YAW_LOCK | `uint32` | 16 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalDeviceSetAttitude.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -20,5 +54,6 @@ float32[4] q float32 angular_velocity_x float32 angular_velocity_y float32 angular_velocity_z - ``` + +::: diff --git a/docs/uk/msg_docs/GimbalManagerInformation.md b/docs/uk/msg_docs/GimbalManagerInformation.md index 7d112fd330..1c6a0686f5 100644 --- a/docs/uk/msg_docs/GimbalManagerInformation.md +++ b/docs/uk/msg_docs/GimbalManagerInformation.md @@ -1,6 +1,50 @@ +--- +pageClass: is-wide-page +--- + # GimbalManagerInformation (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerInformation.msg) +**TOPICS:** gimbal_managerinformation + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| cap_flags | `uint32` | | | | +| gimbal_device_id | `uint8` | | | | +| roll_min | `float32` | rad | | | +| roll_max | `float32` | rad | | | +| pitch_min | `float32` | rad | | | +| pitch_max | `float32` | rad | | | +| yaw_min | `float32` | rad | | | +| yaw_max | `float32` | rad | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | -------- | ---- | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_RETRACT | `uint32` | 1 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRAL | `uint32` | 2 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_AXIS | `uint32` | 4 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_FOLLOW | `uint32` | 8 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCK | `uint32` | 16 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXIS | `uint32` | 32 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_FOLLOW | `uint32` | 64 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCK | `uint32` | 128 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXIS | `uint32` | 256 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_FOLLOW | `uint32` | 512 | | +| GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCK | `uint32` | 1024 | | +| GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_INFINITE_YAW | `uint32` | 2048 | | +| GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_LOCAL | `uint32` | 65536 | | +| GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBAL | `uint32` | 131072 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerInformation.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -32,5 +76,6 @@ float32 pitch_max # [rad] float32 yaw_min # [rad] float32 yaw_max # [rad] - ``` + +::: diff --git a/docs/uk/msg_docs/GimbalManagerSetAttitude.md b/docs/uk/msg_docs/GimbalManagerSetAttitude.md index 68a328ace7..1c36cefefd 100644 --- a/docs/uk/msg_docs/GimbalManagerSetAttitude.md +++ b/docs/uk/msg_docs/GimbalManagerSetAttitude.md @@ -1,6 +1,44 @@ +--- +pageClass: is-wide-page +--- + # GimbalManagerSetAttitude (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerSetAttitude.msg) +**TOPICS:** gimbal_managerset_attitude + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------ | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| origin_sysid | `uint8` | | | | +| origin_compid | `uint8` | | | | +| target_system | `uint8` | | | | +| target_component | `uint8` | | | | +| flags | `uint32` | | | | +| gimbal_device_id | `uint8` | | | | +| q | `float32[4]` | | | | +| angular_velocity_x | `float32` | | | | +| angular_velocity_y | `float32` | | | | +| angular_velocity_z | `float32` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| GIMBAL_MANAGER_FLAGS_RETRACT | `uint32` | 1 | | +| GIMBAL_MANAGER_FLAGS_NEUTRAL | `uint32` | 2 | | +| GIMBAL_MANAGER_FLAGS_ROLL_LOCK | `uint32` | 4 | | +| GIMBAL_MANAGER_FLAGS_PITCH_LOCK | `uint32` | 8 | | +| GIMBAL_MANAGER_FLAGS_YAW_LOCK | `uint32` | 16 | | +| ORB_QUEUE_LENGTH | `uint8` | 2 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerSetAttitude.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -27,5 +65,6 @@ float32 angular_velocity_y float32 angular_velocity_z uint8 ORB_QUEUE_LENGTH = 2 - ``` + +::: diff --git a/docs/uk/msg_docs/GimbalManagerSetManualControl.md b/docs/uk/msg_docs/GimbalManagerSetManualControl.md index 0d35490f0c..837c6f4e80 100644 --- a/docs/uk/msg_docs/GimbalManagerSetManualControl.md +++ b/docs/uk/msg_docs/GimbalManagerSetManualControl.md @@ -1,6 +1,43 @@ +--- +pageClass: is-wide-page +--- + # GimbalManagerSetManualControl (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerSetManualControl.msg) +**TOPICS:** gimbal_managerset_manualcontrol + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| origin_sysid | `uint8` | | | | +| origin_compid | `uint8` | | | | +| target_system | `uint8` | | | | +| target_component | `uint8` | | | | +| flags | `uint32` | | | | +| gimbal_device_id | `uint8` | | | | +| pitch | `float32` | | | unitless -1..1, can be NAN | +| yaw | `float32` | | | unitless -1..1, can be NAN | +| pitch_rate | `float32` | | | unitless -1..1, can be NAN | +| yaw_rate | `float32` | | | unitless -1..1, can be NAN | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| GIMBAL_MANAGER_FLAGS_RETRACT | `uint32` | 1 | | +| GIMBAL_MANAGER_FLAGS_NEUTRAL | `uint32` | 2 | | +| GIMBAL_MANAGER_FLAGS_ROLL_LOCK | `uint32` | 4 | | +| GIMBAL_MANAGER_FLAGS_PITCH_LOCK | `uint32` | 8 | | +| GIMBAL_MANAGER_FLAGS_YAW_LOCK | `uint32` | 16 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerSetManualControl.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -24,5 +61,6 @@ float32 pitch # unitless -1..1, can be NAN float32 yaw # unitless -1..1, can be NAN float32 pitch_rate # unitless -1..1, can be NAN float32 yaw_rate # unitless -1..1, can be NAN - ``` + +::: diff --git a/docs/uk/msg_docs/GimbalManagerStatus.md b/docs/uk/msg_docs/GimbalManagerStatus.md index 317e1d3538..f7f47c8bfe 100644 --- a/docs/uk/msg_docs/GimbalManagerStatus.md +++ b/docs/uk/msg_docs/GimbalManagerStatus.md @@ -1,6 +1,29 @@ +--- +pageClass: is-wide-page +--- + # GimbalManagerStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerStatus.msg) +**TOPICS:** gimbal_managerstatus + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| flags | `uint32` | | | | +| gimbal_device_id | `uint8` | | | | +| primary_control_sysid | `uint8` | | | | +| primary_control_compid | `uint8` | | | | +| secondary_control_sysid | `uint8` | | | | +| secondary_control_compid | `uint8` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -11,5 +34,6 @@ uint8 primary_control_sysid uint8 primary_control_compid uint8 secondary_control_sysid uint8 secondary_control_compid - ``` + +::: diff --git a/docs/uk/msg_docs/GotoSetpoint.md b/docs/uk/msg_docs/GotoSetpoint.md index 47d337abb1..1478a1a028 100644 --- a/docs/uk/msg_docs/GotoSetpoint.md +++ b/docs/uk/msg_docs/GotoSetpoint.md @@ -1,13 +1,40 @@ +--- +pageClass: is-wide-page +--- + # GotoSetpoint (повідомлення UORB) -Задання положення та (опціонально) курсу з відповідними обмеженнями швидкості -Заданi значення призначені для використання як вхідні дані для згладжувачів положення та курсу відповідно -Задані значення не обов'язково повинні бути кінематично узгодженими -Опціональні значення курсу можуть бути визначені як такі, що контролюються відповідним прапорцем -Невстановлені опціональні значення не контролюються -Невстановлені опціональні обмеження за замовчуванням відповідають специфікаціям транспортного засобу +Position and (optional) heading setpoints with corresponding speed constraints. Setpoints are intended as inputs to position and heading smoothers, respectively. Setpoints do not need to be kinematically consistent. Optional heading setpoints may be specified as controlled by the respective flag. Unset optional setpoints are not controlled. Unset optional constraints default to vehicle specifications. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/GotoSetpoint.msg) +**TOPICS:** goto_setpoint + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| положення | `float32[3]` | m | | NED local world frame | +| flag_control_heading | `bool` | | | true if heading is to be controlled | +| heading | `float32` | | | (optional) [rad] [-pi,pi] from North | +| flag_set_max_horizontal_speed | `bool` | | | true if setting a non-default horizontal speed limit | +| max_horizontal_speed | `float32` | | | (optional) [m/s] maximum speed (absolute) in the NE-plane | +| flag_set_max_vertical_speed | `bool` | | | true if setting a non-default vertical speed limit | +| max_vertical_speed | `float32` | | | (optional) [m/s] maximum speed (absolute) in the D-axis | +| flag_set_max_heading_rate | `bool` | | | true if setting a non-default heading rate limit | +| max_heading_rate | `float32` | | | (optional) [rad/s] maximum heading rate (absolute) | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/GotoSetpoint.msg) + +:::details +Click here to see original file ```c # Position and (optional) heading setpoints with corresponding speed constraints @@ -36,5 +63,6 @@ float32 max_vertical_speed # (optional) [m/s] maximum speed (absolute) in the D- bool flag_set_max_heading_rate # true if setting a non-default heading rate limit float32 max_heading_rate # (optional) [rad/s] maximum heading rate (absolute) - ``` + +::: diff --git a/docs/uk/msg_docs/GpioConfig.md b/docs/uk/msg_docs/GpioConfig.md index dbb7d9c309..5b72d81018 100644 --- a/docs/uk/msg_docs/GpioConfig.md +++ b/docs/uk/msg_docs/GpioConfig.md @@ -1,8 +1,45 @@ +--- +pageClass: is-wide-page +--- + # GpioConfig (повідомлення UORB) -Конфігурація GPIO +GPIO configuration. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioConfig.msg) +**TOPICS:** gpio_config + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | Device id | +| mask | `uint32` | | | Pin mask | +| state | `uint32` | | | Initial pin output state | +| config | `uint32` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------------------------------------------------------- | -------- | -------- | ------ | +| INPUT | `uint32` | 0 | 0x0000 | +| OUTPUT | `uint32` | 1 | 0x0001 | +| PULLUP | `uint32` | 16 | 0x0010 | +| PULLDOWN | `uint32` | 32 | 0x0020 | +| OPENDRAIN | `uint32` | 256 | 0x0100 | +| INPUT_FLOATING | `uint32` | 0 | 0x0000 | +| INPUT_PULLUP | `uint32` | 16 | 0x0010 | +| INPUT_PULLDOWN | `uint32` | 32 | 0x0020 | +| OUTPUT_PUSHPULL | `uint32` | 0 | 0x0000 | +| OUTPUT_OPENDRAIN | `uint32` | 256 | 0x0100 | +| OUTPUT_OPENDRAIN_PULLUP | `uint32` | 272 | 0x0110 | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioConfig.msg) + +:::details +Click here to see original file ```c # GPIO configuration @@ -33,5 +70,6 @@ uint32 OUTPUT_OPENDRAIN = 256 # 0x0100 uint32 OUTPUT_OPENDRAIN_PULLUP = 272 # 0x0110 uint32 config - ``` + +::: diff --git a/docs/uk/msg_docs/GpioIn.md b/docs/uk/msg_docs/GpioIn.md index 668b6ba865..5668bf5547 100644 --- a/docs/uk/msg_docs/GpioIn.md +++ b/docs/uk/msg_docs/GpioIn.md @@ -1,8 +1,33 @@ +--- +pageClass: is-wide-page +--- + # GpioIn (повідомлення UORB) -Маска та стан GPIO +GPIO mask and state. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioIn.msg) +**TOPICS:** gpio_in + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | Device id | +| state | `uint32` | | | pin state mask | + +## Constants + +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------------- | ------- | -------- | ---- | +| MAX_INSTANCES | `uint8` | 8 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioIn.msg) + +:::details +Click here to see original file ```c # GPIO mask and state @@ -12,5 +37,6 @@ uint64 timestamp # time since system start (microseconds) uint32 device_id # Device id uint32 state # pin state mask - ``` + +::: diff --git a/docs/uk/msg_docs/GpioOut.md b/docs/uk/msg_docs/GpioOut.md index 6a60f0e0a0..0f574b20c2 100644 --- a/docs/uk/msg_docs/GpioOut.md +++ b/docs/uk/msg_docs/GpioOut.md @@ -1,8 +1,28 @@ +--- +pageClass: is-wide-page +--- + # GpioOut (повідомлення UORB) -Маска та стан GPIO +GPIO mask and state. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioOut.msg) +**TOPICS:** gpio_out + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | Device id | +| mask | `uint32` | | | pin mask | +| state | `uint32` | | | pin state mask | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioOut.msg) + +:::details +Click here to see original file ```c # GPIO mask and state @@ -12,5 +32,6 @@ uint32 device_id # Device id uint32 mask # pin mask uint32 state # pin state mask - ``` + +::: diff --git a/docs/uk/msg_docs/GpioRequest.md b/docs/uk/msg_docs/GpioRequest.md index 5dc9946bae..5d2e11bf68 100644 --- a/docs/uk/msg_docs/GpioRequest.md +++ b/docs/uk/msg_docs/GpioRequest.md @@ -1,13 +1,32 @@ +--- +pageClass: is-wide-page +--- + # GpioRequest (повідомлення UORB) -Запит на зчитування маски GPIO +Request GPIO mask to be read. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioRequest.msg) +**TOPICS:** gpio_request + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | Device id | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioRequest.msg) + +:::details +Click here to see original file ```c # Request GPIO mask to be read uint64 timestamp # time since system start (microseconds) uint32 device_id # Device id - ``` + +::: diff --git a/docs/uk/msg_docs/GpsDump.md b/docs/uk/msg_docs/GpsDump.md index f42a2d9638..b06ba27ad0 100644 --- a/docs/uk/msg_docs/GpsDump.md +++ b/docs/uk/msg_docs/GpsDump.md @@ -1,8 +1,37 @@ +--- +pageClass: is-wide-page +--- + # GpsDump (повідомлення UORB) This message is used to dump the raw gps communication to the log. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpsDump.msg) +**TOPICS:** gps_dump + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------ | ----------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| instance | `uint8` | | | Instance of GNSS receiver | +| device_id | `uint32` | | | | +| len | `uint8` | | | length of data, MSB bit set = message to the gps device, | +| data | `uint8[79]` | | | data to write to the log | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| INSTANCE_MAIN | `uint8` | 0 | | +| INSTANCE_SECONDARY | `uint8` | 1 | | +| ORB_QUEUE_LENGTH | `uint8` | 16 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpsDump.msg) + +:::details +Click here to see original file ```c # This message is used to dump the raw gps communication to the log. @@ -19,5 +48,6 @@ uint8 len # length of data, MSB bit set = message to the gps device, uint8[79] data # data to write to the log uint8 ORB_QUEUE_LENGTH = 16 - ``` + +::: diff --git a/docs/uk/msg_docs/GpsInjectData.md b/docs/uk/msg_docs/GpsInjectData.md index 2bfd80c37e..74ae8e5d73 100644 --- a/docs/uk/msg_docs/GpsInjectData.md +++ b/docs/uk/msg_docs/GpsInjectData.md @@ -1,6 +1,34 @@ +--- +pageClass: is-wide-page +--- + # GpsInjectData (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpsInjectData.msg) +**TOPICS:** gps_injectdata + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------ | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| len | `uint16` | | | length of data | +| flags | `uint8` | | | LSB: 1=fragmented | +| data | `uint8[300]` | | | data to write to GPS device (RTCM message) | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 8 | | +| MAX_INSTANCES | `uint8` | 2 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpsInjectData.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -14,5 +42,6 @@ uint8[300] data # data to write to GPS device (RTCM message) uint8 ORB_QUEUE_LENGTH = 8 uint8 MAX_INSTANCES = 2 - ``` + +::: diff --git a/docs/uk/msg_docs/Gripper.md b/docs/uk/msg_docs/Gripper.md index 58c5149ba5..7b9ff1d2cd 100644 --- a/docs/uk/msg_docs/Gripper.md +++ b/docs/uk/msg_docs/Gripper.md @@ -1,8 +1,33 @@ +--- +pageClass: is-wide-page +--- + # Gripper (повідомлення UORB) -# Використовується для виклику активації в захоплювачі, яка відображена на конкретний вихід в модулі розподілу керування +# Used to command an actuation in the gripper, which is mapped to a specific output in the control allocation module. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Gripper.msg) +**TOPICS:** gripper + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------- | -------- | ---------------------------------------------------------------- | ---------- | ------------------------------- | +| timestamp | `uint64` | | | | +| command | `int8` | | | Commanded state for the gripper | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | ------ | -------- | ---- | +| COMMAND_GRAB | `int8` | 0 | | +| COMMAND_RELEASE | `int8` | 1 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Gripper.msg) + +:::details +Click here to see original file ```c ## Used to command an actuation in the gripper, which is mapped to a specific output in the control allocation module @@ -12,5 +37,6 @@ uint64 timestamp int8 command # Commanded state for the gripper int8 COMMAND_GRAB = 0 int8 COMMAND_RELEASE = 1 - ``` + +::: diff --git a/docs/uk/msg_docs/HealthReport.md b/docs/uk/msg_docs/HealthReport.md index 1a4503c830..59735618e3 100644 --- a/docs/uk/msg_docs/HealthReport.md +++ b/docs/uk/msg_docs/HealthReport.md @@ -1,6 +1,30 @@ +--- +pageClass: is-wide-page +--- + # HealthReport (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/HealthReport.msg) +**TOPICS:** health_report + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| can_arm_mode_flags | `uint64` | | | bitfield for each flight mode (NAVIGATION_STATE_\*) if arming is possible | +| can_run_mode_flags | `uint64` | | | bitfield for each flight mode if it can run | +| health_is_present_flags | `uint64` | | | flags for each health_component_t | +| health_warning_flags | `uint64` | | | | +| health_error_flags | `uint64` | | | | +| arming_check_warning_flags | `uint64` | | | | +| arming_check_error_flags | `uint64` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/HealthReport.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -15,5 +39,6 @@ uint64 health_error_flags uint64 arming_check_warning_flags uint64 arming_check_error_flags - ``` + +::: diff --git a/docs/uk/msg_docs/HeaterStatus.md b/docs/uk/msg_docs/HeaterStatus.md index 762a55bd81..6fa6d20326 100644 --- a/docs/uk/msg_docs/HeaterStatus.md +++ b/docs/uk/msg_docs/HeaterStatus.md @@ -1,6 +1,41 @@ +--- +pageClass: is-wide-page +--- + # HeaterStatus (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/HeaterStatus.msg) +**TOPICS:** heater_status + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| -------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | | +| heater_on | `bool` | | | | +| temperature_target_met | `bool` | | | | +| temperature_sensor | `float32` | | | | +| temperature_target | `float32` | | | | +| controller_period_usec | `uint32` | | | | +| controller_time_on_usec | `uint32` | | | | +| proportional_value | `float32` | | | | +| integrator_value | `float32` | | | | +| feed_forward_value | `float32` | | | | +| mode | `uint8` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------- | ------- | -------- | ---- | +| MODE_GPIO | `uint8` | 1 | | +| MODE_PX4IO | `uint8` | 2 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/HeaterStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -23,5 +58,6 @@ float32 feed_forward_value uint8 MODE_GPIO = 1 uint8 MODE_PX4IO = 2 uint8 mode - ``` + +::: diff --git a/docs/uk/msg_docs/HomePosition.md b/docs/uk/msg_docs/HomePosition.md index 00bf58847c..855140c375 100644 --- a/docs/uk/msg_docs/HomePosition.md +++ b/docs/uk/msg_docs/HomePosition.md @@ -1,8 +1,45 @@ +--- +pageClass: is-wide-page +--- + # HomePosition (повідомлення UORB) Домашнє GPS положення в координатах WGS84. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/HomePosition.msg) +**TOPICS:** home_position + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| lat | `float64` | | | Latitude in degrees | +| lon | `float64` | | | Longitude in degrees | +| alt | `float32` | | | Altitude in meters (AMSL) | +| x | `float32` | | | X coordinate in meters | +| y | `float32` | | | Y coordinate in meters | +| z | `float32` | | | Z coordinate in meters | +| roll | `float32` | | | Pitch angle in radians | +| pitch | `float32` | | | Roll angle in radians | +| yaw | `float32` | | | Yaw angle in radians | +| valid_alt | `bool` | | | true when the altitude has been set | +| valid_hpos | `bool` | | | true when the latitude and longitude have been set | +| valid_lpos | `bool` | | | true when the local position (xyz) has been set | +| manual_home | `bool` | | | true when home position was set manually | +| update_count | `uint32` | | | update counter of the home position | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 1 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/HomePosition.msg) + +:::details +Click here to see original file ```c # GPS home position in WGS84 coordinates. @@ -30,5 +67,6 @@ bool valid_lpos # true when the local position (xyz) has been set bool manual_home # true when home position was set manually uint32 update_count # update counter of the home position - ``` + +::: diff --git a/docs/uk/msg_docs/HomePositionV0.md b/docs/uk/msg_docs/HomePositionV0.md index 2de8abdeb0..296e57679b 100644 --- a/docs/uk/msg_docs/HomePositionV0.md +++ b/docs/uk/msg_docs/HomePositionV0.md @@ -1,8 +1,43 @@ +--- +pageClass: is-wide-page +--- + # HomePositionV0 (UORB message) Домашнє GPS положення в координатах WGS84. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/HomePositionV0.msg) +**TOPICS:** home_positionv0 + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| lat | `float64` | | | Latitude in degrees | +| lon | `float64` | | | Longitude in degrees | +| alt | `float32` | | | Altitude in meters (AMSL) | +| x | `float32` | | | X coordinate in meters | +| y | `float32` | | | Y coordinate in meters | +| z | `float32` | | | Z coordinate in meters | +| yaw | `float32` | | | Yaw angle in radians | +| valid_alt | `bool` | | | true when the altitude has been set | +| valid_hpos | `bool` | | | true when the latitude and longitude have been set | +| valid_lpos | `bool` | | | true when the local position (xyz) has been set | +| manual_home | `bool` | | | true when home position was set manually | +| update_count | `uint32` | | | update counter of the home position | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/HomePositionV0.msg) + +:::details +Click here to see original file ```c # GPS home position in WGS84 coordinates. @@ -28,5 +63,6 @@ bool valid_lpos # true when the local position (xyz) has been set bool manual_home # true when home position was set manually uint32 update_count # update counter of the home position - ``` + +::: diff --git a/docs/uk/msg_docs/HoverThrustEstimate.md b/docs/uk/msg_docs/HoverThrustEstimate.md index 802fdf931b..0659284f2a 100644 --- a/docs/uk/msg_docs/HoverThrustEstimate.md +++ b/docs/uk/msg_docs/HoverThrustEstimate.md @@ -1,6 +1,31 @@ +--- +pageClass: is-wide-page +--- + # HoverThrustEstimate (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/HoverThrustEstimate.msg) +**TOPICS:** hover_thrustestimate + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | time of corresponding sensor data last used for this estimate | +| hover_thrust | `float32` | | | estimated hover thrust [0.1, 0.9] | +| hover_thrust_var | `float32` | | | estimated hover thrust variance | +| accel_innov | `float32` | | | innovation of the last acceleration fusion | +| accel_innov_var | `float32` | | | innovation variance of the last acceleration fusion | +| accel_innov_test_ratio | `float32` | | | normalized innovation squared test ratio | +| accel_noise_var | `float32` | | | vertical acceleration noise variance estimated form innovation residual | +| valid | `bool` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/HoverThrustEstimate.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -16,5 +41,6 @@ float32 accel_innov_test_ratio # normalized innovation squared test ratio float32 accel_noise_var # vertical acceleration noise variance estimated form innovation residual bool valid - ``` + +::: diff --git a/docs/uk/msg_docs/InputRc.md b/docs/uk/msg_docs/InputRc.md index f874bbd1ee..2a17aae0ca 100644 --- a/docs/uk/msg_docs/InputRc.md +++ b/docs/uk/msg_docs/InputRc.md @@ -1,6 +1,60 @@ +--- +pageClass: is-wide-page +--- + # InputRc (Повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/InputRc.msg) +**TOPICS:** input_rc + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_last_signal | `uint64` | | | last valid reception time | +| channel_count | `uint8` | | | number of channels actually being seen | +| rssi | `int32` | | | receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 100: full reception | +| rc_failsafe | `bool` | | | explicit failsafe flag: true on TX failure or TX out of range , false otherwise. Only the true state is reliable, as there are some (PPM) receivers on the market going into failsafe without telling us explicitly. | +| rc_lost | `bool` | | | RC receiver connection status: True,if no frame has arrived in the expected time, false otherwise. True usually means that the receiver has been disconnected, but can also indicate a radio link loss on "stupid" systems. Will remain false, if a RX with failsafe option continues to transmit frames after a link loss. | +| rc_lost_frame_count | `uint16` | | | Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality. | +| rc_total_frame_count | `uint16` | | | Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality. | +| rc_ppm_frame_length | `uint16` | | | Length of a single PPM frame. Zero for non-PPM systems | +| rc_frame_rate | `uint16` | | | RC frame rate in msg/second. 0 = invalid | +| input_source | `uint8` | | | Input source | +| values | `uint16[18]` | | | measured pulse widths for each of the supported channels | +| link_quality | `int8` | | | link quality. Percentage 0-100%. -1 = invalid | +| rssi_dbm | `float32` | | | Actual rssi in units of dBm. NaN = invalid | +| link_snr | `int8` | | | link signal to noise ratio in units of dB. -1 = invalid | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | -------------------------------------------------------------------------------------------------------------------------------- | +| RC_INPUT_SOURCE_UNKNOWN | `uint8` | 0 | | +| RC_INPUT_SOURCE_PX4FMU_PPM | `uint8` | 1 | | +| RC_INPUT_SOURCE_PX4IO_PPM | `uint8` | 2 | | +| RC_INPUT_SOURCE_PX4IO_SPEKTRUM | `uint8` | 3 | | +| RC_INPUT_SOURCE_PX4IO_SBUS | `uint8` | 4 | | +| RC_INPUT_SOURCE_PX4IO_ST24 | `uint8` | 5 | | +| RC_INPUT_SOURCE_MAVLINK | `uint8` | 6 | | +| RC_INPUT_SOURCE_QURT | `uint8` | 7 | | +| RC_INPUT_SOURCE_PX4FMU_SPEKTRUM | `uint8` | 8 | | +| RC_INPUT_SOURCE_PX4FMU_SBUS | `uint8` | 9 | | +| RC_INPUT_SOURCE_PX4FMU_ST24 | `uint8` | 10 | | +| RC_INPUT_SOURCE_PX4FMU_SUMD | `uint8` | 11 | | +| RC_INPUT_SOURCE_PX4FMU_DSM | `uint8` | 12 | | +| RC_INPUT_SOURCE_PX4IO_SUMD | `uint8` | 13 | | +| RC_INPUT_SOURCE_PX4FMU_CRSF | `uint8` | 14 | | +| RC_INPUT_SOURCE_PX4FMU_GHST | `uint8` | 15 | | +| RC_INPUT_MAX_CHANNELS | `uint8` | 18 | Maximum number of R/C input channels in the system. S.Bus has up to 18 channels. | +| RSSI_MAX | `int8` | 100 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/InputRc.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -45,5 +99,6 @@ uint16[18] values # measured pulse widths for each of the supported channels int8 link_quality # link quality. Percentage 0-100%. -1 = invalid float32 rssi_dbm # Actual rssi in units of dBm. NaN = invalid int8 link_snr # link signal to noise ratio in units of dB. -1 = invalid - ``` + +::: diff --git a/docs/uk/msg_docs/InternalCombustionEngineControl.md b/docs/uk/msg_docs/InternalCombustionEngineControl.md index aacacd8973..baa5b42ef9 100644 --- a/docs/uk/msg_docs/InternalCombustionEngineControl.md +++ b/docs/uk/msg_docs/InternalCombustionEngineControl.md @@ -1,6 +1,28 @@ +--- +pageClass: is-wide-page +--- + # InternalCombustionEngineControl (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/InternalCombustionEngineControl.msg) +**TOPICS:** internal_combustionengine_control + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| ignition_on | `bool` | | | activate/deactivate ignition (spark plug) | +| throttle_control | `float32` | | | setpoint for throttle actuator, with slew rate if enabled, idles with 0 [norm] [@range 0,1] [@uncontrolled NAN to stop motor] | +| choke_control | `float32` | | | setpoint for choke actuator, 1: fully closed [norm] [@range 0,1] | +| starter_engine_control | `float32` | | | setpoint for (electric) starter motor [norm] [@range 0,1] | +| user_request | `uint8` | | | user intent for the ICE being on/off | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/InternalCombustionEngineControl.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -11,5 +33,6 @@ float32 choke_control # setpoint for choke actuator, 1: fully closed [norm] [@ float32 starter_engine_control # setpoint for (electric) starter motor [norm] [@range 0,1] uint8 user_request # user intent for the ICE being on/off - ``` + +::: diff --git a/docs/uk/msg_docs/InternalCombustionEngineStatus.md b/docs/uk/msg_docs/InternalCombustionEngineStatus.md index 07783f54dd..7301386016 100644 --- a/docs/uk/msg_docs/InternalCombustionEngineStatus.md +++ b/docs/uk/msg_docs/InternalCombustionEngineStatus.md @@ -1,6 +1,78 @@ +--- +pageClass: is-wide-page +--- + # InternalCombustionEngineStatus (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/InternalCombustionEngineStatus.msg) +**TOPICS:** internal_combustionengine_status + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| state | `uint8` | | | | +| flags | `uint32` | | | | +| engine_load_percent | `uint8` | | | Engine load estimate, percent, [0, 127] | +| engine_speed_rpm | `uint32` | | | Engine speed, revolutions per minute | +| spark_dwell_time_ms | `float32` | | | Spark dwell time, millisecond | +| atmospheric_pressure_kpa | `float32` | | | Atmospheric (barometric) pressure, kilopascal | +| intake_manifold_pressure_kpa | `float32` | | | Engine intake manifold pressure, kilopascal | +| intake_manifold_temperature | `float32` | | | Engine intake manifold temperature, kelvin | +| coolant_temperature | `float32` | | | Engine coolant temperature, kelvin | +| oil_pressure | `float32` | | | Oil pressure, kilopascal | +| oil_temperature | `float32` | | | Oil temperature, kelvin | +| fuel_pressure | `float32` | | | Fuel pressure, kilopascal | +| fuel_consumption_rate_cm3pm | `float32` | | | Instant fuel consumption estimate, (centimeter^3)/minute | +| estimated_consumed_fuel_volume_cm3 | `float32` | | | Estimate of the consumed fuel since the start of the engine, centimeter^3 | +| throttle_position_percent | `uint8` | | | Throttle position, percent | +| ecu_index | `uint8` | | | The index of the publishing ECU | +| spark_plug_usage | `uint8` | | | Spark plug activity report. | +| ignition_timing_deg | `float32` | | | Cylinder ignition timing, angular degrees of the crankshaft | +| injection_time_ms | `float32` | | | Fuel injection time, millisecond | +| cylinder_head_temperature | `float32` | | | Cylinder head temperature (CHT), kelvin | +| exhaust_gas_temperature | `float32` | | | Exhaust gas temperature (EGT), kelvin | +| lambda_coefficient | `float32` | | | Estimated lambda coefficient, dimensionless ratio | + +## Constants + +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | -------------------------------------------------------------------------------------- | +| STATE_STOPPED | `uint8` | 0 | The engine is not running. This is the default state. | +| STATE_STARTING | `uint8` | 1 | The engine is starting. This is a transient state. | +| STATE_RUNNING | `uint8` | 2 | The engine is running normally. | +| STATE_FAULT | `uint8` | 3 | The engine can no longer function. | +| FLAG_GENERAL_ERROR | `uint32` | 1 | General error. | +| FLAG_CRANKSHAFT_SENSOR_ERROR_SUPPORTED | `uint32` | 2 | Error of the crankshaft sensor. This flag is optional. | +| FLAG_CRANKSHAFT_SENSOR_ERROR | `uint32` | 4 | | +| FLAG_TEMPERATURE_SUPPORTED | `uint32` | 8 | Temperature levels. These flags are optional | +| FLAG_TEMPERATURE_BELOW_NOMINAL | `uint32` | 16 | Under-temperature warning | +| FLAG_TEMPERATURE_ABOVE_NOMINAL | `uint32` | 32 | Over-temperature warning | +| FLAG_TEMPERATURE_OVERHEATING | `uint32` | 64 | Critical overheating | +| FLAG_TEMPERATURE_EGT_ABOVE_NOMINAL | `uint32` | 128 | Exhaust gas over-temperature warning | +| FLAG_FUEL_PRESSURE_SUPPORTED | `uint32` | 256 | Fuel pressure. These flags are optional | +| FLAG_FUEL_PRESSURE_BELOW_NOMINAL | `uint32` | 512 | Under-pressure warning | +| FLAG_FUEL_PRESSURE_ABOVE_NOMINAL | `uint32` | 1024 | Over-pressure warning | +| FLAG_DETONATION_SUPPORTED | `uint32` | 2048 | Detonation warning. This flag is optional. | +| FLAG_DETONATION_OBSERVED | `uint32` | 4096 | Detonation condition observed warning | +| FLAG_MISFIRE_SUPPORTED | `uint32` | 8192 | Misfire warning. This flag is optional. | +| FLAG_MISFIRE_OBSERVED | `uint32` | 16384 | Misfire condition observed warning | +| FLAG_OIL_PRESSURE_SUPPORTED | `uint32` | 32768 | Oil pressure. These flags are optional | +| FLAG_OIL_PRESSURE_BELOW_NOMINAL | `uint32` | 65536 | Under-pressure warning | +| FLAG_OIL_PRESSURE_ABOVE_NOMINAL | `uint32` | 131072 | Over-pressure warning | +| FLAG_DEBRIS_SUPPORTED | `uint32` | 262144 | Debris warning. This flag is optional | +| FLAG_DEBRIS_DETECTED | `uint32` | 524288 | Detection of debris warning | +| SPARK_PLUG_SINGLE | `uint8` | 0 | | +| SPARK_PLUG_FIRST_ACTIVE | `uint8` | 1 | | +| SPARK_PLUG_SECOND_ACTIVE | `uint8` | 2 | | +| SPARK_PLUG_BOTH_ACTIVE | `uint8` | 3 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/InternalCombustionEngineStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -67,5 +139,6 @@ float32 injection_time_ms # Fuel injection time, millisecond float32 cylinder_head_temperature # Cylinder head temperature (CHT), kelvin float32 exhaust_gas_temperature # Exhaust gas temperature (EGT), kelvin float32 lambda_coefficient # Estimated lambda coefficient, dimensionless ratio - ``` + +::: diff --git a/docs/uk/msg_docs/IridiumsbdStatus.md b/docs/uk/msg_docs/IridiumsbdStatus.md index 4e630cbe74..a9504a64c3 100644 --- a/docs/uk/msg_docs/IridiumsbdStatus.md +++ b/docs/uk/msg_docs/IridiumsbdStatus.md @@ -1,6 +1,37 @@ +--- +pageClass: is-wide-page +--- + # IridiumsbdStatus (UORB повідомлення) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/IridiumsbdStatus.msg) +**TOPICS:** iridiumsbd_status + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| last_at_ok_timestamp | `uint64` | | | timestamp of the last "OK" received after the "AT" command | +| tx_buf_write_index | `uint16` | | | current size of the tx buffer | +| rx_buf_read_index | `uint16` | | | the rx buffer is parsed up to that index | +| rx_buf_end_index | `uint16` | | | current size of the rx buffer | +| failed_sbd_sessions | `uint16` | | | number of failed sbd sessions | +| successful_sbd_sessions | `uint16` | | | number of successful sbd sessions | +| num_tx_buf_reset | `uint16` | | | number of times the tx buffer was reset | +| signal_quality | `uint8` | | | current signal quality, 0 is no signal, 5 the best | +| state | `uint8` | | | current state of the driver, see the satcom_state of IridiumSBD.h for the definition | +| ring_pending | `bool` | | | indicates if a ring call is pending | +| tx_buf_write_pending | `bool` | | | indicates if a tx buffer write is pending | +| tx_session_pending | `bool` | | | indicates if a tx session is pending | +| rx_read_pending | `bool` | | | indicates if a rx read is pending | +| rx_session_pending | `bool` | | | indicates if a rx session is pending | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/IridiumsbdStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -18,5 +49,6 @@ bool tx_buf_write_pending # indicates if a tx buffer write is pending bool tx_session_pending # indicates if a tx session is pending bool rx_read_pending # indicates if a rx read is pending bool rx_session_pending # indicates if a rx session is pending - ``` + +::: diff --git a/docs/uk/msg_docs/IrlockReport.md b/docs/uk/msg_docs/IrlockReport.md index b59d4e9df4..e38ee0f851 100644 --- a/docs/uk/msg_docs/IrlockReport.md +++ b/docs/uk/msg_docs/IrlockReport.md @@ -1,8 +1,30 @@ +--- +pageClass: is-wide-page +--- + # IrlockReport (повідомлення UORB) -Дані повідомлення IRLOCK_REPORT +IRLOCK_REPORT message data. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/IrlockReport.msg) +**TOPICS:** irlock_report + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| signature | `uint16` | | | | +| pos_x | `float32` | | | tan(theta), where theta is the angle between the target and the camera center of projection in camera x-axis | +| pos_y | `float32` | | | tan(theta), where theta is the angle between the target and the camera center of projection in camera y-axis | +| size_x | `float32` | | | /\*\* size of target along camera x-axis in units of tan(theta) \*\*/ | +| size_y | `float32` | | | /\*\* size of target along camera y-axis in units of tan(theta) \*\*/ | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/IrlockReport.msg) + +:::details +Click here to see original file ```c # IRLOCK_REPORT message data @@ -16,5 +38,6 @@ float32 pos_x # tan(theta), where theta is the angle between the target and the float32 pos_y # tan(theta), where theta is the angle between the target and the camera center of projection in camera y-axis float32 size_x #/** size of target along camera x-axis in units of tan(theta) **/ float32 size_y #/** size of target along camera y-axis in units of tan(theta) **/ - ``` + +::: diff --git a/docs/uk/msg_docs/LandingGear.md b/docs/uk/msg_docs/LandingGear.md index faa4df09cd..f0c15eed06 100644 --- a/docs/uk/msg_docs/LandingGear.md +++ b/docs/uk/msg_docs/LandingGear.md @@ -1,6 +1,32 @@ +--- +pageClass: is-wide-page +--- + # LandingGear (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LandingGear.msg) +**TOPICS:** landing_gear + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| landing_gear | `int8` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------- | ------ | -------- | ---------------------- | +| GEAR_UP | `int8` | 1 | landing gear up | +| GEAR_DOWN | `int8` | -1 | landing gear down | +| GEAR_KEEP | `int8` | 0 | keep the current state | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LandingGear.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -10,5 +36,6 @@ int8 GEAR_DOWN = -1 # landing gear down int8 GEAR_KEEP = 0 # keep the current state int8 landing_gear - ``` + +::: diff --git a/docs/uk/msg_docs/LandingGearWheel.md b/docs/uk/msg_docs/LandingGearWheel.md index 99d9fcafa1..26e1624ab1 100644 --- a/docs/uk/msg_docs/LandingGearWheel.md +++ b/docs/uk/msg_docs/LandingGearWheel.md @@ -1,10 +1,29 @@ +--- +pageClass: is-wide-page +--- + # LandingGearWheel (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LandingGearWheel.msg) +**TOPICS:** landing_gearwheel + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| normalized_wheel_setpoint | `float32` | | | negative is turning left, positive turning right [-1, 1] | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LandingGearWheel.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) float32 normalized_wheel_setpoint # negative is turning left, positive turning right [-1, 1] - ``` + +::: diff --git a/docs/uk/msg_docs/LandingTargetInnovations.md b/docs/uk/msg_docs/LandingTargetInnovations.md index 61337a24c3..ce64d93f7f 100644 --- a/docs/uk/msg_docs/LandingTargetInnovations.md +++ b/docs/uk/msg_docs/LandingTargetInnovations.md @@ -1,6 +1,27 @@ +--- +pageClass: is-wide-page +--- + # LandingTargetInnovations (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LandingTargetInnovations.msg) +**TOPICS:** landing_targetinnovations + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| innov_x | `float32` | | | | +| innov_y | `float32` | | | | +| innov_cov_x | `float32` | | | | +| innov_cov_y | `float32` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LandingTargetInnovations.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -11,5 +32,6 @@ float32 innov_y # Innovation covariance of landing target position estimator float32 innov_cov_x float32 innov_cov_y - ``` + +::: diff --git a/docs/uk/msg_docs/LandingTargetPose.md b/docs/uk/msg_docs/LandingTargetPose.md index 5d0688cb7d..a139207aee 100644 --- a/docs/uk/msg_docs/LandingTargetPose.md +++ b/docs/uk/msg_docs/LandingTargetPose.md @@ -1,8 +1,41 @@ +--- +pageClass: is-wide-page +--- + # LandingTargetPose (повідомлення UORB) -Відносне положення цільової точки з високою точністю в навігаційних кадрах (тіло фіксоване, орієнтоване на північ, NED) та інерційних (фіксовані на світі, орієнтовані на північ, NED) кадрах +Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LandingTargetPose.msg) +**TOPICS:** landing_targetpose + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| is_static | `bool` | | | Flag indicating whether the landing target is static or moving with respect to the ground | +| rel_pos_valid | `bool` | | | Flag showing whether relative position is valid | +| rel_vel_valid | `bool` | | | Flag showing whether relative velocity is valid | +| x_rel | `float32` | | | X/north position of target, relative to vehicle (navigation frame) [meters] | +| y_rel | `float32` | | | Y/east position of target, relative to vehicle (navigation frame) [meters] | +| z_rel | `float32` | | | Z/down position of target, relative to vehicle (navigation frame) [meters] | +| vx_rel | `float32` | | | X/north velocity of target, relative to vehicle (navigation frame) [meters/second] | +| vy_rel | `float32` | | | Y/east velocity of target, relative to vehicle (navigation frame) [meters/second] | +| cov_x_rel | `float32` | | | X/north position variance [meters^2] | +| cov_y_rel | `float32` | | | Y/east position variance [meters^2] | +| cov_vx_rel | `float32` | | | X/north velocity variance [(meters/second)^2] | +| cov_vy_rel | `float32` | | | Y/east velocity variance [(meters/second)^2] | +| abs_pos_valid | `bool` | | | Flag showing whether absolute position is valid | +| x_abs | `float32` | | | X/north position of target, relative to origin (navigation frame) [meters] | +| y_abs | `float32` | | | Y/east position of target, relative to origin (navigation frame) [meters] | +| z_abs | `float32` | | | Z/down position of target, relative to origin (navigation frame) [meters] | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LandingTargetPose.msg) + +:::details +Click here to see original file ```c # Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames @@ -31,5 +64,6 @@ bool abs_pos_valid # Flag showing whether absolute position is valid float32 x_abs # X/north position of target, relative to origin (navigation frame) [meters] float32 y_abs # Y/east position of target, relative to origin (navigation frame) [meters] float32 z_abs # Z/down position of target, relative to origin (navigation frame) [meters] - ``` + +::: diff --git a/docs/uk/msg_docs/LateralControlConfiguration.md b/docs/uk/msg_docs/LateralControlConfiguration.md index b0a03a6378..34f132856e 100644 --- a/docs/uk/msg_docs/LateralControlConfiguration.md +++ b/docs/uk/msg_docs/LateralControlConfiguration.md @@ -1,9 +1,32 @@ +--- +pageClass: is-wide-page +--- + # LateralControlConfiguration (UORB message) -Fixed Wing Lateral Control Configuration message -Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages. +Fixed Wing Lateral Control Configuration message. Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/LateralControlConfiguration.msg) +**TOPICS:** lateral_controlconfiguration + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| lateral_accel_max | `float32` | m/s^2 | | currently maps to a maximum roll angle, accel_max = tan(roll_max) \* GRAVITY | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/LateralControlConfiguration.msg) + +:::details +Click here to see original file ```c # Fixed Wing Lateral Control Configuration message @@ -14,5 +37,6 @@ 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 - ``` + +::: diff --git a/docs/uk/msg_docs/LaunchDetectionStatus.md b/docs/uk/msg_docs/LaunchDetectionStatus.md index 0356689770..b19d12d773 100644 --- a/docs/uk/msg_docs/LaunchDetectionStatus.md +++ b/docs/uk/msg_docs/LaunchDetectionStatus.md @@ -1,8 +1,34 @@ +--- +pageClass: is-wide-page +--- + # LaunchDetectionStatus (повідомлення UORB) -Стан машини виявлення запуску (тільки фіксованокрил) +Status of the launch detection state machine (fixed-wing only). -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LaunchDetectionStatus.msg) +**TOPICS:** launch_detectionstatus + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| launch_detection_state | `uint8` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| STATE_WAITING_FOR_LAUNCH | `uint8` | 0 | waiting for launch | +| STATE_LAUNCH_DETECTED_DISABLED_MOTOR | `uint8` | 1 | launch detected, but keep motor(s) disabled (e.g. because it can't spin freely while on catapult) | +| STATE_FLYING | `uint8` | 2 | launch detected, use normal takeoff/flying configuration | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LaunchDetectionStatus.msg) + +:::details +Click here to see original file ```c # Status of the launch detection state machine (fixed-wing only) @@ -14,5 +40,6 @@ uint8 STATE_LAUNCH_DETECTED_DISABLED_MOTOR = 1 # launch detected, but keep moto uint8 STATE_FLYING = 2 # launch detected, use normal takeoff/flying configuration uint8 launch_detection_state - ``` + +::: diff --git a/docs/uk/msg_docs/LedControl.md b/docs/uk/msg_docs/LedControl.md index fa0ca0b8ab..de36da51ab 100644 --- a/docs/uk/msg_docs/LedControl.md +++ b/docs/uk/msg_docs/LedControl.md @@ -1,9 +1,54 @@ +--- +pageClass: is-wide-page +--- + # LedControl (повідомлення UORB) -Керування світлодіодами: керування одним чи кількома світлодіодами. -Це зовнішні світлодіоди, а не світлодіоди плати +Керування світлодіодами: керування одним чи кількома світлодіодами. These are the externally visible LED's, not the board LED's. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LedControl.msg) +**TOPICS:** led_control + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| led_mask | `uint8` | | | bitmask which LED(s) to control, set to 0xff for all | +| color | `uint8` | | | see COLOR\_\* | +| mode | `uint8` | | | see MODE\_\* | +| num_blinks | `uint8` | | | how many times to blink (number of on-off cycles if mode is one of MODE_BLINK_\*) . Set to 0 for infinite | +| priority | `uint8` | | | priority: higher priority events will override current lower priority events (see MAX_PRIORITY) | + +## Constants + +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------ | +| COLOR_OFF | `uint8` | 0 | this is only used in the drivers | +| COLOR_RED | `uint8` | 1 | | +| COLOR_GREEN | `uint8` | 2 | | +| COLOR_BLUE | `uint8` | 3 | | +| COLOR_YELLOW | `uint8` | 4 | | +| COLOR_PURPLE | `uint8` | 5 | | +| COLOR_AMBER | `uint8` | 6 | | +| COLOR_CYAN | `uint8` | 7 | | +| COLOR_WHITE | `uint8` | 8 | | +| MODE_OFF | `uint8` | 0 | turn LED off | +| MODE_ON | `uint8` | 1 | turn LED on | +| MODE_DISABLED | `uint8` | 2 | disable this priority (switch to lower priority setting) | +| MODE_BLINK_SLOW | `uint8` | 3 | | +| MODE_BLINK_NORMAL | `uint8` | 4 | | +| MODE_BLINK_FAST | `uint8` | 5 | | +| MODE_BREATHE | `uint8` | 6 | continuously increase & decrease brightness (solid color if driver does not support it) | +| MODE_FLASH | `uint8` | 7 | two fast blinks (on/off) with timing as in MODE_BLINK_FAST and then off for a while | +| MAX_PRIORITY | `uint8` | 2 | maximum priority (minimum is 0) | +| ORB_QUEUE_LENGTH | `uint8` | 8 | needs to match BOARD_MAX_LEDS | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LedControl.msg) + +:::details +Click here to see original file ```c # LED control: control a single or multiple LED's. @@ -43,5 +88,6 @@ uint8 num_blinks # how many times to blink (number of on-off cycles if mode is o uint8 priority # priority: higher priority events will override current lower priority events (see MAX_PRIORITY) uint8 ORB_QUEUE_LENGTH = 8 # needs to match BOARD_MAX_LEDS - ``` + +::: diff --git a/docs/uk/msg_docs/LogMessage.md b/docs/uk/msg_docs/LogMessage.md index 2350f93efe..4b24ffa4be 100644 --- a/docs/uk/msg_docs/LogMessage.md +++ b/docs/uk/msg_docs/LogMessage.md @@ -1,8 +1,33 @@ +--- +pageClass: is-wide-page +--- + # LogMessage (повідомлення UORB) -Повідомлення логування, що виводиться з PX4_WARN, PX4_ERR, PX4_INFO +A logging message, output with PX4_WARN, PX4_ERR, PX4_INFO. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LogMessage.msg) +**TOPICS:** log_message + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------- | ----------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| severity | `uint8` | | | log level (same as in the linux kernel, starting with 0) | +| text | `char[127]` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LogMessage.msg) + +:::details +Click here to see original file ```c # A logging message, output with PX4_WARN, PX4_ERR, PX4_INFO @@ -13,5 +38,6 @@ uint8 severity # log level (same as in the linux kernel, starting with 0) char[127] text uint8 ORB_QUEUE_LENGTH = 4 - ``` + +::: diff --git a/docs/uk/msg_docs/LoggerStatus.md b/docs/uk/msg_docs/LoggerStatus.md index 81dd11e035..7267934916 100644 --- a/docs/uk/msg_docs/LoggerStatus.md +++ b/docs/uk/msg_docs/LoggerStatus.md @@ -1,6 +1,43 @@ +--- +pageClass: is-wide-page +--- + # LoggerStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LoggerStatus.msg) +**TOPICS:** logger_status + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------ | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| type | `uint8` | | | | +| backend | `uint8` | | | | +| is_logging | `bool` | | | | +| total_written_kb | `float32` | | | total written to log in kiloBytes | +| write_rate_kb_s | `float32` | | | write rate in kiloBytes/s | +| dropouts | `uint32` | | | number of failed buffer writes due to buffer overflow | +| message_gaps | `uint32` | | | messages misssed | +| buffer_used_bytes | `uint32` | | | current buffer fill in Bytes | +| buffer_size_bytes | `uint32` | | | total buffer size in Bytes | +| num_messages | `uint8` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------- | ------- | -------- | -------------------------------------------------------------------------------------------- | +| LOGGER_TYPE_FULL | `uint8` | 0 | Normal, full size log | +| LOGGER_TYPE_MISSION | `uint8` | 1 | reduced mission log (e.g. for geotagging) | +| BACKEND_FILE | `uint8` | 1 | | +| BACKEND_MAVLINK | `uint8` | 2 | | +| BACKEND_ALL | `uint8` | 3 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LoggerStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -26,5 +63,6 @@ uint32 buffer_used_bytes # current buffer fill in Bytes uint32 buffer_size_bytes # total buffer size in Bytes uint8 num_messages - ``` + +::: diff --git a/docs/uk/msg_docs/LongitudinalControlConfiguration.md b/docs/uk/msg_docs/LongitudinalControlConfiguration.md index 901d5c23bc..56a4a1f3a4 100644 --- a/docs/uk/msg_docs/LongitudinalControlConfiguration.md +++ b/docs/uk/msg_docs/LongitudinalControlConfiguration.md @@ -1,10 +1,40 @@ +--- +pageClass: is-wide-page +--- + # LongitudinalControlConfiguration (UORB message) -Fixed Wing Longitudinal Control Configuration message -Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages -and configure the resultant setpoints. +Fixed Wing Longitudinal Control Configuration message. Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages. and configure the resultant setpoints. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/LongitudinalControlConfiguration.msg) +**TOPICS:** longitudinal_controlconfiguration + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| pitch_min | `float32` | rad | [-pi : pi] | defaults to FW_P_LIM_MIN if NAN. | +| pitch_max | `float32` | rad | [-pi : pi] | defaults to FW_P_LIM_MAX if NAN. | +| throttle_min | `float32` | norm | [0 : 1] | deaults to FW_THR_MIN if NAN. | +| throttle_max | `float32` | norm | [0 : 1] | defaults to FW_THR_MAX if NAN. | +| climb_rate_target | `float32` | m/s | | target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. | +| sink_rate_target | `float32` | m/s | | target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. | +| speed_weight | `float32` | | [0 : 2] | , 0=pitch controls altitude only, 2=pitch controls airspeed only | +| enforce_low_height_condition | `bool` | boolean | | if true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking | +| disable_underspeed_protection | `bool` | boolean | | if true, underspeed handling is disabled in the altitude controller | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/LongitudinalControlConfiguration.msg) + +:::details +Click here to see original file ```c # Fixed Wing Longitudinal Control Configuration message @@ -24,5 +54,6 @@ float32 sink_rate_target # [m/s] target sinkrate to change altitude. Defaults 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 - ``` + +::: diff --git a/docs/uk/msg_docs/MagWorkerData.md b/docs/uk/msg_docs/MagWorkerData.md index d761c92843..acd9753f80 100644 --- a/docs/uk/msg_docs/MagWorkerData.md +++ b/docs/uk/msg_docs/MagWorkerData.md @@ -1,6 +1,38 @@ +--- +pageClass: is-wide-page +--- + # MagWorkerData (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MagWorkerData.msg) +**TOPICS:** mag_workerdata + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | | +| done_count | `uint32` | | | | +| calibration_points_perside | `uint32` | | | | +| calibration_interval_perside_us | `uint64` | | | | +| calibration_counter_total | `uint32[4]` | | | | +| side_data_collected | `bool[4]` | | | | +| x | `float32[4]` | | | | +| y | `float32[4]` | | | | +| z | `float32[4]` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------ | ------- | -------- | ---- | +| MAX_MAGS | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MagWorkerData.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -16,5 +48,6 @@ bool[4] side_data_collected float32[4] x float32[4] y float32[4] z - ``` + +::: diff --git a/docs/uk/msg_docs/MagnetometerBiasEstimate.md b/docs/uk/msg_docs/MagnetometerBiasEstimate.md index 0c8c28af9b..c31b62b822 100644 --- a/docs/uk/msg_docs/MagnetometerBiasEstimate.md +++ b/docs/uk/msg_docs/MagnetometerBiasEstimate.md @@ -1,6 +1,28 @@ +--- +pageClass: is-wide-page +--- + # MagnetometerBiasEstimate (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MagnetometerBiasEstimate.msg) +**TOPICS:** magnetometer_biasestimate + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| bias_x | `float32[4]` | | | estimated X-bias of all the sensors | +| bias_y | `float32[4]` | | | estimated Y-bias of all the sensors | +| bias_z | `float32[4]` | | | estimated Z-bias of all the sensors | +| valid | `bool[4]` | | | true if the estimator has converged | +| stable | `bool[4]` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MagnetometerBiasEstimate.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -11,5 +33,6 @@ float32[4] bias_z # estimated Z-bias of all the sensors bool[4] valid # true if the estimator has converged bool[4] stable - ``` + +::: diff --git a/docs/uk/msg_docs/ManualControlSetpoint.md b/docs/uk/msg_docs/ManualControlSetpoint.md index e15a85420a..4097d7f05a 100644 --- a/docs/uk/msg_docs/ManualControlSetpoint.md +++ b/docs/uk/msg_docs/ManualControlSetpoint.md @@ -1,6 +1,53 @@ +--- +pageClass: is-wide-page +--- + # ManualControlSetpoint (Повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ManualControlSetpoint.msg) +**TOPICS:** manual_control_setpoint manual_control_input + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| valid | `bool` | | | | +| data_source | `uint8` | | | | +| roll | `float32` | | | move right, positive roll rotation, right side down | +| pitch | `float32` | | | move forward, negative pitch rotation, nose down | +| yaw | `float32` | | | positive yaw rotation, clockwise when seen top down | +| throttle | `float32` | | | move up, positive thrust, -1 is minimum available 0% or -100% +1 is 100% thrust | +| flaps | `float32` | | | position of flaps switch/knob/lever [-1, 1] | +| aux1 | `float32` | | | | +| aux2 | `float32` | | | | +| aux3 | `float32` | | | | +| aux4 | `float32` | | | | +| aux5 | `float32` | | | | +| aux6 | `float32` | | | | +| sticks_moving | `bool` | | | | +| buttons | `uint16` | | | From uint16 buttons field of Mavlink manual_control message | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------------------------- | +| MESSAGE_VERSION | `uint32` | 0 | | +| SOURCE_UNKNOWN | `uint8` | 0 | | +| SOURCE_RC | `uint8` | 1 | radio control (input_rc) | +| SOURCE_MAVLINK_0 | `uint8` | 2 | mavlink instance 0 | +| SOURCE_MAVLINK_1 | `uint8` | 3 | mavlink instance 1 | +| SOURCE_MAVLINK_2 | `uint8` | 4 | mavlink instance 2 | +| SOURCE_MAVLINK_3 | `uint8` | 5 | mavlink instance 3 | +| SOURCE_MAVLINK_4 | `uint8` | 6 | mavlink instance 4 | +| SOURCE_MAVLINK_5 | `uint8` | 7 | mavlink instance 5 | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ManualControlSetpoint.msg) + +:::details +Click here to see original file ```c uint32 MESSAGE_VERSION = 0 @@ -51,5 +98,6 @@ uint16 buttons # From uint16 buttons field of Mavlink manual_control message # DEPRECATED: float32 y # DEPRECATED: float32 z # DEPRECATED: float32 r - ``` + +::: diff --git a/docs/uk/msg_docs/ManualControlSwitches.md b/docs/uk/msg_docs/ManualControlSwitches.md index 189682730f..67b16ae32b 100644 --- a/docs/uk/msg_docs/ManualControlSwitches.md +++ b/docs/uk/msg_docs/ManualControlSwitches.md @@ -1,6 +1,55 @@ +--- +pageClass: is-wide-page +--- + # ManualControlSwitches (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ManualControlSwitches.msg) +**TOPICS:** manual_controlswitches + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| mode_slot | `uint8` | | | the slot a specific model selector is in | +| arm_switch | `uint8` | | | arm/disarm switch: _DISARMED_, ARMED | +| return_switch | `uint8` | | | return to launch 2 position switch (mandatory): _NORMAL_, RTL | +| loiter_switch | `uint8` | | | loiter 2 position switch (optional): _MISSION_, LOITER | +| offboard_switch | `uint8` | | | offboard 2 position switch (optional): _NORMAL_, OFFBOARD | +| kill_switch | `uint8` | | | throttle kill: _NORMAL_, KILL | +| termination_switch | `uint8` | | | trigger termination which cannot be undone | +| gear_switch | `uint8` | | | landing gear switch: _DOWN_, UP | +| transition_switch | `uint8` | | | VTOL transition switch: \_HOVER, FORWARD_FLIGHT | +| photo_switch | `uint8` | | | Photo trigger switch | +| video_switch | `uint8` | | | Photo trigger switch | +| engage_main_motor_switch | `uint8` | | | Engage the main motor (for helicopters) | +| payload_power_switch | `uint8` | | | Payload power switch | +| switch_changes | `uint32` | | | number of switch changes | + +## Constants + +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------- | ------- | -------- | ---------------------------------------------------- | +| SWITCH_POS_NONE | `uint8` | 0 | switch is not mapped | +| SWITCH_POS_ON | `uint8` | 1 | switch activated (value = 1) | +| SWITCH_POS_MIDDLE | `uint8` | 2 | middle position (value = 0) | +| SWITCH_POS_OFF | `uint8` | 3 | switch not activated (value = -1) | +| MODE_SLOT_NONE | `uint8` | 0 | no mode slot assigned | +| MODE_SLOT_1 | `uint8` | 1 | mode slot 1 selected | +| MODE_SLOT_2 | `uint8` | 2 | mode slot 2 selected | +| MODE_SLOT_3 | `uint8` | 3 | mode slot 3 selected | +| MODE_SLOT_4 | `uint8` | 4 | mode slot 4 selected | +| MODE_SLOT_5 | `uint8` | 5 | mode slot 5 selected | +| MODE_SLOT_6 | `uint8` | 6 | mode slot 6 selected | +| MODE_SLOT_NUM | `uint8` | 6 | number of slots | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ManualControlSwitches.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -40,5 +89,6 @@ uint8 engage_main_motor_switch # Engage the main motor (for helicopters) uint8 payload_power_switch # Payload power switch uint32 switch_changes # number of switch changes - ``` + +::: diff --git a/docs/uk/msg_docs/MavlinkLog.md b/docs/uk/msg_docs/MavlinkLog.md index 5d074bb2b9..fcd74d3766 100644 --- a/docs/uk/msg_docs/MavlinkLog.md +++ b/docs/uk/msg_docs/MavlinkLog.md @@ -1,6 +1,31 @@ +--- +pageClass: is-wide-page +--- + # MavlinkLog (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MavlinkLog.msg) +**TOPICS:** mavlink_log + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------- | ----------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| text | `char[127]` | | | | +| severity | `uint8` | | | log level (same as in the linux kernel, starting with 0) | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 8 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MavlinkLog.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -9,5 +34,6 @@ char[127] text uint8 severity # log level (same as in the linux kernel, starting with 0) uint8 ORB_QUEUE_LENGTH = 8 - ``` + +::: diff --git a/docs/uk/msg_docs/MavlinkTunnel.md b/docs/uk/msg_docs/MavlinkTunnel.md index 33031d3a2b..46bd317a62 100644 --- a/docs/uk/msg_docs/MavlinkTunnel.md +++ b/docs/uk/msg_docs/MavlinkTunnel.md @@ -1,8 +1,46 @@ +--- +pageClass: is-wide-page +--- + # MavlinkTunnel (повідомлення UORB) -MAV_TUNNEL_PAYLOAD_TYPE enum +MAV_TUNNEL_PAYLOAD_TYPE enum. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MavlinkTunnel.msg) +**TOPICS:** mavlink_tunnel esc_serial_passthru io_serial_passthru + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | Time since system start (microseconds) | +| payload_type | `uint16` | | | A code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase. | +| target_system | `uint8` | | | System ID (can be 0 for broadcast, but this is discouraged) | +| target_component | `uint8` | | | Component ID (can be 0 for broadcast, but this is discouraged) | +| payload_length | `uint8` | | | Length of the data transported in payload | +| payload | `uint8[128]` | | | Data itself | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ---------------------------------------- | +| MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWN | `uint8` | 0 | Encoding of payload unknown | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0 | `uint8` | 200 | Registered for STorM32 gimbal controller | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1 | `uint8` | 201 | Registered for STorM32 gimbal controller | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2 | `uint8` | 202 | Registered for STorM32 gimbal controller | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3 | `uint8` | 203 | Registered for STorM32 gimbal controller | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4 | `uint8` | 204 | Registered for STorM32 gimbal controller | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5 | `uint8` | 205 | Registered for STorM32 gimbal controller | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6 | `uint8` | 206 | Registered for STorM32 gimbal controller | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7 | `uint8` | 207 | Registered for STorM32 gimbal controller | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8 | `uint8` | 208 | Registered for STorM32 gimbal controller | +| MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9 | `uint8` | 209 | Registered for STorM32 gimbal controller | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MavlinkTunnel.msg) + +:::details +Click here to see original file ```c # MAV_TUNNEL_PAYLOAD_TYPE enum @@ -27,6 +65,7 @@ uint8 payload_length # Length of the data transported in payload uint8[128] payload # Data itself # Topic aliases for known payload types -# TOPICS mavlink_tunnel esc_serial_passthru - +# TOPICS mavlink_tunnel esc_serial_passthru io_serial_passthru ``` + +::: diff --git a/docs/uk/msg_docs/MessageFormatRequest.md b/docs/uk/msg_docs/MessageFormatRequest.md index a141574434..3441e06d5f 100644 --- a/docs/uk/msg_docs/MessageFormatRequest.md +++ b/docs/uk/msg_docs/MessageFormatRequest.md @@ -1,6 +1,31 @@ +--- +pageClass: is-wide-page +--- + # MessageFormatRequest (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MessageFormatRequest.msg) +**TOPICS:** message_formatrequest + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| protocol_version | `uint16` | | | Must be set to LATEST_PROTOCOL_VERSION. Do not change this field, it must be the first field after the timestamp | +| topic_name | `char[50]` | | | Наприклад, /fmu/in/vehicle_command | + +## Constants + +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------------------- | -------- | -------- | --------------------------------------------------------------------------------------------------------------------------------------------------- | +| LATEST_PROTOCOL_VERSION | `uint16` | 1 | Current version of this protocol. Increase this whenever the MessageFormatRequest or MessageFormatResponse changes. | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MessageFormatRequest.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -12,5 +37,6 @@ uint16 LATEST_PROTOCOL_VERSION = 1 # Current version of this protocol. Increase uint16 protocol_version # Must be set to LATEST_PROTOCOL_VERSION. Do not change this field, it must be the first field after the timestamp char[50] topic_name # E.g. /fmu/in/vehicle_command - ``` + +::: diff --git a/docs/uk/msg_docs/MessageFormatResponse.md b/docs/uk/msg_docs/MessageFormatResponse.md index 5b9bd86917..4a92cbb530 100644 --- a/docs/uk/msg_docs/MessageFormatResponse.md +++ b/docs/uk/msg_docs/MessageFormatResponse.md @@ -1,6 +1,27 @@ +--- +pageClass: is-wide-page +--- + # MessageFormatResponse (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MessageFormatResponse.msg) +**TOPICS:** message_formatresponse + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| protocol_version | `uint16` | | | Must be set to LATEST_PROTOCOL_VERSION. Do not change this field, it must be the first field after the timestamp | +| topic_name | `char[50]` | | | Наприклад, /fmu/in/vehicle_command | +| success | `bool` | | | | +| message_hash | `uint32` | | | hash over all message fields | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MessageFormatResponse.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -13,5 +34,6 @@ char[50] topic_name # E.g. /fmu/in/vehicle_command bool success uint32 message_hash # hash over all message fields - ``` + +::: diff --git a/docs/uk/msg_docs/Mission.md b/docs/uk/msg_docs/Mission.md index 7abe5c2aca..6d138c850e 100644 --- a/docs/uk/msg_docs/Mission.md +++ b/docs/uk/msg_docs/Mission.md @@ -1,6 +1,33 @@ +--- +pageClass: is-wide-page +--- + # Місія (Повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Mission.msg) +**TOPICS:** mission + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| -------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| mission_dataman_id | `uint8` | | | default 0, there are two offboard storage places in the dataman: 0 or 1 | +| fence_dataman_id | `uint8` | | | default 0, there are two offboard storage places in the dataman: 0 or 1 | +| safepoint_dataman_id | `uint8` | | | default 0, there are two offboard storage places in the dataman: 0 or 1 | +| count | `uint16` | | | count of the missions stored in the dataman | +| current_seq | `int32` | | | default -1, start at the one changed latest | +| land_start_index | `int32` | | | Index of the land start marker, if unavailable index of the land item, -1 otherwise | +| land_index | `int32` | | | Index of the land item, -1 otherwise | +| mission_id | `uint32` | | | indicates updates to the mission, reload from dataman if changed | +| geofence_id | `uint32` | | | indicates updates to the geofence, reload from dataman if changed | +| safe_points_id | `uint32` | | | indicates updates to the safe points, reload from dataman if changed | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Mission.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -17,5 +44,6 @@ int32 land_index # Index of the land item, -1 otherwise uint32 mission_id # indicates updates to the mission, reload from dataman if changed uint32 geofence_id # indicates updates to the geofence, reload from dataman if changed uint32 safe_points_id # indicates updates to the safe points, reload from dataman if changed - ``` + +::: diff --git a/docs/uk/msg_docs/MissionResult.md b/docs/uk/msg_docs/MissionResult.md index 60ee84c923..8f8a00f2f5 100644 --- a/docs/uk/msg_docs/MissionResult.md +++ b/docs/uk/msg_docs/MissionResult.md @@ -1,6 +1,37 @@ +--- +pageClass: is-wide-page +--- + # MissionResult (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MissionResult.msg) +**TOPICS:** mission_result + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| mission_id | `uint32` | | | Id for the mission for which the result was generated | +| geofence_id | `uint32` | | | Id for the corresponding geofence for which the result was generated (used for mission feasibility) | +| home_position_counter | `uint32` | | | Counter of the home position for which the result was generated (used for mission feasibility) | +| seq_reached | `int32` | | | Sequence of the mission item which has been reached, default -1 | +| seq_current | `uint16` | | | Sequence of the current mission item | +| seq_total | `uint16` | | | Total number of mission items | +| valid | `bool` | | | true if mission is valid | +| warning | `bool` | | | true if mission is valid, but has potentially problematic items leading to safety warnings | +| finished | `bool` | | | true if mission has been completed | +| failure | `bool` | | | true if the mission cannot continue or be completed for some reason | +| item_do_jump_changed | `bool` | | | true if the number of do jumps remaining has changed | +| item_changed_index | `uint16` | | | indicate which item has changed | +| item_do_jump_remaining | `uint16` | | | set to the number of do jumps remaining for that item | +| execution_mode | `uint8` | | | indicates the mode in which the mission is executed | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MissionResult.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -23,5 +54,6 @@ uint16 item_changed_index # indicate which item has changed uint16 item_do_jump_remaining # set to the number of do jumps remaining for that item uint8 execution_mode # indicates the mode in which the mission is executed - ``` + +::: diff --git a/docs/uk/msg_docs/ModeCompleted.md b/docs/uk/msg_docs/ModeCompleted.md index ec56e5c2d9..a0fbade04a 100644 --- a/docs/uk/msg_docs/ModeCompleted.md +++ b/docs/uk/msg_docs/ModeCompleted.md @@ -1,10 +1,35 @@ +--- +pageClass: is-wide-page +--- + # ModeCompleted (повідомлення UORB) -Результат завершення режиму, опублікований активним режимом. -Можливі значення nav_state визначені в повідомленні VehicleStatus. -Зверніть увагу, що це не завжди публікується (наприклад, коли користувач переходить у режими або при активації failsafe) +Результат завершення режиму, опублікований активним режимом. Можливі значення nav_state визначені в повідомленні VehicleStatus. Note that this is not always published (e.g. when a user switches modes or on. failsafe activation). -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ModeCompleted.msg) +**TOPICS:** mode_completed + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| result | `uint8` | | | One of RESULT\_\* | +| nav_state | `uint8` | | | Source mode (values in VehicleStatus) | + +## Constants + +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------- | +| MESSAGE_VERSION | `uint32` | 0 | | +| RESULT_SUCCESS | `uint8` | 0 | | +| RESULT_FAILURE_OTHER | `uint8` | 100 | Mode failed (generic error) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ModeCompleted.msg) + +:::details +Click here to see original file ```c # Mode completion result, published by an active mode. @@ -24,5 +49,6 @@ uint8 RESULT_FAILURE_OTHER = 100 # Mode failed (generic error) uint8 result # One of RESULT_* uint8 nav_state # Source mode (values in VehicleStatus) - ``` + +::: diff --git a/docs/uk/msg_docs/MountOrientation.md b/docs/uk/msg_docs/MountOrientation.md index 31d4a888b5..d8ca03793b 100644 --- a/docs/uk/msg_docs/MountOrientation.md +++ b/docs/uk/msg_docs/MountOrientation.md @@ -1,9 +1,28 @@ +--- +pageClass: is-wide-page +--- + # MountOrientation (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MountOrientation.msg) +**TOPICS:** mount_orientation + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| -------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| attitude_euler_angle | `float32[3]` | | | Attitude/direction of the mount as euler angles in rad | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MountOrientation.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) float32[3] attitude_euler_angle # Attitude/direction of the mount as euler angles in rad - ``` + +::: diff --git a/docs/uk/msg_docs/NavigatorMissionItem.md b/docs/uk/msg_docs/NavigatorMissionItem.md index 0899681c54..f4514dd297 100644 --- a/docs/uk/msg_docs/NavigatorMissionItem.md +++ b/docs/uk/msg_docs/NavigatorMissionItem.md @@ -1,6 +1,39 @@ +--- +pageClass: is-wide-page +--- + # NavigatorMissionItem (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/NavigatorMissionItem.msg) +**TOPICS:** navigator_missionitem + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| -------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| sequence_current | `uint16` | | | Sequence of the current mission item | +| nav_cmd | `uint16` | | | | +| latitude | `float32` | | | | +| longitude | `float32` | | | | +| time_inside | `float32` | | | time that the MAV should stay inside the radius before advancing in seconds | +| acceptance_radius | `float32` | | | default radius in which the mission is accepted as reached in meters | +| loiter_radius | `float32` | | | loiter radius in meters, 0 for a VTOL to hover, negative for counter-clockwise | +| yaw | `float32` | | | in radians NED -PI..+PI, NAN means don't change yaw | +| altitude | `float32` | | | altitude in meters (AMSL) | +| frame | `uint8` | | | mission frame | +| origin | `uint8` | | | mission item origin (onboard or mavlink) | +| loiter_exit_xtrack | `bool` | | | exit xtrack location: 0 for center of loiter wp, 1 for exit location | +| force_heading | `bool` | | | heading needs to be reached | +| altitude_is_relative | `bool` | | | true if altitude is relative from start point | +| autocontinue | `bool` | | | true if next waypoint should follow after this one | +| vtol_back_transition | `bool` | | | part of the vtol back transition sequence | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/NavigatorMissionItem.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -26,5 +59,6 @@ bool force_heading # heading needs to be reached bool altitude_is_relative # true if altitude is relative from start point bool autocontinue # true if next waypoint should follow after this one bool vtol_back_transition # part of the vtol back transition sequence - ``` + +::: diff --git a/docs/uk/msg_docs/NavigatorStatus.md b/docs/uk/msg_docs/NavigatorStatus.md index 4eb53a56c8..3e0086ba8f 100644 --- a/docs/uk/msg_docs/NavigatorStatus.md +++ b/docs/uk/msg_docs/NavigatorStatus.md @@ -1,9 +1,34 @@ +--- +pageClass: is-wide-page +--- + # NavigatorStatus (UORB message) -Current status of a Navigator mode -The possible values of nav_state are defined in the VehicleStatus msg. +Current status of a Navigator mode. Можливі значення nav_state визначені в повідомленні VehicleStatus. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/NavigatorStatus.msg) +**TOPICS:** navigator_status + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| nav_state | `uint8` | | | Source mode (values in VehicleStatus) | +| failure | `uint8` | | | Navigator failure enum | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------- | ------- | -------- | --------------------------------------------------- | +| FAILURE_NONE | `uint8` | 0 | | +| FAILURE_HAGL | `uint8` | 1 | Target altitude exceeds maximum height above ground | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/NavigatorStatus.msg) + +:::details +Click here to see original file ```c # Current status of a Navigator mode @@ -15,5 +40,6 @@ uint8 failure # Navigator failure enum uint8 FAILURE_NONE = 0 uint8 FAILURE_HAGL = 1 # Target altitude exceeds maximum height above ground - ``` + +::: diff --git a/docs/uk/msg_docs/NeuralControl.md b/docs/uk/msg_docs/NeuralControl.md index 3e99004fbc..0c9ad59799 100644 --- a/docs/uk/msg_docs/NeuralControl.md +++ b/docs/uk/msg_docs/NeuralControl.md @@ -1,12 +1,33 @@ +--- +pageClass: is-wide-page +--- + # NeuralControl (UORB message) -Neural control +Neural control. Debugging topic for the Neural controller, logs the inputs and output vectors of the neural network, and the time it takes to run Publisher: mc_nn_control Subscriber: logger -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/NeuralControl.msg) +**TOPICS:** neural_control + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------ | ------------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| observation | `float32[15]` | | | Observation vector (pos error (3), att (6d), lin vel (3), ang vel (3)) | +| network_output | `float32[4]` | | | Output from neural network | +| controller_time | `int32` | us | | Time spent from input to output | +| inference_time | `int32` | us | | Time spent for NN inference | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/NeuralControl.msg) + +:::details +Click here to see original file ```c # Neural control @@ -22,5 +43,6 @@ float32[4] network_output # Output from neural network int32 controller_time # [us] Time spent from input to output int32 inference_time # [us] Time spent for NN inference - ``` + +::: diff --git a/docs/uk/msg_docs/NormalizedUnsignedSetpoint.md b/docs/uk/msg_docs/NormalizedUnsignedSetpoint.md index 8533b090ae..ef6afb1e6a 100644 --- a/docs/uk/msg_docs/NormalizedUnsignedSetpoint.md +++ b/docs/uk/msg_docs/NormalizedUnsignedSetpoint.md @@ -1,6 +1,24 @@ +--- +pageClass: is-wide-page +--- + # NormalizedUnsignedSetpoint (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/NormalizedUnsignedSetpoint.msg) +**TOPICS:** flaps_setpoint spoilers_setpoint + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| normalized_setpoint | `float32` | 0, 1 | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/NormalizedUnsignedSetpoint.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -8,5 +26,6 @@ uint64 timestamp # time since system start (microseconds) float32 normalized_setpoint # [0, 1] # TOPICS flaps_setpoint spoilers_setpoint - ``` + +::: diff --git a/docs/uk/msg_docs/ObstacleDistance.md b/docs/uk/msg_docs/ObstacleDistance.md index 1f295c1b4c..de752880f8 100644 --- a/docs/uk/msg_docs/ObstacleDistance.md +++ b/docs/uk/msg_docs/ObstacleDistance.md @@ -1,8 +1,44 @@ +--- +pageClass: is-wide-page +--- + # ObstacleDistance (повідомлення UORB) Відстані перешкод перед сенсором. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ObstacleDistance.msg) +**TOPICS:** obstacle_distance obstacle_distance_fused + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| frame | `uint8` | | | Coordinate frame of reference for the yaw rotation and offset of the sensor data. Defaults to MAV_FRAME_GLOBAL, which is North aligned. For body-mounted sensors use MAV_FRAME_BODY_FRD, which is vehicle front aligned. | +| sensor_type | `uint8` | | | Type from MAV_DISTANCE_SENSOR enum. | +| distances | `uint16[72]` | | | Distance of obstacles around the UAV with index 0 corresponding to local North. A value of 0 means that the obstacle is right in front of the sensor. A value of max_distance +1 means no obstacle is present. A value of UINT16_MAX for unknown/not used. In a array element, one unit corresponds to 1cm. | +| increment | `float32` | | | Angular width in degrees of each array element. | +| min_distance | `uint16` | | | Minimum distance the sensor can measure in centimeters. | +| max_distance | `uint16` | | | Maximum distance the sensor can measure in centimeters. | +| angle_offset | `float32` | | | Relative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive is clockwise direction, negative is counter-clockwise. | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| MAV_FRAME_GLOBAL | `uint8` | 0 | | +| MAV_FRAME_LOCAL_NED | `uint8` | 1 | | +| MAV_FRAME_BODY_FRD | `uint8` | 12 | | +| MAV_DISTANCE_SENSOR_LASER | `uint8` | 0 | | +| MAV_DISTANCE_SENSOR_ULTRASOUND | `uint8` | 1 | | +| MAV_DISTANCE_SENSOR_INFRARED | `uint8` | 2 | | +| MAV_DISTANCE_SENSOR_RADAR | `uint8` | 3 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ObstacleDistance.msg) + +:::details +Click here to see original file ```c # Obstacle distances in front of the sensor. @@ -29,5 +65,6 @@ uint16 max_distance # Maximum distance the sensor can measure in centimeters. float32 angle_offset # Relative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive is clockwise direction, negative is counter-clockwise. # TOPICS obstacle_distance obstacle_distance_fused - ``` + +::: diff --git a/docs/uk/msg_docs/OffboardControlMode.md b/docs/uk/msg_docs/OffboardControlMode.md index 4499912d95..577e60c071 100644 --- a/docs/uk/msg_docs/OffboardControlMode.md +++ b/docs/uk/msg_docs/OffboardControlMode.md @@ -1,8 +1,32 @@ +--- +pageClass: is-wide-page +--- + # OffboardControlMode (UORB message) -Off-board control mode +Off-board control mode. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OffboardControlMode.msg) +**TOPICS:** offboard_controlmode + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| положення | `bool` | | | | +| швидкість | `bool` | | | | +| acceleration | `bool` | | | | +| attitude | `bool` | | | | +| body_rate | `bool` | | | | +| thrust_and_torque | `bool` | | | | +| direct_actuator | `bool` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OffboardControlMode.msg) + +:::details +Click here to see original file ```c # Off-board control mode @@ -16,5 +40,6 @@ bool attitude bool body_rate bool thrust_and_torque bool direct_actuator - ``` + +::: diff --git a/docs/uk/msg_docs/OnboardComputerStatus.md b/docs/uk/msg_docs/OnboardComputerStatus.md index 9cc80e7402..a432555f4e 100644 --- a/docs/uk/msg_docs/OnboardComputerStatus.md +++ b/docs/uk/msg_docs/OnboardComputerStatus.md @@ -1,8 +1,44 @@ +--- +pageClass: is-wide-page +--- + # OnboardComputerStatus (повідомлення UORB) -ONBOARD_COMPUTER_STATUS ДАНІ ПОВІДОМЛЕННЯ ПРО СТАН БОРТОВОГО КОМП'ЮТЕРА +ONBOARD_COMPUTER_STATUS message data. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OnboardComputerStatus.msg) +**TOPICS:** onboard_computerstatus + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------ | ----------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | time since system start (microseconds) | +| uptime | `uint32` | ms | | time since system boot of the companion (milliseconds) | +| type | `uint8` | | | type of onboard computer 0: Mission computer primary, 1: Mission computer backup 1, 2: Mission computer backup 2, 3: Compute node, 4-5: Compute spares, 6-9: Payload computers. | +| cpu_cores | `uint8[8]` | | | CPU usage on the component in percent | +| cpu_combined | `uint8[10]` | | | Combined CPU usage as the last 10 slices of 100 MS | +| gpu_cores | `uint8[4]` | | | GPU usage on the component in percent | +| gpu_combined | `uint8[10]` | | | Combined GPU usage as the last 10 slices of 100 MS | +| temperature_board | `int8` | degC | | Temperature of the board | +| temperature_core | `int8[8]` | degC | | Temperature of the CPU core | +| fan_speed | `int16[4]` | rpm | | Fan speeds | +| ram_usage | `uint32` | MB | | Amount of used RAM on the component system | +| ram_total | `uint32` | MB | | Total amount of RAM on the component system | +| storage_type | `uint32[4]` | | | Storage type: 0: HDD, 1: SSD, 2: EMMC, 3: SD card (non-removable), 4: SD card (removable) | +| storage_usage | `uint32[4]` | MB | | Amount of used storage space on the component system | +| storage_total | `uint32[4]` | MB | | Total amount of storage space on the component system | +| link_type | `uint32[6]` | Kb/s | | Link type: 0-9: UART, 10-19: Wired network, 20-29: Wifi, 30-39: Point-to-point proprietary, 40-49: Mesh proprietary | +| link_tx_rate | `uint32[6]` | Kb/s | | Network traffic from the component system | +| link_rx_rate | `uint32[6]` | Kb/s | | Network traffic to the component system | +| link_tx_max | `uint32[6]` | Kb/s | | Network capacity from the component system | +| link_rx_max | `uint32[6]` | Kb/s | | Network capacity to the component system | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OnboardComputerStatus.msg) + +:::details +Click here to see original file ```c # ONBOARD_COMPUTER_STATUS message data @@ -28,5 +64,6 @@ uint32[6] link_tx_rate # [Kb/s] Network traffic from the component system uint32[6] link_rx_rate # [Kb/s] Network traffic to the component system uint32[6] link_tx_max # [Kb/s] Network capacity from the component system uint32[6] link_rx_max # [Kb/s] Network capacity to the component system - ``` + +::: diff --git a/docs/uk/msg_docs/OpenDroneIdArmStatus.md b/docs/uk/msg_docs/OpenDroneIdArmStatus.md index 152d34a166..1d85568e59 100644 --- a/docs/uk/msg_docs/OpenDroneIdArmStatus.md +++ b/docs/uk/msg_docs/OpenDroneIdArmStatus.md @@ -1,10 +1,30 @@ +--- +pageClass: is-wide-page +--- + # OpenDroneIdArmStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OpenDroneIdArmStatus.msg) +**TOPICS:** open_droneid_armstatus + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------- | ---------- | ---------------------------------------------------------------- | ---------- | ---- | +| timestamp | `uint64` | | | | +| status | `uint8` | | | | +| error | `char[50]` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OpenDroneIdArmStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp uint8 status char[50] error - ``` + +::: diff --git a/docs/uk/msg_docs/OpenDroneIdOperatorId.md b/docs/uk/msg_docs/OpenDroneIdOperatorId.md index cafca0aa09..1b5b11ac79 100644 --- a/docs/uk/msg_docs/OpenDroneIdOperatorId.md +++ b/docs/uk/msg_docs/OpenDroneIdOperatorId.md @@ -1,11 +1,32 @@ +--- +pageClass: is-wide-page +--- + # OpenDroneIdOperatorId (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OpenDroneIdOperatorId.msg) +**TOPICS:** open_droneid_operatorid + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | ---- | +| timestamp | `uint64` | | | | +| id_or_mac | `uint8[20]` | | | | +| operator_id_type | `uint8` | | | | +| operator_id | `char[20]` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OpenDroneIdOperatorId.msg) + +:::details +Click here to see original file ```c uint64 timestamp uint8[20] id_or_mac uint8 operator_id_type char[20] operator_id - ``` + +::: diff --git a/docs/uk/msg_docs/OpenDroneIdSelfId.md b/docs/uk/msg_docs/OpenDroneIdSelfId.md index 493be28d9f..cb2f0cae80 100644 --- a/docs/uk/msg_docs/OpenDroneIdSelfId.md +++ b/docs/uk/msg_docs/OpenDroneIdSelfId.md @@ -1,11 +1,32 @@ +--- +pageClass: is-wide-page +--- + # OpenDroneIdSelfId (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OpenDroneIdSelfId.msg) +**TOPICS:** open_droneid_selfid + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------------------------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | ---- | +| timestamp | `uint64` | | | | +| id_or_mac | `uint8[20]` | | | | +| description_type | `uint8` | | | | +| description | `char[23]` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OpenDroneIdSelfId.msg) + +:::details +Click here to see original file ```c uint64 timestamp uint8[20] id_or_mac uint8 description_type char[23] description - ``` + +::: diff --git a/docs/uk/msg_docs/OpenDroneIdSystem.md b/docs/uk/msg_docs/OpenDroneIdSystem.md index 402b7d0baf..c899b8b4e5 100644 --- a/docs/uk/msg_docs/OpenDroneIdSystem.md +++ b/docs/uk/msg_docs/OpenDroneIdSystem.md @@ -1,6 +1,35 @@ +--- +pageClass: is-wide-page +--- + # OpenDroneIdSystem (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OpenDroneIdSystem.msg) +**TOPICS:** open_droneid_system + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | ---- | +| timestamp | `uint64` | | | | +| id_or_mac | `uint8[20]` | | | | +| operator_location_type | `uint8` | | | | +| classification_type | `uint8` | | | | +| operator_latitude | `int32` | | | | +| operator_longitude | `int32` | | | | +| area_count | `uint16` | | | | +| area_radius | `uint16` | | | | +| area_ceiling | `float32` | | | | +| area_floor | `float32` | | | | +| category_eu | `uint8` | | | | +| class_eu | `uint8` | | | | +| operator_altitude_geo | `float32` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OpenDroneIdSystem.msg) + +:::details +Click here to see original file ```c uint64 timestamp @@ -16,5 +45,6 @@ float32 area_floor uint8 category_eu uint8 class_eu float32 operator_altitude_geo - ``` + +::: diff --git a/docs/uk/msg_docs/OrbTest.md b/docs/uk/msg_docs/OrbTest.md index b5ca87c539..88e62c96f1 100644 --- a/docs/uk/msg_docs/OrbTest.md +++ b/docs/uk/msg_docs/OrbTest.md @@ -1,6 +1,24 @@ +--- +pageClass: is-wide-page +--- + # OrbTest (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OrbTest.msg) +**TOPICS:** orb_test orb_multitest + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| val | `int32` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OrbTest.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -8,5 +26,6 @@ uint64 timestamp # time since system start (microseconds) int32 val # TOPICS orb_test orb_multitest - ``` + +::: diff --git a/docs/uk/msg_docs/OrbTestLarge.md b/docs/uk/msg_docs/OrbTestLarge.md index 2b6fd869f2..fc87d53530 100644 --- a/docs/uk/msg_docs/OrbTestLarge.md +++ b/docs/uk/msg_docs/OrbTestLarge.md @@ -1,6 +1,25 @@ +--- +pageClass: is-wide-page +--- + # OrbTestLarge (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OrbTestLarge.msg) +**TOPICS:** orb_testlarge + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| val | `int32` | | | | +| junk | `uint8[512]` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OrbTestLarge.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -8,5 +27,6 @@ uint64 timestamp # time since system start (microseconds) int32 val uint8[512] junk - ``` + +::: diff --git a/docs/uk/msg_docs/OrbTestMedium.md b/docs/uk/msg_docs/OrbTestMedium.md index 01a6a8c014..abc66d468e 100644 --- a/docs/uk/msg_docs/OrbTestMedium.md +++ b/docs/uk/msg_docs/OrbTestMedium.md @@ -1,6 +1,31 @@ +--- +pageClass: is-wide-page +--- + # OrbTestMedium (Повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OrbTestMedium.msg) +**TOPICS:** orb_test_medium orb_test_medium_multi orb_test_medium_wrap_around orb_test_medium_queue orb_test_medium_queue_poll + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------- | ----------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| val | `int32` | | | | +| junk | `uint8[64]` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 16 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OrbTestMedium.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -12,5 +37,6 @@ uint8[64] junk uint8 ORB_QUEUE_LENGTH = 16 # TOPICS orb_test_medium orb_test_medium_multi orb_test_medium_wrap_around orb_test_medium_queue orb_test_medium_queue_poll - ``` + +::: diff --git a/docs/uk/msg_docs/OrbitStatus.md b/docs/uk/msg_docs/OrbitStatus.md index e1a9c32baa..1965efea4e 100644 --- a/docs/uk/msg_docs/OrbitStatus.md +++ b/docs/uk/msg_docs/OrbitStatus.md @@ -1,8 +1,42 @@ +--- +pageClass: is-wide-page +--- + # OrbitStatus (UORB повідомлення) -ORBIT_YAW_BEHAVIOUR +ORBIT_YAW_BEHAVIOUR. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OrbitStatus.msg) +**TOPICS:** orbit_status + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| radius | `float32` | | | Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise. [m] | +| frame | `uint8` | | | The coordinate system of the fields: x, y, z. | +| x | `float64` | | | X coordinate of center point. Coordinate system depends on frame field: local = x position in meters _ 1e4, global = latitude in degrees _ 1e7. | +| y | `float64` | | | Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters _ 1e4, global = latitude in degrees _ 1e7. | +| z | `float32` | | | Altitude of center point. Coordinate system depends on frame field. | +| yaw_behaviour | `uint8` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER | `uint8` | 0 | | +| ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING | `uint8` | 1 | | +| ORBIT_YAW_BEHAVIOUR_UNCONTROLLED | `uint8` | 2 | | +| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE | `uint8` | 3 | | +| ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED | `uint8` | 4 | | +| ORBIT_YAW_BEHAVIOUR_UNCHANGED | `uint8` | 5 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/OrbitStatus.msg) + +:::details +Click here to see original file ```c # ORBIT_YAW_BEHAVIOUR @@ -20,5 +54,6 @@ float64 x # X coordinate of center point. Coordinate system depends on fr float64 y # Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters * 1e4, global = latitude in degrees * 1e7. float32 z # Altitude of center point. Coordinate system depends on frame field. uint8 yaw_behaviour - ``` + +::: diff --git a/docs/uk/msg_docs/ParameterResetRequest.md b/docs/uk/msg_docs/ParameterResetRequest.md index 58734646be..a8561069aa 100644 --- a/docs/uk/msg_docs/ParameterResetRequest.md +++ b/docs/uk/msg_docs/ParameterResetRequest.md @@ -1,8 +1,33 @@ +--- +pageClass: is-wide-page +--- + # ParameterResetRequest (повідомлення UORB) -ParameterResetRequest : Параметр скинути запит. Використовується в основному для скидання одного або всіх параметрів значення на віддаленому +ParameterResetRequest : Used by the primary to reset one or all parameter value(s) on the remote. -[вихідний файл](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ParameterResetRequest.msg) +**TOPICS:** parameter_resetrequest + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------- | +| timestamp | `uint64` | | | | +| parameter_index | `uint16` | | | | +| reset_all | `bool` | | | If this is true then ignore parameter_index | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ParameterResetRequest.msg) + +:::details +Click here to see original file ```c # ParameterResetRequest : Used by the primary to reset one or all parameter value(s) on the remote @@ -13,5 +38,6 @@ uint16 parameter_index bool reset_all # If this is true then ignore parameter_index uint8 ORB_QUEUE_LENGTH = 4 - ``` + +::: diff --git a/docs/uk/msg_docs/ParameterSetUsedRequest.md b/docs/uk/msg_docs/ParameterSetUsedRequest.md index 283abb0d19..cab7fd68c2 100644 --- a/docs/uk/msg_docs/ParameterSetUsedRequest.md +++ b/docs/uk/msg_docs/ParameterSetUsedRequest.md @@ -1,8 +1,32 @@ +--- +pageClass: is-wide-page +--- + # ParameterSetUsedRequest (повідомлення UORB) -ParameterSetUsedRequest : Used by a remote to update the used flag for a parameter on the primary +ParameterSetUsedRequest : Used by a remote to update the used flag for a parameter on the primary. -[вихідний файл](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ParameterSetUsedRequest.msg) +**TOPICS:** parameter_setused_request + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | ---- | +| timestamp | `uint64` | | | | +| parameter_index | `uint16` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 64 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ParameterSetUsedRequest.msg) + +:::details +Click here to see original file ```c # ParameterSetUsedRequest : Used by a remote to update the used flag for a parameter on the primary @@ -11,5 +35,6 @@ uint64 timestamp uint16 parameter_index uint8 ORB_QUEUE_LENGTH = 64 - ``` + +::: diff --git a/docs/uk/msg_docs/ParameterSetValueRequest.md b/docs/uk/msg_docs/ParameterSetValueRequest.md index e17896a38c..71365d6507 100644 --- a/docs/uk/msg_docs/ParameterSetValueRequest.md +++ b/docs/uk/msg_docs/ParameterSetValueRequest.md @@ -1,8 +1,34 @@ +--- +pageClass: is-wide-page +--- + # ParameterSetValueRequest (UORB повідомлення) -ЗапитParameterSetValueRequest : Використовується віддалено або основним для оновлення значення параметра на іншому кінці +ParameterSetValueRequest : Used by a remote or primary to update the value for a parameter at the other end. -[вихідний файл](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ParameterSetValueRequest.msg) +**TOPICS:** parameter_set_value_request parameter_remote_set_value_request parameter_primary_set_value_request + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------ | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------- | +| timestamp | `uint64` | | | | +| parameter_index | `uint16` | | | | +| int_value | `int32` | | | Optional value for an integer parameter | +| float_value | `float32` | | | Optional value for a float parameter | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 32 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ParameterSetValueRequest.msg) + +:::details +Click here to see original file ```c # ParameterSetValueRequest : Used by a remote or primary to update the value for a parameter at the other end @@ -16,5 +42,6 @@ float32 float_value # Optional value for a float parameter uint8 ORB_QUEUE_LENGTH = 32 # TOPICS parameter_set_value_request parameter_remote_set_value_request parameter_primary_set_value_request - ``` + +::: diff --git a/docs/uk/msg_docs/ParameterSetValueResponse.md b/docs/uk/msg_docs/ParameterSetValueResponse.md index 4c0344c05b..3f09e4ea8c 100644 --- a/docs/uk/msg_docs/ParameterSetValueResponse.md +++ b/docs/uk/msg_docs/ParameterSetValueResponse.md @@ -1,8 +1,33 @@ +--- +pageClass: is-wide-page +--- + # ParameterSetValueResponse (повідомлення UORB) -ВідповідьParameterSetValueResponse : Результат відповіді на запит на встановлення значення від будь-якого первинного або вторинного +ParameterSetValueResponse : Response to a set value request by either primary or secondary. -[вихідний файл](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ParameterSetValueResponse.msg) +**TOPICS:** parameter_set_value_response parameter_remote_set_value_response parameter_primary_set_value_response + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| -------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ---- | +| timestamp | `uint64` | | | | +| request_timestamp | `uint64` | | | | +| parameter_index | `uint16` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ParameterSetValueResponse.msg) + +:::details +Click here to see original file ```c # ParameterSetValueResponse : Response to a set value request by either primary or secondary @@ -14,5 +39,6 @@ uint16 parameter_index uint8 ORB_QUEUE_LENGTH = 4 # TOPICS parameter_set_value_response parameter_remote_set_value_response parameter_primary_set_value_response - ``` + +::: diff --git a/docs/uk/msg_docs/ParameterUpdate.md b/docs/uk/msg_docs/ParameterUpdate.md index f35da62edd..5f18f4615c 100644 --- a/docs/uk/msg_docs/ParameterUpdate.md +++ b/docs/uk/msg_docs/ParameterUpdate.md @@ -1,8 +1,33 @@ +--- +pageClass: is-wide-page +--- + # Оновлення параметрів (Повідомлення UORB) -Це повідомлення використовується для повідомлення системі про одну або кілька змін параметрів +This message is used to notify the system about one or more parameter changes. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ParameterUpdate.msg) +**TOPICS:** parameter_update + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| instance | `uint32` | | | Instance count - constantly incrementing | +| get_count | `uint32` | | | | +| set_count | `uint32` | | | | +| find_count | `uint32` | | | | +| export_count | `uint32` | | | | +| active | `uint16` | | | | +| changed | `uint16` | | | | +| custom_default | `uint16` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ParameterUpdate.msg) + +:::details +Click here to see original file ```c # This message is used to notify the system about one or more parameter changes @@ -19,5 +44,6 @@ uint32 export_count uint16 active uint16 changed uint16 custom_default - ``` + +::: diff --git a/docs/uk/msg_docs/Ping.md b/docs/uk/msg_docs/Ping.md index 1cb8ac5413..ce97584f23 100644 --- a/docs/uk/msg_docs/Ping.md +++ b/docs/uk/msg_docs/Ping.md @@ -1,6 +1,29 @@ +--- +pageClass: is-wide-page +--- + # Ping (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Ping.msg) +**TOPICS:** ping + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------ | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| ping_time | `uint64` | | | Timestamp of the ping packet | +| ping_sequence | `uint32` | | | Sequence number of the ping packet | +| dropped_packets | `uint32` | | | Number of dropped ping packets | +| rtt_ms | `float32` | | | Round trip time (in ms) | +| system_id | `uint8` | | | System ID of the remote system | +| component_id | `uint8` | | | Component ID of the remote system | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Ping.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -10,5 +33,6 @@ uint32 dropped_packets # Number of dropped ping packets float32 rtt_ms # Round trip time (in ms) uint8 system_id # System ID of the remote system uint8 component_id # Component ID of the remote system - ``` + +::: diff --git a/docs/uk/msg_docs/PositionControllerLandingStatus.md b/docs/uk/msg_docs/PositionControllerLandingStatus.md index 3e58676dc3..0be7fbf0eb 100644 --- a/docs/uk/msg_docs/PositionControllerLandingStatus.md +++ b/docs/uk/msg_docs/PositionControllerLandingStatus.md @@ -1,6 +1,36 @@ +--- +pageClass: is-wide-page +--- + # PositionControllerLandingStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PositionControllerLandingStatus.msg) +**TOPICS:** position_controllerlanding_status + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------ | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------- | +| timestamp | `uint64` | us | | time since system start | +| lateral_touchdown_offset | `float32` | m | | lateral touchdown position offset manually commanded during landing | +| flaring | `bool` | | | true if the aircraft is flaring | +| abort_status | `uint8` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------ | +| NOT_ABORTED | `uint8` | 0 | | +| ABORTED_BY_OPERATOR | `uint8` | 1 | | +| TERRAIN_NOT_FOUND | `uint8` | 2 | FW_LND_ABORT (1 << 0) | +| TERRAIN_TIMEOUT | `uint8` | 3 | FW_LND_ABORT (1 << 1) | +| UNKNOWN_ABORT_CRITERION | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PositionControllerLandingStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # [us] time since system start @@ -19,5 +49,6 @@ uint8 ABORTED_BY_OPERATOR = 1 uint8 TERRAIN_NOT_FOUND = 2 # FW_LND_ABORT (1 << 0) uint8 TERRAIN_TIMEOUT = 3 # FW_LND_ABORT (1 << 1) uint8 UNKNOWN_ABORT_CRITERION = 4 - ``` + +::: diff --git a/docs/uk/msg_docs/PositionControllerStatus.md b/docs/uk/msg_docs/PositionControllerStatus.md index 2fadf80a9e..78bab1a3c6 100644 --- a/docs/uk/msg_docs/PositionControllerStatus.md +++ b/docs/uk/msg_docs/PositionControllerStatus.md @@ -1,6 +1,31 @@ +--- +pageClass: is-wide-page +--- + # PositionControllerStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PositionControllerStatus.msg) +**TOPICS:** position_controllerstatus + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| -------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| nav_roll | `float32` | | | Roll setpoint [rad] | +| nav_pitch | `float32` | | | Pitch setpoint [rad] | +| nav_bearing | `float32` | | | Bearing angle[rad] | +| target_bearing | `float32` | | | Bearing angle from aircraft to current target [rad] | +| xtrack_error | `float32` | | | Signed track error [m] | +| wp_dist | `float32` | | | Distance to active (next) waypoint [m] | +| acceptance_radius | `float32` | | | Current horizontal acceptance radius [m] | +| type | `uint8` | | | Current (applied) position setpoint type (see PositionSetpoint.msg) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PositionControllerStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -13,5 +38,6 @@ float32 xtrack_error # Signed track error [m] float32 wp_dist # Distance to active (next) waypoint [m] float32 acceptance_radius # Current horizontal acceptance radius [m] uint8 type # Current (applied) position setpoint type (see PositionSetpoint.msg) - ``` + +::: diff --git a/docs/uk/msg_docs/PositionSetpoint.md b/docs/uk/msg_docs/PositionSetpoint.md index bf390ac46b..c6b3cb23bb 100644 --- a/docs/uk/msg_docs/PositionSetpoint.md +++ b/docs/uk/msg_docs/PositionSetpoint.md @@ -1,8 +1,57 @@ +--- +pageClass: is-wide-page +--- + # PositionSetpoint (повідомлення UORB) -цей файл використовується лише у потрійному підпорядкуванні позиції як залежність +this file is only used in the position_setpoint triple as a dependency. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PositionSetpoint.msg) +**TOPICS:** position_setpoint + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | ---------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| valid | `bool` | | | true if setpoint is valid | +| type | `uint8` | | | setpoint type to adjust behavior of position controller | +| vx | `float32` | | | local velocity setpoint in m/s in NED | +| vy | `float32` | | | local velocity setpoint in m/s in NED | +| vz | `float32` | | | local velocity setpoint in m/s in NED | +| lat | `float64` | | | latitude, in deg | +| lon | `float64` | | | longitude, in deg | +| alt | `float32` | | | altitude AMSL, in m | +| yaw | `float32` | | | yaw (only in hover), in rad [-PI..PI), NaN = leave to flight task | +| loiter_radius | `float32` | m | [0 : INF] | loiter major axis radius | +| loiter_minor_radius | `float32` | m | [0 : INF] | loiter minor axis radius (used for non-circular loiter shapes) | +| loiter_direction_counter_clockwise | `bool` | | | loiter direction is clockwise by default and can be changed using this field | +| loiter_orientation | `float32` | rad | [-pi : pi] | orientation of the major axis with respect to true north | +| loiter_pattern | `uint8` | | | loitern pattern to follow | +| acceptance_radius | `float32` | | | horizontal acceptance_radius (meters) | +| alt_acceptance_radius | `float32` | | | vertical acceptance radius, only used for fixed wing guidance, NAN = let guidance choose (meters) | +| cruising_speed | `float32` | | | the generally desired cruising speed (not a hard constraint) | +| gliding_enabled | `bool` | | | commands the vehicle to glide if the capability is available (fixed wing only) | +| cruising_throttle | `float32` | | | the generally desired cruising throttle (not a hard constraint), only has an effect for rover | + +## Constants + +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------------------- | ------- | -------- | --------------------------------------------------------------------------- | +| SETPOINT_TYPE_POSITION | `uint8` | 0 | position setpoint | +| SETPOINT_TYPE_VELOCITY | `uint8` | 1 | velocity setpoint | +| SETPOINT_TYPE_LOITER | `uint8` | 2 | loiter setpoint | +| SETPOINT_TYPE_TAKEOFF | `uint8` | 3 | takeoff setpoint | +| SETPOINT_TYPE_LAND | `uint8` | 4 | land setpoint, altitude must be ignored, descend until landing | +| SETPOINT_TYPE_IDLE | `uint8` | 5 | do nothing, switch off motors or keep at idle speed (MC) | +| LOITER_TYPE_ORBIT | `uint8` | 0 | Circular pattern | +| LOITER_TYPE_FIGUREEIGHT | `uint8` | 1 | Pattern resembling an 8 | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PositionSetpoint.msg) + +:::details +Click here to see original file ```c # this file is only used in the position_setpoint triple as a dependency @@ -43,5 +92,6 @@ float32 alt_acceptance_radius # vertical acceptance radius, only used for fixed float32 cruising_speed # the generally desired cruising speed (not a hard constraint) bool gliding_enabled # commands the vehicle to glide if the capability is available (fixed wing only) float32 cruising_throttle # the generally desired cruising throttle (not a hard constraint), only has an effect for rover - ``` + +::: diff --git a/docs/uk/msg_docs/PositionSetpointTriplet.md b/docs/uk/msg_docs/PositionSetpointTriplet.md index e4a2bb9baa..c8fcead679 100644 --- a/docs/uk/msg_docs/PositionSetpointTriplet.md +++ b/docs/uk/msg_docs/PositionSetpointTriplet.md @@ -1,9 +1,28 @@ +--- +pageClass: is-wide-page +--- + # PositionSetpointTriplet (Повідомлення UORB) -Глобальний набір точки встановлення у форматі координат WGS84. -Ось наступні три способи вказівань (або просто наступні два або один). +Глобальний набір точки встановлення у форматі координат WGS84. Ось наступні три способи вказівань (або просто наступні два або один). -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PositionSetpointTriplet.msg) +**TOPICS:** position_setpointtriplet + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------- | ------------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| previous | `PositionSetpoint` | | | | +| current | `PositionSetpoint` | | | | +| next | `PositionSetpoint` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PositionSetpointTriplet.msg) + +:::details +Click here to see original file ```c # Global position setpoint triplet in WGS84 coordinates. @@ -14,5 +33,6 @@ uint64 timestamp # time since system start (microseconds) PositionSetpoint previous PositionSetpoint current PositionSetpoint next - ``` + +::: diff --git a/docs/uk/msg_docs/PowerButtonState.md b/docs/uk/msg_docs/PowerButtonState.md index ca4ca87402..42f9ee30dc 100644 --- a/docs/uk/msg_docs/PowerButtonState.md +++ b/docs/uk/msg_docs/PowerButtonState.md @@ -1,8 +1,35 @@ +--- +pageClass: is-wide-page +--- + # PowerButtonState (UORB повідомлення) -повідомлення стану кнопки вимкнення живлення +power button state notification message. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PowerButtonState.msg) +**TOPICS:** power_buttonstate + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| event | `uint8` | | | one of PWR_BUTTON_STATE_\* | + +## Constants + +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------ | +| PWR_BUTTON_STATE_IDEL | `uint8` | 0 | Button went up without meeting shutdown button down time (delete event) | +| PWR_BUTTON_STATE_DOWN | `uint8` | 1 | Button went Down | +| PWR_BUTTON_STATE_UP | `uint8` | 2 | Button went Up | +| PWR_BUTTON_STATE_REQUEST_SHUTDOWN | `uint8` | 3 | Button went Up after meeting shutdown button down time | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PowerButtonState.msg) + +:::details +Click here to see original file ```c # power button state notification message @@ -15,5 +42,6 @@ uint8 PWR_BUTTON_STATE_UP = 2 # Button went Up uint8 PWR_BUTTON_STATE_REQUEST_SHUTDOWN = 3 # Button went Up after meeting shutdown button down time uint8 event # one of PWR_BUTTON_STATE_* - ``` + +::: diff --git a/docs/uk/msg_docs/PowerMonitor.md b/docs/uk/msg_docs/PowerMonitor.md index 2efe8ce319..5d132aacf5 100644 --- a/docs/uk/msg_docs/PowerMonitor.md +++ b/docs/uk/msg_docs/PowerMonitor.md @@ -1,8 +1,36 @@ +--- +pageClass: is-wide-page +--- + # PowerMonitor (повідомлення UORB) -power monitor message +power monitor message. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PowerMonitor.msg) +**TOPICS:** power_monitor + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------ | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | Time since system start (microseconds) | +| voltage_v | `float32` | | | Voltage in volts, 0 if unknown | +| current_a | `float32` | | | Current in amperes, -1 if unknown | +| power_w | `float32` | | | power in watts, -1 if unknown | +| rconf | `int16` | | | | +| rsv | `int16` | | | | +| rbv | `int16` | | | | +| rp | `int16` | | | | +| rc | `int16` | | | | +| rcal | `int16` | | | | +| me | `int16` | | | | +| al | `int16` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PowerMonitor.msg) + +:::details +Click here to see original file ```c # power monitor message @@ -20,5 +48,6 @@ int16 rc int16 rcal int16 me int16 al - ``` + +::: diff --git a/docs/uk/msg_docs/PpsCapture.md b/docs/uk/msg_docs/PpsCapture.md index e566147389..1be4052553 100644 --- a/docs/uk/msg_docs/PpsCapture.md +++ b/docs/uk/msg_docs/PpsCapture.md @@ -1,10 +1,30 @@ +--- +pageClass: is-wide-page +--- + # PpsCapture (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PpsCapture.msg) +**TOPICS:** pps_capture + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------- | -------- | ---------------------------------------------------------------- | ------------------------------------------------------ | ------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) at PPS capture event | +| rtc_timestamp | `uint64` | | | Corrected GPS UTC timestamp at PPS capture event | +| `uint8` | | | Increments when PPS dt < 50ms | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PpsCapture.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) at PPS capture event uint64 rtc_timestamp # Corrected GPS UTC timestamp at PPS capture event uint8 pps_rate_exceeded_counter # Increments when PPS dt < 50ms - ``` + +::: diff --git a/docs/uk/msg_docs/PurePursuitStatus.md b/docs/uk/msg_docs/PurePursuitStatus.md index 8d54ba473e..9d4a1fb10f 100644 --- a/docs/uk/msg_docs/PurePursuitStatus.md +++ b/docs/uk/msg_docs/PurePursuitStatus.md @@ -1,8 +1,30 @@ +--- +pageClass: is-wide-page +--- + # PurePursuitStatus (UORB message) -Pure pursuit status +Pure pursuit status. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PurePursuitStatus.msg) +**TOPICS:** pure_pursuitstatus + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| -------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| lookahead_distance | `float32` | m | [0 : inf] | Lookahead distance of pure the pursuit controller | +| target_bearing | `float32` | rad [NED] | [-pi : pi] | Target bearing calculated by the pure pursuit controller | +| crosstrack_error | `float32` | m | [-inf (Left of the path) : inf (Right of the path)] | Shortest distance from the vehicle to the path | +| distance_to_waypoint | `float32` | m | [-inf : inf] | Distance from the vehicle to the current waypoint | +| bearing_to_waypoint | `float32` | rad [NED] | [-pi : pi] | Bearing towards current waypoint | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PurePursuitStatus.msg) + +:::details +Click here to see original file ```c # Pure pursuit status @@ -13,5 +35,6 @@ float32 target_bearing # [rad] [@range -pi, pi] [@frame NED] Target beari float32 crosstrack_error # [m] [@range -inf (Left of the path), inf (Right of the path)] Shortest distance from the vehicle to the path float32 distance_to_waypoint # [m] [@range -inf, inf]Distance from the vehicle to the current waypoint float32 bearing_to_waypoint # [rad] [@range -pi, pi] [@frame NED]Bearing towards current waypoint - ``` + +::: diff --git a/docs/uk/msg_docs/PwmInput.md b/docs/uk/msg_docs/PwmInput.md index 9389ca3fb1..01c84d115f 100644 --- a/docs/uk/msg_docs/PwmInput.md +++ b/docs/uk/msg_docs/PwmInput.md @@ -1,11 +1,32 @@ +--- +pageClass: is-wide-page +--- + # PwmInput (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PwmInput.msg) +**TOPICS:** pwm_input + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| -------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------- | +| timestamp | `uint64` | | | Time since system start (microseconds) | +| error_count | `uint64` | | | Timer overcapture error flag (AUX5 or MAIN5) | +| pulse_width | `uint32` | | | Pulse width, timer counts (microseconds) | +| period | `uint32` | | | Period, timer counts (microseconds) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PwmInput.msg) + +:::details +Click here to see original file ```c uint64 timestamp # Time since system start (microseconds) uint64 error_count # Timer overcapture error flag (AUX5 or MAIN5) uint32 pulse_width # Pulse width, timer counts (microseconds) uint32 period # Period, timer counts (microseconds) - ``` + +::: diff --git a/docs/uk/msg_docs/Px4ioStatus.md b/docs/uk/msg_docs/Px4ioStatus.md index 4b1fbb1314..d86cb89b4e 100644 --- a/docs/uk/msg_docs/Px4ioStatus.md +++ b/docs/uk/msg_docs/Px4ioStatus.md @@ -1,6 +1,54 @@ +--- +pageClass: is-wide-page +--- + # Px4ioStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Px4ioStatus.msg) +**TOPICS:** px4io_status + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| free_memory_bytes | `uint16` | | | | +| voltage_v | `float32` | | | Servo rail voltage in volts | +| rssi_v | `float32` | | | RSSI pin voltage in volts | +| status_arm_sync | `bool` | | | | +| status_failsafe | `bool` | | | | +| status_fmu_initialized | `bool` | | | | +| status_fmu_ok | `bool` | | | | +| status_init_ok | `bool` | | | | +| status_outputs_armed | `bool` | | | | +| status_raw_pwm | `bool` | | | | +| status_rc_ok | `bool` | | | | +| status_rc_dsm | `bool` | | | | +| status_rc_ppm | `bool` | | | | +| status_rc_sbus | `bool` | | | | +| status_rc_st24 | `bool` | | | | +| status_rc_sumd | `bool` | | | | +| status_safety_button_event | `bool` | | | px4io safety button was pressed for longer than 1 second | +| alarm_pwm_error | `bool` | | | | +| alarm_rc_lost | `bool` | | | | +| arming_failsafe_custom | `bool` | | | | +| arming_fmu_armed | `bool` | | | | +| arming_fmu_prearmed | `bool` | | | | +| arming_termination | `bool` | | | | +| arming_io_arm_ok | `bool` | | | | +| arming_lockdown | `bool` | | | | +| arming_termination_failsafe | `bool` | | | | +| pwm | `uint16[8]` | | | | +| pwm_disarmed | `uint16[8]` | | | | +| pwm_failsafe | `uint16[8]` | | | | +| pwm_rate_hz | `uint16[8]` | | | | +| raw_inputs | `uint16[18]` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Px4ioStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -46,5 +94,6 @@ uint16[8] pwm_failsafe uint16[8] pwm_rate_hz uint16[18] raw_inputs - ``` + +::: diff --git a/docs/uk/msg_docs/QshellReq.md b/docs/uk/msg_docs/QshellReq.md index 7f8e38c701..b755c7e26c 100644 --- a/docs/uk/msg_docs/QshellReq.md +++ b/docs/uk/msg_docs/QshellReq.md @@ -1,6 +1,32 @@ +--- +pageClass: is-wide-page +--- + # QshellReq (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/QshellReq.msg) +**TOPICS:** qshell_req + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| cmd | `char[100]` | | | | +| strlen | `uint32` | | | | +| request_sequence | `uint32` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------- | -------- | -------- | ---- | +| MAX_STRLEN | `uint32` | 100 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/QshellReq.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -8,5 +34,6 @@ char[100] cmd uint32 MAX_STRLEN = 100 uint32 strlen uint32 request_sequence - ``` + +::: diff --git a/docs/uk/msg_docs/QshellRetval.md b/docs/uk/msg_docs/QshellRetval.md index 3a27b00e93..06105dd16b 100644 --- a/docs/uk/msg_docs/QshellRetval.md +++ b/docs/uk/msg_docs/QshellRetval.md @@ -1,10 +1,30 @@ +--- +pageClass: is-wide-page +--- + # QshellRetval (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/QshellRetval.msg) +**TOPICS:** qshell_retval + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| return_value | `int32` | | | | +| return_sequence | `uint32` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/QshellRetval.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) int32 return_value uint32 return_sequence - ``` + +::: diff --git a/docs/uk/msg_docs/RadioStatus.md b/docs/uk/msg_docs/RadioStatus.md index 58c320308e..acb3e990af 100644 --- a/docs/uk/msg_docs/RadioStatus.md +++ b/docs/uk/msg_docs/RadioStatus.md @@ -1,9 +1,32 @@ +--- +pageClass: is-wide-page +--- + # RadioStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RadioStatus.msg) +**TOPICS:** radio_status + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| rssi | `uint8` | | | local signal strength | +| remote_rssi | `uint8` | | | remote signal strength | +| txbuf | `uint8` | | | how full the tx buffer is as a percentage | +| noise | `uint8` | | | background noise level | +| remote_noise | `uint8` | | | remote background noise level | +| rxerrors | `uint16` | | | receive errors | +| fix | `uint16` | | | count of error corrected packets | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RadioStatus.msg) + +:::details +Click here to see original file ```c - uint64 timestamp # time since system start (microseconds) uint8 rssi # local signal strength @@ -16,5 +39,6 @@ uint8 remote_noise # remote background noise level uint16 rxerrors # receive errors uint16 fix # count of error corrected packets - ``` + +::: diff --git a/docs/uk/msg_docs/RaptorInput.md b/docs/uk/msg_docs/RaptorInput.md new file mode 100644 index 0000000000..61b245273c --- /dev/null +++ b/docs/uk/msg_docs/RaptorInput.md @@ -0,0 +1,59 @@ +--- +pageClass: is-wide-page +--- + +# RaptorInput (UORB message) + +Raptor Input. + +**TOPICS:** raptor_input + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on | +| active | `bool` | | | Signals if the policy is active (aka publishing actuator_motors) | +| положення | `float32[3]` | m [FLU] | | Position of the vehicle_local_position frame | +| orientation | `float32[4]` | | | Orientation in the vehicle_attitude frame but using the FLU convention as a unit quaternion (w, x, y, z) | +| linear_velocity | `float32[3]` | m/s [FLU] | | Linear velocity in the vehicle_local_position frame | +| angular_velocity | `float32[3]` | rad/s [FLU] | | Angular velocity in the body frame | +| previous_action | `float32[4]` | | [-1 : 1] | Previous action. Motor commands normalized to [-1, 1] | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------------------------- | +| MESSAGE_VERSION | `uint32` | 0 | | +| ACTION_DIM | `uint8` | 4 | Policy output dimensionality (for quadrotors) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/RaptorInput.msg) + +:::details +Click here to see original file + +```c +# Raptor Input + +# The exact inputs to the Raptor foundation policy. +# Having access to the exact inputs helps with debugging and post-hoc analysis. + +uint32 MESSAGE_VERSION = 0 + +uint64 timestamp # [us] Time since system start +uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on +bool active # Signals if the policy is active (aka publishing actuator_motors) +float32[3] position # [m] [@frame FLU] Position of the vehicle_local_position frame +float32[4] orientation # [-] Orientation in the vehicle_attitude frame but using the FLU convention as a unit quaternion (w, x, y, z) +float32[3] linear_velocity # [m/s] [@frame FLU] Linear velocity in the vehicle_local_position frame +float32[3] angular_velocity # [rad/s] [@frame FLU] Angular velocity in the body frame +uint8 ACTION_DIM = 4 # Policy output dimensionality (for quadrotors) +float32[4] previous_action # [@range -1, 1] Previous action. Motor commands normalized to [-1, 1] + +# TOPICS raptor_input +``` + +::: diff --git a/docs/uk/msg_docs/RaptorStatus.md b/docs/uk/msg_docs/RaptorStatus.md new file mode 100644 index 0000000000..1571ee94b6 --- /dev/null +++ b/docs/uk/msg_docs/RaptorStatus.md @@ -0,0 +1,109 @@ +--- +pageClass: is-wide-page +--- + +# RaptorStatus (UORB message) + +Raptor Status. + +**TOPICS:** raptor_status + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------------------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on | +| subscription_update_angular_velocity | `bool` | bool | | Flag signalling if the vehicle_angular_velocity was updated | +| subscription_update_local_position | `bool` | bool | | Flag signalling if the vehicle_local_position was updated | +| subscription_update_attitude | `bool` | bool | | Flag signalling if the vehicle_attitude was updated | +| subscription_update_trajectory_setpoint | `bool` | bool | | Flag signalling if the trajectory_setpoint was updated | +| subscription_update_vehicle_status | `bool` | bool | | Flag signalling if the vehicle_status was updated | +| exit_reason | `uint8` | enum | | Exit reason identifier. Representing conditions that lead to the Raptor policy not being executed | +| timestamp_last_vehicle_angular_velocity | `uint32` | us | | Timestamp of the last received vehicle_angular_velocity message | +| timestamp_last_vehicle_local_position | `uint32` | us | | Timestamp of the last received vehicle_local_position message | +| timestamp_last_vehicle_attitude | `uint32` | us | | Timestamp of the last received vehicle_attitude message | +| timestamp_last_trajectory_setpoint | `uint32` | us | | Timestamp of the last received trajectory_setpoint message | +| vehicle_angular_velocity_stale | `bool` | bool | | True if vehicle_angular_velocity data is considered stale (exceeded timeout) | +| vehicle_local_position_stale | `bool` | bool | | True if vehicle_local_position data is considered stale (exceeded timeout) | +| vehicle_attitude_stale | `bool` | bool | | True if vehicle_attitude data is considered stale (exceeded timeout) | +| trajectory_setpoint_stale | `bool` | bool | | True if trajectory_setpoint data is considered stale (exceeded timeout) | +| active | `bool` | bool | | True if the Raptor policy is currently active (publishing actuator_motors) | +| substep | `uint8` | | | The policy is trained at a fixed frequency (e.g. 100 Hz) but we might want to use it for control at higher frequencies (e.g. 400 Hz), which leads to a number of intermediate steps before the actual policy state is advanced (in this case 4 = 400 Hz / 100 Hz). This field provides the current substep (e.g. 0-3). | +| control_interval | `float32` | s | | Time interval between control updates | +| trajectory_setpoint_dt_mean | `float32` | us | | The average trajectory setpoint arrival time interval (since Raptor mode activation within NUM_TRAJECTORY_SETPOINT_DTS received trajectory_setpoint messages) | +| trajectory_setpoint_dt_max | `float32` | us | | The max trajectory setpoint arrival time interval (since Raptor mode activation and within NUM_TRAJECTORY_SETPOINT_DTS received trajectory_setpoint messages) | +| trajectory_setpoint_dt_max_since_activation | `float32` | us | | The max trajectory setpoint arrival time interval (since Raptor mode activation) | +| internal_reference_position | `float32[3]` | m [FLU] | | Internal reference position | +| internal_reference_linear_velocity | `float32[3]` | m/s [FLU] | | Internal reference linear velocity | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| MESSAGE_VERSION | `uint32` | 0 | | +| EXIT_REASON_NONE | `uint8` | 0 | No exit reason => Raptor control step was executed (actuator_motors should have been published) | +| EXIT_REASON_NO_ANGULAR_VELOCITY_UPDATE | `uint8` | 1 | We synchronize the control onto the input observation with the highest update frequency, which is vehicle_angular_velocity. If there was no update, we do not need to execute the policy again | +| EXIT_REASON_NOT_ALL_OBSERVATIONS_SET | `uint8` | 2 | We can not execute the policy if not all observations are available | +| EXIT_REASON_ANGULAR_VELOCITY_STALE | `uint8` | 3 | If OBSERVATION_TIMEOUT_ANGULAR_VELOCITY is exceeded, we treat the vehicle_angular_velocity as stale and can not run the policy | +| EXIT_REASON_LOCAL_POSITION_STALE | `uint8` | 4 | If OBSERVATION_TIMEOUT_LOCAL_POSITION is exceeded, we treat the vehicle_local_position as stale and can not run the policy | +| EXIT_REASON_ATTITUDE_STALE | `uint8` | 5 | If OBSERVATION_TIMEOUT_ATTITUDE is exceeded, we treat the vehicle_attitude as stale and can not run the policy | +| EXIT_REASON_EXECUTOR_STATUS_SOURCE_NOT_CONTROL | `uint8` | 6 | The executor that runs the policy can run in oversampling mode, where it decides if the policy should be ran based on the timestamp and not based on fixed synchronization onto the vehicle_angular_velocity. In this case the executor can decide to skip running the policy if the interval is too small, in which case this flag is set. | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/RaptorStatus.msg) + +:::details +Click here to see original file + +```c +# Raptor Status + +# Diagnostic messages for the Raptor foundation policy. +# This diagnostic data is useful for debugging (e.g. identifying missing input information). + +uint32 MESSAGE_VERSION = 0 + +uint64 timestamp # [us] Time since system start +uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on +bool subscription_update_angular_velocity # [bool] Flag signalling if the vehicle_angular_velocity was updated +bool subscription_update_local_position # [bool] Flag signalling if the vehicle_local_position was updated +bool subscription_update_attitude # [bool] Flag signalling if the vehicle_attitude was updated +bool subscription_update_trajectory_setpoint # [bool] Flag signalling if the trajectory_setpoint was updated +bool subscription_update_vehicle_status # [bool] Flag signalling if the vehicle_status was updated + +uint8 exit_reason # [enum] Exit reason identifier. Representing conditions that lead to the Raptor policy not being executed +uint8 EXIT_REASON_NONE = 0 # No exit reason => Raptor control step was executed (actuator_motors should have been published) +uint8 EXIT_REASON_NO_ANGULAR_VELOCITY_UPDATE = 1 # We synchronize the control onto the input observation with the highest update frequency, which is vehicle_angular_velocity. If there was no update, we do not need to execute the policy again +uint8 EXIT_REASON_NOT_ALL_OBSERVATIONS_SET = 2 # We can not execute the policy if not all observations are available +uint8 EXIT_REASON_ANGULAR_VELOCITY_STALE = 3 # If OBSERVATION_TIMEOUT_ANGULAR_VELOCITY is exceeded, we treat the vehicle_angular_velocity as stale and can not run the policy +uint8 EXIT_REASON_LOCAL_POSITION_STALE = 4 # If OBSERVATION_TIMEOUT_LOCAL_POSITION is exceeded, we treat the vehicle_local_position as stale and can not run the policy +uint8 EXIT_REASON_ATTITUDE_STALE = 5 # If OBSERVATION_TIMEOUT_ATTITUDE is exceeded, we treat the vehicle_attitude as stale and can not run the policy +uint8 EXIT_REASON_EXECUTOR_STATUS_SOURCE_NOT_CONTROL = 6 # The executor that runs the policy can run in oversampling mode, where it decides if the policy should be ran based on the timestamp and not based on fixed synchronization onto the vehicle_angular_velocity. In this case the executor can decide to skip running the policy if the interval is too small, in which case this flag is set. + +uint32 timestamp_last_vehicle_angular_velocity # [us] Timestamp of the last received vehicle_angular_velocity message +uint32 timestamp_last_vehicle_local_position # [us] Timestamp of the last received vehicle_local_position message +uint32 timestamp_last_vehicle_attitude # [us] Timestamp of the last received vehicle_attitude message +uint32 timestamp_last_trajectory_setpoint # [us] Timestamp of the last received trajectory_setpoint message + +bool vehicle_angular_velocity_stale # [bool] True if vehicle_angular_velocity data is considered stale (exceeded timeout) +bool vehicle_local_position_stale # [bool] True if vehicle_local_position data is considered stale (exceeded timeout) +bool vehicle_attitude_stale # [bool] True if vehicle_attitude data is considered stale (exceeded timeout) +bool trajectory_setpoint_stale # [bool] True if trajectory_setpoint data is considered stale (exceeded timeout) + +bool active # [bool] True if the Raptor policy is currently active (publishing actuator_motors) +uint8 substep # [-] The policy is trained at a fixed frequency (e.g. 100 Hz) but we might want to use it for control at higher frequencies (e.g. 400 Hz), which leads to a number of intermediate steps before the actual policy state is advanced (in this case 4 = 400 Hz / 100 Hz). This field provides the current substep (e.g. 0-3). +float32 control_interval # [s] Time interval between control updates + +float32 trajectory_setpoint_dt_mean # [us] The average trajectory setpoint arrival time interval (since Raptor mode activation within NUM_TRAJECTORY_SETPOINT_DTS received trajectory_setpoint messages) +float32 trajectory_setpoint_dt_max # [us] The max trajectory setpoint arrival time interval (since Raptor mode activation and within NUM_TRAJECTORY_SETPOINT_DTS received trajectory_setpoint messages) +float32 trajectory_setpoint_dt_max_since_activation # [us] The max trajectory setpoint arrival time interval (since Raptor mode activation) + +float32[3] internal_reference_position # [m] [@frame FLU] Internal reference position +float32[3] internal_reference_linear_velocity # [m/s] [@frame FLU] Internal reference linear velocity + +# TOPICS raptor_status +``` + +::: diff --git a/docs/uk/msg_docs/RateCtrlStatus.md b/docs/uk/msg_docs/RateCtrlStatus.md index 90eaa1208f..7a18bafbe2 100644 --- a/docs/uk/msg_docs/RateCtrlStatus.md +++ b/docs/uk/msg_docs/RateCtrlStatus.md @@ -1,6 +1,26 @@ +--- +pageClass: is-wide-page +--- + # RateCtrlStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RateCtrlStatus.msg) +**TOPICS:** rate_ctrlstatus + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| rollspeed_integ | `float32` | | | | +| pitchspeed_integ | `float32` | | | | +| yawspeed_integ | `float32` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RateCtrlStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -9,5 +29,6 @@ uint64 timestamp # time since system start (microseconds) float32 rollspeed_integ float32 pitchspeed_integ float32 yawspeed_integ - ``` + +::: diff --git a/docs/uk/msg_docs/RcChannels.md b/docs/uk/msg_docs/RcChannels.md index 7abb87c0bc..c67d76b026 100644 --- a/docs/uk/msg_docs/RcChannels.md +++ b/docs/uk/msg_docs/RcChannels.md @@ -1,6 +1,66 @@ +--- +pageClass: is-wide-page +--- + # RcChannels (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RcChannels.msg) +**TOPICS:** rc_channels + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| -------------------------------------------------------------- | ------------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_last_valid | `uint64` | | | Timestamp of last valid RC signal | +| channels | `float32[18]` | | | Scaled to -1..1 (throttle: 0..1) | +| channel_count | `uint8` | | | Number of valid channels | +| function | `int8[30]` | | | Functions mapping | +| rssi | `uint8` | | | Receive signal strength index | +| signal_lost | `bool` | | | Control signal lost, should be checked together with topic timeout | +| frame_drop_count | `uint32` | | | Number of dropped frames | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ---- | +| FUNCTION_THROTTLE | `uint8` | 0 | | +| FUNCTION_ROLL | `uint8` | 1 | | +| FUNCTION_PITCH | `uint8` | 2 | | +| FUNCTION_YAW | `uint8` | 3 | | +| FUNCTION_RETURN | `uint8` | 4 | | +| FUNCTION_LOITER | `uint8` | 5 | | +| FUNCTION_OFFBOARD | `uint8` | 6 | | +| FUNCTION_FLAPS | `uint8` | 7 | | +| FUNCTION_AUX_1 | `uint8` | 8 | | +| FUNCTION_AUX_2 | `uint8` | 9 | | +| FUNCTION_AUX_3 | `uint8` | 10 | | +| FUNCTION_AUX_4 | `uint8` | 11 | | +| FUNCTION_AUX_5 | `uint8` | 12 | | +| FUNCTION_AUX_6 | `uint8` | 13 | | +| FUNCTION_PARAM_1 | `uint8` | 14 | | +| FUNCTION_PARAM_2 | `uint8` | 15 | | +| FUNCTION_PARAM_3_5 | `uint8` | 16 | | +| FUNCTION_KILLSWITCH | `uint8` | 17 | | +| FUNCTION_TRANSITION | `uint8` | 18 | | +| FUNCTION_GEAR | `uint8` | 19 | | +| FUNCTION_ARMSWITCH | `uint8` | 20 | | +| FUNCTION_FLTBTN_SLOT_1 | `uint8` | 21 | | +| FUNCTION_FLTBTN_SLOT_2 | `uint8` | 22 | | +| FUNCTION_FLTBTN_SLOT_3 | `uint8` | 23 | | +| FUNCTION_FLTBTN_SLOT_4 | `uint8` | 24 | | +| FUNCTION_FLTBTN_SLOT_5 | `uint8` | 25 | | +| FUNCTION_FLTBTN_SLOT_6 | `uint8` | 26 | | +| FUNCTION_ENGAGE_MAIN_MOTOR | `uint8` | 27 | | +| FUNCTION_PAYLOAD_POWER | `uint8` | 28 | | +| FUNCTION_TERMINATION | `uint8` | 29 | | +| FUNCTION_FLTBTN_SLOT_COUNT | `uint8` | 6 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RcChannels.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -45,5 +105,6 @@ int8[30] function # Functions mapping uint8 rssi # Receive signal strength index bool signal_lost # Control signal lost, should be checked together with topic timeout uint32 frame_drop_count # Number of dropped frames - ``` + +::: diff --git a/docs/uk/msg_docs/RcParameterMap.md b/docs/uk/msg_docs/RcParameterMap.md index e1ced1f8d1..f8221f20c4 100644 --- a/docs/uk/msg_docs/RcParameterMap.md +++ b/docs/uk/msg_docs/RcParameterMap.md @@ -1,6 +1,37 @@ +--- +pageClass: is-wide-page +--- + # RcParameterMap (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RcParameterMap.msg) +**TOPICS:** rc_parametermap + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| -------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| valid | `bool[3]` | | | true for RC-Param channels which are mapped to a param | +| param_index | `int32[3]` | | | corresponding param index, this field is ignored if set to -1, in this case param_id will be used | +| param_id | `char[51]` | | | MAP_NCHAN \* (ID_LEN + 1) chars, corresponding param id, null terminated | +| scale | `float32[3]` | | | scale to map the RC input [-1, 1] to a parameter value | +| value0 | `float32[3]` | | | initial value around which the parameter value is changed | +| value_min | `float32[3]` | | | minimal parameter value | +| value_max | `float32[3]` | | | minimal parameter value | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| RC_PARAM_MAP_NCHAN | `uint8` | 3 | This limit is also hardcoded in the enum RC_CHANNELS_FUNCTION in rc_channels.h | +| PARAM_ID_LEN | `uint8` | 16 | corresponds to MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RcParameterMap.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -14,5 +45,6 @@ float32[3] scale # scale to map the RC input [-1, 1] to a parameter value float32[3] value0 # initial value around which the parameter value is changed float32[3] value_min # minimal parameter value float32[3] value_max # minimal parameter value - ``` + +::: diff --git a/docs/uk/msg_docs/RegisterExtComponentReply.md b/docs/uk/msg_docs/RegisterExtComponentReply.md index 119703472a..8637164989 100644 --- a/docs/uk/msg_docs/RegisterExtComponentReply.md +++ b/docs/uk/msg_docs/RegisterExtComponentReply.md @@ -1,6 +1,38 @@ +--- +pageClass: is-wide-page +--- + # RegisterExtComponentReply (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/RegisterExtComponentReply.msg) +**TOPICS:** register_extcomponent_reply + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| request_id | `uint64` | | | ID from the request | +| name | `char[25]` | | | name from the request | +| px4_ros2_api_version | `uint16` | | | | +| success | `bool` | | | | +| arming_check_id | `int8` | | | arming check registration ID (-1 if invalid) | +| mode_id | `int8` | | | assigned mode ID (-1 if invalid) | +| mode_executor_id | `int8` | | | assigned mode executor ID (-1 if invalid) | +| not_user_selectable | `bool` | | | mode cannot be selected by the user | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 1 | | +| ORB_QUEUE_LENGTH | `uint8` | 2 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/RegisterExtComponentReply.msg) + +:::details +Click here to see original file ```c uint32 MESSAGE_VERSION = 1 @@ -20,5 +52,6 @@ int8 mode_executor_id # assigned mode executor ID (-1 if invalid) bool not_user_selectable # mode cannot be selected by the user uint8 ORB_QUEUE_LENGTH = 2 - ``` + +::: diff --git a/docs/uk/msg_docs/RegisterExtComponentReplyV0.md b/docs/uk/msg_docs/RegisterExtComponentReplyV0.md index cceec88d5c..702ea517d2 100644 --- a/docs/uk/msg_docs/RegisterExtComponentReplyV0.md +++ b/docs/uk/msg_docs/RegisterExtComponentReplyV0.md @@ -1,6 +1,37 @@ +--- +pageClass: is-wide-page +--- + # RegisterExtComponentReplyV0 (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/RegisterExtComponentReplyV0.msg) +**TOPICS:** register_extcomponent_replyv0 + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| request_id | `uint64` | | | ID from the request | +| name | `char[25]` | | | name from the request | +| px4_ros2_api_version | `uint16` | | | | +| success | `bool` | | | | +| arming_check_id | `int8` | | | arming check registration ID (-1 if invalid) | +| mode_id | `int8` | | | assigned mode ID (-1 if invalid) | +| mode_executor_id | `int8` | | | assigned mode executor ID (-1 if invalid) | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | +| ORB_QUEUE_LENGTH | `uint8` | 2 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/RegisterExtComponentReplyV0.msg) + +:::details +Click here to see original file ```c uint32 MESSAGE_VERSION = 0 @@ -18,5 +49,6 @@ int8 mode_id # assigned mode ID (-1 if invalid) int8 mode_executor_id # assigned mode executor ID (-1 if invalid) uint8 ORB_QUEUE_LENGTH = 2 - ``` + +::: diff --git a/docs/uk/msg_docs/RegisterExtComponentRequest.md b/docs/uk/msg_docs/RegisterExtComponentRequest.md index 7897117efd..95e2c41846 100644 --- a/docs/uk/msg_docs/RegisterExtComponentRequest.md +++ b/docs/uk/msg_docs/RegisterExtComponentRequest.md @@ -1,8 +1,43 @@ +--- +pageClass: is-wide-page +--- + # RegisterExtComponentRequest (Повідомлення UORB) -Запит на реєстрацію зовнішнього компонента +Request to register an external component. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/RegisterExtComponentRequest.msg) +**TOPICS:** register_extcomponent_request + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| request_id | `uint64` | | | ID, set this to a random value | +| name | `char[25]` | | | either the requested mode name, or component name | +| px4_ros2_api_version | `uint16` | | | Set to LATEST_PX4_ROS2_API_VERSION | +| register_arming_check | `bool` | | | | +| register_mode | `bool` | | | registering a mode also requires arming_check to be set | +| register_mode_executor | `bool` | | | registering an executor also requires a mode to be registered (which is the owned mode by the executor) | +| enable_replace_internal_mode | `bool` | | | set to true if an internal mode should be replaced | +| replace_internal_mode | `uint8` | | | vehicle_status::NAVIGATION_STATE_\* | +| activate_mode_immediately | `bool` | | | switch to the registered mode (can only be set in combination with an executor) | +| not_user_selectable | `bool` | | | mode cannot be selected by the user | + +## Constants + +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| MESSAGE_VERSION | `uint32` | 1 | | +| LATEST_PX4_ROS2_API_VERSION | `uint16` | 1 | API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. | +| ORB_QUEUE_LENGTH | `uint8` | 2 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/RegisterExtComponentRequest.msg) + +:::details +Click here to see original file ```c # Request to register an external component @@ -29,5 +64,6 @@ bool activate_mode_immediately # switch to the registered mode (can only be bool not_user_selectable # mode cannot be selected by the user uint8 ORB_QUEUE_LENGTH = 2 - ``` + +::: diff --git a/docs/uk/msg_docs/RegisterExtComponentRequestV0.md b/docs/uk/msg_docs/RegisterExtComponentRequestV0.md index 1c49343ff6..a7968cc80d 100644 --- a/docs/uk/msg_docs/RegisterExtComponentRequestV0.md +++ b/docs/uk/msg_docs/RegisterExtComponentRequestV0.md @@ -1,8 +1,42 @@ +--- +pageClass: is-wide-page +--- + # RegisterExtComponentRequestV0 (UORB message) -Запит на реєстрацію зовнішнього компонента +Request to register an external component. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/RegisterExtComponentRequestV0.msg) +**TOPICS:** register_extcomponent_requestv0 + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| request_id | `uint64` | | | ID, set this to a random value | +| name | `char[25]` | | | either the requested mode name, or component name | +| px4_ros2_api_version | `uint16` | | | Set to LATEST_PX4_ROS2_API_VERSION | +| register_arming_check | `bool` | | | | +| register_mode | `bool` | | | registering a mode also requires arming_check to be set | +| register_mode_executor | `bool` | | | registering an executor also requires a mode to be registered (which is the owned mode by the executor) | +| enable_replace_internal_mode | `bool` | | | set to true if an internal mode should be replaced | +| replace_internal_mode | `uint8` | | | vehicle_status::NAVIGATION_STATE_\* | +| activate_mode_immediately | `bool` | | | switch to the registered mode (can only be set in combination with an executor) | + +## Constants + +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| MESSAGE_VERSION | `uint32` | 0 | | +| LATEST_PX4_ROS2_API_VERSION | `uint16` | 1 | API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. | +| ORB_QUEUE_LENGTH | `uint8` | 2 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/RegisterExtComponentRequestV0.msg) + +:::details +Click here to see original file ```c # Request to register an external component @@ -29,5 +63,6 @@ bool activate_mode_immediately # switch to the registered mode (can only be uint8 ORB_QUEUE_LENGTH = 2 - ``` + +::: diff --git a/docs/uk/msg_docs/RoverAttitudeSetpoint.md b/docs/uk/msg_docs/RoverAttitudeSetpoint.md index ca75a6e3e2..ed0dd961e4 100644 --- a/docs/uk/msg_docs/RoverAttitudeSetpoint.md +++ b/docs/uk/msg_docs/RoverAttitudeSetpoint.md @@ -1,13 +1,32 @@ +--- +pageClass: is-wide-page +--- + # RoverAttitudeSetpoint (UORB message) -Rover Attitude Setpoint +Rover Attitude Setpoint. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverAttitudeSetpoint.msg) +**TOPICS:** rover_attitudesetpoint + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------------------------------- | --------- | ---------------------------------------------------------------- | -------------------------------------------------------------------------------- | ----------------------- | +| timestamp | `uint64` | us | | Time since system start | +| yaw_setpoint | `float32` | rad [NED] | [-inf : inf] | Yaw setpoint | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverAttitudeSetpoint.msg) + +:::details +Click here to see original file ```c # Rover Attitude Setpoint uint64 timestamp # [us] Time since system start float32 yaw_setpoint # [rad] [@range -inf, inf] [@frame NED] Yaw setpoint - ``` + +::: diff --git a/docs/uk/msg_docs/RoverAttitudeStatus.md b/docs/uk/msg_docs/RoverAttitudeStatus.md index f5a9ce1f02..189f32e279 100644 --- a/docs/uk/msg_docs/RoverAttitudeStatus.md +++ b/docs/uk/msg_docs/RoverAttitudeStatus.md @@ -1,8 +1,27 @@ +--- +pageClass: is-wide-page +--- + # RoverAttitudeStatus (UORB message) -Rover Attitude Status +Rover Attitude Status. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverAttitudeStatus.msg) +**TOPICS:** rover_attitudestatus + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | -------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| measured_yaw | `float32` | rad [NED] | [-pi : pi] | Measured yaw | +| adjusted_yaw_setpoint | `float32` | rad [NED] | [-pi : pi] | Yaw setpoint that is being tracked (Applied slew rates) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverAttitudeStatus.msg) + +:::details +Click here to see original file ```c # Rover Attitude Status @@ -10,5 +29,6 @@ Rover Attitude Status uint64 timestamp # [us] Time since system start float32 measured_yaw # [rad] [@range -pi, pi] [@frame NED]Measured yaw float32 adjusted_yaw_setpoint # [rad] [@range -pi, pi] [@frame NED] Yaw setpoint that is being tracked (Applied slew rates) - ``` + +::: diff --git a/docs/uk/msg_docs/RoverPositionSetpoint.md b/docs/uk/msg_docs/RoverPositionSetpoint.md index 751536e7f9..82f726026d 100644 --- a/docs/uk/msg_docs/RoverPositionSetpoint.md +++ b/docs/uk/msg_docs/RoverPositionSetpoint.md @@ -1,8 +1,30 @@ +--- +pageClass: is-wide-page +--- + # RoverPositionSetpoint (UORB message) -Rover Position Setpoint +Rover Position Setpoint. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverPositionSetpoint.msg) +**TOPICS:** rover_positionsetpoint + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------- | ------------ | ---------------------------------------------------------------- | -------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| position_ned | `float32[2]` | m [NED] | [-inf : inf] | Target position | +| start_ned | `float32[2]` | m [NED] | [-inf : inf] | Start position which specifies a line for the rover to track (Invalid: NaN Defaults to vehicle position) | +| cruising_speed | `float32` | m/s | [0 : inf] | Cruising speed (Invalid: NaN Defaults to maximum speed) | +| arrival_speed | `float32` | m/s | [0 : inf] | Speed the rover should arrive at the target with (Invalid: NaN Defaults to 0) | +| yaw | `float32` | rad [NED] | [-pi : pi] | Mecanum only: Specify vehicle yaw during travel (Invalid: NaN Defaults to vehicle yaw) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverPositionSetpoint.msg) + +:::details +Click here to see original file ```c # Rover Position Setpoint @@ -13,5 +35,6 @@ float32[2] start_ned # [m] [@range -inf, inf] [@frame NED] [@invalid NaN Def float32 cruising_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to maximum speed] Cruising speed float32 arrival_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to 0] Speed the rover should arrive at the target with float32 yaw # [rad] [@range -pi,pi] [@frame NED] [@invalid NaN Defaults to vehicle yaw] Mecanum only: Specify vehicle yaw during travel - ``` + +::: diff --git a/docs/uk/msg_docs/RoverRateSetpoint.md b/docs/uk/msg_docs/RoverRateSetpoint.md index 9bb844e802..2db7c145fb 100644 --- a/docs/uk/msg_docs/RoverRateSetpoint.md +++ b/docs/uk/msg_docs/RoverRateSetpoint.md @@ -1,13 +1,32 @@ +--- +pageClass: is-wide-page +--- + # RoverRateSetpoint (UORB message) -Rover Rate setpoint +Rover Rate setpoint. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverRateSetpoint.msg) +**TOPICS:** rover_ratesetpoint + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------- | --------- | ---------------------------------------------------------------- | -------------------------------------------------------------------------------- | ----------------------- | +| timestamp | `uint64` | us | | Time since system start | +| yaw_rate_setpoint | `float32` | rad/s [NED] | [-inf : inf] | Yaw rate setpoint | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverRateSetpoint.msg) + +:::details +Click here to see original file ```c # Rover Rate setpoint uint64 timestamp # [us] Time since system start float32 yaw_rate_setpoint # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint - ``` + +::: diff --git a/docs/uk/msg_docs/RoverRateStatus.md b/docs/uk/msg_docs/RoverRateStatus.md index 70345fe315..b5f35b0d9e 100644 --- a/docs/uk/msg_docs/RoverRateStatus.md +++ b/docs/uk/msg_docs/RoverRateStatus.md @@ -1,8 +1,28 @@ +--- +pageClass: is-wide-page +--- + # RoverRateStatus (UORB message) -Rover Rate Status +Rover Rate Status. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverRateStatus.msg) +**TOPICS:** rover_ratestatus + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | -------------------------------------------------------------------------------- | ------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| measured_yaw_rate | `float32` | rad/s [NED] | [-inf : inf] | Measured yaw rate | +| adjusted_yaw_rate_setpoint | `float32` | rad/s [NED] | [-inf : inf] | Yaw rate setpoint that is being tracked (Applied slew rates) | +| pid_yaw_rate_integral | `float32` | | [-1 : 1] | Integral of the PID for the closed loop yaw rate controller | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverRateStatus.msg) + +:::details +Click here to see original file ```c # Rover Rate Status @@ -11,5 +31,6 @@ uint64 timestamp # [us] Time since system start float32 measured_yaw_rate # [rad/s] [@range -inf, inf] [@frame NED] Measured yaw rate float32 adjusted_yaw_rate_setpoint # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint that is being tracked (Applied slew rates) float32 pid_yaw_rate_integral # [-] [@range -1, 1] Integral of the PID for the closed loop yaw rate controller - ``` + +::: diff --git a/docs/uk/msg_docs/RoverSpeedSetpoint.md b/docs/uk/msg_docs/RoverSpeedSetpoint.md index 84176cd1c3..82f033e7bf 100644 --- a/docs/uk/msg_docs/RoverSpeedSetpoint.md +++ b/docs/uk/msg_docs/RoverSpeedSetpoint.md @@ -1,8 +1,27 @@ +--- +pageClass: is-wide-page +--- + # RoverSpeedSetpoint (UORB message) -Rover Speed Setpoint +Rover Speed Setpoint. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverSpeedSetpoint.msg) +**TOPICS:** rover_speedsetpoint + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------ | --------- | ---------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| speed_body_x | `float32` | m/s [Body] | [-inf (Backwards) : inf (Forwards)] | Speed setpoint in body x direction | +| speed_body_y | `float32` | m/s [Body] | [-inf (Left) : inf (Right)] | Mecanum only: Speed setpoint in body y direction (Invalid: NaN If not mecanum) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverSpeedSetpoint.msg) + +:::details +Click here to see original file ```c # Rover Speed Setpoint @@ -10,5 +29,6 @@ Rover Speed Setpoint uint64 timestamp # [us] Time since system start float32 speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction float32 speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction - ``` + +::: diff --git a/docs/uk/msg_docs/RoverSpeedStatus.md b/docs/uk/msg_docs/RoverSpeedStatus.md index 4213e1e5df..6184ecd469 100644 --- a/docs/uk/msg_docs/RoverSpeedStatus.md +++ b/docs/uk/msg_docs/RoverSpeedStatus.md @@ -1,8 +1,31 @@ +--- +pageClass: is-wide-page +--- + # RoverSpeedStatus (UORB message) -Rover Velocity Status +Rover Velocity Status. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverSpeedStatus.msg) +**TOPICS:** rover_speedstatus + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------------------------------------------ | --------- | ---------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| measured_speed_body_x | `float32` | m/s [Body] | [-inf (Backwards) : inf (Forwards)] | Measured speed in body x direction | +| adjusted_speed_body_x_setpoint | `float32` | m/s [Body] | [-inf (Backwards) : inf (Forwards)] | Speed setpoint in body x direction that is being tracked (Applied slew rates) | +| pid_throttle_body_x_integral | `float32` | | [-1 : 1] | Integral of the PID for the closed loop controller of the speed in body x direction | +| measured_speed_body_y | `float32` | m/s [Body] | [-inf (Left) : inf (Right)] | Mecanum only: Measured speed in body y direction (Invalid: NaN If not mecanum) | +| adjusted_speed_body_y_setpoint | `float32` | m/s [Body] | [-inf (Left) : inf (Right)] | Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates) (Invalid: NaN If not mecanum) | +| pid_throttle_body_y_integral | `float32` | | [-1 : 1] | Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction (Invalid: NaN If not mecanum) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverSpeedStatus.msg) + +:::details +Click here to see original file ```c # Rover Velocity Status @@ -14,5 +37,6 @@ float32 pid_throttle_body_x_integral # [-] [@range -1, 1] Integral of the PID float32 measured_speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Measured speed in body y direction float32 adjusted_speed_body_y_setpoint # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates) float32 pid_throttle_body_y_integral # [-] [@range -1, 1] [@invalid NaN If not mecanum] Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction - ``` + +::: diff --git a/docs/uk/msg_docs/RoverSteeringSetpoint.md b/docs/uk/msg_docs/RoverSteeringSetpoint.md index 974f3fc4c9..bd9207cb3d 100644 --- a/docs/uk/msg_docs/RoverSteeringSetpoint.md +++ b/docs/uk/msg_docs/RoverSteeringSetpoint.md @@ -1,13 +1,32 @@ +--- +pageClass: is-wide-page +--- + # RoverSteeringSetpoint (UORB message) -Rover Steering setpoint +Rover Steering setpoint. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverSteeringSetpoint.msg) +**TOPICS:** rover_steeringsetpoint + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| normalized_steering_setpoint | `float32` | [Body] | [-1 (Left) : 1 (Right)] | Ackermann: Normalized steering angle, Differential/Mecanum: Normalized speed difference between the left and right wheels | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverSteeringSetpoint.msg) + +:::details +Click here to see original file ```c # Rover Steering setpoint uint64 timestamp # [us] Time since system start float32 normalized_steering_setpoint # [-] [@range -1 (Left), 1 (Right)] [@frame Body] Ackermann: Normalized steering angle, Differential/Mecanum: Normalized speed difference between the left and right wheels - ``` + +::: diff --git a/docs/uk/msg_docs/RoverThrottleSetpoint.md b/docs/uk/msg_docs/RoverThrottleSetpoint.md index bd5ee93d55..66ac614829 100644 --- a/docs/uk/msg_docs/RoverThrottleSetpoint.md +++ b/docs/uk/msg_docs/RoverThrottleSetpoint.md @@ -1,8 +1,27 @@ +--- +pageClass: is-wide-page +--- + # RoverThrottleSetpoint (UORB message) -Rover Throttle setpoint +Rover Throttle setpoint. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverThrottleSetpoint.msg) +**TOPICS:** rover_throttlesetpoint + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| throttle_body_x | `float32` | [Body] | [-1 (Backwards) : 1 (Forwards)] | Throttle setpoint along body X axis | +| throttle_body_y | `float32` | [Body] | [-1 (Left) : 1 (Right)] | Mecanum only: Throttle setpoint along body Y axis (Invalid: NaN If not mecanum) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverThrottleSetpoint.msg) + +:::details +Click here to see original file ```c # Rover Throttle setpoint @@ -10,5 +29,6 @@ Rover Throttle setpoint uint64 timestamp # [us] Time since system start float32 throttle_body_x # [-] [@range -1 (Backwards), 1 (Forwards)] [@frame Body] Throttle setpoint along body X axis float32 throttle_body_y # [-] [@range -1 (Left), 1 (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Throttle setpoint along body Y axis - ``` + +::: diff --git a/docs/uk/msg_docs/Rpm.md b/docs/uk/msg_docs/Rpm.md index ff2bf9c827..83fc3da337 100644 --- a/docs/uk/msg_docs/Rpm.md +++ b/docs/uk/msg_docs/Rpm.md @@ -1,6 +1,25 @@ +--- +pageClass: is-wide-page +--- + # Rpm (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Rpm.msg) +**TOPICS:** rpm + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| rpm_estimate | `float32` | | | filtered revolutions per minute | +| rpm_raw | `float32` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Rpm.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -8,5 +27,6 @@ uint64 timestamp # time since system start (microseconds) # rpm values of 0.0 mean within a timeout there is no movement measured float32 rpm_estimate # filtered revolutions per minute float32 rpm_raw - ``` + +::: diff --git a/docs/uk/msg_docs/RtlStatus.md b/docs/uk/msg_docs/RtlStatus.md index 0b161f649f..ac671fb244 100644 --- a/docs/uk/msg_docs/RtlStatus.md +++ b/docs/uk/msg_docs/RtlStatus.md @@ -1,6 +1,38 @@ +--- +pageClass: is-wide-page +--- + # RtlStatus (UORB повідомлення) -[вихідний файл](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RtlStatus.msg) +**TOPICS:** rtl_status + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| safe_points_id | `uint32` | | | unique ID of active set of safe_point_items | +| is_evaluation_pending | `bool` | | | flag if the RTL point needs reevaluation (e.g. new safe points available, but need loading). | +| has_vtol_approach | `bool` | | | flag if approaches are defined for current RTL_TYPE parameter setting | +| rtl_type | `uint8` | | | Type of RTL chosen | +| safe_point_index | `uint8` | | | index of the chosen safe point, if in RTL_STATUS_TYPE_DIRECT_SAFE_POINT mode | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| RTL_STATUS_TYPE_NONE | `uint8` | 0 | pending if evaluation can't pe performed currently e.g. when it is still loading the safe points | +| RTL_STATUS_TYPE_DIRECT_SAFE_POINT | `uint8` | 1 | chosen to directly go to a safe point or home position | +| RTL_STATUS_TYPE_DIRECT_MISSION_LAND | `uint8` | 2 | going straight to the beginning of the mission landing | +| RTL_STATUS_TYPE_FOLLOW_MISSION | `uint8` | 3 | Following the mission from start index to mission landing. Start index is current WP if in Mission mode, and closest WP otherwise. | +| RTL_STATUS_TYPE_FOLLOW_MISSION_REVERSE | `uint8` | 4 | Following the mission in reverse from start index to the beginning of the mission. Start index is previous WP if in Mission mode, and closest WP otherwise. | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RtlStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -18,5 +50,6 @@ uint8 RTL_STATUS_TYPE_DIRECT_SAFE_POINT=1 # chosen to directly go to a safe poi uint8 RTL_STATUS_TYPE_DIRECT_MISSION_LAND=2 # going straight to the beginning of the mission landing uint8 RTL_STATUS_TYPE_FOLLOW_MISSION=3 # Following the mission from start index to mission landing. Start index is current WP if in Mission mode, and closest WP otherwise. uint8 RTL_STATUS_TYPE_FOLLOW_MISSION_REVERSE=4 # Following the mission in reverse from start index to the beginning of the mission. Start index is previous WP if in Mission mode, and closest WP otherwise. - ``` + +::: diff --git a/docs/uk/msg_docs/RtlTimeEstimate.md b/docs/uk/msg_docs/RtlTimeEstimate.md index a12f553d71..e70839b593 100644 --- a/docs/uk/msg_docs/RtlTimeEstimate.md +++ b/docs/uk/msg_docs/RtlTimeEstimate.md @@ -1,6 +1,26 @@ +--- +pageClass: is-wide-page +--- + # RtlTimeEstimate (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RtlTimeEstimate.msg) +**TOPICS:** rtl_timeestimate + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------ | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| valid | `bool` | | | Flag indicating whether the time estiamtes are valid | +| time_estimate | `float32` | s | | Estimated time for RTL | +| safe_time_estimate | `float32` | s | | Same as time_estimate, but with safety factor and safety margin included (factor\*t + margin) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RtlTimeEstimate.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -8,5 +28,6 @@ uint64 timestamp # time since system start (microseconds) bool valid # Flag indicating whether the time estiamtes are valid float32 time_estimate # [s] Estimated time for RTL float32 safe_time_estimate # [s] Same as time_estimate, but with safety factor and safety margin included (factor*t + margin) - ``` + +::: diff --git a/docs/uk/msg_docs/SatelliteInfo.md b/docs/uk/msg_docs/SatelliteInfo.md index 6458eeece5..01262913a4 100644 --- a/docs/uk/msg_docs/SatelliteInfo.md +++ b/docs/uk/msg_docs/SatelliteInfo.md @@ -1,6 +1,36 @@ +--- +pageClass: is-wide-page +--- + # SatelliteInfo (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SatelliteInfo.msg) +**TOPICS:** satellite_info + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------- | ----------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| count | `uint8` | | | Number of satellites visible to the receiver | +| svid | `uint8[40]` | | | Space vehicle ID [1..255], see scheme below | +| used | `uint8[40]` | | | 0: Satellite not used, 1: used for navigation | +| elevation | `uint8[40]` | | | Elevation (0: right on top of receiver, 90: on the horizon) of satellite | +| azimuth | `uint8[40]` | | | Direction of satellite, 0: 0 deg, 255: 360 deg. | +| snr | `uint8[40]` | | | dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. | +| prn | `uint8[40]` | | | Satellite PRN code assignment, (psuedorandom number SBAS, valid codes are 120-144) | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ---- | +| SAT_INFO_MAX_SATELLITES | `uint8` | 40 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SatelliteInfo.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -13,5 +43,6 @@ uint8[40] elevation # Elevation (0: right on top of receiver, 90: on the horizo uint8[40] azimuth # Direction of satellite, 0: 0 deg, 255: 360 deg. uint8[40] snr # dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. uint8[40] prn # Satellite PRN code assignment, (psuedorandom number SBAS, valid codes are 120-144) - ``` + +::: diff --git a/docs/uk/msg_docs/SensorAccel.md b/docs/uk/msg_docs/SensorAccel.md index 7f7ad93e57..895fee5d7d 100644 --- a/docs/uk/msg_docs/SensorAccel.md +++ b/docs/uk/msg_docs/SensorAccel.md @@ -1,6 +1,38 @@ +--- +pageClass: is-wide-page +--- + # SensorAccel (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorAccel.msg) +**TOPICS:** sensor_accel + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| x | `float32` | | | acceleration in the FRD board frame X-axis in m/s^2 | +| y | `float32` | | | acceleration in the FRD board frame Y-axis in m/s^2 | +| z | `float32` | | | acceleration in the FRD board frame Z-axis in m/s^2 | +| temperature | `float32` | | | temperature in degrees Celsius | +| error_count | `uint32` | | | | +| clip_counter | `uint8[3]` | | | clip count per axis in the sample period | +| samples | `uint8` | | | number of raw samples that went into this message | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 8 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorAccel.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -21,5 +53,6 @@ uint8[3] clip_counter # clip count per axis in the sample period uint8 samples # number of raw samples that went into this message uint8 ORB_QUEUE_LENGTH = 8 - ``` + +::: diff --git a/docs/uk/msg_docs/SensorAccelFifo.md b/docs/uk/msg_docs/SensorAccelFifo.md index 86f5a02a06..f9ed2f4296 100644 --- a/docs/uk/msg_docs/SensorAccelFifo.md +++ b/docs/uk/msg_docs/SensorAccelFifo.md @@ -1,6 +1,31 @@ +--- +pageClass: is-wide-page +--- + # SensorAccelFifo (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorAccelFifo.msg) +**TOPICS:** sensor_accelfifo + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| dt | `float32` | | | delta time between samples (microseconds) | +| scale | `float32` | | | | +| samples | `uint8` | | | number of valid samples | +| x | `int16[32]` | | | acceleration in the FRD board frame X-axis in m/s^2 | +| y | `int16[32]` | | | acceleration in the FRD board frame Y-axis in m/s^2 | +| z | `int16[32]` | | | acceleration in the FRD board frame Z-axis in m/s^2 | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorAccelFifo.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -16,5 +41,6 @@ uint8 samples # number of valid samples int16[32] x # acceleration in the FRD board frame X-axis in m/s^2 int16[32] y # acceleration in the FRD board frame Y-axis in m/s^2 int16[32] z # acceleration in the FRD board frame Z-axis in m/s^2 - ``` + +::: diff --git a/docs/uk/msg_docs/SensorAirflow.md b/docs/uk/msg_docs/SensorAirflow.md index 82b8706060..0b3fbd0ac3 100644 --- a/docs/uk/msg_docs/SensorAirflow.md +++ b/docs/uk/msg_docs/SensorAirflow.md @@ -1,6 +1,27 @@ +--- +pageClass: is-wide-page +--- + # SensorAirflow (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorAirflow.msg) +**TOPICS:** sensor_airflow + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------ | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| speed | `float32` | | | the speed being reported by the wind / airflow sensor | +| direction | `float32` | | | the direction being reported by the wind / airflow sensor | +| status | `uint8` | | | Status code from the sensor | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorAirflow.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -8,5 +29,6 @@ uint32 device_id # unique device ID for the sensor that does not float32 speed # the speed being reported by the wind / airflow sensor float32 direction # the direction being reported by the wind / airflow sensor uint8 status # Status code from the sensor - ``` + +::: diff --git a/docs/uk/msg_docs/SensorBaro.md b/docs/uk/msg_docs/SensorBaro.md index ef4d7a8f28..f666fd9eee 100644 --- a/docs/uk/msg_docs/SensorBaro.md +++ b/docs/uk/msg_docs/SensorBaro.md @@ -1,11 +1,39 @@ +--- +pageClass: is-wide-page +--- + # SensorBaro (UORB message) -Barometer sensor +Barometer sensor. This is populated by barometer drivers and used by the EKF2 estimator. The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding `DifferentialPressure` instance). -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorBaro.msg) +**TOPICS:** sensor_baro + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time of publication (since system start) | +| timestamp_sample | `uint64` | us | | Time of raw data capture | +| device_id | `uint32` | | | Unique device ID for the sensor that does not change between power cycles | +| pressure | `float32` | Pa | | Static pressure measurement | +| temperature | `float32` | degC | | Temperature. | +| error_count | `uint32` | | | Number of errors detected by driver. | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorBaro.msg) + +:::details +Click here to see original file ```c # Barometer sensor @@ -22,5 +50,6 @@ float32 temperature # [degC] Temperature. uint32 error_count # [-] Number of errors detected by driver. uint8 ORB_QUEUE_LENGTH = 4 - ``` + +::: diff --git a/docs/uk/msg_docs/SensorCombined.md b/docs/uk/msg_docs/SensorCombined.md index 6d3068f432..90145da660 100644 --- a/docs/uk/msg_docs/SensorCombined.md +++ b/docs/uk/msg_docs/SensorCombined.md @@ -1,9 +1,43 @@ +--- +pageClass: is-wide-page +--- + # SensorCombined (Повідомлення UORB) -Вимірювання сенсорів у вигляді одиниць SI. -Ці поля масштабуються та компенсуються зміщенням, де це можливо, і не змінюються з ревізіями плати та оновленнями сенсора. +Вимірювання сенсорів у вигляді одиниць SI. These fields are scaled and offset-compensated where possible and do not. change with board revisions and sensor updates. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorCombined.msg) +**TOPICS:** sensor_combined + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| -------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| gyro_rad | `float32[3]` | | | average angular rate measured in the FRD body frame XYZ-axis in rad/s over the last gyro sampling period | +| gyro_integral_dt | `uint32` | | | gyro measurement sampling period in microseconds | +| accelerometer_timestamp_relative | `int32` | | | timestamp + accelerometer_timestamp_relative = Accelerometer timestamp | +| accelerometer_m_s2 | `float32[3]` | | | average value acceleration measured in the FRD body frame XYZ-axis in m/s^2 over the last accelerometer sampling period | +| accelerometer_integral_dt | `uint32` | | | accelerometer measurement sampling period in microseconds | +| accelerometer_clipping | `uint8` | | | bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame | +| gyro_clipping | `uint8` | | | bitfield indicating if there was any gyro clipping (per axis) during the integration time frame | +| accel_calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever accelermeter calibration changes. | +| gyro_calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever rate gyro calibration changes. | + +## Constants + +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------------------------- | ------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------- | +| RELATIVE_TIMESTAMP_INVALID | `int32` | 2147483647 | (0x7fffffff) If one of the relative timestamps is set to this value, it means the associated sensor values are invalid | +| CLIPPING_X | `uint8` | 1 | | +| CLIPPING_Y | `uint8` | 2 | | +| CLIPPING_Z | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorCombined.msg) + +:::details +Click here to see original file ```c # Sensor readings in SI-unit form. @@ -31,5 +65,6 @@ uint8 gyro_clipping # bitfield indicating if there was any gyro clip uint8 accel_calibration_count # Calibration changed counter. Monotonically increases whenever accelermeter calibration changes. uint8 gyro_calibration_count # Calibration changed counter. Monotonically increases whenever rate gyro calibration changes. - ``` + +::: diff --git a/docs/uk/msg_docs/SensorCorrection.md b/docs/uk/msg_docs/SensorCorrection.md index 9a25e388f1..b85fce0cd7 100644 --- a/docs/uk/msg_docs/SensorCorrection.md +++ b/docs/uk/msg_docs/SensorCorrection.md @@ -1,8 +1,49 @@ +--- +pageClass: is-wide-page +--- + # SensorCorrection (Повідомлення UORB) -Датчики корекції по SI-одиницях для датчика голосувань +Sensor corrections in SI-unit form for the voted sensor. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorCorrection.msg) +**TOPICS:** sensor_correction + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| accel_device_ids | `uint32[4]` | | | | +| accel_temperature | `float32[4]` | | | | +| accel_offset_0 | `float32[3]` | | | accelerometer 0 offsets in the FRD board frame XYZ-axis in m/s^s | +| accel_offset_1 | `float32[3]` | | | accelerometer 1 offsets in the FRD board frame XYZ-axis in m/s^s | +| accel_offset_2 | `float32[3]` | | | accelerometer 2 offsets in the FRD board frame XYZ-axis in m/s^s | +| accel_offset_3 | `float32[3]` | | | accelerometer 3 offsets in the FRD board frame XYZ-axis in m/s^s | +| gyro_device_ids | `uint32[4]` | | | | +| gyro_temperature | `float32[4]` | | | | +| gyro_offset_0 | `float32[3]` | | | gyro 0 XYZ offsets in the sensor frame in rad/s | +| gyro_offset_1 | `float32[3]` | | | gyro 1 XYZ offsets in the sensor frame in rad/s | +| gyro_offset_2 | `float32[3]` | | | gyro 2 XYZ offsets in the sensor frame in rad/s | +| gyro_offset_3 | `float32[3]` | | | gyro 3 XYZ offsets in the sensor frame in rad/s | +| mag_device_ids | `uint32[4]` | | | | +| mag_temperature | `float32[4]` | | | | +| mag_offset_0 | `float32[3]` | | | magnetometer 0 offsets in the FRD board frame XYZ-axis in m/s^s | +| mag_offset_1 | `float32[3]` | | | magnetometer 1 offsets in the FRD board frame XYZ-axis in m/s^s | +| mag_offset_2 | `float32[3]` | | | magnetometer 2 offsets in the FRD board frame XYZ-axis in m/s^s | +| mag_offset_3 | `float32[3]` | | | magnetometer 3 offsets in the FRD board frame XYZ-axis in m/s^s | +| baro_device_ids | `uint32[4]` | | | | +| baro_temperature | `float32[4]` | | | | +| baro_offset_0 | `float32` | | | barometric pressure 0 offsets in the sensor frame in Pascals | +| baro_offset_1 | `float32` | | | barometric pressure 1 offsets in the sensor frame in Pascals | +| baro_offset_2 | `float32` | | | barometric pressure 2 offsets in the sensor frame in Pascals | +| baro_offset_3 | `float32` | | | barometric pressure 3 offsets in the sensor frame in Pascals | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorCorrection.msg) + +:::details +Click here to see original file ```c # @@ -46,5 +87,6 @@ float32 baro_offset_0 # barometric pressure 0 offsets in the sensor frame in Pa float32 baro_offset_1 # barometric pressure 1 offsets in the sensor frame in Pascals float32 baro_offset_2 # barometric pressure 2 offsets in the sensor frame in Pascals float32 baro_offset_3 # barometric pressure 3 offsets in the sensor frame in Pascals - ``` + +::: diff --git a/docs/uk/msg_docs/SensorGnssRelative.md b/docs/uk/msg_docs/SensorGnssRelative.md index 5472fe5a7c..4e5ed52e70 100644 --- a/docs/uk/msg_docs/SensorGnssRelative.md +++ b/docs/uk/msg_docs/SensorGnssRelative.md @@ -1,8 +1,45 @@ +--- +pageClass: is-wide-page +--- + # SensorGnssRelative (Повідомлення UORB) Інформація про відносне позиціонування GNSS в рамці NED. NED кадр визначається як локальна топологічна система на задній станції. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGnssRelative.msg) +**TOPICS:** sensor_gnssrelative + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| time_utc_usec | `uint64` | | | Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 | +| reference_station_id | `uint16` | | | Reference Station ID | +| положення | `float32[3]` | | | GPS NED relative position vector (m) | +| position_accuracy | `float32[3]` | | | Accuracy of relative position (m) | +| heading | `float32` | | | Heading of the relative position vector (radians) | +| heading_accuracy | `float32` | | | Accuracy of heading of the relative position vector (radians) | +| position_length | `float32` | | | Length of the position vector (m) | +| accuracy_length | `float32` | | | Accuracy of the position length (m) | +| gnss_fix_ok | `bool` | | | GNSS valid fix (i.e within DOP & accuracy masks) | +| differential_solution | `bool` | | | differential corrections were applied | +| relative_position_valid | `bool` | | | | +| carrier_solution_floating | `bool` | | | carrier phase range solution with floating ambiguities | +| carrier_solution_fixed | `bool` | | | carrier phase range solution with fixed ambiguities | +| moving_base_mode | `bool` | | | if the receiver is operating in moving base mode | +| reference_position_miss | `bool` | | | extrapolated reference position was used to compute moving base solution this epoch | +| reference_observations_miss | `bool` | | | extrapolated reference observations were used to compute moving base solution this epoch | +| heading_valid | `bool` | | | | +| relative_position_normalized | `bool` | | | the components of the relative position vector (including the high-precision parts) are normalized | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGnssRelative.msg) + +:::details +Click here to see original file ```c # GNSS relative positioning information in NED frame. The NED frame is defined as the local topological system at the reference station. @@ -35,5 +72,6 @@ bool reference_position_miss # extrapolated reference position was used to bool reference_observations_miss # extrapolated reference observations were used to compute moving base solution this epoch bool heading_valid bool relative_position_normalized # the components of the relative position vector (including the high-precision parts) are normalized - ``` + +::: diff --git a/docs/uk/msg_docs/SensorGnssStatus.md b/docs/uk/msg_docs/SensorGnssStatus.md index 70602b85fc..d2acc1278e 100644 --- a/docs/uk/msg_docs/SensorGnssStatus.md +++ b/docs/uk/msg_docs/SensorGnssStatus.md @@ -1,8 +1,31 @@ +--- +pageClass: is-wide-page +--- + # SensorGnssStatus (UORB message) -Gnss quality indicators +Gnss quality indicators. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGnssStatus.msg) +**TOPICS:** sensor_gnssstatus + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ----------------------------------------------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| `bool` | | | Set to true if quality indicators are available | | +| quality_corrections | `uint8` | | | Corrections quality from 0 to 10, or 255 if not available | +| quality_receiver | `uint8` | | | Overall receiver operating status from 0 to 10, or 255 if not available | +| quality_gnss_signals | `uint8` | | | Quality of GNSS signals from 0 to 10, or 255 if not available | +| quality_post_processing | `uint8` | | | Expected post processing quality from 0 to 10, or 255 if not available | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGnssStatus.msg) + +:::details +Click here to see original file ```c # Gnss quality indicators @@ -15,5 +38,6 @@ uint8 quality_corrections # Corrections quality from 0 to 10, or 255 if no uint8 quality_receiver # Overall receiver operating status from 0 to 10, or 255 if not available uint8 quality_gnss_signals # Quality of GNSS signals from 0 to 10, or 255 if not available uint8 quality_post_processing # Expected post processing quality from 0 to 10, or 255 if not available - ``` + +::: diff --git a/docs/uk/msg_docs/SensorGps.md b/docs/uk/msg_docs/SensorGps.md index e451e98aaa..c01d04fba7 100644 --- a/docs/uk/msg_docs/SensorGps.md +++ b/docs/uk/msg_docs/SensorGps.md @@ -1,9 +1,97 @@ +--- +pageClass: is-wide-page +--- + # SensorGps (повідомлення UORB) -Домашнє GPS положення в координатах WGS84. -the field 'timestamp' is for the position & velocity (microseconds) +Домашнє GPS положення в координатах WGS84. the field 'timestamp' is for the position & velocity (microseconds). -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGps.msg) +**TOPICS:** sensor_gps vehicle_gps_position + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| latitude_deg | `float64` | | | Latitude in degrees, allows centimeter level RTK precision | +| longitude_deg | `float64` | | | Longitude in degrees, allows centimeter level RTK precision | +| altitude_msl_m | `float64` | | | Altitude above MSL, meters | +| altitude_ellipsoid_m | `float64` | | | Altitude above Ellipsoid, meters | +| s_variance_m_s | `float32` | | | GPS speed accuracy estimate, (metres/sec) | +| c_variance_rad | `float32` | | | GPS course accuracy estimate, (radians) | +| fix_type | `uint8` | | | Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. | +| eph | `float32` | | | GPS horizontal position accuracy (metres) | +| epv | `float32` | | | GPS vertical position accuracy (metres) | +| hdop | `float32` | | | Horizontal dilution of precision | +| vdop | `float32` | | | Vertical dilution of precision | +| noise_per_ms | `int32` | | | GPS noise per millisecond | +| automatic_gain_control | `uint16` | | | Automatic gain control monitor | +| jamming_state | `uint8` | | | indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected | +| jamming_indicator | `int32` | | | indicates jamming is occurring | +| spoofing_state | `uint8` | | | indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected | +| authentication_state | `uint8` | | | GPS signal authentication state | +| vel_m_s | `float32` | | | GPS ground speed, (metres/sec) | +| vel_n_m_s | `float32` | | | GPS North velocity, (metres/sec) | +| vel_e_m_s | `float32` | | | GPS East velocity, (metres/sec) | +| vel_d_m_s | `float32` | | | GPS Down velocity, (metres/sec) | +| cog_rad | `float32` | | | Course over ground (NOT heading, but direction of movement), -PI..PI, (radians) | +| vel_ned_valid | `bool` | | | True if NED velocity is valid | +| timestamp_time_relative | `int32` | | | timestamp + timestamp_time_relative = Time of the UTC timestamp since system start, (microseconds) | +| time_utc_usec | `uint64` | | | Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 | +| satellites_used | `uint8` | | | Number of satellites used | +| system_error | `uint32` | | | General errors with the connected GPS receiver | +| heading | `float32` | | | heading angle of XYZ body frame rel to NED. Set to NaN if not available and updated (used for dual antenna GPS), (rad, [-PI, PI]) | +| heading_offset | `float32` | | | heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI]) | +| heading_accuracy | `float32` | | | heading accuracy (rad, [0, 2PI]) | +| rtcm_injection_rate | `float32` | | | RTCM message injection rate Hz | +| selected_rtcm_instance | `uint8` | | | uorb instance that is being used for RTCM corrections | +| rtcm_crc_failed | `bool` | | | RTCM message CRC failure detected | +| rtcm_msg_used | `uint8` | | | Indicates if the RTCM message was used successfully by the receiver | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ---------------------------------------------------------- | +| FIX_TYPE_NONE | `uint8` | 1 | Value 0 is also valid to represent no fix. | +| FIX_TYPE_2D | `uint8` | 2 | | +| FIX_TYPE_3D | `uint8` | 3 | | +| FIX_TYPE_RTCM_CODE_DIFFERENTIAL | `uint8` | 4 | | +| FIX_TYPE_RTK_FLOAT | `uint8` | 5 | | +| FIX_TYPE_RTK_FIXED | `uint8` | 6 | | +| FIX_TYPE_EXTRAPOLATED | `uint8` | 8 | | +| JAMMING_STATE_UNKNOWN | `uint8` | 0 | default | +| JAMMING_STATE_OK | `uint8` | 1 | | +| JAMMING_STATE_MITIGATED | `uint8` | 2 | | +| JAMMING_STATE_DETECTED | `uint8` | 3 | | +| SPOOFING_STATE_UNKNOWN | `uint8` | 0 | default | +| SPOOFING_STATE_OK | `uint8` | 1 | | +| SPOOFING_STATE_MITIGATED | `uint8` | 2 | | +| SPOOFING_STATE_DETECTED | `uint8` | 3 | | +| AUTHENTICATION_STATE_UNKNOWN | `uint8` | 0 | default | +| AUTHENTICATION_STATE_INITIALIZING | `uint8` | 1 | | +| AUTHENTICATION_STATE_ERROR | `uint8` | 2 | | +| AUTHENTICATION_STATE_OK | `uint8` | 3 | | +| AUTHENTICATION_STATE_DISABLED | `uint8` | 4 | | +| SYSTEM_ERROR_OK | `uint32` | 0 | default | +| SYSTEM_ERROR_INCOMING_CORRECTIONS | `uint32` | 1 | | +| SYSTEM_ERROR_CONFIGURATION | `uint32` | 2 | | +| SYSTEM_ERROR_SOFTWARE | `uint32` | 4 | | +| SYSTEM_ERROR_ANTENNA | `uint32` | 8 | | +| SYSTEM_ERROR_EVENT_CONGESTION | `uint32` | 16 | | +| SYSTEM_ERROR_CPU_OVERLOAD | `uint32` | 32 | | +| SYSTEM_ERROR_OUTPUT_CONGESTION | `uint32` | 64 | | +| RTCM_MSG_USED_UNKNOWN | `uint8` | 0 | | +| RTCM_MSG_USED_NOT_USED | `uint8` | 1 | | +| RTCM_MSG_USED_USED | `uint8` | 2 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGps.msg) + +:::details +Click here to see original file ```c # GPS position in WGS84 coordinates. @@ -96,5 +184,6 @@ uint8 RTCM_MSG_USED_USED = 2 uint8 rtcm_msg_used # Indicates if the RTCM message was used successfully by the receiver # TOPICS sensor_gps vehicle_gps_position - ``` + +::: diff --git a/docs/uk/msg_docs/SensorGyro.md b/docs/uk/msg_docs/SensorGyro.md index ee2b4f084a..673216cd7c 100644 --- a/docs/uk/msg_docs/SensorGyro.md +++ b/docs/uk/msg_docs/SensorGyro.md @@ -1,6 +1,38 @@ +--- +pageClass: is-wide-page +--- + # SensorGyro (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGyro.msg) +**TOPICS:** sensor_gyro + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| x | `float32` | | | angular velocity in the FRD board frame X-axis in rad/s | +| y | `float32` | | | angular velocity in the FRD board frame Y-axis in rad/s | +| z | `float32` | | | angular velocity in the FRD board frame Z-axis in rad/s | +| temperature | `float32` | | | temperature in degrees Celsius | +| error_count | `uint32` | | | | +| clip_counter | `uint8[3]` | | | clip count per axis in the sample period | +| samples | `uint8` | | | number of raw samples that went into this message | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 8 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGyro.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -21,5 +53,6 @@ uint8[3] clip_counter # clip count per axis in the sample period uint8 samples # number of raw samples that went into this message uint8 ORB_QUEUE_LENGTH = 8 - ``` + +::: diff --git a/docs/uk/msg_docs/SensorGyroFft.md b/docs/uk/msg_docs/SensorGyroFft.md index 645ce2b2dc..58a1c0d701 100644 --- a/docs/uk/msg_docs/SensorGyroFft.md +++ b/docs/uk/msg_docs/SensorGyroFft.md @@ -1,6 +1,33 @@ +--- +pageClass: is-wide-page +--- + # SensorGyroFft (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGyroFft.msg) +**TOPICS:** sensor_gyrofft + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------------ | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| sensor_sample_rate_hz | `float32` | | | | +| resolution_hz | `float32` | | | | +| peak_frequencies_x | `float32[3]` | | | x axis peak frequencies | +| peak_frequencies_y | `float32[3]` | | | y axis peak frequencies | +| peak_frequencies_z | `float32[3]` | | | z axis peak frequencies | +| peak_snr_x | `float32[3]` | | | x axis peak SNR | +| peak_snr_y | `float32[3]` | | | y axis peak SNR | +| peak_snr_z | `float32[3]` | | | z axis peak SNR | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGyroFft.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -18,5 +45,6 @@ float32[3] peak_frequencies_z # z axis peak frequencies float32[3] peak_snr_x # x axis peak SNR float32[3] peak_snr_y # y axis peak SNR float32[3] peak_snr_z # z axis peak SNR - ``` + +::: diff --git a/docs/uk/msg_docs/SensorGyroFifo.md b/docs/uk/msg_docs/SensorGyroFifo.md index 4d440b1129..a0cde80bb2 100644 --- a/docs/uk/msg_docs/SensorGyroFifo.md +++ b/docs/uk/msg_docs/SensorGyroFifo.md @@ -1,6 +1,37 @@ +--- +pageClass: is-wide-page +--- + # SensorGyroFifo (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGyroFifo.msg) +**TOPICS:** sensor_gyrofifo + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| dt | `float32` | | | delta time between samples (microseconds) | +| scale | `float32` | | | | +| samples | `uint8` | | | number of valid samples | +| x | `int16[32]` | | | angular velocity in the FRD board frame X-axis in rad/s | +| y | `int16[32]` | | | angular velocity in the FRD board frame Y-axis in rad/s | +| z | `int16[32]` | | | angular velocity in the FRD board frame Z-axis in rad/s | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGyroFifo.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -18,5 +49,6 @@ int16[32] y # angular velocity in the FRD board frame Y-axis in ra int16[32] z # angular velocity in the FRD board frame Z-axis in rad/s uint8 ORB_QUEUE_LENGTH = 4 - ``` + +::: diff --git a/docs/uk/msg_docs/SensorHygrometer.md b/docs/uk/msg_docs/SensorHygrometer.md index 765c031776..0589b43b24 100644 --- a/docs/uk/msg_docs/SensorHygrometer.md +++ b/docs/uk/msg_docs/SensorHygrometer.md @@ -1,6 +1,27 @@ +--- +pageClass: is-wide-page +--- + # SensorHygrometer (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorHygrometer.msg) +**TOPICS:** sensor_hygrometer + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | --------- | ---------------------------------------------------------------- | ----------------------------------------------------------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| `float32` | | | Temperature provided by sensor (Celsius) | | +| humidity | `float32` | | | Humidity provided by sensor | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorHygrometer.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -11,5 +32,6 @@ uint32 device_id # unique device ID for the sensor that does not change float32 temperature # Temperature provided by sensor (Celsius) float32 humidity # Humidity provided by sensor - ``` + +::: diff --git a/docs/uk/msg_docs/SensorMag.md b/docs/uk/msg_docs/SensorMag.md index 9bbc9f8742..171c0d9990 100644 --- a/docs/uk/msg_docs/SensorMag.md +++ b/docs/uk/msg_docs/SensorMag.md @@ -1,6 +1,36 @@ +--- +pageClass: is-wide-page +--- + # SensorMag (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorMag.msg) +**TOPICS:** sensor_mag + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| x | `float32` | | | magnetic field in the FRD board frame X-axis in Gauss | +| y | `float32` | | | magnetic field in the FRD board frame Y-axis in Gauss | +| z | `float32` | | | magnetic field in the FRD board frame Z-axis in Gauss | +| temperature | `float32` | | | temperature in degrees Celsius | +| error_count | `uint32` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorMag.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -17,5 +47,6 @@ float32 temperature # temperature in degrees Celsius uint32 error_count uint8 ORB_QUEUE_LENGTH = 4 - ``` + +::: diff --git a/docs/uk/msg_docs/SensorOpticalFlow.md b/docs/uk/msg_docs/SensorOpticalFlow.md index 750b5e65bb..0a8968bb7b 100644 --- a/docs/uk/msg_docs/SensorOpticalFlow.md +++ b/docs/uk/msg_docs/SensorOpticalFlow.md @@ -1,6 +1,46 @@ +--- +pageClass: is-wide-page +--- + # SensorOpticalFlow (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorOpticalFlow.msg) +**TOPICS:** sensor_opticalflow + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| pixel_flow | `float32[2]` | | | (radians) optical flow in radians where a positive value is produced by a RH rotation of the sensor about the body axis | +| delta_angle | `float32[3]` | | | (radians) accumulated gyro radians where a positive value is produced by a RH rotation about the body axis. Set to NaN if flow sensor does not have 3-axis gyro data. | +| delta_angle_available | `bool` | | | | +| distance_m | `float32` | | | (meters) Distance to the center of the flow field | +| distance_available | `bool` | | | | +| integration_timespan_us | `uint32` | | | (microseconds) accumulation timespan in microseconds | +| quality | `uint8` | | | quality, 0: bad quality, 255: maximum quality | +| error_count | `uint32` | | | | +| max_flow_rate | `float32` | | | (radians/s) Magnitude of maximum angular which the optical flow sensor can measure reliably | +| min_ground_distance | `float32` | | | (meters) Minimum distance from ground at which the optical flow sensor operates reliably | +| max_ground_distance | `float32` | | | (meters) Maximum distance from ground at which the optical flow sensor operates reliably | +| mode | `uint8` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| MODE_UNKNOWN | `uint8` | 0 | | +| MODE_BRIGHT | `uint8` | 1 | | +| MODE_LOWLIGHT | `uint8` | 2 | | +| MODE_SUPER_LOWLIGHT | `uint8` | 3 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorOpticalFlow.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -33,5 +73,6 @@ uint8 MODE_LOWLIGHT = 2 uint8 MODE_SUPER_LOWLIGHT = 3 uint8 mode - ``` + +::: diff --git a/docs/uk/msg_docs/SensorPreflightMag.md b/docs/uk/msg_docs/SensorPreflightMag.md index 767acf66ce..931d5f18af 100644 --- a/docs/uk/msg_docs/SensorPreflightMag.md +++ b/docs/uk/msg_docs/SensorPreflightMag.md @@ -1,9 +1,26 @@ +--- +pageClass: is-wide-page +--- + # SensorPreflightMag (UORB message) -Метрики перевірки сенсорів перед польотом. -The topic will not be updated when the vehicle is armed +Метрики перевірки сенсорів перед польотом. The topic will not be updated when the vehicle is armed. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorPreflightMag.msg) +**TOPICS:** sensor_preflightmag + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| mag_inconsistency_angle | `float32` | | | maximum angle between magnetometer instance field vectors in radians. | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorPreflightMag.msg) + +:::details +Click here to see original file ```c # @@ -13,5 +30,6 @@ The topic will not be updated when the vehicle is armed uint64 timestamp # time since system start (microseconds) float32 mag_inconsistency_angle # maximum angle between magnetometer instance field vectors in radians. - ``` + +::: diff --git a/docs/uk/msg_docs/SensorSelection.md b/docs/uk/msg_docs/SensorSelection.md index 562b44d504..805128dc21 100644 --- a/docs/uk/msg_docs/SensorSelection.md +++ b/docs/uk/msg_docs/SensorSelection.md @@ -1,9 +1,27 @@ +--- +pageClass: is-wide-page +--- + # SensorSelection (UORB повідомлення) -Ідентифікатори датчиків для вибраних датчиків, виведених на темі sensor_combined. -Will be updated on startup of the sensor module and when sensor selection changes +Ідентифікатори датчиків для вибраних датчиків, виведених на темі sensor_combined. Will be updated on startup of the sensor module and when sensor selection changes. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorSelection.msg) +**TOPICS:** sensor_selection + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| accel_device_id | `uint32` | | | unique device ID for the selected accelerometers | +| gyro_device_id | `uint32` | | | unique device ID for the selected rate gyros | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorSelection.msg) + +:::details +Click here to see original file ```c # @@ -13,5 +31,6 @@ Will be updated on startup of the sensor module and when sensor selection change uint64 timestamp # time since system start (microseconds) uint32 accel_device_id # unique device ID for the selected accelerometers uint32 gyro_device_id # unique device ID for the selected rate gyros - ``` + +::: diff --git a/docs/uk/msg_docs/SensorTemp.md b/docs/uk/msg_docs/SensorTemp.md index 5ed50541fe..5aafcaf494 100644 --- a/docs/uk/msg_docs/SensorTemp.md +++ b/docs/uk/msg_docs/SensorTemp.md @@ -1,11 +1,31 @@ +--- +pageClass: is-wide-page +--- + # SensorTemp (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorTemp.msg) +**TOPICS:** sensor_temp + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------ | -------- | ---------------------------------------------------------------- | ----------------------------------------------------------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| `float32` | | | Temperature provided by sensor (Celsius) | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorTemp.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) uint32 device_id # unique device ID for the sensor that does not change between power cycles float32 temperature # Temperature provided by sensor (Celsius) - ``` + +::: diff --git a/docs/uk/msg_docs/SensorUwb.md b/docs/uk/msg_docs/SensorUwb.md index 26a6120339..b3a3053c00 100644 --- a/docs/uk/msg_docs/SensorUwb.md +++ b/docs/uk/msg_docs/SensorUwb.md @@ -1,9 +1,45 @@ +--- +pageClass: is-wide-page +--- + # SensorUwb (Повідомлення UORB) -UWB відстань містить інформацію про відстань, виміряну системою позиціонування з використанням ультраширокосмугової технології, -такою як Pozyx або NXP Rddrone. +UWB distance contains the distance information measured by an ultra-wideband positioning system,. such as Pozyx or NXP Rddrone. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorUwb.msg) +**TOPICS:** sensor_uwb + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| sessionid | `uint32` | | | UWB SessionID | +| time_offset | `uint32` | | | Time between Ranging Rounds in ms | +| counter | `uint32` | | | Number of Ranges since last Start of Ranging | +| mac | `uint16` | | | MAC adress of Initiator (controller) | +| mac_dest | `uint16` | | | MAC adress of Responder (Controlee) | +| status | `uint16` | | | status feedback # | +| nlos | `uint8` | | | None line of site condition y/n | +| distance | `float32` | | | distance in m to the UWB receiver | +| aoa_azimuth_dev | `float32` | | | Angle of arrival of first incomming RX msg | +| aoa_elevation_dev | `float32` | | | Angle of arrival of first incomming RX msg | +| aoa_azimuth_resp | `float32` | | | Angle of arrival of first incomming RX msg at the responder | +| aoa_elevation_resp | `float32` | | | Angle of arrival of first incomming RX msg at the responder | +| aoa_azimuth_fom | `uint8` | | | AOA Azimuth FOM | +| aoa_elevation_fom | `uint8` | | | AOA Elevation FOM | +| aoa_dest_azimuth_fom | `uint8` | | | AOA Azimuth FOM | +| aoa_dest_elevation_fom | `uint8` | | | AOA Elevation FOM | +| orientation | `uint8` | | | Direction the sensor faces from MAV_SENSOR_ORIENTATION enum | +| offset_x | `float32` | | | UWB initiator offset in X axis (NED drone frame) | +| offset_y | `float32` | | | UWB initiator offset in Y axis (NED drone frame) | +| offset_z | `float32` | | | UWB initiator offset in Z axis (NED drone frame) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorUwb.msg) + +:::details +Click here to see original file ```c # UWB distance contains the distance information measured by an ultra-wideband positioning system, @@ -40,5 +76,6 @@ uint8 orientation # Direction the sensor faces from MAV_SENSOR_ORIENTATION enum float32 offset_x # UWB initiator offset in X axis (NED drone frame) float32 offset_y # UWB initiator offset in Y axis (NED drone frame) float32 offset_z # UWB initiator offset in Z axis (NED drone frame) - ``` + +::: diff --git a/docs/uk/msg_docs/SensorsStatus.md b/docs/uk/msg_docs/SensorsStatus.md index b00ad6eb08..853a81decd 100644 --- a/docs/uk/msg_docs/SensorsStatus.md +++ b/docs/uk/msg_docs/SensorsStatus.md @@ -1,8 +1,32 @@ +--- +pageClass: is-wide-page +--- + # SensorsStatus (повідомлення UORB) Метрики перевірки датчика. Це значення буде нульовим для датчика, який є первинним або незаповненим. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorsStatus.msg) +**TOPICS:** sensors_status_baro sensors_status_mag + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id_primary | `uint32` | | | current primary device id for reference | +| device_ids | `uint32[4]` | | | | +| inconsistency | `float32[4]` | | | magnitude of difference between sensor instance and mean | +| healthy | `bool[4]` | | | sensor healthy | +| priority | `uint8[4]` | | | | +| enabled | `bool[4]` | | | | +| external | `bool[4]` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorsStatus.msg) + +:::details +Click here to see original file ```c # @@ -20,5 +44,6 @@ bool[4] enabled bool[4] external # TOPICS sensors_status_baro sensors_status_mag - ``` + +::: diff --git a/docs/uk/msg_docs/SensorsStatusImu.md b/docs/uk/msg_docs/SensorsStatusImu.md index 864da8f23c..d9fd0b090c 100644 --- a/docs/uk/msg_docs/SensorsStatusImu.md +++ b/docs/uk/msg_docs/SensorsStatusImu.md @@ -1,8 +1,35 @@ +--- +pageClass: is-wide-page +--- + # SensorsStatusImu (повідомлення UORB) Метрики перевірки датчика. Це значення буде нульовим для датчика, який є первинним або незаповненим. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorsStatusImu.msg) +**TOPICS:** sensors_statusimu + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| accel_device_id_primary | `uint32` | | | current primary accel device id for reference | +| accel_device_ids | `uint32[4]` | | | | +| accel_inconsistency_m_s_s | `float32[4]` | | | magnitude of acceleration difference between IMU instance and mean in m/s^2. | +| accel_healthy | `bool[4]` | | | | +| accel_priority | `uint8[4]` | | | | +| gyro_device_id_primary | `uint32` | | | current primary gyro device id for reference | +| gyro_device_ids | `uint32[4]` | | | | +| gyro_inconsistency_rad_s | `float32[4]` | | | magnitude of angular rate difference between IMU instance and mean in (rad/s). | +| gyro_healthy | `bool[4]` | | | | +| gyro_priority | `uint8[4]` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorsStatusImu.msg) + +:::details +Click here to see original file ```c # @@ -23,5 +50,6 @@ uint32[4] gyro_device_ids float32[4] gyro_inconsistency_rad_s # magnitude of angular rate difference between IMU instance and mean in (rad/s). bool[4] gyro_healthy uint8[4] gyro_priority - ``` + +::: diff --git a/docs/uk/msg_docs/SystemPower.md b/docs/uk/msg_docs/SystemPower.md index eac7503f97..665b2546c8 100644 --- a/docs/uk/msg_docs/SystemPower.md +++ b/docs/uk/msg_docs/SystemPower.md @@ -1,6 +1,49 @@ +--- +pageClass: is-wide-page +--- + # SystemPower (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SystemPower.msg) +**TOPICS:** system_power + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| voltage5v_v | `float32` | | | peripheral 5V rail voltage | +| voltage_payload_v | `float32` | | | payload rail voltage | +| sensors3v3 | `float32[4]` | | | Sensors 3V3 rail voltage | +| sensors3v3_valid | `uint8` | | | Sensors 3V3 rail voltage was read (bitfield). | +| usb_connected | `uint8` | | | USB is connected when 1 | +| brick_valid | `uint8` | | | brick bits power is good when bit 1 | +| usb_valid | `uint8` | | | USB is valid when 1 | +| servo_valid | `uint8` | | | servo power is good when 1 | +| periph_5v_oc | `uint8` | | | peripheral overcurrent when 1 | +| hipower_5v_oc | `uint8` | | | high power peripheral overcurrent when 1 | +| comp_5v_valid | `uint8` | | | 5V to companion valid | +| can1_gps1_5v_valid | `uint8` | | | 5V for CAN1/GPS1 valid | +| payload_v_valid | `uint8` | | | payload rail voltage is valid | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| BRICK1_VALID_SHIFTS | `uint8` | 0 | | +| BRICK1_VALID_MASK | `uint8` | 1 | | +| BRICK2_VALID_SHIFTS | `uint8` | 1 | | +| BRICK2_VALID_MASK | `uint8` | 2 | | +| BRICK3_VALID_SHIFTS | `uint8` | 2 | | +| BRICK3_VALID_MASK | `uint8` | 4 | | +| BRICK4_VALID_SHIFTS | `uint8` | 3 | | +| BRICK4_VALID_MASK | `uint8` | 8 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SystemPower.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -26,5 +69,6 @@ uint8 BRICK3_VALID_SHIFTS=2 uint8 BRICK3_VALID_MASK=4 uint8 BRICK4_VALID_SHIFTS=3 uint8 BRICK4_VALID_MASK=8 - ``` + +::: diff --git a/docs/uk/msg_docs/TakeoffStatus.md b/docs/uk/msg_docs/TakeoffStatus.md index e8221378e2..ecdc3d1b91 100644 --- a/docs/uk/msg_docs/TakeoffStatus.md +++ b/docs/uk/msg_docs/TakeoffStatus.md @@ -1,8 +1,38 @@ +--- +pageClass: is-wide-page +--- + # TakeoffStatus (UORB повідомлення) -Статус злітної машини наразі доступний лише для мультикоптерів +Status of the takeoff state machine currently just available for multicopters. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TakeoffStatus.msg) +**TOPICS:** takeoff_status + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| takeoff_state | `uint8` | | | | +| tilt_limit | `float32` | | | limited tilt feasibility during takeoff, contains maximum tilt otherwise | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| TAKEOFF_STATE_UNINITIALIZED | `uint8` | 0 | | +| TAKEOFF_STATE_DISARMED | `uint8` | 1 | | +| TAKEOFF_STATE_SPOOLUP | `uint8` | 2 | | +| TAKEOFF_STATE_READY_FOR_TAKEOFF | `uint8` | 3 | | +| TAKEOFF_STATE_RAMPUP | `uint8` | 4 | | +| TAKEOFF_STATE_FLIGHT | `uint8` | 5 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TakeoffStatus.msg) + +:::details +Click here to see original file ```c # Status of the takeoff state machine currently just available for multicopters @@ -19,5 +49,6 @@ uint8 TAKEOFF_STATE_FLIGHT = 5 uint8 takeoff_state float32 tilt_limit # limited tilt feasibility during takeoff, contains maximum tilt otherwise - ``` + +::: diff --git a/docs/uk/msg_docs/TaskStackInfo.md b/docs/uk/msg_docs/TaskStackInfo.md index 5dce461ca8..d42a5796a4 100644 --- a/docs/uk/msg_docs/TaskStackInfo.md +++ b/docs/uk/msg_docs/TaskStackInfo.md @@ -1,8 +1,33 @@ +--- +pageClass: is-wide-page +--- + # TaskStackInfo (повідомлення UORB) -інформація про стек для одного запущеного процесу +stack information for a single running process. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TaskStackInfo.msg) +**TOPICS:** task_stackinfo + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| stack_free | `uint16` | | | | +| task_name | `char[24]` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORB_QUEUE_LENGTH | `uint8` | 2 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TaskStackInfo.msg) + +:::details +Click here to see original file ```c # stack information for a single running process @@ -13,5 +38,6 @@ uint16 stack_free char[24] task_name uint8 ORB_QUEUE_LENGTH = 2 - ``` + +::: diff --git a/docs/uk/msg_docs/TecsStatus.md b/docs/uk/msg_docs/TecsStatus.md index 4c360ea6dd..e74953099a 100644 --- a/docs/uk/msg_docs/TecsStatus.md +++ b/docs/uk/msg_docs/TecsStatus.md @@ -1,6 +1,47 @@ +--- +pageClass: is-wide-page +--- + # TecsStatus (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TecsStatus.msg) +**TOPICS:** tecs_status + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| altitude_sp | `float32` | | | Altitude setpoint AMSL [m] | +| altitude_reference | `float32` | | | Altitude setpoint reference AMSL [m] | +| altitude_time_constant | `float32` | | | Time constant of the altitude tracker [s] | +| height_rate_reference | `float32` | | | Height rate setpoint reference [m/s] | +| height_rate_direct | `float32` | | | Direct height rate setpoint from velocity reference generator [m/s] | +| height_rate_setpoint | `float32` | | | Height rate setpoint [m/s] | +| height_rate | `float32` | | | Height rate [m/s] | +| equivalent_airspeed_sp | `float32` | | | Equivalent airspeed setpoint [m/s] | +| true_airspeed_sp | `float32` | | | True airspeed setpoint [m/s] | +| true_airspeed_filtered | `float32` | | | True airspeed filtered [m/s] | +| true_airspeed_derivative_sp | `float32` | | | True airspeed derivative setpoint [m/s^2] | +| true_airspeed_derivative | `float32` | | | True airspeed derivative [m/s^2] | +| true_airspeed_derivative_raw | `float32` | | | True airspeed derivative raw [m/s^2] | +| total_energy_rate_sp | `float32` | | | Total energy rate setpoint [m^2/s^3] | +| total_energy_rate | `float32` | | | Total energy rate estimate [m^2/s^3] | +| total_energy_balance_rate_sp | `float32` | | | Energy balance rate setpoint [m^2/s^3] | +| total_energy_balance_rate | `float32` | | | Energy balance rate estimate [m^2/s^3] | +| throttle_integ | `float32` | | | Throttle integrator value [-] | +| pitch_integ | `float32` | | | Pitch integrator value [rad] | +| throttle_sp | `float32` | | | Current throttle setpoint [-] | +| pitch_sp_rad | `float32` | | | Current pitch setpoint [rad] | +| throttle_trim | `float32` | | | estimated throttle value [0,1] required to fly level at equivalent_airspeed_sp in the current atmospheric conditions | +| underspeed_ratio | `float32` | | | 0: no underspeed, 1: maximal underspeed. Controller takes measures to avoid stall proportional to ratio if >0. | +| fast_descend_ratio | `float32` | | | value indicating if fast descend mode is enabled with ramp up and ramp down [0-1] | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TecsStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -34,5 +75,6 @@ float32 throttle_trim # estimated throttle value [0,1] required to fly level a float32 underspeed_ratio # 0: no underspeed, 1: maximal underspeed. Controller takes measures to avoid stall proportional to ratio if >0. float32 fast_descend_ratio # value indicating if fast descend mode is enabled with ramp up and ramp down [0-1] - ``` + +::: diff --git a/docs/uk/msg_docs/TelemetryStatus.md b/docs/uk/msg_docs/TelemetryStatus.md index 1d12591375..5d1aa59ca3 100644 --- a/docs/uk/msg_docs/TelemetryStatus.md +++ b/docs/uk/msg_docs/TelemetryStatus.md @@ -1,6 +1,71 @@ +--- +pageClass: is-wide-page +--- + # TelemetryStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TelemetryStatus.msg) +**TOPICS:** telemetry_status + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| type | `uint8` | | | type of the radio hardware (LINK_TYPE_\*) | +| mode | `uint8` | | | | +| flow_control | `bool` | | | | +| forwarding | `bool` | | | | +| mavlink_v2 | `bool` | | | | +| ftp | `bool` | | | | +| streams | `uint8` | | | | +| data_rate | `float32` | | | configured maximum data rate (Bytes/s) | +| rate_multiplier | `float32` | | | | +| tx_rate_avg | `float32` | | | transmit rate average (Bytes/s) | +| tx_error_rate_avg | `float32` | | | transmit error rate average (Bytes/s) | +| tx_message_count | `uint32` | | | total message sent count | +| tx_buffer_overruns | `uint32` | | | number of TX buffer overruns | +| rx_rate_avg | `float32` | | | transmit rate average (Bytes/s) | +| rx_message_count | `uint32` | | | count of total messages received | +| rx_message_lost_count | `uint32` | | | | +| rx_buffer_overruns | `uint32` | | | number of RX buffer overruns | +| rx_parse_errors | `uint32` | | | number of parse errors | +| rx_packet_drop_count | `uint32` | | | number of packet drops | +| rx_message_lost_rate | `float32` | | | | +| heartbeat_type_antenna_tracker | `bool` | | | MAV_TYPE_ANTENNA_TRACKER | +| heartbeat_type_gcs | `bool` | | | MAV_TYPE_GCS | +| heartbeat_type_onboard_controller | `bool` | | | MAV_TYPE_ONBOARD_CONTROLLER | +| heartbeat_type_gimbal | `bool` | | | MAV_TYPE_GIMBAL | +| heartbeat_type_adsb | `bool` | | | MAV_TYPE_ADSB | +| heartbeat_type_camera | `bool` | | | MAV_TYPE_CAMERA | +| heartbeat_type_parachute | `bool` | | | MAV_TYPE_PARACHUTE | +| heartbeat_type_open_drone_id | `bool` | | | MAV_TYPE_ODID | +| heartbeat_component_telemetry_radio | `bool` | | | MAV_COMP_ID_TELEMETRY_RADIO | +| heartbeat_component_log | `bool` | | | MAV_COMP_ID_LOG | +| heartbeat_component_osd | `bool` | | | MAV_COMP_ID_OSD | +| heartbeat_component_vio | `bool` | | | MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY | +| heartbeat_component_pairing_manager | `bool` | | | MAV_COMP_ID_PAIRING_MANAGER | +| heartbeat_component_udp_bridge | `bool` | | | MAV_COMP_ID_UDP_BRIDGE | +| heartbeat_component_uart_bridge | `bool` | | | MAV_COMP_ID_UART_BRIDGE | +| open_drone_id_system_healthy | `bool` | | | | +| parachute_system_healthy | `bool` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ------------------------------------------------------------------ | +| LINK_TYPE_GENERIC | `uint8` | 0 | | +| LINK_TYPE_UBIQUITY_BULLET | `uint8` | 1 | | +| LINK_TYPE_WIRE | `uint8` | 2 | | +| LINK_TYPE_USB | `uint8` | 3 | | +| LINK_TYPE_IRIDIUM | `uint8` | 4 | | +| HEARTBEAT_TIMEOUT_US | `uint64` | 2500000 | Heartbeat timeout (tolerate missing 1 + jitter) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TelemetryStatus.msg) + +:::details +Click here to see original file ```c uint8 LINK_TYPE_GENERIC = 0 @@ -64,5 +129,6 @@ bool heartbeat_component_uart_bridge # MAV_COMP_ID_UART_BRIDGE # Misc component health bool open_drone_id_system_healthy bool parachute_system_healthy - ``` + +::: diff --git a/docs/uk/msg_docs/TiltrotorExtraControls.md b/docs/uk/msg_docs/TiltrotorExtraControls.md index 461e16e1a0..ee72fdae11 100644 --- a/docs/uk/msg_docs/TiltrotorExtraControls.md +++ b/docs/uk/msg_docs/TiltrotorExtraControls.md @@ -1,11 +1,31 @@ +--- +pageClass: is-wide-page +--- + # TiltrotorExtraControls (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TiltrotorExtraControls.msg) +**TOPICS:** tiltrotor_extracontrols + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| collective_tilt_normalized_setpoint | `float32` | | | Collective tilt angle of motors of tiltrotor, 0: vertical, 1: horizontal [0, 1] | +| collective_thrust_normalized_setpoint | `float32` | | | Collective thrust setpoint [0, 1] | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TiltrotorExtraControls.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) float32 collective_tilt_normalized_setpoint # Collective tilt angle of motors of tiltrotor, 0: vertical, 1: horizontal [0, 1] float32 collective_thrust_normalized_setpoint # Collective thrust setpoint [0, 1] - ``` + +::: diff --git a/docs/uk/msg_docs/TimesyncStatus.md b/docs/uk/msg_docs/TimesyncStatus.md index 96ff9258be..61c38e61e9 100644 --- a/docs/uk/msg_docs/TimesyncStatus.md +++ b/docs/uk/msg_docs/TimesyncStatus.md @@ -1,6 +1,36 @@ +--- +pageClass: is-wide-page +--- + # TimesyncStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TimesyncStatus.msg) +**TOPICS:** timesync_status + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| source_protocol | `uint8` | | | timesync source | +| remote_timestamp | `uint64` | | | remote system timestamp (microseconds) | +| observed_offset | `int64` | | | raw time offset directly observed from this timesync packet (microseconds) | +| estimated_offset | `int64` | | | smoothed time offset between companion system and PX4 (microseconds) | +| round_trip_time | `uint32` | | | round trip time of this timesync packet (microseconds) | + +## Constants + +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| SOURCE_PROTOCOL_UNKNOWN | `uint8` | 0 | | +| SOURCE_PROTOCOL_MAVLINK | `uint8` | 1 | | +| SOURCE_PROTOCOL_DDS | `uint8` | 2 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TimesyncStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -14,5 +44,6 @@ uint64 remote_timestamp # remote system timestamp (microseconds) int64 observed_offset # raw time offset directly observed from this timesync packet (microseconds) int64 estimated_offset # smoothed time offset between companion system and PX4 (microseconds) uint32 round_trip_time # round trip time of this timesync packet (microseconds) - ``` + +::: diff --git a/docs/uk/msg_docs/TrajectorySetpoint.md b/docs/uk/msg_docs/TrajectorySetpoint.md index 25e9a101e8..91e3d1380e 100644 --- a/docs/uk/msg_docs/TrajectorySetpoint.md +++ b/docs/uk/msg_docs/TrajectorySetpoint.md @@ -1,11 +1,37 @@ +--- +pageClass: is-wide-page +--- + # TrajectorySetpoint (повідомлення UORB) -Traекторія вказівки в рамці NED -Вхід до контролера позиції PID. -Потрібно мати кінематичну консистентність і бути можливим для плавного польоту. -встановлення значення NaN означає, що стан не повинен контролюватися +Trajectory setpoint in NED frame. Input to PID position controller. Потрібно мати кінематичну консистентність і бути можливим для плавного польоту. setting a value to NaN means the state should not be controlled. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/TrajectorySetpoint.msg) +**TOPICS:** trajectory_setpoint + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------ | ------------ | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| положення | `float32[3]` | | | in meters | +| швидкість | `float32[3]` | | | in meters/second | +| acceleration | `float32[3]` | | | in meters/second^2 | +| jerk | `float32[3]` | | | in meters/second^3 (for logging only) | +| yaw | `float32` | | | euler angle of desired attitude in radians -PI..+PI | +| yawspeed | `float32` | | | angular velocity around NED frame z-axis in radians/second | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/TrajectorySetpoint.msg) + +:::details +Click here to see original file ```c # Trajectory setpoint in NED frame @@ -25,5 +51,6 @@ float32[3] jerk # in meters/second^3 (for logging only) float32 yaw # euler angle of desired attitude in radians -PI..+PI float32 yawspeed # angular velocity around NED frame z-axis in radians/second - ``` + +::: diff --git a/docs/uk/msg_docs/TrajectorySetpoint6dof.md b/docs/uk/msg_docs/TrajectorySetpoint6dof.md index f2629e19c4..0bd68e8087 100644 --- a/docs/uk/msg_docs/TrajectorySetpoint6dof.md +++ b/docs/uk/msg_docs/TrajectorySetpoint6dof.md @@ -1,9 +1,31 @@ +--- +pageClass: is-wide-page +--- + # TrajectorySetpoint6dof (UORB message) -Trajectory setpoint in NED frame -Input to position controller. +Trajectory setpoint in NED frame. Input to position controller. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TrajectorySetpoint6dof.msg) +**TOPICS:** trajectory_setpoint6dof + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| положення | `float32[3]` | | | in meters | +| швидкість | `float32[3]` | | | in meters/second | +| acceleration | `float32[3]` | | | in meters/second^2 | +| jerk | `float32[3]` | | | in meters/second^3 (for logging only) | +| quaternion | `float32[4]` | | | unit quaternion | +| angular_velocity | `float32[3]` | | | angular velocity in radians/second | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TrajectorySetpoint6dof.msg) + +:::details +Click here to see original file ```c # Trajectory setpoint in NED frame @@ -19,5 +41,6 @@ float32[3] jerk # in meters/second^3 (for logging only) float32[4] quaternion # unit quaternion float32[3] angular_velocity # angular velocity in radians/second - ``` + +::: diff --git a/docs/uk/msg_docs/TransponderReport.md b/docs/uk/msg_docs/TransponderReport.md index 9bab882b02..da15f55a06 100644 --- a/docs/uk/msg_docs/TransponderReport.md +++ b/docs/uk/msg_docs/TransponderReport.md @@ -1,6 +1,71 @@ +--- +pageClass: is-wide-page +--- + # TransponderReport (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TransponderReport.msg) +**TOPICS:** transponder_report + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| icao_address | `uint32` | | | ICAO address | +| lat | `float64` | | | Latitude, expressed as degrees | +| lon | `float64` | | | Longitude, expressed as degrees | +| altitude_type | `uint8` | | | Type from ADSB_ALTITUDE_TYPE enum | +| altitude | `float32` | | | Altitude(ASL) in meters | +| heading | `float32` | | | Course over ground in radians, 0 to 2pi, 0 is north | +| hor_velocity | `float32` | | | The horizontal velocity in m/s | +| ver_velocity | `float32` | | | The vertical velocity in m/s, positive is up | +| callsign | `char[9]` | | | The callsign, 8+null | +| emitter_type | `uint8` | | | Type from ADSB_EMITTER_TYPE enum | +| tslc | `uint8` | | | Time since last communication in seconds | +| flags | `uint16` | | | Flags to indicate various statuses including valid data fields | +| squawk | `uint16` | | | Squawk code | +| uas_id | `uint8[18]` | | | Unique UAS ID | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | -------- | ---- | +| PX4_ADSB_FLAGS_VALID_COORDS | `uint16` | 1 | | +| PX4_ADSB_FLAGS_VALID_ALTITUDE | `uint16` | 2 | | +| PX4_ADSB_FLAGS_VALID_HEADING | `uint16` | 4 | | +| PX4_ADSB_FLAGS_VALID_VELOCITY | `uint16` | 8 | | +| PX4_ADSB_FLAGS_VALID_CALLSIGN | `uint16` | 16 | | +| PX4_ADSB_FLAGS_VALID_SQUAWK | `uint16` | 32 | | +| PX4_ADSB_FLAGS_RETRANSLATE | `uint16` | 256 | | +| ADSB_EMITTER_TYPE_NO_INFO | `uint16` | 0 | | +| ADSB_EMITTER_TYPE_LIGHT | `uint16` | 1 | | +| ADSB_EMITTER_TYPE_SMALL | `uint16` | 2 | | +| ADSB_EMITTER_TYPE_LARGE | `uint16` | 3 | | +| ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE | `uint16` | 4 | | +| ADSB_EMITTER_TYPE_HEAVY | `uint16` | 5 | | +| ADSB_EMITTER_TYPE_HIGHLY_MANUV | `uint16` | 6 | | +| ADSB_EMITTER_TYPE_ROTOCRAFT | `uint16` | 7 | | +| ADSB_EMITTER_TYPE_UNASSIGNED | `uint16` | 8 | | +| ADSB_EMITTER_TYPE_GLIDER | `uint16` | 9 | | +| ADSB_EMITTER_TYPE_LIGHTER_AIR | `uint16` | 10 | | +| ADSB_EMITTER_TYPE_PARACHUTE | `uint16` | 11 | | +| ADSB_EMITTER_TYPE_ULTRA_LIGHT | `uint16` | 12 | | +| ADSB_EMITTER_TYPE_UNASSIGNED2 | `uint16` | 13 | | +| ADSB_EMITTER_TYPE_UAV | `uint16` | 14 | | +| ADSB_EMITTER_TYPE_SPACE | `uint16` | 15 | | +| ADSB_EMITTER_TYPE_UNASSGINED3 | `uint16` | 16 | | +| ADSB_EMITTER_TYPE_EMERGENCY_SURFACE | `uint16` | 17 | | +| ADSB_EMITTER_TYPE_SERVICE_SURFACE | `uint16` | 18 | | +| ADSB_EMITTER_TYPE_POINT_OBSTACLE | `uint16` | 19 | | +| ADSB_EMITTER_TYPE_ENUM_END | `uint16` | 20 | | +| ORB_QUEUE_LENGTH | `uint8` | 16 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TransponderReport.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -53,5 +118,6 @@ uint16 ADSB_EMITTER_TYPE_POINT_OBSTACLE=19 uint16 ADSB_EMITTER_TYPE_ENUM_END=20 uint8 ORB_QUEUE_LENGTH = 16 - ``` + +::: diff --git a/docs/uk/msg_docs/TuneControl.md b/docs/uk/msg_docs/TuneControl.md index f0e50ed6b1..a52b2dab06 100644 --- a/docs/uk/msg_docs/TuneControl.md +++ b/docs/uk/msg_docs/TuneControl.md @@ -1,9 +1,61 @@ +--- +pageClass: is-wide-page +--- + # TuneControl (UORB message) -Це повідомлення використовується для контролю мелодій, коли tune_id встановлено на CUSTOM -то частота, тривалість використовуються, в іншому випадку ці значення ігноруються. +This message is used to control the tunes, when the tune_id is set to CUSTOM. then the frequency, duration are used otherwise those values are ignored. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TuneControl.msg) +**TOPICS:** tune_control + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| tune_id | `uint8` | | | tune_id corresponding to TuneID::\* from the tune_defaults.h in the tunes library | +| tune_override | `bool` | | | if true the tune which is playing will be stopped and the new started | +| frequency | `uint16` | | | in Hz | +| duration | `uint32` | | | in us | +| silence | `uint32` | | | in us | +| volume | `uint8` | | | value between 0-100 if supported by backend | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| TUNE_ID_STOP | `uint8` | 0 | | +| TUNE_ID_STARTUP | `uint8` | 1 | | +| TUNE_ID_ERROR | `uint8` | 2 | | +| TUNE_ID_NOTIFY_POSITIVE | `uint8` | 3 | | +| TUNE_ID_NOTIFY_NEUTRAL | `uint8` | 4 | | +| TUNE_ID_NOTIFY_NEGATIVE | `uint8` | 5 | | +| TUNE_ID_ARMING_WARNING | `uint8` | 6 | | +| TUNE_ID_BATTERY_WARNING_SLOW | `uint8` | 7 | | +| TUNE_ID_BATTERY_WARNING_FAST | `uint8` | 8 | | +| TUNE_ID_GPS_WARNING | `uint8` | 9 | | +| TUNE_ID_ARMING_FAILURE | `uint8` | 10 | | +| TUNE_ID_PARACHUTE_RELEASE | `uint8` | 11 | | +| TUNE_ID_SINGLE_BEEP | `uint8` | 12 | | +| TUNE_ID_HOME_SET | `uint8` | 13 | | +| TUNE_ID_SD_INIT | `uint8` | 14 | | +| TUNE_ID_SD_ERROR | `uint8` | 15 | | +| TUNE_ID_PROG_PX4IO | `uint8` | 16 | | +| TUNE_ID_PROG_PX4IO_OK | `uint8` | 17 | | +| TUNE_ID_PROG_PX4IO_ERR | `uint8` | 18 | | +| TUNE_ID_POWER_OFF | `uint8` | 19 | | +| NUMBER_OF_TUNES | `uint8` | 20 | | +| VOLUME_LEVEL_MIN | `uint8` | 0 | | +| VOLUME_LEVEL_DEFAULT | `uint8` | 20 | | +| VOLUME_LEVEL_MAX | `uint8` | 100 | | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TuneControl.msg) + +:::details +Click here to see original file ```c # This message is used to control the tunes, when the tune_id is set to CUSTOM @@ -45,5 +97,6 @@ uint8 VOLUME_LEVEL_DEFAULT = 20 uint8 VOLUME_LEVEL_MAX = 100 uint8 ORB_QUEUE_LENGTH = 4 - ``` + +::: diff --git a/docs/uk/msg_docs/UavcanParameterRequest.md b/docs/uk/msg_docs/UavcanParameterRequest.md index e0af4962ef..f068ce116a 100644 --- a/docs/uk/msg_docs/UavcanParameterRequest.md +++ b/docs/uk/msg_docs/UavcanParameterRequest.md @@ -1,8 +1,45 @@ +--- +pageClass: is-wide-page +--- + # UavcanParameterRequest (UORB повідомлення) -Тип запиту моста параметрів UAVCAN-MAVLink +UAVCAN-MAVLink parameter bridge request type. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/UavcanParameterRequest.msg) +**TOPICS:** uavcan_parameterrequest + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| message_type | `uint8` | | | MAVLink message type: PARAM_REQUEST_READ, PARAM_REQUEST_LIST, PARAM_SET | +| node_id | `uint8` | | | UAVCAN node ID mapped from MAVLink component ID | +| param_id | `char[17]` | | | MAVLink/UAVCAN parameter name | +| param_index | `int16` | | | -1 if the param_id field should be used as identifier | +| param_type | `uint8` | | | MAVLink parameter type | +| int_value | `int64` | | | current value if param_type is int-like | +| real_value | `float32` | | | current value if param_type is float-like | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------ | +| MESSAGE_TYPE_PARAM_REQUEST_READ | `uint8` | 20 | MAVLINK_MSG_ID_PARAM_REQUEST_READ | +| MESSAGE_TYPE_PARAM_REQUEST_LIST | `uint8` | 21 | MAVLINK_MSG_ID_PARAM_REQUEST_LIST | +| MESSAGE_TYPE_PARAM_SET | `uint8` | 23 | MAVLINK_MSG_ID_PARAM_SET | +| NODE_ID_ALL | `uint8` | 0 | MAV_COMP_ID_ALL | +| PARAM_TYPE_UINT8 | `uint8` | 1 | MAV_PARAM_TYPE_UINT8 | +| PARAM_TYPE_INT64 | `uint8` | 8 | MAV_PARAM_TYPE_INT64 | +| PARAM_TYPE_REAL32 | `uint8` | 9 | MAV_PARAM_TYPE_REAL32 | +| ORB_QUEUE_LENGTH | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/UavcanParameterRequest.msg) + +:::details +Click here to see original file ```c # UAVCAN-MAVLink parameter bridge request type @@ -28,5 +65,6 @@ int64 int_value # current value if param_type is int-like float32 real_value # current value if param_type is float-like uint8 ORB_QUEUE_LENGTH = 4 - ``` + +::: diff --git a/docs/uk/msg_docs/UavcanParameterValue.md b/docs/uk/msg_docs/UavcanParameterValue.md index c81423d77e..4e77fab3d8 100644 --- a/docs/uk/msg_docs/UavcanParameterValue.md +++ b/docs/uk/msg_docs/UavcanParameterValue.md @@ -1,8 +1,32 @@ +--- +pageClass: is-wide-page +--- + # UavcanParameterValue (Параметр UORB) -Тип відповіді моста параметрів UAVCAN-MAVLink +UAVCAN-MAVLink parameter bridge response type. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/UavcanParameterValue.msg) +**TOPICS:** uavcan_parametervalue + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| -------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| node_id | `uint8` | | | UAVCAN node ID mapped from MAVLink component ID | +| param_id | `char[17]` | | | MAVLink/UAVCAN parameter name | +| param_index | `int16` | | | parameter index, if known | +| param_count | `uint16` | | | number of parameters exposed by the node | +| param_type | `uint8` | | | MAVLink parameter type | +| int_value | `int64` | | | current value if param_type is int-like | +| real_value | `float32` | | | current value if param_type is float-like | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/UavcanParameterValue.msg) + +:::details +Click here to see original file ```c # UAVCAN-MAVLink parameter bridge response type @@ -14,5 +38,6 @@ uint16 param_count # number of parameters exposed by the node uint8 param_type # MAVLink parameter type int64 int_value # current value if param_type is int-like float32 real_value # current value if param_type is float-like - ``` + +::: diff --git a/docs/uk/msg_docs/UlogStream.md b/docs/uk/msg_docs/UlogStream.md index ffca54c7fa..08e9606c69 100644 --- a/docs/uk/msg_docs/UlogStream.md +++ b/docs/uk/msg_docs/UlogStream.md @@ -1,9 +1,37 @@ +--- +pageClass: is-wide-page +--- + # UlogStream (повідомлення UORB) -Повідомлення для потоку даних ULog з пристрою реєстрування. Відповідає повідомленню mavlink LOGGING_DATA -mavlink message +Повідомлення для потоку даних ULog з пристрою реєстрування. Corresponds to the LOGGING_DATA. mavlink message. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/UlogStream.msg) +**TOPICS:** ulog_stream + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| -------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| length | `uint8` | | | length of data | +| first_message_offset | `uint8` | | | offset into data where first message starts. This | +| msg_sequence | `uint16` | | | allows determine drops | +| flags | `uint8` | | | see FLAGS\_\* | +| data | `uint8[249]` | | | ulog data | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------ | +| FLAGS_NEED_ACK | `uint8` | 1 | if set, this message requires to be acked. | +| ORB_QUEUE_LENGTH | `uint8` | 16 | TODO: we might be able to reduce this if mavlink polled on the topic | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/UlogStream.msg) + +:::details +Click here to see original file ```c # Message to stream ULog data from the logger. Corresponds to the LOGGING_DATA @@ -25,5 +53,6 @@ uint8 flags # see FLAGS_* uint8[249] data # ulog data uint8 ORB_QUEUE_LENGTH = 16 # TODO: we might be able to reduce this if mavlink polled on the topic - ``` + +::: diff --git a/docs/uk/msg_docs/UlogStreamAck.md b/docs/uk/msg_docs/UlogStreamAck.md index 70778fc0a9..e01165ef0a 100644 --- a/docs/uk/msg_docs/UlogStreamAck.md +++ b/docs/uk/msg_docs/UlogStreamAck.md @@ -1,8 +1,33 @@ +--- +pageClass: is-wide-page +--- + # UlogStreamAck (повідомлення UORB) -Підтверджуйте попереднє повідомлення ulog_stream, в якому був встановлений прапорець NEED_ACK +Ack a previously sent ulog_stream message that had. the NEED_ACK flag set. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/UlogStreamAck.msg) +**TOPICS:** ulog_streamack + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| msg_sequence | `uint16` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------- | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------ | +| ACK_TIMEOUT | `int32` | 50 | timeout waiting for an ack until we retry to send the message [ms] | +| ACK_MAX_TRIES | `int32` | 50 | maximum amount of tries to (re-)send a message, each time waiting ACK_TIMEOUT ms | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/UlogStreamAck.msg) + +:::details +Click here to see original file ```c # Ack a previously sent ulog_stream message that had @@ -13,5 +38,6 @@ int32 ACK_TIMEOUT = 50 # timeout waiting for an ack until we retry to send the int32 ACK_MAX_TRIES = 50 # maximum amount of tries to (re-)send a message, each time waiting ACK_TIMEOUT ms uint16 msg_sequence - ``` + +::: diff --git a/docs/uk/msg_docs/UnregisterExtComponent.md b/docs/uk/msg_docs/UnregisterExtComponent.md index b09ea24d43..12a87efab3 100644 --- a/docs/uk/msg_docs/UnregisterExtComponent.md +++ b/docs/uk/msg_docs/UnregisterExtComponent.md @@ -1,6 +1,33 @@ +--- +pageClass: is-wide-page +--- + # UnregisterExtComponent (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/UnregisterExtComponent.msg) +**TOPICS:** unregister_extcomponent + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| name | `char[25]` | | | either the mode name, or component name | +| arming_check_id | `int8` | | | arming check registration ID (-1 if not registered) | +| mode_id | `int8` | | | assigned mode ID (-1 if not registered) | +| mode_executor_id | `int8` | | | assigned mode executor ID (-1 if not registered) | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/UnregisterExtComponent.msg) + +:::details +Click here to see original file ```c uint32 MESSAGE_VERSION = 0 @@ -12,5 +39,6 @@ char[25] name # either the mode name, or component name int8 arming_check_id # arming check registration ID (-1 if not registered) int8 mode_id # assigned mode ID (-1 if not registered) int8 mode_executor_id # assigned mode executor ID (-1 if not registered) - ``` + +::: diff --git a/docs/uk/msg_docs/VehicleAcceleration.md b/docs/uk/msg_docs/VehicleAcceleration.md index ea20cad6a9..2e77f93989 100644 --- a/docs/uk/msg_docs/VehicleAcceleration.md +++ b/docs/uk/msg_docs/VehicleAcceleration.md @@ -1,13 +1,32 @@ +--- +pageClass: is-wide-page +--- + # VehicleAcceleration (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAcceleration.msg) +**TOPICS:** vehicle_acceleration + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| xyz | `float32[3]` | | | Bias corrected acceleration (including gravity) in the FRD body frame XYZ-axis in m/s^2 | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAcceleration.msg) + +:::details +Click here to see original file ```c - uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) float32[3] xyz # Bias corrected acceleration (including gravity) in the FRD body frame XYZ-axis in m/s^2 - ``` + +::: diff --git a/docs/uk/msg_docs/VehicleAirData.md b/docs/uk/msg_docs/VehicleAirData.md index 738f52402e..97b6e35b7d 100644 --- a/docs/uk/msg_docs/VehicleAirData.md +++ b/docs/uk/msg_docs/VehicleAirData.md @@ -1,11 +1,36 @@ +--- +pageClass: is-wide-page +--- + # VehicleAirData (повідомлення UORB) -Vehicle air data +Vehicle air data. Data from the currently selected barometer (plus ambient temperature from the source specified in temperature_source). Includes calculated data such as barometric altitude and air density. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAirData.msg) +**TOPICS:** vehicle_airdata + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Timestamp of the raw data | +| baro_device_id | `uint32` | | | Unique device ID for the selected barometer | +| baro_alt_meter | `float32` | m [MSL] | | Altitude above MSL calculated from temperature compensated baro sensor data using an ISA corrected for sea level pressure SENS_BARO_QNH | +| baro_pressure_pa | `float32` | Pa | | Absolute pressure | +| ambient_temperature | `float32` | degC | | Температура середовища | +| temperature_source | `uint8` | | | Source of temperature data: 0: Default Temperature (15°C), 1: External Baro, 2: Airspeed | +| rho | `float32` | kg/m^3 | | Air density | +| calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever calibration changes. | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAirData.msg) + +:::details +Click here to see original file ```c # Vehicle air data @@ -22,5 +47,6 @@ float32 ambient_temperature # [degC] Ambient temperature uint8 temperature_source # Source of temperature data: 0: Default Temperature (15°C), 1: External Baro, 2: Airspeed float32 rho # [kg/m^3] Air density uint8 calibration_count # Calibration changed counter. Monotonically increases whenever calibration changes. - ``` + +::: diff --git a/docs/uk/msg_docs/VehicleAngularAccelerationSetpoint.md b/docs/uk/msg_docs/VehicleAngularAccelerationSetpoint.md index f30329fdb9..12fd5dc934 100644 --- a/docs/uk/msg_docs/VehicleAngularAccelerationSetpoint.md +++ b/docs/uk/msg_docs/VehicleAngularAccelerationSetpoint.md @@ -1,12 +1,31 @@ +--- +pageClass: is-wide-page +--- + # VehicleAngularAccelerationSetpoint (Повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAngularAccelerationSetpoint.msg) +**TOPICS:** vehicle_angularacceleration_setpoint + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | timestamp of the data sample on which this message is based (microseconds) | +| xyz | `float32[3]` | | | angular acceleration about X, Y, Z body axis in rad/s^2 | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAngularAccelerationSetpoint.msg) + +:::details +Click here to see original file ```c - uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds) float32[3] xyz # angular acceleration about X, Y, Z body axis in rad/s^2 - ``` + +::: diff --git a/docs/uk/msg_docs/VehicleAngularVelocity.md b/docs/uk/msg_docs/VehicleAngularVelocity.md index 64a3d32216..edc0b66901 100644 --- a/docs/uk/msg_docs/VehicleAngularVelocity.md +++ b/docs/uk/msg_docs/VehicleAngularVelocity.md @@ -1,6 +1,32 @@ +--- +pageClass: is-wide-page +--- + # VehicleAngularVelocity (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAngularVelocity.msg) +**TOPICS:** vehicle_angular_velocity vehicle_angular_velocity_groundtruth + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | timestamp of the data sample on which this message is based (microseconds) | +| xyz | `float32[3]` | | | Bias corrected angular velocity about the FRD body frame XYZ-axis in rad/s | +| xyz_derivative | `float32[3]` | | | angular acceleration about the FRD body frame XYZ-axis in rad/s^2 | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAngularVelocity.msg) + +:::details +Click here to see original file ```c uint32 MESSAGE_VERSION = 0 @@ -13,5 +39,6 @@ float32[3] xyz # Bias corrected angular velocity about the FRD body frame XYZ float32[3] xyz_derivative # angular acceleration about the FRD body frame XYZ-axis in rad/s^2 # TOPICS vehicle_angular_velocity vehicle_angular_velocity_groundtruth - ``` + +::: diff --git a/docs/uk/msg_docs/VehicleAttitude.md b/docs/uk/msg_docs/VehicleAttitude.md index d5077b36d3..7d6fb0df77 100644 --- a/docs/uk/msg_docs/VehicleAttitude.md +++ b/docs/uk/msg_docs/VehicleAttitude.md @@ -1,9 +1,35 @@ +--- +pageClass: is-wide-page +--- + # VehicleAttitude (повідомлення UORB) -Це повідомлення подібне до повідомлення mavlink ATTITUDE_QUATERNION, але для використання на борту -Для кватерніону використовується конвенція Гамільтона, а порядок має вигляд q(w, x, y, z) +This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use. The quaternion uses the Hamilton convention, and the order is q(w, x, y, z). -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitude.msg) +**TOPICS:** vehicle_attitude vehicle_attitude_groundtruth external_ins_attitude estimator_attitude + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------ | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| q | `float32[4]` | | | Quaternion rotation from the FRD body frame to the NED earth frame | +| delta_q_reset | `float32[4]` | | | Amount by which quaternion has changed during last reset | +| quat_reset_counter | `uint8` | | | Quaternion reset counter | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitude.msg) + +:::details +Click here to see original file ```c # This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use @@ -21,5 +47,6 @@ uint8 quat_reset_counter # Quaternion reset counter # TOPICS vehicle_attitude vehicle_attitude_groundtruth external_ins_attitude # TOPICS estimator_attitude - ``` + +::: diff --git a/docs/uk/msg_docs/VehicleAttitudeSetpoint.md b/docs/uk/msg_docs/VehicleAttitudeSetpoint.md index 9b6be02c9b..b1481f6d51 100644 --- a/docs/uk/msg_docs/VehicleAttitudeSetpoint.md +++ b/docs/uk/msg_docs/VehicleAttitudeSetpoint.md @@ -1,6 +1,32 @@ +--- +pageClass: is-wide-page +--- + # VehicleAttitudeSetpoint (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitudeSetpoint.msg) +**TOPICS:** vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| yaw_sp_move_rate | `float32` | | | rad/s (commanded by user) | +| q_d | `float32[4]` | | | Desired quaternion for quaternion control | +| thrust_body | `float32[3]` | | | Normalized thrust command in body FRD frame [-1,1] | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 1 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitudeSetpoint.msg) + +:::details +Click here to see original file ```c uint32 MESSAGE_VERSION = 1 @@ -17,5 +43,6 @@ float32[4] q_d # Desired quaternion for quaternion control float32[3] thrust_body # Normalized thrust command in body FRD frame [-1,1] # TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint - ``` + +::: diff --git a/docs/uk/msg_docs/VehicleAttitudeSetpointV0.md b/docs/uk/msg_docs/VehicleAttitudeSetpointV0.md index 6eb03e797c..1918696cf4 100644 --- a/docs/uk/msg_docs/VehicleAttitudeSetpointV0.md +++ b/docs/uk/msg_docs/VehicleAttitudeSetpointV0.md @@ -1,6 +1,34 @@ +--- +pageClass: is-wide-page +--- + # VehicleAttitudeSetpointV0 (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleAttitudeSetpointV0.msg) +**TOPICS:** vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| yaw_sp_move_rate | `float32` | | | rad/s (commanded by user) | +| q_d | `float32[4]` | | | Desired quaternion for quaternion control | +| thrust_body | `float32[3]` | | | Normalized thrust command in body FRD frame [-1,1] | +| reset_integral | `bool` | | | Reset roll/pitch/yaw integrals (navigation logic change) | +| fw_control_yaw_wheel | `bool` | | | control heading with steering wheel (used for auto takeoff on runway) | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleAttitudeSetpointV0.msg) + +:::details +Click here to see original file ```c uint32 MESSAGE_VERSION = 0 @@ -21,5 +49,6 @@ 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 - ``` + +::: diff --git a/docs/uk/msg_docs/VehicleCommand.md b/docs/uk/msg_docs/VehicleCommand.md index 71314eb864..81832aaf10 100644 --- a/docs/uk/msg_docs/VehicleCommand.md +++ b/docs/uk/msg_docs/VehicleCommand.md @@ -1,9 +1,1582 @@ +--- +pageClass: is-wide-page +--- + # VehicleCommand (повідомлення UORB) -Vehicle Command uORB повідомлення. Використовується для управління місією / дією / тощо. -Дотримується визначення MAVLink COMMAND_INT / COMMAND_LONG +Vehicle Command uORB повідомлення. Використовується для управління місією / дією / тощо. Follows the MAVLink COMMAND_INT / COMMAND_LONG definition. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleCommand.msg) +**TOPICS:** vehicle_command gimbal_v1_command vehicle_command_mode_executor + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start. | +| param1 | `float32` | | | Parameter 1, as defined by MAVLink uint16 VEHICLE_CMD enum. | +| param2 | `float32` | | | Parameter 2, as defined by MAVLink uint16 VEHICLE_CMD enum. | +| param3 | `float32` | | | Parameter 3, as defined by MAVLink uint16 VEHICLE_CMD enum. | +| param4 | `float32` | | | Parameter 4, as defined by MAVLink uint16 VEHICLE_CMD enum. | +| param5 | `float64` | | | Parameter 5, as defined by MAVLink uint16 VEHICLE_CMD enum. | +| param6 | `float64` | | | Parameter 6, as defined by MAVLink uint16 VEHICLE_CMD enum. | +| param7 | `float32` | | | Parameter 7, as defined by MAVLink uint16 VEHICLE_CMD enum. | +| command | `uint32` | | | Command ID. | +| target_system | `uint8` | | | System which should execute the command. | +| target_component | `uint8` | | | Component which should execute the command, 0 for all components. | +| source_system | `uint8` | | | System sending the command. | +| source_component | `uint16` | | | Component / mode executor sending the command. | +| confirmation | `uint8` | | | 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command). | +| from_external | `bool` | | | | + +## Commands + +### VEHICLE_CMD_CUSTOM_0 (0) + +Test command. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_CUSTOM_1 (1) + +Test command. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_CUSTOM_2 (2) + +Test command. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_NAV_WAYPOINT (16) + +Navigate to MISSION. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| 1 | s | | (decimal) Hold time. (ignored by fixed wing, time to stay at MISSION for rotary wing) | +| 2 | m | | Acceptance radius (if the sphere with this radius is hit, the MISSION counts as reached) | +| 3 | | | 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. | +| 4 | | | Desired yaw angle at MISSION (rotary wing) | +| 5 | | | Latitude | +| 6 | | | Longitude | +| 7 | | | Altitude | + +### VEHICLE_CMD_NAV_LOITER_UNLIM (17) + +Loiter around this MISSION an unlimited amount of time. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ------------------------------------------------------------------------------------------- | +| 1 | | | Unused | +| 2 | | | Unused | +| 3 | m | | Radius around MISSION. If positive loiter clockwise, else counter-clockwise | +| 4 | | | Desired yaw angle. | +| 5 | | | Latitude | +| 6 | | | Longitude | +| 7 | | | Altitude | + +### VEHICLE_CMD_NAV_LOITER_TURNS (18) + +Loiter around this MISSION for X turns. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------- | +| 1 | | | Turns | +| 2 | | | Unused | +| 3 | | | Radius around MISSION [m]. If positive loiter clockwise, else counter-clockwise | +| 4 | | | Desired yaw angle. | +| 5 | | | Latitude | +| 6 | | | Longitude | +| 7 | | | Altitude | + +### VEHICLE_CMD_NAV_LOITER_TIME (19) + +Loiter around this MISSION for time. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------- | +| 1 | s | | Seconds (decimal) | +| 2 | | | Unused | +| 3 | | | Radius around MISSION [m]. If positive loiter clockwise, else counter-clockwise | +| 4 | | | Desired yaw angle. | +| 5 | | | Latitude | +| 6 | | | Longitude | +| 7 | | | Altitude | + +### VEHICLE_CMD_NAV_RETURN_TO_LAUNCH (20) + +Return to launch location. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ------ | +| 1 | | | Unused | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_NAV_LAND (21) + +Land at location. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---------------------------------- | +| 1 | | | Unused | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Desired yaw angle. | +| 5 | | | Latitude | +| 6 | | | Longitude | +| 7 | | | Altitude | + +### VEHICLE_CMD_NAV_TAKEOFF (22) + +Takeoff from ground / hand. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ----------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------- | +| 1 | | | Unused (FW pitch from FW_TKO_PITCH_MIN) | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | deg | [0 : 360] | Yaw angle in NED if yaw source available, ignored otherwise | +| 5 | | | Latitude (WGS-84) | +| 6 | | | Longitude (WGS-84) | +| 7 | m | | Altitude AMSL | + +### VEHICLE_CMD_NAV_PRECLAND (23) + +Attempt a precision landing. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_DO_ORBIT (34) + +Start orbiting on the circumference of a circle defined by the parameters. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ------------------------------------------------------------------------------------- | ------------- | +| 1 | m | | Radius | +| 2 | m/s | | Velocity | +| 3 | | [ORBIT_YAW_BEHAVIOUR](#ORBIT_YAW_BEHAVIOUR) | Yaw behaviour | +| 4 | | | Unused | +| 5 | | | Latitude/X | +| 6 | | | Longitude/Y | +| 7 | | | Altitude/Z | + +### VEHICLE_CMD_DO_FIGUREEIGHT (35) + +Start flying on the outline of a figure eight defined by the parameters. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ------------ | +| 1 | m | | Major radius | +| 2 | m | | Minor radius | +| 3 | m/s | | Velocity | +| 4 | | | Орієнтація | +| 5 | | | Latitude/X | +| 6 | | | Longitude/Y | +| 7 | | | Altitude/Z | + +### 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. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ------------------------------------------------ | --------------------------------------------------------------------------------------- | +| 1 | | [VEHICLE_ROI](#VEHICLE_ROI) | Region of interest mode. | +| 2 | | | MISSION index/ target ID. | +| 3 | | | ROI index (allows a vehicle to manage multiple ROI's) | +| 4 | | | Unused | +| 5 | | | x the location of the fixed ROI (see MAV_FRAME) | +| 6 | | | y | +| 7 | | | z | + +### VEHICLE_CMD_NAV_PATHPLANNING (81) + +Control autonomous path planning on the MAV. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ----------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| 1 | | | 0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning | +| 2 | | | 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 | +| 3 | | | Unused | +| 4 | deg | [0 : 360] | Yaw angle at goal, in compass degrees | +| 5 | | | Latitude/X of goal | +| 6 | | | Longitude/Y of goal | +| 7 | | | Altitude/Z of goal | + +### VEHICLE_CMD_NAV_VTOL_TAKEOFF (84) + +Takeoff from ground / hand and transition to fixed wing. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | --------------------------------------------------------------------------------------------------- | +| 1 | | | Minimum pitch (if airspeed sensor present), desired pitch without sensor | +| 2 | | | Transition heading, 0: Default, 3: Use specified transition heading | +| 3 | | | Unused | +| 4 | | | Yaw angle (if magnetometer present), ignored without magnetometer | +| 5 | | | Latitude | +| 6 | | | Longitude | +| 7 | | | Altitude | + +### VEHICLE_CMD_NAV_VTOL_LAND (85) + +Transition to MC and land at location. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---------------------------------- | +| 1 | | | Unused | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Desired yaw angle. | +| 5 | | | Latitude | +| 6 | | | Longitude | +| 7 | | | Altitude | + +### VEHICLE_CMD_NAV_GUIDED_LIMITS (90) + +Set limits for external control. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| 1 | s | | Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout | +| 2 | 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 | +| 3 | 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 | +| 4 | 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 | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_NAV_GUIDED_MASTER (91) + +Set id of master controller. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ------------ | +| 1 | | | System ID | +| 2 | | | Component ID | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_NAV_DELAY (93) + +Delay the next navigation command a number of seconds or until a specified time. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ------------------------------------------------------------------- | +| 1 | s | | Delay (decimal, -1 to enable time-of-day fields) | +| 2 | h | | hour (24h format, UTC, -1 to ignore) | +| 3 | | | minute (24h format, UTC, -1 to ignore) | +| 4 | | | second (24h format, UTC) | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_NAV_LAST (95) + +NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ------ | +| 1 | | | Unused | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_CONDITION_DELAY (112) + +Delay mission state machine. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ------------------------------------------ | +| 1 | s | | Delay (decimal seconds) | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_CONDITION_CHANGE_ALT (113) + +Ascend/descend at rate. Delay mission state machine until desired altitude reached. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---------------------------------------------- | +| 1 | | | Descent / Ascend rate (m/s) | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Finish Altitude | + +### VEHICLE_CMD_CONDITION_DISTANCE (114) + +Delay mission state machine until within desired distance of next NAV point. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---------------------------------------------------------------- | +| 1 | | | Distance [m] | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_CONDITION_YAW (115) + +Reach a certain target angle. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ----------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------- | +| 1 | deg | [0 : 360] | Target angle. 0 is north | +| 2 | deg/s | | Speed during yaw change | +| 3 | | [-1 : 1] | Direction: negative: counter clockwise, positive: clockwise | +| 4 | 1,0 | | Relative offset or absolute angle | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_CONDITION_LAST (159) + +NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ------ | +| 1 | | | Unused | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_CONDITION_GATE (4501) + +Wait until passing a threshold. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ----------------------------------------------------------------------------- | +| 1 | | | 2D coord mode: 0: Orthogonal to planned route | +| 2 | | | Altitude mode: 0: Ignore altitude | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Lat | +| 6 | | | Lon | +| 7 | | | Alt | + +### VEHICLE_CMD_DO_SET_MODE (176) + +Set system mode. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ------------------------------------------------------ | +| 1 | | | Mode, as defined by ENUM MAV_MODE | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_JUMP (177) + +Jump to the desired command in the mission list. Repeat this action only the specified number of times. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | --------------- | +| 1 | | | Sequence number | +| 2 | | | Repeat count | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_CHANGE_SPEED (178) + +Change speed and/or throttle set points. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------------------------------------------- | -------------------------------------------------------------- | +| 1 | | [SPEED_TYPE](#SPEED_TYPE) | Speed type (0=Airspeed, 1=Ground Speed) | +| 2 | | | Speed (m/s, -1 indicates no change) | +| 3 | % | | Throttle ( Percent, -1 indicates no change) | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_SET_HOME (179) + +Changes the home location either to the current location or a specified location. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | --------------------------------------------------------------------------------- | +| 1 | | | Use current (1=use current location, 0=use specified location) | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Latitude | +| 6 | | | Longitude | +| 7 | | | Altitude | + +### 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. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---------------- | +| 1 | | | Parameter number | +| 2 | | | Parameter value | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_SET_RELAY (181) + +Set a relay to a condition. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | -------------------------------------------------------------------------------------- | +| 1 | | | Relay number | +| 2 | | | Setting (1=on, 0=off, others possible depending on system hardware) | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_REPEAT_RELAY (182) + +Cycle a relay on and off for a desired number of cycles with a desired period. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ----------------------------------------------- | +| 1 | | | Relay number | +| 2 | | | Cycle count | +| 3 | s | | Cycle time (decimal seconds) | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### 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. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | -------------------------------------------------- | +| 1 | | | Servo number | +| 2 | us | | PWM rate (1000 to 2000 typical) | +| 3 | | | Cycle count | +| 4 | s | | Cycle time | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_FLIGHTTERMINATION (185) + +Terminate flight immediately. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ----------------------------------------------------- | +| 1 | | | Flight termination activated if > 0.5 | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_CHANGE_ALTITUDE (186) + +Set the vehicle to Loiter mode and change the altitude to specified value. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | --------------------- | +| 1 | | | Altitude | +| 2 | | | Frame of new altitude | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_SET_ACTUATOR (187) + +Sets actuators (e.g. servos) to a desired value. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---------- | +| 1 | | | Actuator 1 | +| 2 | | | Actuator 2 | +| 3 | | | Actuator 3 | +| 4 | | | Actuator 4 | +| 5 | | | Actuator 5 | +| 6 | | | Actuator 6 | +| 7 | | | Index | + +### 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. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | --------- | +| 1 | | | Unused | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Latitude | +| 6 | | | Longitude | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_GO_AROUND (191) + +Mission command to safely abort an autonomous landing. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | -------- | +| 1 | m | | Altitude | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_REPOSITION (192) + +Reposition to specific WGS84 GPS position. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ------------------------ | +| 1 | m/s | | Ground speed | +| 2 | | | Bitmask | +| 3 | m | | Loiter radius for planes | +| 4 | deg | | Yaw | +| 5 | | | Latitude | +| 6 | | | Longitude | +| 7 | | | Altitude | + +### VEHICLE_CMD_DO_PAUSE_CONTINUE (193) + +None + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### 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. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | --------- | +| 1 | | | Unused | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Latitude | +| 6 | | | Longitude | +| 7 | | | Altitude | + +### 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. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ------------------------------- | +| 1 | | | Unused | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Pitch offset from next waypoint | +| 6 | | | Roll offset from next waypoint | +| 7 | | | Yaw offset from next waypoint | + +### 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. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ------ | +| 1 | | | Unused | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_CONTROL_VIDEO (200) + +Control onboard camera system. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------- | +| 1 | | | Camera ID (-1 for all) | +| 2 | | | Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw | +| 3 | | | Transmission mode: 0: video stream, >0: single images every n seconds (decimal seconds) | +| 4 | | | Recording: 0: disabled, 1: enabled compressed, 2: enabled raw | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### 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. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ------------------------------------------------ | --------------------------------------------------------------------------------------- | +| 1 | | [VEHICLE_ROI](#VEHICLE_ROI) | Region of interest mode. | +| 2 | | | MISSION index/ target ID. | +| 3 | | | ROI index (allows a vehicle to manage multiple ROI's) | +| 4 | | | Unused | +| 5 | | | x the location of the fixed ROI (see MAV_FRAME) | +| 6 | | | y | +| 7 | | | z | + +### VEHICLE_CMD_DO_DIGICAM_CONTROL (203) + +None + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_DO_MOUNT_CONFIGURE (204) + +Mission command to configure a camera or antenna mount. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | --------------------------------------------------------------------------- | ----------------------------------------------------- | +| 1 | | [MAV_MOUNT_MODE](#MAV_MOUNT_MODE) | Mount operation mode | +| 2 | | | Stabilize roll? (1 = yes, 0 = no) | +| 3 | | | Stabilize pitch? (1 = yes, 0 = no) | +| 4 | | | stabilize yaw? (1 = yes, 0 = no) | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_MOUNT_CONTROL (205) + +Mission command to control a camera or antenna mount. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | --------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------- | +| 1 | deg | | Pitch or lat, depending on mount mode. | +| 2 | deg | | Roll or lon depending on mount mode | +| 3 | deg | | /[m] Yaw or alt depending on mount mode | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | [MAV_MOUNT_MODE](#MAV_MOUNT_MODE) | | + +### VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST (206) + +Mission command to set TRIG_DIST for this flight. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ------------------------ | +| 1 | m | | Camera trigger distance | +| 2 | ms | | Shutter integration time | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_FENCE_ENABLE (207) + +Mission command to enable the geofence. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ------------------------------------------------ | +| 1 | | | enable? (0=disable, 1=enable) | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_PARACHUTE (208) + +Mission command to trigger a parachute. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| 1 | | | action [@enum PARACHUTE_ACTION] (0=disable, 1=enable, 2=release, for some systems see [@enum PARACHUTE_ACTION], not in general message set.) | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_MOTOR_TEST (209) + +Motor test command. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | --------------------------------------------------------------- | +| 1 | | | Instance (@range 1, ) | +| 2 | | | throttle type | +| 3 | | | throttle | +| 4 | | | timeout [s] | +| 5 | | | Motor count | +| 6 | | | Test order | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_INVERTED_FLIGHT (210) + +Change to/from inverted flight. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | -------------------------------------------------- | +| 1 | | | inverted (0=normal, 1=inverted) | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_GRIPPER (211) + +Command to operate a gripper. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_DO_AUTOTUNE_ENABLE (212) + +Enable autotune module. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ----------- | +| 1 | | | 1 to enable | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) + +Mission command to set TRIG_INTERVAL for this flight. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ------------------------------------------------ | +| 1 | m | | Camera trigger distance | +| 2 | | | Shutter integration time (ms) | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT (220) + +Mission command to control a camera or antenna mount, using a quaternion as reference. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ------------------------------------------------------------------- | +| 1 | | | q1 - quaternion param #1, w (1 in null-rotation) | +| 2 | | | q2 - quaternion param #2, x (0 in null-rotation) | +| 3 | | | q3 - quaternion param #3, y (0 in null-rotation) | +| 4 | | | q4 - quaternion param #4, z (0 in null-rotation) | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_GUIDED_MASTER (221) + +Set id of master controller. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ------------ | +| 1 | | | System ID | +| 2 | | | Component ID | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_GUIDED_LIMITS (222) + +Set limits for external control. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| 1 | s | | Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout | +| 2 | 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 | +| 3 | 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 | +| 4 | 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 | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_LAST (240) + +NOP - This command is only used to mark the upper limit of the DO commands in the enumeration. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ------ | +| 1 | | | Unused | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### 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. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) + +Set sensor offsets. This command will be only accepted if in pre-flight mode. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| 1 | | | Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow | +| 2 | | | X axis offset (or generic dimension 1), in the sensor's raw units | +| 3 | | | Y axis offset (or generic dimension 2), in the sensor's raw units | +| 4 | | | Z axis offset (or generic dimension 3), in the sensor's raw units | +| 5 | | | Generic dimension 4, in the sensor's raw units | +| 6 | | | Generic dimension 5, in the sensor's raw units | +| 7 | | | Generic dimension 6, in the sensor's raw units | + +### VEHICLE_CMD_PREFLIGHT_UAVCAN (243) + +UAVCAN configuration. If param 1 == 1 actuator mapping and direction assignment should be started. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_PREFLIGHT_STORAGE (245) + +Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ------------------------------------------------------------------------------------------------------------------------------ | +| 1 | | | Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM | +| 2 | | | Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) + +Request the reboot or shutdown of system components. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| 1 | | | 0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot. | +| 2 | | | 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer. | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_OBLIQUE_SURVEY (260) + +Mission command to set a Camera Auto Mount Pivoting Oblique Survey for this flight. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ------------------------------- | +| 1 | m | | Camera trigger distance | +| 2 | ms | | Shutter integration time | +| 3 | | | Camera minimum trigger interval | +| 4 | | | Number of positions | +| 5 | | | Roll | +| 6 | | | Pitch | +| 7 | | | Unused | + +### VEHICLE_CMD_DO_SET_STANDARD_MODE (262) + +Enable the specified standard MAVLink mode. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ----------------------------------------------------------- | +| 1 | | | MAV_STANDARD_MODE | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_GIMBAL_DEVICE_INFORMATION (283) + +Command to ask information about a low level gimbal. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_MISSION_START (300) + +Start running a mission. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------ | +| 1 | | | first_item: the first mission item to run | +| 2 | | | last_item: the last mission item to run (after this item is run, the mission ends) | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_ACTUATOR_TEST (310) + +Actuator testing command. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------------------------------------------------------------------------- | --------------- | +| 1 | | [-1 : 1] | value | +| 2 | s | | timeout | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | output function | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_CONFIGURE_ACTUATOR (311) + +Actuator configuration command. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | --------------- | +| 1 | | | configuration | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | output function | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_COMPONENT_ARM_DISARM (400) + +Arms / Disarms a component. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | -------------------------------------- | +| 1 | | | 1 to arm, 0 to disarm. | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_RUN_PREARM_CHECKS (401) + +Instructs a target system to run pre-arm checks. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_INJECT_FAILURE (420) + +Inject artificial failure for testing purposes. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_START_RX_PAIR (500) + +Starts receiver pairing. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---------------------------------------------------------------- | +| 1 | | | 0:Spektrum | +| 2 | | | 0:Spektrum DSM2, 1:Spektrum DSMX | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_REQUEST_MESSAGE (512) + +Request to send a single instance of the specified message. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_REQUEST_CAMERA_INFORMATION (521) + +Request camera information (CAMERA_INFORMATION). + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | --------------------------------------------------------------------------- | +| 1 | | | 0: No action 1: Request camera capabilities | +| 2 | | | Reserved (all remaining params) | +| 3 | | | Reserved (default:0) | +| 4 | | | Reserved (default:0) | +| 5 | | | Reserved (default:0) | +| 6 | | | Reserved (default:0) | +| 7 | | | Reserved (default:0) | + +### VEHICLE_CMD_SET_CAMERA_MODE (530) + +Set camera capture mode (photo, video, etc.). + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_SET_CAMERA_ZOOM (531) + +Set camera zoom. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_SET_CAMERA_FOCUS (532) + +None + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_EXTERNAL_ATTITUDE_ESTIMATE (620) + +Set an external estimate of vehicle attitude in degrees. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) + +Setpoint to be sent to a gimbal manager to set a gimbal pitch and yaw. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) + +Gimbal configuration to set which sysid/compid is in primary and secondary control. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_IMAGE_START_CAPTURE (2000) + +Start image capture sequence. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_DO_TRIGGER_CONTROL (2003) + +Enable or disable on-board camera triggering system. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_VIDEO_START_CAPTURE (2500) + +Start a video capture. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_VIDEO_STOP_CAPTURE (2501) + +Stop the current video capture. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_LOGGING_START (2510) + +Start streaming ULog data. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_LOGGING_STOP (2511) + +Stop streaming ULog data. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_CONTROL_HIGH_LATENCY (2600) + +Control starting/stopping transmitting data over the high latency link. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_DO_VTOL_TRANSITION (3000) + +Command VTOL transition. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) + +Command safety on/off. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | -------------------------------------------------------------------------------- | +| 1 | | | 1 to activate safety, 0 to deactivate safety and allow control surface movements | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +### VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST (3001) + +Request arm authorization. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY (30001) + +Prepare a payload deployment in the flight plan. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY (30002) + +Control a pre-programmed payload deployment. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### 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. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_DO_WINCH (42600) + +Command to operate winch. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_EXTERNAL_POSITION_ESTIMATE (43003) + +External reset of estimator global position when dead reckoning. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE (43004) + +None + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_PX4_INTERNAL_START (65537) + +Start of PX4 internal only vehicle commands (> UINT16_MAX). + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ---- | +| 1 | | | ? | +| 2 | | | ? | +| 3 | | | ? | +| 4 | | | ? | +| 5 | | | ? | +| 6 | | | ? | +| 7 | | | ? | + +### VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN (100000) + +Sets the GPS coordinates of the vehicle local origin (0,0,0) position. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ------------------------------------------------------------------- | +| 1 | | | Unused | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Latitude (WGS-84) | +| 6 | | | Longitude (WGS-84) | +| 7 | m | | Altitude (AMSL from GNSS, positive above ground) | + +### VEHICLE_CMD_SET_NAV_STATE (100001) + +Change mode by specifying nav_state directly. + +| Param | Units | Range/Enum | Опис | +| ----- | ----- | ---------- | ------------------------------ | +| 1 | | | nav_state | +| 2 | | | Unused | +| 3 | | | Unused | +| 4 | | | Unused | +| 5 | | | Unused | +| 6 | | | Unused | +| 7 | | | Unused | + +## Enums + +### ORBIT_YAW_BEHAVIOUR {#ORBIT_YAW_BEHAVIOUR} + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER | `uint8` | 0 | | +| ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING | `uint8` | 1 | | +| ORBIT_YAW_BEHAVIOUR_UNCONTROLLED | `uint8` | 2 | | +| ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE | `uint8` | 3 | | +| ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED | `uint8` | 4 | | +| ORBIT_YAW_BEHAVIOUR_UNCHANGED | `uint8` | 5 | | + +### VEHICLE_ROI {#VEHICLE_ROI} + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | -------------------------------------------- | +| VEHICLE_ROI_NONE | `uint8` | 0 | No region of interest. | +| VEHICLE_ROI_WPNEXT | `uint8` | 1 | Point toward next MISSION. | +| VEHICLE_ROI_WPINDEX | `uint8` | 2 | Point toward given MISSION. | +| VEHICLE_ROI_LOCATION | `uint8` | 3 | Point toward fixed location. | +| VEHICLE_ROI_TARGET | `uint8` | 4 | Point toward target. | +| VEHICLE_ROI_ENUM_END | `uint8` | 5 | | + +### SPEED_TYPE {#SPEED_TYPE} + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ---- | +| SPEED_TYPE_AIRSPEED | `uint8` | 0 | | +| SPEED_TYPE_GROUNDSPEED | `uint8` | 1 | | +| SPEED_TYPE_CLIMB_SPEED | `uint8` | 2 | | +| SPEED_TYPE_DESCEND_SPEED | `uint8` | 3 | | + +### MAV_MOUNT_MODE {#MAV_MOUNT_MODE} + +| Назва | Тип | Значення | Опис | +| ----- | --- | -------- | ---- | + +## Constants + +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| MESSAGE_VERSION | `uint32` | 0 | | +| PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION | `uint16` | 3 | Param value for VEHICLE_CMD_PREFLIGHT_CALIBRATION to start temperature calibration. | +| VEHICLE_MOUNT_MODE_RETRACT | `uint8` | 0 | Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization. | +| VEHICLE_MOUNT_MODE_NEUTRAL | `uint8` | 1 | Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. | +| VEHICLE_MOUNT_MODE_MAVLINK_TARGETING | `uint8` | 2 | Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization. | +| VEHICLE_MOUNT_MODE_RC_TARGETING | `uint8` | 3 | Load neutral position and start RC Roll,Pitch,Yaw control with stabilization. | +| VEHICLE_MOUNT_MODE_GPS_POINT | `uint8` | 4 | Load neutral position and start to point to Lat,Lon,Alt. | +| VEHICLE_MOUNT_MODE_ENUM_END | `uint8` | 5 | | +| PARACHUTE_ACTION_DISABLE | `uint8` | 0 | | +| PARACHUTE_ACTION_ENABLE | `uint8` | 1 | | +| PARACHUTE_ACTION_RELEASE | `uint8` | 2 | | +| FAILURE_UNIT_SENSOR_GYRO | `uint8` | 0 | | +| FAILURE_UNIT_SENSOR_ACCEL | `uint8` | 1 | | +| FAILURE_UNIT_SENSOR_MAG | `uint8` | 2 | | +| FAILURE_UNIT_SENSOR_BARO | `uint8` | 3 | | +| FAILURE_UNIT_SENSOR_GPS | `uint8` | 4 | | +| FAILURE_UNIT_SENSOR_OPTICAL_FLOW | `uint8` | 5 | | +| FAILURE_UNIT_SENSOR_VIO | `uint8` | 6 | | +| FAILURE_UNIT_SENSOR_DISTANCE_SENSOR | `uint8` | 7 | | +| FAILURE_UNIT_SENSOR_AIRSPEED | `uint8` | 8 | | +| FAILURE_UNIT_SYSTEM_BATTERY | `uint8` | 100 | | +| FAILURE_UNIT_SYSTEM_MOTOR | `uint8` | 101 | | +| FAILURE_UNIT_SYSTEM_SERVO | `uint8` | 102 | | +| FAILURE_UNIT_SYSTEM_AVOIDANCE | `uint8` | 103 | | +| FAILURE_UNIT_SYSTEM_RC_SIGNAL | `uint8` | 104 | | +| FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL | `uint8` | 105 | | +| FAILURE_TYPE_OK | `uint8` | 0 | | +| FAILURE_TYPE_OFF | `uint8` | 1 | | +| FAILURE_TYPE_STUCK | `uint8` | 2 | | +| FAILURE_TYPE_GARBAGE | `uint8` | 3 | | +| FAILURE_TYPE_WRONG | `uint8` | 4 | | +| FAILURE_TYPE_SLOW | `uint8` | 5 | | +| FAILURE_TYPE_DELAYED | `uint8` | 6 | | +| FAILURE_TYPE_INTERMITTENT | `uint8` | 7 | | +| ARMING_ACTION_DISARM | `int8` | 0 | | +| ARMING_ACTION_ARM | `int8` | 1 | | +| GRIPPER_ACTION_RELEASE | `uint8` | 0 | | +| GRIPPER_ACTION_GRAB | `uint8` | 1 | | +| SAFETY_OFF | `uint8` | 0 | | +| SAFETY_ON | `uint8` | 1 | | +| ORB_QUEUE_LENGTH | `uint8` | 8 | | +| COMPONENT_MODE_EXECUTOR_START | `uint16` | 1000 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleCommand.msg) + +:::details +Click here to see original file ```c # Vehicle Command uORB message. Used for commanding a mission / action / etc. @@ -212,5 +1785,6 @@ bool from_external uint16 COMPONENT_MODE_EXECUTOR_START = 1000 # TOPICS vehicle_command gimbal_v1_command vehicle_command_mode_executor - ``` + +::: diff --git a/docs/uk/msg_docs/VehicleCommandAck.md b/docs/uk/msg_docs/VehicleCommandAck.md index 7a7bd0acdf..871e43fa1f 100644 --- a/docs/uk/msg_docs/VehicleCommandAck.md +++ b/docs/uk/msg_docs/VehicleCommandAck.md @@ -1,10 +1,52 @@ +--- +pageClass: is-wide-page +--- + # VehicleCommandAck (повідомлення UORB) -Повідомлення uORB підтвердження команди автомобіля. -Used for acknowledging the vehicle command being received. -Follows the MAVLink COMMAND_ACK message definition +Повідомлення uORB підтвердження команди автомобіля. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleCommandAck.msg) +**TOPICS:** vehicle_commandack + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| command | `uint32` | | | Command that is being acknowledged | +| result | `uint8` | | | Command result | +| result_param1 | `uint8` | | | Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS | +| result_param2 | `int32` | | | Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied. | +| target_system | `uint8` | | | | +| target_component | `uint16` | | | Target component / mode executor | +| from_external | `bool` | | | Indicates if the command came from an external source | + +## Constants + +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | --------------------------------- | +| MESSAGE_VERSION | `uint32` | 0 | | +| VEHICLE_CMD_RESULT_ACCEPTED | `uint8` | 0 | Command ACCEPTED and EXECUTED | +| VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED | `uint8` | 1 | Command TEMPORARY REJECTED/DENIED | +| VEHICLE_CMD_RESULT_DENIED | `uint8` | 2 | Command PERMANENTLY DENIED | +| VEHICLE_CMD_RESULT_UNSUPPORTED | `uint8` | 3 | Command UNKNOWN/UNSUPPORTED | +| VEHICLE_CMD_RESULT_FAILED | `uint8` | 4 | Command executed, but failed | +| VEHICLE_CMD_RESULT_IN_PROGRESS | `uint8` | 5 | Command being executed | +| VEHICLE_CMD_RESULT_CANCELLED | `uint8` | 6 | Command Canceled | +| ARM_AUTH_DENIED_REASON_GENERIC | `uint16` | 0 | | +| ARM_AUTH_DENIED_REASON_NONE | `uint16` | 1 | | +| ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT | `uint16` | 2 | | +| ARM_AUTH_DENIED_REASON_TIMEOUT | `uint16` | 3 | | +| ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE | `uint16` | 4 | | +| ARM_AUTH_DENIED_REASON_BAD_WEATHER | `uint16` | 5 | | +| ORB_QUEUE_LENGTH | `uint8` | 8 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleCommandAck.msg) + +:::details +Click here to see original file ```c # Vehicle Command Ackonwledgement uORB message. @@ -32,7 +74,7 @@ uint16 ARM_AUTH_DENIED_REASON_TIMEOUT = 3 uint16 ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE = 4 uint16 ARM_AUTH_DENIED_REASON_BAD_WEATHER = 5 -uint8 ORB_QUEUE_LENGTH = 4 +uint8 ORB_QUEUE_LENGTH = 8 uint32 command # Command that is being acknowledged uint8 result # Command result @@ -42,5 +84,6 @@ uint8 target_system uint16 target_component # Target component / mode executor bool from_external # Indicates if the command came from an external source - ``` + +::: diff --git a/docs/uk/msg_docs/VehicleConstraints.md b/docs/uk/msg_docs/VehicleConstraints.md index 4d9d518b62..e7f3dd959c 100644 --- a/docs/uk/msg_docs/VehicleConstraints.md +++ b/docs/uk/msg_docs/VehicleConstraints.md @@ -1,9 +1,28 @@ +--- +pageClass: is-wide-page +--- + # VehicleConstraints (повідомлення UORB) -Обмеження локальної заданої точки в рамці NED -встановлення чого-небудь на NaN означає, що обмеження не надано +Local setpoint constraints in NED frame. setting something to NaN means that no limit is provided. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleConstraints.msg) +**TOPICS:** vehicle_constraints + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| speed_up | `float32` | | | in meters/sec | +| speed_down | `float32` | | | in meters/sec | +| want_takeoff | `bool` | | | tell the controller to initiate takeoff when idling (ignored during flight) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleConstraints.msg) + +:::details +Click here to see original file ```c # Local setpoint constraints in NED frame @@ -15,5 +34,6 @@ float32 speed_up # in meters/sec float32 speed_down # in meters/sec bool want_takeoff # tell the controller to initiate takeoff when idling (ignored during flight) - ``` + +::: diff --git a/docs/uk/msg_docs/VehicleControlMode.md b/docs/uk/msg_docs/VehicleControlMode.md index c77128f38c..c0a28c1c59 100644 --- a/docs/uk/msg_docs/VehicleControlMode.md +++ b/docs/uk/msg_docs/VehicleControlMode.md @@ -1,6 +1,44 @@ +--- +pageClass: is-wide-page +--- + # VehicleControlMode (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleControlMode.msg) +**TOPICS:** vehicle_control_mode config_control_setpoints + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| flag_armed | `bool` | | | synonym for actuator_armed.armed | +| flag_multicopter_position_control_enabled | `bool` | | | | +| flag_control_manual_enabled | `bool` | | | true if manual input is mixed in | +| flag_control_auto_enabled | `bool` | | | true if onboard autopilot should act | +| flag_control_offboard_enabled | `bool` | | | true if offboard control should be used | +| flag_control_position_enabled | `bool` | | | true if position is controlled | +| flag_control_velocity_enabled | `bool` | | | true if horizontal velocity (implies direction) is controlled | +| flag_control_altitude_enabled | `bool` | | | true if altitude is controlled | +| flag_control_climb_rate_enabled | `bool` | | | true if climb rate is controlled | +| flag_control_acceleration_enabled | `bool` | | | true if acceleration is controlled | +| flag_control_attitude_enabled | `bool` | | | true if attitude stabilization is mixed in | +| flag_control_rates_enabled | `bool` | | | true if rates are stabilized | +| flag_control_allocation_enabled | `bool` | | | true if control allocation is enabled | +| flag_control_termination_enabled | `bool` | | | true if flighttermination is enabled | +| source_id | `uint8` | | | Mode ID (nav_state) | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleControlMode.msg) + +:::details +Click here to see original file ```c uint32 MESSAGE_VERSION = 0 @@ -27,5 +65,6 @@ bool flag_control_termination_enabled # true if flighttermination is enabled uint8 source_id # Mode ID (nav_state) # TOPICS vehicle_control_mode config_control_setpoints - ``` + +::: diff --git a/docs/uk/msg_docs/VehicleGlobalPosition.md b/docs/uk/msg_docs/VehicleGlobalPosition.md index fd0e001391..81349e8c6c 100644 --- a/docs/uk/msg_docs/VehicleGlobalPosition.md +++ b/docs/uk/msg_docs/VehicleGlobalPosition.md @@ -1,10 +1,48 @@ +--- +pageClass: is-wide-page +--- + # VehicleGlobalPosition (повідомлення UORB) -Об'єднана глобальна позиція в WGS84. -This struct contains global position estimation. Це не сирі GPS -вимірювання (@see vehicle_gps_position). Ця тема зазвичай публікується позиціонером, який враховує більше джерел інформації, ніж просто GPS, наприклад, керування введеннями транспортного засобу в реалізації фільтра Калмана. +Об'єднана глобальна позиція в WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleGlobalPosition.msg) +**TOPICS:** vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position estimator_global_position aux_global_position + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------------ | --------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| lat | `float64` | | | Latitude, (degrees) | +| lon | `float64` | | | Longitude, (degrees) | +| alt | `float32` | | | Altitude AMSL, (meters) | +| alt_ellipsoid | `float32` | | | Altitude above ellipsoid, (meters) | +| lat_lon_valid | `bool` | | | | +| alt_valid | `bool` | | | | +| delta_alt | `float32` | | | Reset delta for altitude | +| delta_terrain | `float32` | | | Reset delta for terrain | +| lat_lon_reset_counter | `uint8` | | | Counter for reset events on horizontal position coordinates | +| alt_reset_counter | `uint8` | | | Counter for reset events on altitude | +| terrain_reset_counter | `uint8` | | | Counter for reset events on terrain | +| eph | `float32` | | | Standard deviation of horizontal position error, (metres) | +| epv | `float32` | | | Standard deviation of vertical position error, (metres) | +| terrain_alt | `float32` | | | Terrain altitude WGS84, (metres) | +| terrain_alt_valid | `bool` | | | Terrain altitude estimate is valid | +| dead_reckoning | `bool` | | | True if this position is estimated through dead-reckoning | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleGlobalPosition.msg) + +:::details +Click here to see original file ```c # Fused global position in WGS84. @@ -44,5 +82,6 @@ bool dead_reckoning # True if this position is estimated through dead-reckoning # TOPICS vehicle_global_position vehicle_global_position_groundtruth external_ins_global_position # TOPICS estimator_global_position # TOPICS aux_global_position - ``` + +::: diff --git a/docs/uk/msg_docs/VehicleImu.md b/docs/uk/msg_docs/VehicleImu.md index bc841bf89d..d18db63ada 100644 --- a/docs/uk/msg_docs/VehicleImu.md +++ b/docs/uk/msg_docs/VehicleImu.md @@ -1,8 +1,44 @@ +--- +pageClass: is-wide-page +--- + # VehicleImu (повідомлення UORB) Вимірювання IMU у вигляді одиниць SI. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleImu.msg) +**TOPICS:** vehicle_imu + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | | +| accel_device_id | `uint32` | | | Accelerometer unique device ID for the sensor that does not change between power cycles | +| gyro_device_id | `uint32` | | | Gyroscope unique device ID for the sensor that does not change between power cycles | +| delta_angle | `float32[3]` | | | delta angle about the FRD body frame XYZ-axis in rad over the integration time frame (delta_angle_dt) | +| delta_velocity | `float32[3]` | | | delta velocity in the FRD body frame XYZ-axis in m/s over the integration time frame (delta_velocity_dt) | +| delta_angle_dt | `uint32` | | | integration period in microseconds | +| delta_velocity_dt | `uint32` | | | integration period in microseconds | +| delta_angle_clipping | `uint8` | | | bitfield indicating if there was any gyro clipping (per axis) during the integration time frame | +| delta_velocity_clipping | `uint8` | | | bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame | +| accel_calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever accelermeter calibration changes. | +| gyro_calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever rate gyro calibration changes. | + +## Constants + +| Назва | Тип | Значення | Опис | +| ---------------------------------------------------------- | ------- | -------- | ---- | +| CLIPPING_X | `uint8` | 1 | | +| CLIPPING_Y | `uint8` | 2 | | +| CLIPPING_Z | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleImu.msg) + +:::details +Click here to see original file ```c # IMU readings in SI-unit form. @@ -28,5 +64,6 @@ uint8 delta_velocity_clipping # bitfield indicating if there was any accelerom uint8 accel_calibration_count # Calibration changed counter. Monotonically increases whenever accelermeter calibration changes. uint8 gyro_calibration_count # Calibration changed counter. Monotonically increases whenever rate gyro calibration changes. - ``` + +::: diff --git a/docs/uk/msg_docs/VehicleImuStatus.md b/docs/uk/msg_docs/VehicleImuStatus.md index 2f2e1d03fa..9e53a2a312 100644 --- a/docs/uk/msg_docs/VehicleImuStatus.md +++ b/docs/uk/msg_docs/VehicleImuStatus.md @@ -1,6 +1,42 @@ +--- +pageClass: is-wide-page +--- + # VehicleImuStatus (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleImuStatus.msg) +**TOPICS:** vehicle_imustatus + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| accel_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| gyro_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| accel_clipping | `uint32[3]` | | | total clipping per axis | +| gyro_clipping | `uint32[3]` | | | total clipping per axis | +| accel_error_count | `uint32` | | | | +| gyro_error_count | `uint32` | | | | +| accel_rate_hz | `float32` | | | | +| gyro_rate_hz | `float32` | | | | +| accel_raw_rate_hz | `float32` | | | full raw sensor sample rate (Hz) | +| gyro_raw_rate_hz | `float32` | | | full raw sensor sample rate (Hz) | +| accel_vibration_metric | `float32` | | | high frequency vibration level in the accelerometer data (m/s/s) | +| gyro_vibration_metric | `float32` | | | high frequency vibration level in the gyro data (rad/s) | +| delta_angle_coning_metric | `float32` | | | average IMU delta angle coning correction (rad^2) | +| mean_accel | `float32[3]` | | | average accelerometer readings since last publication | +| mean_gyro | `float32[3]` | | | average gyroscope readings since last publication | +| var_accel | `float32[3]` | | | accelerometer variance since last publication | +| var_gyro | `float32[3]` | | | gyroscope variance since last publication | +| temperature_accel | `float32` | | | | +| temperature_gyro | `float32` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleImuStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -31,5 +67,6 @@ float32[3] var_gyro # gyroscope variance since last publication float32 temperature_accel float32 temperature_gyro - ``` + +::: diff --git a/docs/uk/msg_docs/VehicleLandDetected.md b/docs/uk/msg_docs/VehicleLandDetected.md index 77d340391d..56f92f660d 100644 --- a/docs/uk/msg_docs/VehicleLandDetected.md +++ b/docs/uk/msg_docs/VehicleLandDetected.md @@ -1,6 +1,41 @@ +--- +pageClass: is-wide-page +--- + # VehicleLandDetected (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleLandDetected.msg) +**TOPICS:** vehicle_landdetected + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| freefall | `bool` | | | true if vehicle is currently in free-fall | +| ground_contact | `bool` | | | true if vehicle has ground contact but is not landed (1. stage) | +| maybe_landed | `bool` | | | true if the vehicle might have landed (2. stage) | +| landed | `bool` | | | true if vehicle is currently landed on the ground (3. stage) | +| in_ground_effect | `bool` | | | indicates if from the perspective of the landing detector the vehicle might be in ground effect (baro). This flag will become true if the vehicle is not moving horizontally and is descending (crude assumption that user is landing). | +| in_descend | `bool` | | | | +| has_low_throttle | `bool` | | | | +| vertical_movement | `bool` | | | | +| horizontal_movement | `bool` | | | | +| rotational_movement | `bool` | | | | +| close_to_ground_or_skipped_check | `bool` | | | | +| at_rest | `bool` | | | | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleLandDetected.msg) + +:::details +Click here to see original file ```c uint32 MESSAGE_VERSION = 0 @@ -24,5 +59,6 @@ bool rotational_movement bool close_to_ground_or_skipped_check bool at_rest - ``` + +::: diff --git a/docs/uk/msg_docs/VehicleLocalPosition.md b/docs/uk/msg_docs/VehicleLocalPosition.md index dc814eed21..2d387eba15 100644 --- a/docs/uk/msg_docs/VehicleLocalPosition.md +++ b/docs/uk/msg_docs/VehicleLocalPosition.md @@ -1,9 +1,86 @@ +--- +pageClass: is-wide-page +--- + # VehicleLocalPosition (повідомлення UORB) -Fused local position in NED. -The coordinate system origin is the vehicle position at the time when the EKF2-module was started. +Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleLocalPosition.msg) +**TOPICS:** vehicle_local_position vehicle_local_position_groundtruth external_ins_local_position estimator_local_position + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------------------ | ------------ | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| xy_valid | `bool` | | | true if x and y are valid | +| z_valid | `bool` | | | true if z is valid | +| v_xy_valid | `bool` | | | true if vx and vy are valid | +| v_z_valid | `bool` | | | true if vz is valid | +| x | `float32` | | | North position in NED earth-fixed frame, (metres) | +| y | `float32` | | | East position in NED earth-fixed frame, (metres) | +| z | `float32` | | | Down position (negative altitude) in NED earth-fixed frame, (metres) | +| delta_xy | `float32[2]` | | | Amount of lateral shift of position estimate in latest reset (in x and y) [m] | +| xy_reset_counter | `uint8` | | | Index of latest lateral position estimate reset | +| delta_z | `float32` | | | Amount of vertical shift of position estimate in latest reset [m] | +| z_reset_counter | `uint8` | | | Index of latest vertical position estimate reset | +| vx | `float32` | | | North velocity in NED earth-fixed frame, (metres/sec) | +| vy | `float32` | | | East velocity in NED earth-fixed frame, (metres/sec) | +| vz | `float32` | | | Down velocity in NED earth-fixed frame, (metres/sec) | +| z_deriv | `float32` | | | Down position time derivative in NED earth-fixed frame, (metres/sec) | +| delta_vxy | `float32[2]` | | | Amount of lateral shift of velocity estimate in latest reset (in x and y) [m/s] | +| vxy_reset_counter | `uint8` | | | Index of latest vertical velocity estimate reset | +| delta_vz | `float32` | | | Amount of vertical shift of velocity estimate in latest reset [m/s] | +| vz_reset_counter | `uint8` | | | Index of latest vertical velocity estimate reset | +| ax | `float32` | | | North velocity derivative in NED earth-fixed frame, (metres/sec^2) | +| ay | `float32` | | | East velocity derivative in NED earth-fixed frame, (metres/sec^2) | +| az | `float32` | | | Down velocity derivative in NED earth-fixed frame, (metres/sec^2) | +| heading | `float32` | | | Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians) | +| heading_var | `float32` | | | | +| unaided_heading | `float32` | | | Same as heading but generated by integrating corrected gyro data only | +| delta_heading | `float32` | | | Heading delta caused by latest heading reset [rad] | +| heading_reset_counter | `uint8` | | | Index of latest heading reset | +| heading_good_for_control | `bool` | | | | +| tilt_var | `float32` | | | | +| xy_global | `bool` | | | true if position (x, y) has a valid global reference (ref_lat, ref_lon) | +| z_global | `bool` | | | true if z has a valid global reference (ref_alt) | +| ref_timestamp | `uint64` | | | Time when reference position was set since system start, (microseconds) | +| ref_lat | `float64` | | | Reference point latitude, (degrees) | +| ref_lon | `float64` | | | Reference point longitude, (degrees) | +| ref_alt | `float32` | | | Reference altitude AMSL, (metres) | +| dist_bottom_valid | `bool` | | | true if distance to bottom surface is valid | +| dist_bottom | `float32` | | | Distance from from bottom surface to ground, (metres) | +| dist_bottom_var | `float32` | | | terrain estimate variance (m^2) | +| delta_dist_bottom | `float32` | | | Amount of vertical shift of dist bottom estimate in latest reset [m] | +| dist_bottom_reset_counter | `uint8` | | | Index of latest dist bottom estimate reset | +| dist_bottom_sensor_bitfield | `uint8` | | | bitfield indicating what type of sensor is used to estimate dist_bottom | +| eph | `float32` | | | Standard deviation of horizontal position error, (metres) | +| epv | `float32` | | | Standard deviation of vertical position error, (metres) | +| evh | `float32` | | | Standard deviation of horizontal velocity error, (metres/sec) | +| evv | `float32` | | | Standard deviation of vertical velocity error, (metres/sec) | +| dead_reckoning | `bool` | | | True if this position is estimated through dead-reckoning | +| vxy_max | `float32` | | | maximum horizontal speed (meters/sec) | +| vz_max | `float32` | | | maximum vertical speed (meters/sec) | +| hagl_min | `float32` | | | minimum height above ground level (meters) | +| hagl_max_z | `float32` | | | maximum height above ground level for z-control (meters) | +| hagl_max_xy | `float32` | | | maximum height above ground level for xy-control (meters) | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| MESSAGE_VERSION | `uint32` | 1 | | +| DIST_BOTTOM_SENSOR_NONE | `uint8` | 0 | | +| DIST_BOTTOM_SENSOR_RANGE | `uint8` | 1 | (1 << 0) a range sensor is used to estimate dist_bottom field | +| DIST_BOTTOM_SENSOR_FLOW | `uint8` | 2 | (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleLocalPosition.msg) + +:::details +Click here to see original file ```c # Fused local position in NED. @@ -94,5 +171,6 @@ float32 hagl_max_xy # maximum height above ground level for xy-control (meters # TOPICS vehicle_local_position vehicle_local_position_groundtruth external_ins_local_position # TOPICS estimator_local_position - ``` + +::: diff --git a/docs/uk/msg_docs/VehicleLocalPositionSetpoint.md b/docs/uk/msg_docs/VehicleLocalPositionSetpoint.md index 2309a238a2..6bc878001a 100644 --- a/docs/uk/msg_docs/VehicleLocalPositionSetpoint.md +++ b/docs/uk/msg_docs/VehicleLocalPositionSetpoint.md @@ -1,10 +1,35 @@ +--- +pageClass: is-wide-page +--- + # VehicleLocalPositionSetpoint (повідомлення UORB) -Місцева позиція задана в рамці NED -Телеметрія контролера позиції PID для відстеження. -NaN means the state was not controlled +Local position setpoint in NED frame. Telemetry of PID position controller to monitor tracking. NaN means the state was not controlled. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleLocalPositionSetpoint.msg) +**TOPICS:** vehicle_localposition_setpoint + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------ | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| x | `float32` | | | in meters NED | +| y | `float32` | | | in meters NED | +| z | `float32` | | | in meters NED | +| vx | `float32` | | | in meters/sec | +| vy | `float32` | | | in meters/sec | +| vz | `float32` | | | in meters/sec | +| acceleration | `float32[3]` | | | in meters/sec^2 | +| thrust | `float32[3]` | | | normalized thrust vector in NED | +| yaw | `float32` | | | in radians NED -PI..+PI | +| yawspeed | `float32` | | | in radians/sec | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleLocalPositionSetpoint.msg) + +:::details +Click here to see original file ```c # Local position setpoint in NED frame @@ -26,5 +51,6 @@ float32[3] thrust # normalized thrust vector in NED float32 yaw # in radians NED -PI..+PI float32 yawspeed # in radians/sec - ``` + +::: diff --git a/docs/uk/msg_docs/VehicleLocalPositionV0.md b/docs/uk/msg_docs/VehicleLocalPositionV0.md index 05d9361dc1..0085af22c9 100644 --- a/docs/uk/msg_docs/VehicleLocalPositionV0.md +++ b/docs/uk/msg_docs/VehicleLocalPositionV0.md @@ -1,9 +1,85 @@ +--- +pageClass: is-wide-page +--- + # VehicleLocalPositionV0 (UORB message) -Fused local position in NED. -The coordinate system origin is the vehicle position at the time when the EKF2-module was started. +Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleLocalPositionV0.msg) +**TOPICS:** vehicle_local_position vehicle_local_position_groundtruth external_ins_local_position estimator_local_position + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------------------------------------ | ------------ | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| xy_valid | `bool` | | | true if x and y are valid | +| z_valid | `bool` | | | true if z is valid | +| v_xy_valid | `bool` | | | true if vx and vy are valid | +| v_z_valid | `bool` | | | true if vz is valid | +| x | `float32` | | | North position in NED earth-fixed frame, (metres) | +| y | `float32` | | | East position in NED earth-fixed frame, (metres) | +| z | `float32` | | | Down position (negative altitude) in NED earth-fixed frame, (metres) | +| delta_xy | `float32[2]` | | | Amount of lateral shift of position estimate in latest reset (in x and y) [m] | +| xy_reset_counter | `uint8` | | | Index of latest lateral position estimate reset | +| delta_z | `float32` | | | Amount of vertical shift of position estimate in latest reset [m] | +| z_reset_counter | `uint8` | | | Index of latest vertical position estimate reset | +| vx | `float32` | | | North velocity in NED earth-fixed frame, (metres/sec) | +| vy | `float32` | | | East velocity in NED earth-fixed frame, (metres/sec) | +| vz | `float32` | | | Down velocity in NED earth-fixed frame, (metres/sec) | +| z_deriv | `float32` | | | Down position time derivative in NED earth-fixed frame, (metres/sec) | +| delta_vxy | `float32[2]` | | | Amount of lateral shift of velocity estimate in latest reset (in x and y) [m/s] | +| vxy_reset_counter | `uint8` | | | Index of latest vertical velocity estimate reset | +| delta_vz | `float32` | | | Amount of vertical shift of velocity estimate in latest reset [m/s] | +| vz_reset_counter | `uint8` | | | Index of latest vertical velocity estimate reset | +| ax | `float32` | | | North velocity derivative in NED earth-fixed frame, (metres/sec^2) | +| ay | `float32` | | | East velocity derivative in NED earth-fixed frame, (metres/sec^2) | +| az | `float32` | | | Down velocity derivative in NED earth-fixed frame, (metres/sec^2) | +| heading | `float32` | | | Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians) | +| heading_var | `float32` | | | | +| unaided_heading | `float32` | | | Same as heading but generated by integrating corrected gyro data only | +| delta_heading | `float32` | | | Heading delta caused by latest heading reset [rad] | +| heading_reset_counter | `uint8` | | | Index of latest heading reset | +| heading_good_for_control | `bool` | | | | +| tilt_var | `float32` | | | | +| xy_global | `bool` | | | true if position (x, y) has a valid global reference (ref_lat, ref_lon) | +| z_global | `bool` | | | true if z has a valid global reference (ref_alt) | +| ref_timestamp | `uint64` | | | Time when reference position was set since system start, (microseconds) | +| ref_lat | `float64` | | | Reference point latitude, (degrees) | +| ref_lon | `float64` | | | Reference point longitude, (degrees) | +| ref_alt | `float32` | | | Reference altitude AMSL, (metres) | +| dist_bottom_valid | `bool` | | | true if distance to bottom surface is valid | +| dist_bottom | `float32` | | | Distance from from bottom surface to ground, (metres) | +| dist_bottom_var | `float32` | | | terrain estimate variance (m^2) | +| delta_dist_bottom | `float32` | | | Amount of vertical shift of dist bottom estimate in latest reset [m] | +| dist_bottom_reset_counter | `uint8` | | | Index of latest dist bottom estimate reset | +| dist_bottom_sensor_bitfield | `uint8` | | | bitfield indicating what type of sensor is used to estimate dist_bottom | +| eph | `float32` | | | Standard deviation of horizontal position error, (metres) | +| epv | `float32` | | | Standard deviation of vertical position error, (metres) | +| evh | `float32` | | | Standard deviation of horizontal velocity error, (metres/sec) | +| evv | `float32` | | | Standard deviation of vertical velocity error, (metres/sec) | +| dead_reckoning | `bool` | | | True if this position is estimated through dead-reckoning | +| vxy_max | `float32` | | | maximum horizontal speed - set to 0 when limiting not required (meters/sec) | +| vz_max | `float32` | | | maximum vertical speed - set to 0 when limiting not required (meters/sec) | +| hagl_min | `float32` | | | minimum height above ground level - set to 0 when limiting not required (meters) | +| hagl_max | `float32` | | | maximum height above ground level - set to 0 when limiting not required (meters) | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| MESSAGE_VERSION | `uint32` | 0 | | +| DIST_BOTTOM_SENSOR_NONE | `uint8` | 0 | | +| DIST_BOTTOM_SENSOR_RANGE | `uint8` | 1 | (1 << 0) a range sensor is used to estimate dist_bottom field | +| DIST_BOTTOM_SENSOR_FLOW | `uint8` | 2 | (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleLocalPositionV0.msg) + +:::details +Click here to see original file ```c # Fused local position in NED. @@ -92,5 +168,6 @@ float32 hagl_max # maximum height above ground level - set to 0 when limiting # TOPICS vehicle_local_position vehicle_local_position_groundtruth external_ins_local_position # TOPICS estimator_local_position - ``` + +::: diff --git a/docs/uk/msg_docs/VehicleMagnetometer.md b/docs/uk/msg_docs/VehicleMagnetometer.md index b727c76b4b..aee0f8a1b7 100644 --- a/docs/uk/msg_docs/VehicleMagnetometer.md +++ b/docs/uk/msg_docs/VehicleMagnetometer.md @@ -1,9 +1,29 @@ +--- +pageClass: is-wide-page +--- + # VehicleMagnetometer (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleMagnetometer.msg) +**TOPICS:** vehicle_magnetometer + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| -------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| device_id | `uint32` | | | unique device ID for the selected magnetometer | +| magnetometer_ga | `float32[3]` | | | Magnetic field in the FRD body frame XYZ-axis in Gauss | +| calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever calibration changes. | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleMagnetometer.msg) + +:::details +Click here to see original file ```c - uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) @@ -13,5 +33,6 @@ uint32 device_id # unique device ID for the selected magnetometer float32[3] magnetometer_ga # Magnetic field in the FRD body frame XYZ-axis in Gauss uint8 calibration_count # Calibration changed counter. Monotonically increases whenever calibration changes. - ``` + +::: diff --git a/docs/uk/msg_docs/VehicleOdometry.md b/docs/uk/msg_docs/VehicleOdometry.md index c7abbc98c4..83cace64f0 100644 --- a/docs/uk/msg_docs/VehicleOdometry.md +++ b/docs/uk/msg_docs/VehicleOdometry.md @@ -1,10 +1,64 @@ +--- +pageClass: is-wide-page +--- + # VehicleOdometry (повідомлення UORB) -Vehicle odometry data +Vehicle odometry data. Fits ROS REP 147 for aerial vehicles -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleOdometry.msg) +**TOPICS:** vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry estimator_odometry + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------- | ------------ | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Timestamp sample | +| pose_frame | `uint8` | | [POSE_FRAME](#POSE_FRAME) | Position and orientation frame of reference | +| положення | `float32[3]` | m [local frame] | | Position. Origin is position of GC at startup. (Invalid: NaN If invalid/unknown) | +| q | `float32[4]` | | | Attitude (expressed as a quaternion) relative to pose reference frame at current location. Follows the Hamiltonian convention (w, x, y, z, right-handed, passive rotations from body to world) (Invalid: NaN First value if invalid/unknown) | +| velocity_frame | `uint8` | | [VELOCITY_FRAME](#VELOCITY_FRAME) | Reference frame of the velocity data | +| швидкість | `float32[3]` | m/s [@velocity_frame] | | Velocity. (Invalid: NaN If invalid/unknown) | +| angular_velocity | `float32[3]` | rad/s [@VELOCITY_FRAME_BODY_FRD] | | Angular velocity in body-fixed frame (Invalid: NaN If invalid/unknown) | +| position_variance | `float32[3]` | m^2 | | Variance of position error | +| orientation_variance | `float32[3]` | rad^2 | | Variance of orientation/attitude error (expressed in body frame) | +| velocity_variance | `float32[3]` | m^2/s^2 | | Variance of velocity error | +| reset_counter | `uint8` | | | Reset counter. Counts reset events on attitude, velocity and position. | +| quality | `int8` | | | Quality. Unused. (Invalid: 0) | + +## Enums + +### POSE_FRAME {#POSE_FRAME} + +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------- | ------- | -------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| POSE_FRAME_UNKNOWN | `uint8` | 0 | Unknown frame | +| POSE_FRAME_NED | `uint8` | 1 | North-East-Down (NED) navigation frame. Aligned with True North. | +| POSE_FRAME_FRD | `uint8` | 2 | Forward-Right-Down (FRD) frame. Constant arbitrary heading offset from True North. Z is down. | + +### VELOCITY_FRAME {#VELOCITY_FRAME} + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------- | +| VELOCITY_FRAME_UNKNOWN | `uint8` | 0 | Unknown frame | +| VELOCITY_FRAME_NED | `uint8` | 1 | NED navigation frame at current position. | +| VELOCITY_FRAME_FRD | `uint8` | 2 | FRD navigation frame at current position. Constant arbitrary heading offset from True North. Z is down. | +| VELOCITY_FRAME_BODY_FRD | `uint8` | 3 | FRD body-fixed frame | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleOdometry.msg) + +:::details +Click here to see original file ```c # Vehicle odometry data @@ -42,5 +96,6 @@ int8 quality # [-] [@invalid 0] Quality. Unused. # TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry # TOPICS estimator_odometry - ``` + +::: diff --git a/docs/uk/msg_docs/VehicleOpticalFlow.md b/docs/uk/msg_docs/VehicleOpticalFlow.md index 9007f9cadd..b3662a263f 100644 --- a/docs/uk/msg_docs/VehicleOpticalFlow.md +++ b/docs/uk/msg_docs/VehicleOpticalFlow.md @@ -1,8 +1,35 @@ +--- +pageClass: is-wide-page +--- + # VehicleOpticalFlow (повідомлення UORB) Оптичний потік в кадрі тіла XYZ в одиницях SI. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleOpticalFlow.msg) +**TOPICS:** vehicle_opticalflow + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| pixel_flow | `float32[2]` | | | (radians) accumulated optical flow in radians where a positive value is produced by a RH rotation about the body axis | +| delta_angle | `float32[3]` | | | (radians) accumulated gyro radians where a positive value is produced by a RH rotation of the sensor about the body axis. (NAN if unavailable) | +| distance_m | `float32` | | | (meters) Distance to the center of the flow field (NAN if unavailable) | +| integration_timespan_us | `uint32` | | | (microseconds) accumulation timespan in microseconds | +| quality | `uint8` | | | Average of quality of accumulated frames, 0: bad quality, 255: maximum quality | +| max_flow_rate | `float32` | | | (radians/s) Magnitude of maximum angular which the optical flow sensor can measure reliably | +| min_ground_distance | `float32` | | | (meters) Minimum distance from ground at which the optical flow sensor operates reliably | +| max_ground_distance | `float32` | | | (meters) Maximum distance from ground at which the optical flow sensor operates reliably | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleOpticalFlow.msg) + +:::details +Click here to see original file ```c # Optical flow in XYZ body frame in SI units. @@ -26,5 +53,6 @@ float32 max_flow_rate # (radians/s) Magnitude of maximum angular which float32 min_ground_distance # (meters) Minimum distance from ground at which the optical flow sensor operates reliably float32 max_ground_distance # (meters) Maximum distance from ground at which the optical flow sensor operates reliably - ``` + +::: diff --git a/docs/uk/msg_docs/VehicleOpticalFlowVel.md b/docs/uk/msg_docs/VehicleOpticalFlowVel.md index 1648106c32..3aee1f2bb6 100644 --- a/docs/uk/msg_docs/VehicleOpticalFlowVel.md +++ b/docs/uk/msg_docs/VehicleOpticalFlowVel.md @@ -1,6 +1,33 @@ +--- +pageClass: is-wide-page +--- + # VehicleOpticalFlowVel (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleOpticalFlowVel.msg) +**TOPICS:** estimator_optical_flow_vel vehicle_optical_flow_vel + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| vel_body | `float32[2]` | | | velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s) | +| vel_ne | `float32[2]` | | | same as vel_body but in local frame (m/s) | +| vel_body_filtered | `float32[2]` | | | filtered velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s) | +| vel_ne_filtered | `float32[2]` | | | filtered same as vel_body_filtered but in local frame (m/s) | +| flow_rate_uncompensated | `float32[2]` | | | integrated optical flow measurement (rad/s) | +| flow_rate_compensated | `float32[2]` | | | integrated optical flow measurement compensated for angular motion (rad/s) | +| gyro_rate | `float32[3]` | | | gyro measurement synchronized with flow measurements (rad/s) | +| gyro_bias | `float32[3]` | | | | +| ref_gyro | `float32[3]` | | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleOpticalFlowVel.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -21,5 +48,6 @@ float32[3] gyro_bias float32[3] ref_gyro # TOPICS estimator_optical_flow_vel vehicle_optical_flow_vel - ``` + +::: diff --git a/docs/uk/msg_docs/VehicleRatesSetpoint.md b/docs/uk/msg_docs/VehicleRatesSetpoint.md index 4f659d5478..be37193266 100644 --- a/docs/uk/msg_docs/VehicleRatesSetpoint.md +++ b/docs/uk/msg_docs/VehicleRatesSetpoint.md @@ -1,6 +1,34 @@ +--- +pageClass: is-wide-page +--- + # VehicleRatesSetpoint (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleRatesSetpoint.msg) +**TOPICS:** vehicle_ratessetpoint + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ----------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| roll | `float32` | rad/s | | roll rate setpoint | +| pitch | `float32` | rad/s | | pitch rate setpoint | +| yaw | `float32` | rad/s | | yaw rate setpoint | +| thrust_body | `float32[3]` | | | Normalized thrust command in body NED frame [-1,1] | +| reset_integral | `bool` | | | Reset roll/pitch/yaw integrals (navigation logic change) | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleRatesSetpoint.msg) + +:::details +Click here to see original file ```c uint32 MESSAGE_VERSION = 0 @@ -17,5 +45,6 @@ float32 yaw # [rad/s] yaw rate setpoint float32[3] thrust_body # Normalized thrust command in body NED frame [-1,1] bool reset_integral # Reset roll/pitch/yaw integrals (navigation logic change) - ``` + +::: diff --git a/docs/uk/msg_docs/VehicleRoi.md b/docs/uk/msg_docs/VehicleRoi.md index 67c6bf03e6..1d01fa88f2 100644 --- a/docs/uk/msg_docs/VehicleRoi.md +++ b/docs/uk/msg_docs/VehicleRoi.md @@ -1,8 +1,43 @@ +--- +pageClass: is-wide-page +--- + # VehicleRoi (повідомлення UORB) -Vehicle Region Of Interest (ROI) +Vehicle Region Of Interest (ROI). -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleRoi.msg) +**TOPICS:** vehicle_roi + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| --------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| mode | `uint8` | | | ROI mode (see above) | +| lat | `float64` | | | Latitude to point to | +| lon | `float64` | | | Longitude to point to | +| alt | `float32` | | | Altitude to point to | +| roll_offset | `float32` | | | angle offset in rad | +| pitch_offset | `float32` | | | angle offset in rad | +| yaw_offset | `float32` | | | angle offset in rad | + +## Constants + +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------- | ------- | -------- | ---------------------------------------------- | +| ROI_NONE | `uint8` | 0 | No region of interest | +| ROI_WPNEXT | `uint8` | 1 | Point toward next MISSION with optional offset | +| ROI_WPINDEX | `uint8` | 2 | Point toward given MISSION | +| ROI_LOCATION | `uint8` | 3 | Point toward fixed location | +| ROI_TARGET | `uint8` | 4 | Point toward target | +| ROI_ENUM_END | `uint8` | 5 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleRoi.msg) + +:::details +Click here to see original file ```c # Vehicle Region Of Interest (ROI) @@ -26,5 +61,6 @@ float32 alt # Altitude to point to float32 roll_offset # angle offset in rad float32 pitch_offset # angle offset in rad float32 yaw_offset # angle offset in rad - ``` + +::: diff --git a/docs/uk/msg_docs/VehicleStatus.md b/docs/uk/msg_docs/VehicleStatus.md index 63192fceb7..e37a7cefb9 100644 --- a/docs/uk/msg_docs/VehicleStatus.md +++ b/docs/uk/msg_docs/VehicleStatus.md @@ -1,8 +1,131 @@ +--- +pageClass: is-wide-page +--- + # VehicleStatus (повідомлення UORB) -Кодує стан системи транспортного засобу, опублікований командиром +Encodes the system state of the vehicle published by commander. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleStatus.msg) +**TOPICS:** vehicle_status + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| armed_time | `uint64` | | | Arming timestamp (microseconds) | +| takeoff_time | `uint64` | | | Takeoff timestamp (microseconds) | +| arming_state | `uint8` | | | | +| latest_arming_reason | `uint8` | | | | +| latest_disarming_reason | `uint8` | | | | +| nav_state_timestamp | `uint64` | | | time when current nav_state activated | +| nav_state_user_intention | `uint8` | | | Mode that the user selected (might be different from nav_state in a failsafe situation) | +| nav_state | `uint8` | | | Currently active mode | +| executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) | +| valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values | +| can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select | +| failure_detector_status | `uint16` | | | | +| hil_state | `uint8` | | | | +| vehicle_type | `uint8` | | | | +| failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) | +| failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control | +| failsafe_defer_state | `uint8` | | | one of FAILSAFE_DEFER_STATE_\* | +| gcs_connection_lost | `bool` | | | datalink to GCS lost | +| gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events | +| high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost | +| is_vtol | `bool` | | | True if the system is VTOL capable | +| is_vtol_tailsitter | `bool` | | | True if the system performs a 90° pitch down rotation during transition from MC to FW | +| in_transition_mode | `bool` | | | True if VTOL is doing a transition | +| in_transition_to_fw | `bool` | | | True if VTOL is doing a transition from MC to FW | +| system_type | `uint8` | | | system type, contains mavlink MAV_TYPE | +| system_id | `uint8` | | | system id, contains MAVLink's system ID field | +| component_id | `uint8` | | | subsystem / component id, contains MAVLink's component ID field | +| safety_button_available | `bool` | | | Set to true if a safety button is connected | +| safety_off | `bool` | | | Set to true if safety is off | +| power_input_valid | `bool` | | | set if input power is valid | +| usb_connected | `bool` | | | set to true (never cleared) once telemetry received from usb link | +| open_drone_id_system_present | `bool` | | | | +| open_drone_id_system_healthy | `bool` | | | | +| parachute_system_present | `bool` | | | | +| parachute_system_healthy | `bool` | | | | +| rc_calibration_in_progress | `bool` | | | | +| calibration_enabled | `bool` | | | | +| pre_flight_checks_pass | `bool` | | | true if all checks necessary to arm pass | + +## Constants + +| Назва | Тип | Значення | Опис | +| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ----------------------------------------------------------------------------- | +| MESSAGE_VERSION | `uint32` | 1 | | +| ARMING_STATE_DISARMED | `uint8` | 1 | | +| ARMING_STATE_ARMED | `uint8` | 2 | | +| ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 | | +| ARM_DISARM_REASON_RC_SWITCH | `uint8` | 2 | | +| ARM_DISARM_REASON_COMMAND_INTERNAL | `uint8` | 3 | | +| ARM_DISARM_REASON_COMMAND_EXTERNAL | `uint8` | 4 | | +| ARM_DISARM_REASON_MISSION_START | `uint8` | 5 | | +| ARM_DISARM_REASON_LANDING | `uint8` | 6 | | +| ARM_DISARM_REASON_PREFLIGHT_INACTION | `uint8` | 7 | | +| ARM_DISARM_REASON_KILL_SWITCH | `uint8` | 8 | | +| ARM_DISARM_REASON_RC_BUTTON | `uint8` | 13 | | +| ARM_DISARM_REASON_FAILSAFE | `uint8` | 14 | | +| NAVIGATION_STATE_MANUAL | `uint8` | 0 | Manual mode | +| NAVIGATION_STATE_ALTCTL | `uint8` | 1 | Altitude control mode | +| NAVIGATION_STATE_POSCTL | `uint8` | 2 | Position control mode | +| NAVIGATION_STATE_AUTO_MISSION | `uint8` | 3 | Auto mission mode | +| NAVIGATION_STATE_AUTO_LOITER | `uint8` | 4 | Auto loiter mode | +| NAVIGATION_STATE_AUTO_RTL | `uint8` | 5 | Auto return to launch mode | +| NAVIGATION_STATE_POSITION_SLOW | `uint8` | 6 | | +| NAVIGATION_STATE_FREE5 | `uint8` | 7 | | +| NAVIGATION_STATE_ALTITUDE_CRUISE | `uint8` | 8 | Altitude with Cruise mode | +| NAVIGATION_STATE_FREE3 | `uint8` | 9 | | +| NAVIGATION_STATE_ACRO | `uint8` | 10 | Acro mode | +| NAVIGATION_STATE_FREE2 | `uint8` | 11 | | +| NAVIGATION_STATE_DESCEND | `uint8` | 12 | Descend mode (no position control) | +| NAVIGATION_STATE_TERMINATION | `uint8` | 13 | Termination mode | +| NAVIGATION_STATE_OFFBOARD | `uint8` | 14 | | +| NAVIGATION_STATE_STAB | `uint8` | 15 | Stabilized mode | +| NAVIGATION_STATE_FREE1 | `uint8` | 16 | | +| NAVIGATION_STATE_AUTO_TAKEOFF | `uint8` | 17 | Takeoff | +| NAVIGATION_STATE_AUTO_LAND | `uint8` | 18 | Land | +| NAVIGATION_STATE_AUTO_FOLLOW_TARGET | `uint8` | 19 | Auto Follow | +| NAVIGATION_STATE_AUTO_PRECLAND | `uint8` | 20 | Precision land with landing target | +| NAVIGATION_STATE_ORBIT | `uint8` | 21 | Orbit in a circle | +| NAVIGATION_STATE_AUTO_VTOL_TAKEOFF | `uint8` | 22 | Takeoff, transition, establish loiter | +| NAVIGATION_STATE_EXTERNAL1 | `uint8` | 23 | | +| NAVIGATION_STATE_EXTERNAL2 | `uint8` | 24 | | +| NAVIGATION_STATE_EXTERNAL3 | `uint8` | 25 | | +| NAVIGATION_STATE_EXTERNAL4 | `uint8` | 26 | | +| NAVIGATION_STATE_EXTERNAL5 | `uint8` | 27 | | +| NAVIGATION_STATE_EXTERNAL6 | `uint8` | 28 | | +| NAVIGATION_STATE_EXTERNAL7 | `uint8` | 29 | | +| NAVIGATION_STATE_EXTERNAL8 | `uint8` | 30 | | +| NAVIGATION_STATE_MAX | `uint8` | 31 | | +| FAILURE_NONE | `uint16` | 0 | | +| FAILURE_ROLL | `uint16` | 1 | (1 << 0) | +| FAILURE_PITCH | `uint16` | 2 | (1 << 1) | +| FAILURE_ALT | `uint16` | 4 | (1 << 2) | +| FAILURE_EXT | `uint16` | 8 | (1 << 3) | +| FAILURE_ARM_ESC | `uint16` | 16 | (1 << 4) | +| FAILURE_BATTERY | `uint16` | 32 | (1 << 5) | +| FAILURE_IMBALANCED_PROP | `uint16` | 64 | (1 << 6) | +| FAILURE_MOTOR | `uint16` | 128 | (1 << 7) | +| HIL_STATE_OFF | `uint8` | 0 | | +| HIL_STATE_ON | `uint8` | 1 | | +| VEHICLE_TYPE_UNSPECIFIED | `uint8` | 0 | | +| VEHICLE_TYPE_ROTARY_WING | `uint8` | 1 | | +| VEHICLE_TYPE_FIXED_WING | `uint8` | 2 | | +| VEHICLE_TYPE_ROVER | `uint8` | 3 | | +| FAILSAFE_DEFER_STATE_DISABLED | `uint8` | 0 | | +| FAILSAFE_DEFER_STATE_ENABLED | `uint8` | 1 | | +| FAILSAFE_DEFER_STATE_WOULD_FAILSAFE | `uint8` | 2 | Failsafes deferred, but would trigger a failsafe | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleStatus.msg) + +:::details +Click here to see original file ```c # Encodes the system state of the vehicle published by commander @@ -137,5 +260,6 @@ bool rc_calibration_in_progress bool calibration_enabled bool pre_flight_checks_pass # true if all checks necessary to arm pass - ``` + +::: diff --git a/docs/uk/msg_docs/VehicleStatusV0.md b/docs/uk/msg_docs/VehicleStatusV0.md index a72e788eb5..e155e098f5 100644 --- a/docs/uk/msg_docs/VehicleStatusV0.md +++ b/docs/uk/msg_docs/VehicleStatusV0.md @@ -1,8 +1,138 @@ +--- +pageClass: is-wide-page +--- + # VehicleStatusV0 (UORB message) -Кодує стан системи транспортного засобу, опублікований командиром +Encodes the system state of the vehicle published by commander. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleStatusV0.msg) +**TOPICS:** vehicle_statusv0 + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| armed_time | `uint64` | | | Arming timestamp (microseconds) | +| takeoff_time | `uint64` | | | Takeoff timestamp (microseconds) | +| arming_state | `uint8` | | | | +| latest_arming_reason | `uint8` | | | | +| latest_disarming_reason | `uint8` | | | | +| nav_state_timestamp | `uint64` | | | time when current nav_state activated | +| nav_state_user_intention | `uint8` | | | Mode that the user selected (might be different from nav_state in a failsafe situation) | +| nav_state | `uint8` | | | Currently active mode | +| executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) | +| valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values | +| can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select | +| failure_detector_status | `uint16` | | | | +| hil_state | `uint8` | | | | +| vehicle_type | `uint8` | | | | +| failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) | +| failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control | +| failsafe_defer_state | `uint8` | | | one of FAILSAFE_DEFER_STATE_\* | +| gcs_connection_lost | `bool` | | | datalink to GCS lost | +| gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events | +| high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost | +| is_vtol | `bool` | | | True if the system is VTOL capable | +| is_vtol_tailsitter | `bool` | | | True if the system performs a 90° pitch down rotation during transition from MC to FW | +| in_transition_mode | `bool` | | | True if VTOL is doing a transition | +| in_transition_to_fw | `bool` | | | True if VTOL is doing a transition from MC to FW | +| system_type | `uint8` | | | system type, contains mavlink MAV_TYPE | +| system_id | `uint8` | | | system id, contains MAVLink's system ID field | +| component_id | `uint8` | | | subsystem / component id, contains MAVLink's component ID field | +| safety_button_available | `bool` | | | Set to true if a safety button is connected | +| safety_off | `bool` | | | Set to true if safety is off | +| power_input_valid | `bool` | | | set if input power is valid | +| usb_connected | `bool` | | | set to true (never cleared) once telemetry received from usb link | +| open_drone_id_system_present | `bool` | | | | +| open_drone_id_system_healthy | `bool` | | | | +| parachute_system_present | `bool` | | | | +| parachute_system_healthy | `bool` | | | | +| avoidance_system_required | `bool` | | | Set to true if avoidance system is enabled via COM_OBS_AVOID parameter | +| avoidance_system_valid | `bool` | | | Status of the obstacle avoidance system | +| rc_calibration_in_progress | `bool` | | | | +| calibration_enabled | `bool` | | | | +| pre_flight_checks_pass | `bool` | | | true if all checks necessary to arm pass | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -------- | ----------------------------------------------------------------------------- | +| MESSAGE_VERSION | `uint32` | 0 | | +| ARMING_STATE_DISARMED | `uint8` | 1 | | +| ARMING_STATE_ARMED | `uint8` | 2 | | +| ARM_DISARM_REASON_TRANSITION_TO_STANDBY | `uint8` | 0 | | +| ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 | | +| ARM_DISARM_REASON_RC_SWITCH | `uint8` | 2 | | +| ARM_DISARM_REASON_COMMAND_INTERNAL | `uint8` | 3 | | +| ARM_DISARM_REASON_COMMAND_EXTERNAL | `uint8` | 4 | | +| ARM_DISARM_REASON_MISSION_START | `uint8` | 5 | | +| ARM_DISARM_REASON_SAFETY_BUTTON | `uint8` | 6 | | +| ARM_DISARM_REASON_AUTO_DISARM_LAND | `uint8` | 7 | | +| ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT | `uint8` | 8 | | +| ARM_DISARM_REASON_KILL_SWITCH | `uint8` | 9 | | +| ARM_DISARM_REASON_LOCKDOWN | `uint8` | 10 | | +| ARM_DISARM_REASON_FAILURE_DETECTOR | `uint8` | 11 | | +| ARM_DISARM_REASON_SHUTDOWN | `uint8` | 12 | | +| ARM_DISARM_REASON_UNIT_TEST | `uint8` | 13 | | +| NAVIGATION_STATE_MANUAL | `uint8` | 0 | Manual mode | +| NAVIGATION_STATE_ALTCTL | `uint8` | 1 | Altitude control mode | +| NAVIGATION_STATE_POSCTL | `uint8` | 2 | Position control mode | +| NAVIGATION_STATE_AUTO_MISSION | `uint8` | 3 | Auto mission mode | +| NAVIGATION_STATE_AUTO_LOITER | `uint8` | 4 | Auto loiter mode | +| NAVIGATION_STATE_AUTO_RTL | `uint8` | 5 | Auto return to launch mode | +| NAVIGATION_STATE_POSITION_SLOW | `uint8` | 6 | | +| NAVIGATION_STATE_FREE5 | `uint8` | 7 | | +| NAVIGATION_STATE_FREE4 | `uint8` | 8 | | +| NAVIGATION_STATE_FREE3 | `uint8` | 9 | | +| NAVIGATION_STATE_ACRO | `uint8` | 10 | Acro mode | +| NAVIGATION_STATE_FREE2 | `uint8` | 11 | | +| NAVIGATION_STATE_DESCEND | `uint8` | 12 | Descend mode (no position control) | +| NAVIGATION_STATE_TERMINATION | `uint8` | 13 | Termination mode | +| NAVIGATION_STATE_OFFBOARD | `uint8` | 14 | | +| NAVIGATION_STATE_STAB | `uint8` | 15 | Stabilized mode | +| NAVIGATION_STATE_FREE1 | `uint8` | 16 | | +| NAVIGATION_STATE_AUTO_TAKEOFF | `uint8` | 17 | Takeoff | +| NAVIGATION_STATE_AUTO_LAND | `uint8` | 18 | Land | +| NAVIGATION_STATE_AUTO_FOLLOW_TARGET | `uint8` | 19 | Auto Follow | +| NAVIGATION_STATE_AUTO_PRECLAND | `uint8` | 20 | Precision land with landing target | +| NAVIGATION_STATE_ORBIT | `uint8` | 21 | Orbit in a circle | +| NAVIGATION_STATE_AUTO_VTOL_TAKEOFF | `uint8` | 22 | Takeoff, transition, establish loiter | +| NAVIGATION_STATE_EXTERNAL1 | `uint8` | 23 | | +| NAVIGATION_STATE_EXTERNAL2 | `uint8` | 24 | | +| NAVIGATION_STATE_EXTERNAL3 | `uint8` | 25 | | +| NAVIGATION_STATE_EXTERNAL4 | `uint8` | 26 | | +| NAVIGATION_STATE_EXTERNAL5 | `uint8` | 27 | | +| NAVIGATION_STATE_EXTERNAL6 | `uint8` | 28 | | +| NAVIGATION_STATE_EXTERNAL7 | `uint8` | 29 | | +| NAVIGATION_STATE_EXTERNAL8 | `uint8` | 30 | | +| NAVIGATION_STATE_MAX | `uint8` | 31 | | +| FAILURE_NONE | `uint16` | 0 | | +| FAILURE_ROLL | `uint16` | 1 | (1 << 0) | +| FAILURE_PITCH | `uint16` | 2 | (1 << 1) | +| FAILURE_ALT | `uint16` | 4 | (1 << 2) | +| FAILURE_EXT | `uint16` | 8 | (1 << 3) | +| FAILURE_ARM_ESC | `uint16` | 16 | (1 << 4) | +| FAILURE_BATTERY | `uint16` | 32 | (1 << 5) | +| FAILURE_IMBALANCED_PROP | `uint16` | 64 | (1 << 6) | +| FAILURE_MOTOR | `uint16` | 128 | (1 << 7) | +| HIL_STATE_OFF | `uint8` | 0 | | +| HIL_STATE_ON | `uint8` | 1 | | +| VEHICLE_TYPE_UNKNOWN | `uint8` | 0 | | +| VEHICLE_TYPE_ROTARY_WING | `uint8` | 1 | | +| VEHICLE_TYPE_FIXED_WING | `uint8` | 2 | | +| VEHICLE_TYPE_ROVER | `uint8` | 3 | | +| VEHICLE_TYPE_AIRSHIP | `uint8` | 4 | | +| FAILSAFE_DEFER_STATE_DISABLED | `uint8` | 0 | | +| FAILSAFE_DEFER_STATE_ENABLED | `uint8` | 1 | | +| FAILSAFE_DEFER_STATE_WOULD_FAILSAFE | `uint8` | 2 | Failsafes deferred, but would trigger a failsafe | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleStatusV0.msg) + +:::details +Click here to see original file ```c # Encodes the system state of the vehicle published by commander @@ -145,5 +275,6 @@ bool rc_calibration_in_progress bool calibration_enabled bool pre_flight_checks_pass # true if all checks necessary to arm pass - ``` + +::: diff --git a/docs/uk/msg_docs/VehicleThrustSetpoint.md b/docs/uk/msg_docs/VehicleThrustSetpoint.md index 6b04fc1d95..09c5a131d0 100644 --- a/docs/uk/msg_docs/VehicleThrustSetpoint.md +++ b/docs/uk/msg_docs/VehicleThrustSetpoint.md @@ -1,9 +1,27 @@ +--- +pageClass: is-wide-page +--- + # VehicleThrustSetpoint (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleThrustSetpoint.msg) +**TOPICS:** vehicle_thrust_setpoint vehicle_thrust_setpoint_virtual_fw vehicle_thrust_setpoint_virtual_mc + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | timestamp of the data sample on which this message is based (microseconds) | +| xyz | `float32[3]` | | | thrust setpoint along X, Y, Z body axis [-1, 1] | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleThrustSetpoint.msg) + +:::details +Click here to see original file ```c - uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds) @@ -11,5 +29,6 @@ float32[3] xyz # thrust setpoint along X, Y, Z body axis [-1, 1] # TOPICS vehicle_thrust_setpoint # TOPICS vehicle_thrust_setpoint_virtual_fw vehicle_thrust_setpoint_virtual_mc - ``` + +::: diff --git a/docs/uk/msg_docs/VehicleTorqueSetpoint.md b/docs/uk/msg_docs/VehicleTorqueSetpoint.md index 8f8f66b7bc..566ce3a841 100644 --- a/docs/uk/msg_docs/VehicleTorqueSetpoint.md +++ b/docs/uk/msg_docs/VehicleTorqueSetpoint.md @@ -1,9 +1,27 @@ +--- +pageClass: is-wide-page +--- + # VehicleTorqueSetpoint (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleTorqueSetpoint.msg) +**TOPICS:** vehicle_torque_setpoint vehicle_torque_setpoint_virtual_fw vehicle_torque_setpoint_virtual_mc + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | timestamp of the data sample on which this message is based (microseconds) | +| xyz | `float32[3]` | | | torque setpoint about X, Y, Z body axis (normalized) | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleTorqueSetpoint.msg) + +:::details +Click here to see original file ```c - uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds) @@ -11,5 +29,6 @@ float32[3] xyz # torque setpoint about X, Y, Z body axis (normalized) # TOPICS vehicle_torque_setpoint # TOPICS vehicle_torque_setpoint_virtual_fw vehicle_torque_setpoint_virtual_mc - ``` + +::: diff --git a/docs/uk/msg_docs/VelocityLimits.md b/docs/uk/msg_docs/VelocityLimits.md index 5d9bfab8f8..11f15011f2 100644 --- a/docs/uk/msg_docs/VelocityLimits.md +++ b/docs/uk/msg_docs/VelocityLimits.md @@ -1,8 +1,28 @@ +--- +pageClass: is-wide-page +--- + # VelocityLimits (повідомлення UORB) -Обмеження швидкості та кутової швидкості для мультикоптера лише в режимі повільного переміщення позиції +Velocity and yaw rate limits for a multicopter position slow mode only. -[вихідний файл](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VelocityLimits.msg) +**TOPICS:** velocity_limits + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| horizontal_velocity | `float32` | m/s | | | +| vertical_velocity | `float32` | m/s | | | +| yaw_rate | `float32` | rad/s | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VelocityLimits.msg) + +:::details +Click here to see original file ```c # Velocity and yaw rate limits for a multicopter position slow mode only @@ -13,5 +33,6 @@ uint64 timestamp # time since system start (microseconds) float32 horizontal_velocity # [m/s] float32 vertical_velocity # [m/s] float32 yaw_rate # [rad/s] - ``` + +::: diff --git a/docs/uk/msg_docs/VtolVehicleStatus.md b/docs/uk/msg_docs/VtolVehicleStatus.md index 5b7ee37ae9..ced3fee553 100644 --- a/docs/uk/msg_docs/VtolVehicleStatus.md +++ b/docs/uk/msg_docs/VtolVehicleStatus.md @@ -1,8 +1,38 @@ +--- +pageClass: is-wide-page +--- + # VtolVehicleStatus (повідомлення UORB) -VEHICLE_VTOL_STATE, повинен відповідати 1:1 MAVLinks_VTOL_STATE +VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VtolVehicleStatus.msg) +**TOPICS:** vtol_vehiclestatus + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ---------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| vehicle_vtol_state | `uint8` | | | current state of the vtol, see VEHICLE_VTOL_STATE | +| fixed_wing_system_failure | `bool` | | | vehicle in fixed-wing system failure failsafe mode (after quad-chute) | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | +| VEHICLE_VTOL_STATE_UNDEFINED | `uint8` | 0 | | +| VEHICLE_VTOL_STATE_TRANSITION_TO_FW | `uint8` | 1 | | +| VEHICLE_VTOL_STATE_TRANSITION_TO_MC | `uint8` | 2 | | +| VEHICLE_VTOL_STATE_MC | `uint8` | 3 | | +| VEHICLE_VTOL_STATE_FW | `uint8` | 4 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VtolVehicleStatus.msg) + +:::details +Click here to see original file ```c # VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE @@ -20,5 +50,6 @@ uint64 timestamp # time since system start (microseconds) uint8 vehicle_vtol_state # current state of the vtol, see VEHICLE_VTOL_STATE bool fixed_wing_system_failure # vehicle in fixed-wing system failure failsafe mode (after quad-chute) - ``` + +::: diff --git a/docs/uk/msg_docs/Vtx.md b/docs/uk/msg_docs/Vtx.md new file mode 100644 index 0000000000..2668dd7a27 --- /dev/null +++ b/docs/uk/msg_docs/Vtx.md @@ -0,0 +1,84 @@ +--- +pageClass: is-wide-page +--- + +# Vtx (UORB message) + +**TOPICS:** vtx + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| -------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| protocol | `uint8` | | | | +| device | `uint8` | | | | +| mode | `uint8` | | | | +| band | `int8` | | | Band number (0-23), negative values indicate frequency mode | +| channel | `int8` | | | Channel number (0-15), negative values indicate frequency mode | +| frequency | `uint16` | | | Frequency in MHz, zero indicates unknown | +| band_letter | `uint8` | | | Band letter as ASCII | +| band_name | `uint8[12]` | | | Band name in ASCII without null termination | +| power_level | `int8` | | | Current power level (0-15), negative values indicate unknown | +| power_label | `uint8[4]` | | | Current power label in ASCII without null termination | + +## Constants + +| Назва | Тип | Значення | Опис | +| ------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -------- | ----------------------------------------- | +| BAND_NAME_LENGTH | `uint8` | 12 | | +| POWER_LABEL_LENGTH | `uint8` | 4 | | +| PROTOCOL_NONE | `uint8` | 0 | No protocol is detected, usually an error | +| PROTOCOL_SMART_AUDIO_V1 | `uint8` | 10 | | +| PROTOCOL_SMART_AUDIO_V2 | `uint8` | 20 | | +| PROTOCOL_SMART_AUDIO_V2_1 | `uint8` | 21 | | +| PROTOCOL_TRAMP | `uint8` | 100 | | +| DEVICE_UNKNOWN | `uint8` | 0 | | +| DEVICE_PEAK_THOR_T67 | `uint8` | 20 | | +| DEVICE_RUSH_MAX_SOLO | `uint8` | 40 | | +| MODE_NORMAL | `uint8` | 0 | | +| MODE_PIT | `uint8` | 1 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Vtx.msg) + +:::details +Click here to see original file + +```c +uint64 timestamp # time since system start (microseconds) + +uint8 BAND_NAME_LENGTH = 12 +uint8 POWER_LABEL_LENGTH = 4 + +uint8 PROTOCOL_NONE = 0 # No protocol is detected, usually an error +uint8 PROTOCOL_SMART_AUDIO_V1 = 10 +uint8 PROTOCOL_SMART_AUDIO_V2 = 20 +uint8 PROTOCOL_SMART_AUDIO_V2_1 = 21 +uint8 PROTOCOL_TRAMP = 100 +uint8 protocol + +uint8 DEVICE_UNKNOWN = 0 +uint8 DEVICE_PEAK_THOR_T67 = 20 +uint8 DEVICE_RUSH_MAX_SOLO = 40 +uint8 device + +uint8 MODE_NORMAL = 0 +uint8 MODE_PIT = 1 +uint8 mode + +# Band and Channel are 0-indexed! But the user expects a 1-indexed display! +int8 band # Band number (0-23), negative values indicate frequency mode +int8 channel # Channel number (0-15), negative values indicate frequency mode +uint16 frequency # Frequency in MHz, zero indicates unknown + +uint8 band_letter # Band letter as ASCII +uint8[12] band_name # Band name in ASCII without null termination + +# Also 0-indexed, but the user expects a 1-indexed display! +int8 power_level # Current power level (0-15), negative values indicate unknown +uint8[4] power_label # Current power label in ASCII without null termination +``` + +::: diff --git a/docs/uk/msg_docs/WheelEncoders.md b/docs/uk/msg_docs/WheelEncoders.md index 5a1264923d..099d65361b 100644 --- a/docs/uk/msg_docs/WheelEncoders.md +++ b/docs/uk/msg_docs/WheelEncoders.md @@ -1,6 +1,25 @@ +--- +pageClass: is-wide-page +--- + # WheelEncoders (UORB повідомлення) -[вихідний файл](https://github.com/PX4/PX4-Autopilot/blob/main/msg/WheelEncoders.msg) +**TOPICS:** wheel_encoders + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| -------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| wheel_speed | `float32[2]` | rad/s | | | +| wheel_angle | `float32[2]` | rad | | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/WheelEncoders.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -8,5 +27,6 @@ uint64 timestamp # time since system start (microseconds) # Two wheels: 0 right, 1 left float32[2] wheel_speed # [rad/s] float32[2] wheel_angle # [rad] - ``` + +::: diff --git a/docs/uk/msg_docs/Wind.md b/docs/uk/msg_docs/Wind.md index e16699ed1d..d2d542be9b 100644 --- a/docs/uk/msg_docs/Wind.md +++ b/docs/uk/msg_docs/Wind.md @@ -1,11 +1,43 @@ +--- +pageClass: is-wide-page +--- + # Wind (повідомлення UORB) -Wind estimate (from EKF2) +Wind estimate (from EKF2). Contains the system-wide estimate of horizontal wind velocity and its variance. Published by the navigation filter (EKF2) for use by other flight modules and libraries. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/Wind.msg) +**TOPICS:** wind estimator_wind + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| -------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Timestamp of the raw data | +| windspeed_north | `float32` | m/s | | Wind component in north / X direction | +| windspeed_east | `float32` | m/s | | Wind component in east / Y direction | +| variance_north | `float32` | (m/s)^2 | | Wind estimate error variance in north / X direction (Invalid: 0 if not estimated) | +| variance_east | `float32` | (m/s)^2 | | Wind estimate error variance in east / Y direction (Invalid: 0 if not estimated) | +| tas_innov | `float32` | m/s | | True airspeed innovation | +| tas_innov_var | `float32` | (m/s)^2 | | True airspeed innovation variance | +| beta_innov | `float32` | rad | | Sideslip measurement innovation | +| beta_innov_var | `float32` | rad^2 | | Sideslip measurement innovation variance | + +## Constants + +| Назва | Тип | Значення | Опис | +| -------------------------------------------------------------------- | -------- | -------- | ---- | +| MESSAGE_VERSION | `uint32` | 0 | | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/Wind.msg) + +:::details +Click here to see original file ```c # Wind estimate (from EKF2) @@ -31,5 +63,6 @@ float32 beta_innov # [rad] Sideslip measurement innovation float32 beta_innov_var # [rad^2] Sideslip measurement innovation variance # TOPICS wind estimator_wind - ``` + +::: diff --git a/docs/uk/msg_docs/YawEstimatorStatus.md b/docs/uk/msg_docs/YawEstimatorStatus.md index 555e58b6a7..f45e7c22b4 100644 --- a/docs/uk/msg_docs/YawEstimatorStatus.md +++ b/docs/uk/msg_docs/YawEstimatorStatus.md @@ -1,6 +1,31 @@ +--- +pageClass: is-wide-page +--- + # YawEstimatorStatus (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/YawEstimatorStatus.msg) +**TOPICS:** yaw_estimatorstatus + +## Fields + +| Назва | Тип | Unit [Frame] | Range/Enum | Опис | +| ------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| yaw_composite | `float32` | | | composite yaw from GSF (rad) | +| yaw_variance | `float32` | | | composite yaw variance from GSF (rad^2) | +| yaw_composite_valid | `bool` | | | | +| yaw | `float32[5]` | | | yaw estimate for each model in the filter bank (rad) | +| innov_vn | `float32[5]` | | | North velocity innovation for each model in the filter bank (m/s) | +| innov_ve | `float32[5]` | | | East velocity innovation for each model in the filter bank (m/s) | +| weight | `float32[5]` | | | weighting for each model in the filter bank | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/YawEstimatorStatus.msg) + +:::details +Click here to see original file ```c uint64 timestamp # time since system start (microseconds) @@ -14,5 +39,6 @@ float32[5] yaw # yaw estimate for each model in the filter bank (rad) float32[5] innov_vn # North velocity innovation for each model in the filter bank (m/s) float32[5] innov_ve # East velocity innovation for each model in the filter bank (m/s) float32[5] weight # weighting for each model in the filter bank - ``` + +::: diff --git a/docs/uk/msg_docs/index.md b/docs/uk/msg_docs/index.md index 3bc682a23c..6ffa67c21e 100644 --- a/docs/uk/msg_docs/index.md +++ b/docs/uk/msg_docs/index.md @@ -13,90 +13,63 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m ## Versioned Messages -- [ActuatorMotors](ActuatorMotors.md) — Motor control message -- [ActuatorServos](ActuatorServos.md) — Servo control message -- [AirspeedValidated](AirspeedValidated.md) — Validated airspeed -- [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply -- [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request -- [BatteryStatus](BatteryStatus.md) — Battery status -- [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors -- [Event](Event.md) — Events interface -- [FixedWingLateralSetpoint](FixedWingLateralSetpoint.md) — Fixed Wing Lateral Setpoint message - Used by the fw_lateral_longitudinal_control module - At least one of course, airspeed_direction, or lateral_acceleration must be finite. -- [FixedWingLongitudinalSetpoint](FixedWingLongitudinalSetpoint.md) — Fixed Wing Longitudinal Setpoint message - Used by the fw_lateral_longitudinal_control module - If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion. - If both altitude and height_rate are NAN, the controller maintains the current altitude. -- [GotoSetpoint](GotoSetpoint.md) — Position and (optional) heading setpoints with corresponding speed constraints - Setpoints are intended as inputs to position and heading smoothers, respectively - Setpoints do not need to be kinematically consistent - Optional heading setpoints may be specified as controlled by the respective flag - Unset optional setpoints are not controlled - Unset optional constraints default to vehicle specifications +- [ActuatorMotors](ActuatorMotors.md) — Motor control message. +- [ActuatorServos](ActuatorServos.md) — Servo control message. +- [AirspeedValidated](AirspeedValidated.md) — Validated airspeed. +- [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply. +- [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request. +- [BatteryStatus](BatteryStatus.md) — Battery status. +- [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors. +- [Event](Event.md) — Events interface. +- [FixedWingLateralSetpoint](FixedWingLateralSetpoint.md) — Fixed Wing Lateral Setpoint message. Used by the fw_lateral_longitudinal_control module. At least one of course, airspeed_direction, or lateral_acceleration must be finite. +- [FixedWingLongitudinalSetpoint](FixedWingLongitudinalSetpoint.md) — Fixed Wing Longitudinal Setpoint message. Used by the fw_lateral_longitudinal_control module. If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion. If both altitude and height_rate are NAN, the controller maintains the current altitude. +- [GotoSetpoint](GotoSetpoint.md) — Position and (optional) heading setpoints with corresponding speed constraints. Setpoints are intended as inputs to position and heading smoothers, respectively. Setpoints do not need to be kinematically consistent. Optional heading setpoints may be specified as controlled by the respective flag. Unset optional setpoints are not controlled. Unset optional constraints default to vehicle specifications. - [HomePosition](HomePosition.md) — GPS home position in WGS84 coordinates. -- [LateralControlConfiguration](LateralControlConfiguration.md) — Fixed Wing Lateral Control Configuration message - Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages. -- [LongitudinalControlConfiguration](LongitudinalControlConfiguration.md) — Fixed Wing Longitudinal Control Configuration message - Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages - and configure the resultant setpoints. +- [LateralControlConfiguration](LateralControlConfiguration.md) — Fixed Wing Lateral Control Configuration message. 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. - Можливі значення nav_state визначені в повідомленні VehicleStatus. - Note that this is not always published (e.g. when a user switches modes or on - failsafe activation) +- [ModeCompleted](ModeCompleted.md) — Mode completion result, published by an active mode. Можливі значення nav_state визначені в повідомленні VehicleStatus. Note that this is not always published (e.g. when a user switches modes or on. failsafe activation). +- [RaptorInput](RaptorInput.md) — Raptor Input. +- [RaptorStatus](RaptorStatus.md) — Raptor Status. - [RegisterExtComponentReply](RegisterExtComponentReply.md) -- [RegisterExtComponentRequest](RegisterExtComponentRequest.md) — Request to register an external component -- [TrajectorySetpoint](TrajectorySetpoint.md) — Trajectory setpoint in NED frame - Input to PID position controller. - Потрібно мати кінематичну консистентність і бути можливим для плавного польоту. - встановлення значення NaN означає, що стан не повинен контролюватися +- [RegisterExtComponentRequest](RegisterExtComponentRequest.md) — Request to register an external component. +- [TrajectorySetpoint](TrajectorySetpoint.md) — Trajectory setpoint in NED frame. Input to PID position controller. Потрібно мати кінематичну консистентність і бути можливим для плавного польоту. setting a value to NaN means the state should not be controlled. - [UnregisterExtComponent](UnregisterExtComponent.md) - [VehicleAngularVelocity](VehicleAngularVelocity.md) -- [VehicleAttitude](VehicleAttitude.md) — This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use - The quaternion uses the Hamilton convention, and the order is q(w, x, y, z) +- [VehicleAttitude](VehicleAttitude.md) — This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use. The quaternion uses the Hamilton convention, and the order is q(w, x, y, z). - [VehicleAttitudeSetpoint](VehicleAttitudeSetpoint.md) -- [VehicleCommand](VehicleCommand.md) — Vehicle Command uORB message. Used for commanding a mission / action / etc. - Follows the MAVLink COMMAND_INT / COMMAND_LONG definition -- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Ackonwledgement uORB message. - Used for acknowledging the vehicle command being received. - Follows the MAVLink COMMAND_ACK message definition +- [VehicleCommand](VehicleCommand.md) — Vehicle Command uORB message. Використовується для управління місією / дією / тощо. Follows the MAVLink COMMAND_INT / COMMAND_LONG definition. +- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition. - [VehicleControlMode](VehicleControlMode.md) -- [VehicleGlobalPosition](VehicleGlobalPosition.md) — Fused global position in WGS84. - This struct contains global position estimation. It is not the raw GPS - measurement (@see vehicle_gps_position). This topic is usually published by the position - estimator, which will take more sources of information into account than just GPS, - e.g. control inputs of the vehicle in a Kalman-filter implementation. +- [VehicleGlobalPosition](VehicleGlobalPosition.md) — Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation. - [VehicleLandDetected](VehicleLandDetected.md) -- [VehicleLocalPosition](VehicleLocalPosition.md) — Fused local position in NED. - The coordinate system origin is the vehicle position at the time when the EKF2-module was started. -- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data +- [VehicleLocalPosition](VehicleLocalPosition.md) — Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started. +- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data. - [VehicleRatesSetpoint](VehicleRatesSetpoint.md) -- [VehicleStatus](VehicleStatus.md) — Encodes the system state of the vehicle published by commander -- [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE -- [Wind](Wind.md) — Wind estimate (from EKF2) +- [VehicleStatus](VehicleStatus.md) — Encodes the system state of the vehicle published by commander. +- [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE. +- [Wind](Wind.md) — Wind estimate (from EKF2). ## Unversioned Messages -- [ActionRequest](ActionRequest.md) — Action request for the vehicle's main state +- [ActionRequest](ActionRequest.md) — Action request for the vehicle's main state. - [ActuatorArmed](ActuatorArmed.md) - [ActuatorControlsStatus](ActuatorControlsStatus.md) - [ActuatorOutputs](ActuatorOutputs.md) -- [ActuatorServosTrim](ActuatorServosTrim.md) — Servo trims, added as offset to servo outputs +- [ActuatorServosTrim](ActuatorServosTrim.md) — Servo trims, added as offset to servo outputs. - [ActuatorTest](ActuatorTest.md) - [AdcReport](AdcReport.md) — ADC raw data. -- [Airspeed](Airspeed.md) — Airspeed data from sensors -- [AirspeedWind](AirspeedWind.md) — Wind estimate (from airspeed_selector) -- [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md) — Autotune attitude control status -- [BatteryInfo](BatteryInfo.md) — Battery information +- [Airspeed](Airspeed.md) — Airspeed data from sensors. +- [AirspeedWind](AirspeedWind.md) — Wind estimate (from airspeed_selector). +- [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md) — Autotune attitude control status. +- [BatteryInfo](BatteryInfo.md) — Battery information. - [ButtonEvent](ButtonEvent.md) - [CameraCapture](CameraCapture.md) - [CameraStatus](CameraStatus.md) - [CameraTrigger](CameraTrigger.md) - [CanInterfaceStatus](CanInterfaceStatus.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 +- [CellularStatus](CellularStatus.md) — Cellular status. +- [CollisionConstraints](CollisionConstraints.md) — Local setpoint constraints in NED frame. setting something to NaN means that no limit is provided. - [ControlAllocatorStatus](ControlAllocatorStatus.md) - [Cpuload](Cpuload.md) - [DatamanRequest](DatamanRequest.md) @@ -105,13 +78,12 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [DebugKeyValue](DebugKeyValue.md) - [DebugValue](DebugValue.md) - [DebugVect](DebugVect.md) -- [DeviceInformation](DeviceInformation.md) — Device information -- [DifferentialPressure](DifferentialPressure.md) — Differential-pressure (airspeed) sensor -- [DistanceSensor](DistanceSensor.md) — DISTANCE_SENSOR message data +- [DeviceInformation](DeviceInformation.md) — Device information. +- [DifferentialPressure](DifferentialPressure.md) — Differential-pressure (airspeed) sensor. +- [DistanceSensor](DistanceSensor.md) — DISTANCE_SENSOR message data. - [DistanceSensorModeChangeRequest](DistanceSensorModeChangeRequest.md) - [DronecanNodeStatus](DronecanNodeStatus.md) -- [Ekf2Timestamps](Ekf2Timestamps.md) — this message contains the (relative) timestamps of the sensor inputs used by EKF2. - Це може бути використано для відтворення. +- [Ekf2Timestamps](Ekf2Timestamps.md) — this message contains the (relative) timestamps of the sensor inputs used by EKF2. Це може бути використано для відтворення. - [EscReport](EscReport.md) - [EscStatus](EscStatus.md) - [EstimatorAidSource1d](EstimatorAidSource1d.md) @@ -123,19 +95,16 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [EstimatorGpsStatus](EstimatorGpsStatus.md) - [EstimatorInnovations](EstimatorInnovations.md) - [EstimatorSelectorStatus](EstimatorSelectorStatus.md) -- [EstimatorSensorBias](EstimatorSensorBias.md) — Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets, - scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available). +- [EstimatorSensorBias](EstimatorSensorBias.md) — Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets,. scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available). - [EstimatorStates](EstimatorStates.md) - [EstimatorStatus](EstimatorStatus.md) - [EstimatorStatusFlags](EstimatorStatusFlags.md) - [FailsafeFlags](FailsafeFlags.md) — Input flags for the failsafe state machine set by the arming & health checks. - [FailureDetectorStatus](FailureDetectorStatus.md) - [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 +- [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) - [FollowTargetEstimator](FollowTargetEstimator.md) @@ -153,13 +122,13 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [GimbalManagerSetAttitude](GimbalManagerSetAttitude.md) - [GimbalManagerSetManualControl](GimbalManagerSetManualControl.md) - [GimbalManagerStatus](GimbalManagerStatus.md) -- [GpioConfig](GpioConfig.md) — GPIO configuration -- [GpioIn](GpioIn.md) — GPIO mask and state -- [GpioOut](GpioOut.md) — GPIO mask and state -- [GpioRequest](GpioRequest.md) — Request GPIO mask to be read +- [GpioConfig](GpioConfig.md) — GPIO configuration. +- [GpioIn](GpioIn.md) — GPIO mask and state. +- [GpioOut](GpioOut.md) — GPIO mask and state. +- [GpioRequest](GpioRequest.md) — Request GPIO mask to be read. - [GpsDump](GpsDump.md) — This message is used to dump the raw gps communication to the log. - [GpsInjectData](GpsInjectData.md) -- [Gripper](Gripper.md) — # Used to command an actuation in the gripper, which is mapped to a specific output in the control allocation module +- [Gripper](Gripper.md) — # Used to command an actuation in the gripper, which is mapped to a specific output in the control allocation module. - [HealthReport](HealthReport.md) - [HeaterStatus](HeaterStatus.md) - [HoverThrustEstimate](HoverThrustEstimate.md) @@ -167,34 +136,32 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [InternalCombustionEngineControl](InternalCombustionEngineControl.md) - [InternalCombustionEngineStatus](InternalCombustionEngineStatus.md) - [IridiumsbdStatus](IridiumsbdStatus.md) -- [IrlockReport](IrlockReport.md) — IRLOCK_REPORT message data +- [IrlockReport](IrlockReport.md) — IRLOCK_REPORT message data. - [LandingGear](LandingGear.md) - [LandingGearWheel](LandingGearWheel.md) - [LandingTargetInnovations](LandingTargetInnovations.md) -- [LandingTargetPose](LandingTargetPose.md) — Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames -- [LaunchDetectionStatus](LaunchDetectionStatus.md) — Status of the launch detection state machine (fixed-wing only) -- [LedControl](LedControl.md) — LED control: control a single or multiple LED's. - Це зовнішні світлодіоди, а не світлодіоди плати -- [LogMessage](LogMessage.md) — A logging message, output with PX4_WARN, PX4_ERR, PX4_INFO +- [LandingTargetPose](LandingTargetPose.md) — Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames. +- [LaunchDetectionStatus](LaunchDetectionStatus.md) — Status of the launch detection state machine (fixed-wing only). +- [LedControl](LedControl.md) — LED control: control a single or multiple LED's. These are the externally visible LED's, not the board LED's. +- [LogMessage](LogMessage.md) — A logging message, output with PX4_WARN, PX4_ERR, PX4_INFO. - [LoggerStatus](LoggerStatus.md) - [MagWorkerData](MagWorkerData.md) - [MagnetometerBiasEstimate](MagnetometerBiasEstimate.md) - [ManualControlSwitches](ManualControlSwitches.md) - [MavlinkLog](MavlinkLog.md) -- [MavlinkTunnel](MavlinkTunnel.md) — MAV_TUNNEL_PAYLOAD_TYPE enum +- [MavlinkTunnel](MavlinkTunnel.md) — MAV_TUNNEL_PAYLOAD_TYPE enum. - [MessageFormatRequest](MessageFormatRequest.md) - [MessageFormatResponse](MessageFormatResponse.md) - [Mission](Mission.md) - [MissionResult](MissionResult.md) - [MountOrientation](MountOrientation.md) - [NavigatorMissionItem](NavigatorMissionItem.md) -- [NavigatorStatus](NavigatorStatus.md) — Current status of a Navigator mode - The possible values of nav_state are defined in the VehicleStatus msg. -- [NeuralControl](NeuralControl.md) — Neural control +- [NavigatorStatus](NavigatorStatus.md) — Current status of a Navigator mode. Можливі значення nav_state визначені в повідомленні VehicleStatus. +- [NeuralControl](NeuralControl.md) — Neural control. - [NormalizedUnsignedSetpoint](NormalizedUnsignedSetpoint.md) - [ObstacleDistance](ObstacleDistance.md) — Obstacle distances in front of the sensor. -- [OffboardControlMode](OffboardControlMode.md) — Off-board control mode -- [OnboardComputerStatus](OnboardComputerStatus.md) — ONBOARD_COMPUTER_STATUS message data +- [OffboardControlMode](OffboardControlMode.md) — Off-board control mode. +- [OnboardComputerStatus](OnboardComputerStatus.md) — ONBOARD_COMPUTER_STATUS message data. - [OpenDroneIdArmStatus](OpenDroneIdArmStatus.md) - [OpenDroneIdOperatorId](OpenDroneIdOperatorId.md) - [OpenDroneIdSelfId](OpenDroneIdSelfId.md) @@ -202,22 +169,21 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [OrbTest](OrbTest.md) - [OrbTestLarge](OrbTestLarge.md) - [OrbTestMedium](OrbTestMedium.md) -- [OrbitStatus](OrbitStatus.md) — ORBIT_YAW_BEHAVIOUR -- [ParameterResetRequest](ParameterResetRequest.md) — ParameterResetRequest : Used by the primary to reset one or all parameter value(s) on the remote -- [ParameterSetUsedRequest](ParameterSetUsedRequest.md) — ParameterSetUsedRequest : Used by a remote to update the used flag for a parameter on the primary -- [ParameterSetValueRequest](ParameterSetValueRequest.md) — ParameterSetValueRequest : Used by a remote or primary to update the value for a parameter at the other end -- [ParameterSetValueResponse](ParameterSetValueResponse.md) — ParameterSetValueResponse : Response to a set value request by either primary or secondary -- [ParameterUpdate](ParameterUpdate.md) — This message is used to notify the system about one or more parameter changes +- [OrbitStatus](OrbitStatus.md) — ORBIT_YAW_BEHAVIOUR. +- [ParameterResetRequest](ParameterResetRequest.md) — ParameterResetRequest : Used by the primary to reset one or all parameter value(s) on the remote. +- [ParameterSetUsedRequest](ParameterSetUsedRequest.md) — ParameterSetUsedRequest : Used by a remote to update the used flag for a parameter on the primary. +- [ParameterSetValueRequest](ParameterSetValueRequest.md) — ParameterSetValueRequest : Used by a remote or primary to update the value for a parameter at the other end. +- [ParameterSetValueResponse](ParameterSetValueResponse.md) — ParameterSetValueResponse : Response to a set value request by either primary or secondary. +- [ParameterUpdate](ParameterUpdate.md) — This message is used to notify the system about one or more parameter changes. - [Ping](Ping.md) - [PositionControllerLandingStatus](PositionControllerLandingStatus.md) - [PositionControllerStatus](PositionControllerStatus.md) -- [PositionSetpoint](PositionSetpoint.md) — this file is only used in the position_setpoint triple as a dependency -- [PositionSetpointTriplet](PositionSetpointTriplet.md) — Global position setpoint triplet in WGS84 coordinates. - Ось наступні три способи вказівань (або просто наступні два або один). -- [PowerButtonState](PowerButtonState.md) — power button state notification message -- [PowerMonitor](PowerMonitor.md) — power monitor message +- [PositionSetpoint](PositionSetpoint.md) — this file is only used in the position_setpoint triple as a dependency. +- [PositionSetpointTriplet](PositionSetpointTriplet.md) — Global position setpoint triplet in WGS84 coordinates. Ось наступні три способи вказівань (або просто наступні два або один). +- [PowerButtonState](PowerButtonState.md) — power button state notification message. +- [PowerMonitor](PowerMonitor.md) — power monitor message. - [PpsCapture](PpsCapture.md) -- [PurePursuitStatus](PurePursuitStatus.md) — Pure pursuit status +- [PurePursuitStatus](PurePursuitStatus.md) — Pure pursuit status. - [PwmInput](PwmInput.md) - [Px4ioStatus](Px4ioStatus.md) - [QshellReq](QshellReq.md) @@ -226,15 +192,15 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [RateCtrlStatus](RateCtrlStatus.md) - [RcChannels](RcChannels.md) - [RcParameterMap](RcParameterMap.md) -- [RoverAttitudeSetpoint](RoverAttitudeSetpoint.md) — Rover Attitude Setpoint -- [RoverAttitudeStatus](RoverAttitudeStatus.md) — Rover Attitude Status -- [RoverPositionSetpoint](RoverPositionSetpoint.md) — Rover Position Setpoint -- [RoverRateSetpoint](RoverRateSetpoint.md) — Rover Rate setpoint -- [RoverRateStatus](RoverRateStatus.md) — Rover Rate Status -- [RoverSpeedSetpoint](RoverSpeedSetpoint.md) — Rover Speed Setpoint -- [RoverSpeedStatus](RoverSpeedStatus.md) — Rover Velocity Status -- [RoverSteeringSetpoint](RoverSteeringSetpoint.md) — Rover Steering setpoint -- [RoverThrottleSetpoint](RoverThrottleSetpoint.md) — Rover Throttle setpoint +- [RoverAttitudeSetpoint](RoverAttitudeSetpoint.md) — Rover Attitude Setpoint. +- [RoverAttitudeStatus](RoverAttitudeStatus.md) — Rover Attitude Status. +- [RoverPositionSetpoint](RoverPositionSetpoint.md) — Rover Position Setpoint. +- [RoverRateSetpoint](RoverRateSetpoint.md) — Rover Rate setpoint. +- [RoverRateStatus](RoverRateStatus.md) — Rover Rate Status. +- [RoverSpeedSetpoint](RoverSpeedSetpoint.md) — Rover Speed Setpoint. +- [RoverSpeedStatus](RoverSpeedStatus.md) — Rover Velocity Status. +- [RoverSteeringSetpoint](RoverSteeringSetpoint.md) — Rover Steering setpoint. +- [RoverThrottleSetpoint](RoverThrottleSetpoint.md) — Rover Throttle setpoint. - [Rpm](Rpm.md) - [RtlStatus](RtlStatus.md) - [RtlTimeEstimate](RtlTimeEstimate.md) @@ -242,78 +208,64 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [SensorAccel](SensorAccel.md) - [SensorAccelFifo](SensorAccelFifo.md) - [SensorAirflow](SensorAirflow.md) -- [SensorBaro](SensorBaro.md) — Barometer sensor -- [SensorCombined](SensorCombined.md) — Sensor readings in SI-unit form. - These fields are scaled and offset-compensated where possible and do not - change with board revisions and sensor updates. -- [SensorCorrection](SensorCorrection.md) — Sensor corrections in SI-unit form for the voted sensor +- [SensorBaro](SensorBaro.md) — Barometer sensor. +- [SensorCombined](SensorCombined.md) — Sensor readings in SI-unit form. These fields are scaled and offset-compensated where possible and do not. change with board revisions and sensor updates. +- [SensorCorrection](SensorCorrection.md) — Sensor corrections in SI-unit form for the voted sensor. - [SensorGnssRelative](SensorGnssRelative.md) — GNSS relative positioning information in NED frame. NED кадр визначається як локальна топологічна система на задній станції. -- [SensorGnssStatus](SensorGnssStatus.md) — Gnss quality indicators -- [SensorGps](SensorGps.md) — GPS position in WGS84 coordinates. - the field 'timestamp' is for the position & velocity (microseconds) +- [SensorGnssStatus](SensorGnssStatus.md) — Gnss quality indicators. +- [SensorGps](SensorGps.md) — GPS position in WGS84 coordinates. the field 'timestamp' is for the position & velocity (microseconds). - [SensorGyro](SensorGyro.md) - [SensorGyroFft](SensorGyroFft.md) - [SensorGyroFifo](SensorGyroFifo.md) - [SensorHygrometer](SensorHygrometer.md) - [SensorMag](SensorMag.md) - [SensorOpticalFlow](SensorOpticalFlow.md) -- [SensorPreflightMag](SensorPreflightMag.md) — Pre-flight sensor check metrics. - The topic will not be updated when the vehicle is armed -- [SensorSelection](SensorSelection.md) — Sensor ID's for the voted sensors output on the sensor_combined topic. - Will be updated on startup of the sensor module and when sensor selection changes +- [SensorPreflightMag](SensorPreflightMag.md) — Pre-flight sensor check metrics. The topic will not be updated when the vehicle is armed. +- [SensorSelection](SensorSelection.md) — Sensor ID's for the voted sensors output on the sensor_combined topic. Will be updated on startup of the sensor module and when sensor selection changes. - [SensorTemp](SensorTemp.md) -- [SensorUwb](SensorUwb.md) — UWB distance contains the distance information measured by an ultra-wideband positioning system, - such as Pozyx or NXP Rddrone. +- [SensorUwb](SensorUwb.md) — UWB distance contains the distance information measured by an ultra-wideband positioning system,. such as Pozyx or NXP Rddrone. - [SensorsStatus](SensorsStatus.md) — Sensor check metrics. Це значення буде нульовим для датчика, який є первинним або незаповненим. - [SensorsStatusImu](SensorsStatusImu.md) — Sensor check metrics. Це значення буде нульовим для датчика, який є первинним або незаповненим. - [SystemPower](SystemPower.md) -- [TakeoffStatus](TakeoffStatus.md) — Status of the takeoff state machine currently just available for multicopters -- [TaskStackInfo](TaskStackInfo.md) — stack information for a single running process +- [TakeoffStatus](TakeoffStatus.md) — Status of the takeoff state machine currently just available for multicopters. +- [TaskStackInfo](TaskStackInfo.md) — stack information for a single running process. - [TecsStatus](TecsStatus.md) - [TelemetryStatus](TelemetryStatus.md) - [TiltrotorExtraControls](TiltrotorExtraControls.md) - [TimesyncStatus](TimesyncStatus.md) -- [TrajectorySetpoint6dof](TrajectorySetpoint6dof.md) — Trajectory setpoint in NED frame - Input to position controller. +- [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 - then the frequency, duration are used otherwise those values are ignored. -- [UavcanParameterRequest](UavcanParameterRequest.md) — UAVCAN-MAVLink parameter bridge request type -- [UavcanParameterValue](UavcanParameterValue.md) — UAVCAN-MAVLink parameter bridge response type -- [UlogStream](UlogStream.md) — Message to stream ULog data from the logger. Corresponds to the LOGGING_DATA - mavlink message -- [UlogStreamAck](UlogStreamAck.md) — Ack a previously sent ulog_stream message that had - the NEED_ACK flag set +- [TuneControl](TuneControl.md) — This message is used to control the tunes, when the tune_id is set to CUSTOM. then the frequency, duration are used otherwise those values are ignored. +- [UavcanParameterRequest](UavcanParameterRequest.md) — UAVCAN-MAVLink parameter bridge request type. +- [UavcanParameterValue](UavcanParameterValue.md) — UAVCAN-MAVLink parameter bridge response type. +- [UlogStream](UlogStream.md) — Message to stream ULog data from the logger. Corresponds to the LOGGING_DATA. mavlink message. +- [UlogStreamAck](UlogStreamAck.md) — Ack a previously sent ulog_stream message that had. the NEED_ACK flag set. - [VehicleAcceleration](VehicleAcceleration.md) -- [VehicleAirData](VehicleAirData.md) — Vehicle air data +- [VehicleAirData](VehicleAirData.md) — Vehicle air data. - [VehicleAngularAccelerationSetpoint](VehicleAngularAccelerationSetpoint.md) -- [VehicleConstraints](VehicleConstraints.md) — Local setpoint constraints in NED frame - setting something to NaN means that no limit is provided +- [VehicleConstraints](VehicleConstraints.md) — Local setpoint constraints in NED frame. setting something to NaN means that no limit is provided. - [VehicleImu](VehicleImu.md) — IMU readings in SI-unit form. - [VehicleImuStatus](VehicleImuStatus.md) -- [VehicleLocalPositionSetpoint](VehicleLocalPositionSetpoint.md) — Local position setpoint in NED frame - Telemetry of PID position controller to monitor tracking. - NaN means the state was not controlled +- [VehicleLocalPositionSetpoint](VehicleLocalPositionSetpoint.md) — Local position setpoint in NED frame. Telemetry of PID position controller to monitor tracking. NaN means the state was not controlled. - [VehicleMagnetometer](VehicleMagnetometer.md) - [VehicleOpticalFlow](VehicleOpticalFlow.md) — Optical flow in XYZ body frame in SI units. - [VehicleOpticalFlowVel](VehicleOpticalFlowVel.md) -- [VehicleRoi](VehicleRoi.md) — Vehicle Region Of Interest (ROI) +- [VehicleRoi](VehicleRoi.md) — Vehicle Region Of Interest (ROI). - [VehicleThrustSetpoint](VehicleThrustSetpoint.md) - [VehicleTorqueSetpoint](VehicleTorqueSetpoint.md) -- [VelocityLimits](VelocityLimits.md) — Velocity and yaw rate limits for a multicopter position slow mode only +- [VelocityLimits](VelocityLimits.md) — Velocity and yaw rate limits for a multicopter position slow mode only. +- [Vtx](Vtx.md) - [WheelEncoders](WheelEncoders.md) - [YawEstimatorStatus](YawEstimatorStatus.md) - [AirspeedValidatedV0](AirspeedValidatedV0.md) - [ArmingCheckReplyV0](ArmingCheckReplyV0.md) - [ArmingCheckRequestV0](ArmingCheckRequestV0.md) — Arming check request. -- [BatteryStatusV0](BatteryStatusV0.md) — Battery status -- [ConfigOverridesV0](ConfigOverridesV0.md) — Configurable overrides by (external) modes or mode executors -- [EventV0](EventV0.md) — this message is required here in the msg_old folder because other msg are depending on it - Events interface +- [BatteryStatusV0](BatteryStatusV0.md) — Battery status. +- [ConfigOverridesV0](ConfigOverridesV0.md) — Configurable overrides by (external) modes or mode executors. +- [EventV0](EventV0.md) — this message is required here in the msg_old folder because other msg are depending on it. Events interface. - [HomePositionV0](HomePositionV0.md) — GPS home position in WGS84 coordinates. - [RegisterExtComponentReplyV0](RegisterExtComponentReplyV0.md) -- [RegisterExtComponentRequestV0](RegisterExtComponentRequestV0.md) — Request to register an external component +- [RegisterExtComponentRequestV0](RegisterExtComponentRequestV0.md) — Request to register an external component. - [VehicleAttitudeSetpointV0](VehicleAttitudeSetpointV0.md) -- [VehicleLocalPositionV0](VehicleLocalPositionV0.md) — Fused local position in NED. - The coordinate system origin is the vehicle position at the time when the EKF2-module was started. -- [VehicleStatusV0](VehicleStatusV0.md) — Encodes the system state of the vehicle published by commander +- [VehicleLocalPositionV0](VehicleLocalPositionV0.md) — Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started. +- [VehicleStatusV0](VehicleStatusV0.md) — Encodes the system state of the vehicle published by commander. diff --git a/docs/uk/peripherals/remote_id.md b/docs/uk/peripherals/remote_id.md index c2673dae23..162dd32d26 100644 --- a/docs/uk/peripherals/remote_id.md +++ b/docs/uk/peripherals/remote_id.md @@ -166,7 +166,6 @@ PX4 v1.14 передає ці повідомлення за замовчуван - [OPEN_DRONE_ID_LOCATION](https://mavlink.io/en/messages/common.html#OPEN_DRONE_ID_LOCATION) (1 Hz) - UAV location, altitude, direction, and speed. - [OPEN_DRONE_ID_SYSTEM](https://mavlink.io/en/messages/common.html#OPEN_DRONE_ID_SYSTEM) (1 Hz) Operator location/altitude, multiple aircraft information (group/swarm, if applicable), full timestamp and possible category/class information. - - Реалізація передбачає, що оператор знаходиться в домашньому положенні транспортного засобу (ще не підтримує отримання позиції оператора з ПЗУ). Вважається, що це відповідає вимогам лише для віддалених ідентифікаторів трансляції. diff --git a/docs/uk/power_module/ark_12s_pab_power_module.md b/docs/uk/power_module/ark_12s_pab_power_module.md index c10cab61d0..fd59cf479f 100644 --- a/docs/uk/power_module/ark_12s_pab_power_module.md +++ b/docs/uk/power_module/ark_12s_pab_power_module.md @@ -13,25 +13,21 @@ The [ARK 12S PAB Power Module](https://arkelectron.gitbook.io/ark-documentation/ ## Характеристики обладнання - **TI INA238 Digital Power Monitor** - - 0.0001 Ohm Shunt - I2C Interface - **5.2V 6A Step-Down Regulator** - - 66V Maximum Input Voltage - 10V Minimum Input Voltage at 6A Out - Output Over-Current Protection - **Connections** - - Solder Pads Battery Input - Solder Pads Battery Output - 6 Pin Molex CLIK-Mate Output - [Matches ARK PAB Carrier Power Pinout](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-pixhawk-autopilot-bus-carrier/pinout) - **Other** - - USA Built - Includes 6 Pin Molex CLIK-Mate Cable diff --git a/docs/uk/power_module/holybro_pm03d.md b/docs/uk/power_module/holybro_pm03d.md index 8e1f13acdc..7c587bb573 100644 --- a/docs/uk/power_module/holybro_pm03d.md +++ b/docs/uk/power_module/holybro_pm03d.md @@ -46,8 +46,8 @@ The PM is **NOT** compatible with flight controllers that require an analog powe - 1x Електролітична ємність: 220uF 63V (передпаяна) - 1x 2.0мм інтервал CLIK-Mate 6pin кабель (Для живлення контролера польоту) - 4pin JST GH в USB тип C -- 4pin JST GH до бочкового штекера (2.1\*5.5мм) -- 4pin JST GH до бочкового штекера (2.5\*5.5мм) +- 4pin JST GH to barrel plug (2.1\*5.5mm) +- 4pin JST GH to barrel plug (2.5\*5.5mm) - Кабель Дюпон 4-шпильковий (2шт) - Nylon standoffs & nuts diff --git a/docs/uk/releases/1.13.md b/docs/uk/releases/1.13.md index 93bd66e7fe..0a0600cc78 100644 --- a/docs/uk/releases/1.13.md +++ b/docs/uk/releases/1.13.md @@ -24,7 +24,6 @@ ### Загальні - **Explicit Joystick source selection ([PR#17404](https://github.com/PX4/PX4-Autopilot/pull/17404))** - - Можливість до: - Чітко дозволити лише одне джерело - Повернутися до іншого джерела у повітрі diff --git a/docs/uk/releases/index.md b/docs/uk/releases/index.md index 260fd67bc7..c88cbfe0e1 100644 --- a/docs/uk/releases/index.md +++ b/docs/uk/releases/index.md @@ -10,4 +10,8 @@ - [v1.13](../releases/1.13.md) - [v1.12](../releases/1.12.md) -The full archive of releases for the PX4 autopilot project can be found on [GitHub](https://github.com/PX4/PX4-Autopilot/releases) +The full archive of releases for the PX4 autopilot project can be found on [GitHub](https://github.com/PX4/PX4-Autopilot/releases). + +:::info +For maintainers, see [Release Process](../releases/release_process.md) for the tagging and publishing workflow. +::: diff --git a/docs/uk/releases/release_process.md b/docs/uk/releases/release_process.md new file mode 100644 index 0000000000..68c57e38c2 --- /dev/null +++ b/docs/uk/releases/release_process.md @@ -0,0 +1,301 @@ +# Процес випуску + +This page documents the PX4 release process for maintainers. It covers the steps from preparing a release candidate through to the final announcement. + +## Загальний огляд + +PX4 uses a branch-based release workflow: + +- **`release/X.Y`** (e.g., `release/1.17`, `release/2.0`) - The active development branch for a specific release where changes are merged and tested +- **`stable`** - Points to the latest stable release tag; reset after each release +- **`beta`** - For flight testers to validate release candidates + +The target release cycle is approximately 6 months, best effort. The actual cadence depends on testing results and maintainer availability, with an ongoing goal to shorten the cycle. + +Releases are tracked on the [PX4 Release Project Board](https://github.com/orgs/PX4/projects/45), which is reused and renamed for each release cycle. + +### Release Tag Progression + +Release branches go through the following tag stages: + +| Stage | Example | Branch Status | What Gets Merged | +| ---------- | ---------------- | -------------- | ---------------------------------------------------------------------- | +| **Alpha** | `v1.18.0-alpha1` | Open for fixes | Bug fixes and regression fixes only | +| **Beta** | `v1.18.0-beta1` | Open for fixes | Bug fixes and regression fixes only | +| **RC** | `v1.18.0-rc1` | Frozen | Nothing (unless veto vote passes) | +| **Stable** | `v1.18.0` | Open for fixes | Bug fixes and regression fixes (for point releases) | + +:::info +New features are never merged to release branches. Once a release branch is created from `main`, only bug fixes and regression fixes are accepted. New features must target `main` and will be included in the next release cycle. +::: + +## Starting a New Release Cycle + +A new release cycle begins immediately after a stable release is published. This involves two votes during the [Weekly Community Q&A Call](../contribute/dev_call.md) when approving a stable release: + +1. **Vote to publish the current release** - Approve the stable release for publication +2. **Vote on the next release name/number** - Decide the version number for the next release (e.g., v1.18 or v2.0) + +### Prepare Release Notes Before Branching + +Release notes are built incrementally in [`main.md`](../releases/main.md), which accumulates changes as they land on `main`. Before creating the release branch: + +1. Rename `main.md` to the version-specific file (e.g., `docs/en/releases/1.18.md`) +2. Add the new file to `SUMMARY.md` and `releases/index.md` +3. Reset `main.md` to a clean template for the next release cycle +4. Verify that documentation for all included contributions is complete +5. Search for instances of `main (planned for:` and replace with the release version now that it is known. + So, for example `` is replaced with `` + +:::tip +Community members are encouraged to document changes as they are merged into `main`. This distributes the documentation workload and ensures changes are captured while they're fresh. +::: + +### Create the Release Branch + +Once the next release version is decided, create the new release branch from `main` in PX4-Autopilot and the companion repositories: + +```sh +# PX4-Autopilot +git checkout main && git pull +git checkout -b release/1.18 +git push origin release/1.18 +``` + +Matching release branches must also be created in: + +- [PX4/px4_msgs](https://github.com/PX4/px4_msgs) +- [Auterion/px4-ros2-interface-lib](https://github.com/Auterion/px4-ros2-interface-lib) + +After creating the companion branches, update the [ROS integration test workflow](https://github.com/PX4/PX4-Autopilot/blob/main/.github/workflows/ros_integration_tests.yml) on the release branch to clone `px4-ros2-interface-lib` from the matching release branch: + +```diff +- git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git ++ git clone --recursive --branch release/1.18 https://github.com/Auterion/px4-ros2-interface-lib.git +``` + +:::warning +Once the release branches are created, they only accept bug fixes and regression fixes. All new feature development continues on `main`. +::: + +### Create the Alpha Tag + +Immediately after creating the release branch, create the first alpha tag to mark the beginning of the release cycle: + +```sh +# On the new release branch +git checkout release/1.18 + +# Create the signed alpha tag +git tag -s v1.18.0-alpha1 -m "v1.18.0-alpha1" +git push origin v1.18.0-alpha1 +``` + +Subsequent alpha tags can be created as fixes are merged (e.g., `v1.18.0-alpha2`, `v1.18.0-alpha3`). + +## Release Steps + +### 1. Review and Merge PRs (Alpha Phase) + +During the alpha phase, review pull requests targeting the release branch: + +- Review PRs according to the project's [contribution guidelines](../contribute/code.md) +- Merge **bug fixes and regression fixes only** +- New features must target `main`, not the release branch +- Create additional alpha tags as fixes are merged (e.g., `v1.18.0-alpha2`) + +### 2. Alpha Testing + +The _Dronecode Test Team_ (provided by [Ascend Engineering](https://www.ascendengineer.com) — Dronecode Silver member) conducts initial flight testing of alpha builds using: + +- The [test cards](../test_and_ci/test_flights.md) documented in the PX4 guide +- A hardware matrix covering supported flight controllers and airframes + +Alpha testing focuses on identifying regressions and blockers early. The alpha phase is complete when: + +- All test cards pass across the core hardware matrix (no critical or high-severity failures) +- All identified regressions have fixes merged or have been triaged as non-blocking +- Release notes and documentation for included changes are complete + +### 3. Create Beta Tag + +Once the alpha exit criteria above are met, create the first beta tag: + +```sh +# On the release branch +git checkout release/1.18 +git pull + +# Create the signed beta tag +git tag -s v1.18.0-beta1 -m "v1.18.0-beta1" +git push origin v1.18.0-beta1 +``` + +### 4. Beta Testing + +Beta builds are published for wider community validation. Unlike alpha testing (which is conducted by the Dronecode Test Team on the core hardware matrix), beta testing focuses on: + +- **Community testing** — beta builds are made available for community members to test on their own hardware and airframe configurations +- **Extended hardware coverage** — testing on hardware and configurations beyond the core test matrix +- **Real-world flight scenarios** — longer flights, mission testing, and edge cases not covered by standard test cards + +During beta, continue to: + +- Review and merge **bug fixes and regression fixes only** +- Create additional beta tags as fixes are merged (e.g., `v1.18.0-beta2`, `v1.18.0-beta3`) + +### 5. Create Release Candidate Tag + +The beta phase is complete when: + +- No new critical or high-severity issues are reported for at least one beta tag cycle +- All beta-reported regressions have fixes merged or have been triaged as non-blocking + +Once the beta exit criteria are met, create the first release candidate: + +```sh +# On the release branch +git checkout release/1.18 +git pull + +# Create the signed RC tag +git tag -s v1.18.0-rc1 -m "v1.18.0-rc1" +git push origin v1.18.0-rc1 +``` + +:::warning +The branch is now frozen. No PRs will be merged unless a veto vote passes (see below). +::: + +:::tip +Tags must be GPG-signed. Ensure your GitHub account is [configured for GPG signing](https://docs.github.com/en/authentication/managing-commit-signature-verification). Only maintainers with registered GPG keys can create release tags. +::: + +### 6. RC Testing and Branch Freeze + +During RC testing, the release branch is frozen: + +- No PRs are merged by default +- Testing focuses on final validation before stable release +- Any issues found are documented and evaluated + +#### Veto Vote for Critical Fixes + +If a critical issue is discovered during RC testing that must be fixed before release: + +1. Raise the issue during the [Weekly Community Q&A Call](../contribute/dev_call.md) +2. Present the case for why the fix is critical +3. Maintainers vote on whether to merge the fix +4. If approved, merge the fix and create a new RC tag (e.g., `v1.18.0-rc2`) + +### 7) Release Vote + +The release vote takes place during the [Weekly Community Q&A Call](../contribute/dev_call.md): + +- Present the release status and test results +- **Vote 1:** Core maintainers vote on whether to publish the release +- **Vote 2:** Decide the name/number of the next release version +- The call happens Wednesdays at 17:00 CET on [Discord](https://discord.gg/BDYmr6FA6Q) + +### 8. Create and Push Release Tag + +After a successful vote, create the final release tag: + +```sh +# On the release branch +git checkout release/1.18 +git pull + +# Create the signed release tag +git tag -s v1.18.0 -m "v1.18.0" +git push origin v1.18.0 +``` + +### 9. Update the Stable Branch + +Reset the `stable` branch to point to the new release tag: + +```sh +git checkout stable +git reset --hard v1.18.0 +git push --force origin stable +``` + +:::warning +This is a force push that rewrites the stable branch history. Ensure you have the correct tag before executing. +::: + +### 10. GitHub Release (Automated) + +When a version tag is pushed, the [build_all_targets.yml](https://github.com/PX4/PX4-Autopilot/blob/main/.github/workflows/build_all_targets.yml) GitHub Actions workflow automatically: + +1. Builds firmware for all supported targets +2. Uploads firmware artifacts to AWS S3 (`Firmware/vX.Y.Z/` and updates `Firmware/stable/`) +3. Creates a **draft release** on GitHub with all `.px4` firmware files attached + +### 11) Publish GitHub Release + +Edit the draft release on GitHub: + +- Add a brief description of major changes +- Link to the full release notes in the documentation (e.g., `releases/1.18.md`) +- Publish the release + +### 12. Finalize Documentation + +Review and finalize the release notes that have been developed throughout the release cycle: + +- Ensure all noteworthy changes, new features, and upgrade guides are documented +- Review for completeness and accuracy +- See existing [release notes](../releases/index.md) for the expected format + +### 13. Announce the Release + +Announce the release through official channels: + +- [PX4 Discuss Forum](https://discuss.px4.io/) +- [PX4 Discord](https://discord.gg/dronecode) +- Social media (Twitter/X, LinkedIn) +- Dronecode newsletter + +### 14. Start Next Release Cycle + +Immediately after publishing, start the next release cycle: + +- Create the new release branch from `main` (see [Create the Release Branch](#create-the-release-branch)) +- Create the alpha tag for the new release +- Create the initial documentation for the next release +- Rename and prepare the project board (see [Project Board Management](#project-board-management)) + +## Point Releases + +After a stable release is published, the release branch reopens for bug fixes and regression fixes to support point releases (e.g., `v1.18.1`). + +For patch releases: + +1. Merge bug fixes and regression fixes to the release branch +2. Create beta tags for testing if needed (e.g., `v1.18.1-beta1`) +3. Create RC tags for final validation (e.g., `v1.18.1-rc1`) +4. After testing and vote, tag the point release +5. Update stable branch and publish + +## Project Board Management + +The [PX4 Release Project Board](https://github.com/orgs/PX4/projects/45) is reused across release cycles to track issues and PRs for the current release. + +### After a Release + +Once a release is published: + +1. **Rename the project board** to reflect the next release version (e.g., "v1.17 Release" → "v1.18 Release") +2. **Review remaining items**: + - Close items that are no longer relevant + - Move incomplete items that should carry over to the next release + - Remove items that were descoped or deferred indefinitely +3. **Update the board description** if needed to reflect the new release target + +## Дивіться також + +- [Source Code Management](../contribute/code.md) - Branching model and contribution guidelines +- [Test Flights](../test_and_ci/test_flights.md) - Flight test procedures and test cards +- [Weekly Community Q&A Call](../contribute/dev_call.md) - Where release votes happen diff --git a/docs/uk/ros/mavros_custom_messages.md b/docs/uk/ros/mavros_custom_messages.md index 23fb6960f1..73b88d186e 100644 --- a/docs/uk/ros/mavros_custom_messages.md +++ b/docs/uk/ros/mavros_custom_messages.md @@ -68,6 +68,7 @@ Follow _Source Installation_ instructions from [mavlink/mavros](https://github.c ``` 2. Edit **mavros_plugins.xml** (in **workspace/src/mavros/mavros_extras**) and add the following lines: + ```xml Accepts keyboard command. @@ -75,10 +76,11 @@ Follow _Source Installation_ instructions from [mavlink/mavros](https://github.c ``` 3. Edit **CMakeLists.txt** (in **workspace/src/mavros/mavros_extras**) and add the following line in `add_library`. + ```cmake - add_library( + add_library( ... - src/plugins/keyboard_command.cpp + src/plugins/keyboard_command.cpp ) ``` @@ -148,6 +150,7 @@ Follow _Source Installation_ instructions from [mavlink/mavros](https://github.c 4. Edit **mavlink_receiver.cpp** (in **PX4-Autopilot/src/modules/mavlink**). Саме тут PX4 отримує повідомлення MAVLink від ROS, і публікує його як тему uORB. + ```cpp ... void MavlinkReceiver::handle_message(mavlink_message_t *msg) @@ -227,7 +230,7 @@ Follow _Source Installation_ instructions from [mavlink/mavros](https://github.c int error_counter = 0; - for (int i = 0; i < 10; i++) + for (int i = 0; i < 10; i++) { int poll_ret = px4_poll(fds, 1, 1000); @@ -264,10 +267,10 @@ Follow _Source Installation_ instructions from [mavlink/mavros](https://github.c ``` menuconfig MODULES_KEY_RECEIVER - bool "key_receiver" - default n - ---help--- - Enable support for key_receiver + bool "key_receiver" + default n + ---help--- + Enable support for key_receiver ``` @@ -308,6 +311,7 @@ Follow _Source Installation_ instructions from [mavlink/mavros](https://github.c ### Збірка для PX4 1. Очистіть попередньо зібраний каталог PX4-Autopilot. In the root of **PX4-Autopilot** directory: + ```sh make clean ``` @@ -348,6 +352,7 @@ Follow _Source Installation_ instructions from [mavlink/mavros](https://github.c 1. Введіть оболонку Pixhawk через UDP. Замініть xxx.xx.xxx.xxx своїм IP. + ```sh cd PX4-Autopilot/Tools ./mavlink_shell.py xxx.xx.xxx.xxx:14557 --baudrate 57600 diff --git a/docs/uk/ros/mavros_installation.md b/docs/uk/ros/mavros_installation.md index b486ce151e..ef7a4660f8 100644 --- a/docs/uk/ros/mavros_installation.md +++ b/docs/uk/ros/mavros_installation.md @@ -26,7 +26,7 @@ They cover the _ROS Melodic and Noetic_ releases. :::tab ROS Noetic (Ubuntu 20.04) -If you're working with [ROS Noetic](https://wiki.ros.org/noetic) on Ubuntu 20.04: +If you're working with [ROS "Noetic"](https://wiki.ros.org/noetic) on Ubuntu 20.04: 1. Install PX4 without the simulator toolchain: 1. [Download PX4 Source Code](../dev_setup/building_px4.md): @@ -57,7 +57,7 @@ If you're working with [ROS Noetic](https://wiki.ros.org/noetic) on Ubuntu 20.04 :::tab ROS Melodic (Ubuntu 18.04) -If you're working with ROS "Melodic on Ubuntu 18.04: +If you're working with ROS "Melodic" on Ubuntu 18.04: 1. Download the [ubuntu_sim_ros_melodic.sh](https://raw.githubusercontent.com/PX4/Devguide/master/build_scripts/ubuntu_sim_ros_melodic.sh) script in a bash shell: diff --git a/docs/uk/ros2/px4_ros2_control_interface.md b/docs/uk/ros2/px4_ros2_control_interface.md index 8597ea0532..61ecd1393b 100644 --- a/docs/uk/ros2/px4_ros2_control_interface.md +++ b/docs/uk/ros2/px4_ros2_control_interface.md @@ -28,7 +28,7 @@ Unless the mode is safety-critical, requires strict timing or very high update r :::tip If you want to use Python, check out the [examples in the repository](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/examples/python). -Not all classes have Python bindings yet — the [supported bindings are here](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/px4_ros2_py/src/px4_ros2). +Not all classes have Python bindings yet — the [supported bindings are here](https://auterion.github.io/px4-ros2-interface-lib/python/index.html). You are welcome to add and contribute missing classes. ::: diff --git a/docs/uk/sensor/microstrain.md b/docs/uk/sensor/microstrain.md index 6a78dc6895..7503f30629 100644 --- a/docs/uk/sensor/microstrain.md +++ b/docs/uk/sensor/microstrain.md @@ -41,9 +41,7 @@ To use the MicroStrain driver: 1. Include the module in firmware in the [kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) by setting the kconfig variables: `CONFIG_DRIVERS_INS_MICROSTRAIN` or `CONFIG_COMMON_INS`. 2. Configure the driver mode by setting [MS_MODE](../advanced_config/parameter_reference.md#MS_MODE) - - To use the MicroStrain sensor to provide raw IMU data to EKF2 - 1. Set [MS_MODE](../advanced_config/parameter_reference.md#MS_MODE) to 0 2. Update the [EKF2_MULTI_IMU](../advanced_config/parameter_reference.md#EKF2_MULTI_IMU) parameter to account for the added MicroStrain sensor. 3. Enable EKF2 by setting [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN) to 1 @@ -78,22 +76,18 @@ To use the MicroStrain driver: ## MicroStrain Configuration 1. Rates: - - By default, accel and gyro data are published at 500 Hz, magnetometer at 50 Hz, and barometric pressure at 50 Hz. This can be changed by adjusting the following parameters: - - [MS_IMU_RATE_HZ](../advanced_config/parameter_reference.md#MS_IMU_RATE_HZ) - [MS_MAG_RATE_HZ](../advanced_config/parameter_reference.md#MS_MAG_RATE_HZ) - [MS_BARO_RATE_HZ](../advanced_config/parameter_reference.md#MS_BARO_RATE_HZ) - Global position, local position, attitude and odometry will be published at 250 Hz by default. This can be configured via: - - [MS_FILT_RATE_HZ](../advanced_config/parameter_reference.md#MS_FILT_RATE_HZ) - For the CV7-GNSS/INS, the GNSS receiver 1 and 2 will publish data at 5Hz by default. This can be changed using: - - [MS_GNSS_RATE_HZ](../advanced_config/parameter_reference.md#MS_GNSS_RATE_HZ) - The driver will automatically configure data outputs based on the specific sensor model and available data streams. @@ -105,7 +99,6 @@ To use the MicroStrain driver: - If supported, GNSS position and velocity aiding are always enabled. - Internal/external magnetometer and heading aiding, as well as optical flow aiding, are disabled by default. They can be enabled using the following parameters: - - [MS_INT_MAG_EN](../advanced_config/parameter_reference.md#MS_INT_MAG_EN) - [MS_INT_HEAD_EN](../advanced_config/parameter_reference.md#MS_INT_HEAD_EN) - [MS_EXT_HEAD_EN](../advanced_config/parameter_reference.md#MS_EXT_HEAD_EN) @@ -113,7 +106,6 @@ To use the MicroStrain driver: - [MS_OPT_FLOW_EN](../advanced_config/parameter_reference.md#MS_OPT_FLOW_EN) - The aiding frames for external sources can be configured using the following parameters: - - [MS_EHEAD_YAW](../advanced_config/parameter_reference.md#MS_EHEAD_YAW) - [MS_EMAG_ROLL](../advanced_config/parameter_reference.md#MS_EMAG_ROLL) - [MS_EMAG_PTCH](../advanced_config/parameter_reference.md#MS_EMAG_PTCH) @@ -124,7 +116,6 @@ To use the MicroStrain driver: - [SENS_FLOW_ROT](../advanced_config/parameter_reference.md#SENS_FLOW_ROT) - The uncertainty for optical flow and external magnetometer aiding must be specified using the following parameters: - - [MS_EMAG_UNCERT](../advanced_config/parameter_reference.md#MS_EMAG_UNCERT) - [MS_OFLW_UNCERT](../advanced_config/parameter_reference.md#MS_OFLW_UNCERT) @@ -137,25 +128,18 @@ To use the MicroStrain driver: ::: 3. Initial heading alignment: - - Initial heading alignment is set to kinematic by default. This can be changed by adjusting - - [MS_ALIGNMENT](../advanced_config/parameter_reference.md#MS_ALIGNMENT) 4. GNSS Aiding Source Control (GNSS/INS only) - - The Source of the GNSS aiding data can be configured using: - - [MS_GNSS_AID_SRC](../advanced_config/parameter_reference.md#MS_GNSS_AID_SRC) 5. Sensor to vehicle transform: - - If the sensor is mounted in an orientation different from the vehicle frame. A sensor to vehicle transform can be enabled using - - [MS_SVT_EN](../advanced_config/parameter_reference.md#MS_SVT_EN) - The transform is defined using the following parameters - - [MS_SENSOR_ROLL](../advanced_config/parameter_reference.md#MS_SENSOR_ROLL) - [MS_SENSOR_PTCH](../advanced_config/parameter_reference.md#MS_SENSOR_PTCH) - [MS_SENSOR_YAW](../advanced_config/parameter_reference.md#MS_SENSOR_YAW) @@ -163,7 +147,6 @@ To use the MicroStrain driver: 6. IMU ranges: - The accelerometer and gyroscope ranges on the device are configurable using: - - [MS_ACCEL_RANGE](../advanced_config/parameter_reference.md#MS_ACCEL_RANGE) - [MS_GYRO_RANGE](../advanced_config/parameter_reference.md#MS_GYRO_RANGE) @@ -175,15 +158,12 @@ To use the MicroStrain driver: ::: 7. GNSS Lever arm offsets: - - The lever arm offset for the external GNSS receiver can be configured using: - - [MS_GNSS_OFF1_X](../advanced_config/parameter_reference.md#MS_GNSS_OFF1_X) - [MS_GNSS_OFF1_Y](../advanced_config/parameter_reference.md#MS_GNSS_OFF1_Y) - [MS_GNSS_OFF1_Z](../advanced_config/parameter_reference.md#MS_GNSS_OFF1_Z) - For dual-antenna configurations, the second GNSS receiver’s offset is configured using: - - [MS_GNSS_OFF2_X](../advanced_config/parameter_reference.md#MS_GNSS_OFF2_X) - [MS_GNSS_OFF2_Y](../advanced_config/parameter_reference.md#MS_GNSS_OFF2_Y) - [MS_GNSS_OFF2_Z](../advanced_config/parameter_reference.md#MS_GNSS_OFF2_Z) diff --git a/docs/uk/sensor/optical_flow.md b/docs/uk/sensor/optical_flow.md index f2591cb856..8f301d4ad7 100644 --- a/docs/uk/sensor/optical_flow.md +++ b/docs/uk/sensor/optical_flow.md @@ -55,7 +55,7 @@ Reducing the optical flow scale factor can improve the situation. It has a PAW3902 optical flow sensor, Broadcom AFBR-S50LV85D 30 meter distance sensor, and Invensense ICM-42688-P 6-Axis IMU. [ARK Flow MR](../dronecan/ark_flow_mr.md) is a [DroneCAN](../dronecan/index.md) optical flow sensor, [distance sensor](../sensor/rangefinders.md), and IMU, for mid-range applications. -It has a PixArt PAA3905 optical flow sensor, Broadcom AFBR-S50LX85D 50 meter distance sensor, and Invensense IIM-42653 6-Axis IMU. +It has a PixArt PAA3905 optical flow sensor, Broadcom AFBR-S50LX85D 50 meter distance sensor, and Invensense IIM-42653 6-Axis IMU. ### Holybro H-Flow diff --git a/docs/uk/sensor/sbgecom.md b/docs/uk/sensor/sbgecom.md index 706c96b1b2..4e65d0243c 100644 --- a/docs/uk/sensor/sbgecom.md +++ b/docs/uk/sensor/sbgecom.md @@ -82,9 +82,7 @@ To use the sbgECom driver: In this case, MAVLink messages will be updated with the newly selected sensor. If you don't want to have this fallback mechanism, you must disable unwanted sensors. - -::: - 4. If using the sbgECom as an INS, disable EKF2 using [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN). + ::: 4. If using the sbgECom as an INS, disable EKF2 using [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN). 6. Перезавантажте PX4. diff --git a/docs/uk/sensor/sfxx_lidar.md b/docs/uk/sensor/sfxx_lidar.md index 5bfe0c7f8a..98becf2484 100644 --- a/docs/uk/sensor/sfxx_lidar.md +++ b/docs/uk/sensor/sfxx_lidar.md @@ -1,4 +1,4 @@ -# LightWare Lidar (SF1X/SF02/LW20/SF45) +# LightWare Lidar (SF1X/SF02/LW20/SF45/GRF250/GRF500) LightWare розробляє широкий спектр легких, загального призначення лазерних альтиметрів ("Lidar"), які підходять для установки на БПЛА. Ці інструменти корисні для застосувань, включаючи слідування за рельєфом, точне зависання у повітрі (наприклад, для фотографії), попередження про регуляторні висотні обмеження, антиколізійний датчик тощо. @@ -15,6 +15,8 @@ LightWare розробляє широкий спектр легких, зага | [LW20/C](https://lightware.co.za/products/lw20-c-100-m) | 100 | Шина I2C | Водонепроникний (IP67) з сервоприводом для додатків з детекцією та уникненням перешкод | | [SF30/D](https://lightwarelidar.com/shop/sf30-d-200-m/) | 200 | Шина I2C | Waterproofed (IP67) | | [SF45/B](../sensor/sf45_rotating_lidar.md) | 50 | Серія | Rotary Lidar (Used for [Collision Prevention](../computer_vision/collision_prevention.md)) | +| [GRF250](https://lightwarelidar.com/shop/grf-250/) | 250 | I2C | Gimbal Range Finder | +| [GRF500](https://lightwarelidar.com/shop/grf-500/) | 500 | I2C | Gimbal Range Finder | :::details Discontinued diff --git a/docs/uk/sensor/vectornav.md b/docs/uk/sensor/vectornav.md index 6fd363bed1..c5544fdd56 100644 --- a/docs/uk/sensor/vectornav.md +++ b/docs/uk/sensor/vectornav.md @@ -59,7 +59,6 @@ PX4 може використовувати це як [зовнішній INS] ( 4. Дозвольте драйвер VectorNav ініціалізуватися, перезапустивши PX4. 5. Налаштуйте водія як зовнішній INS або надайте сирові дані: - - Якщо використовувати VectorNav як зовнішній INS, встановіть [VN_MODE](../advanced_config/parameter_reference.md#VN_MODE) на `INS`. Це вимикає EKF2. - Якщо використовувати VectorNav як зовнішні інерційні сенсори: diff --git a/docs/uk/sensor_bus/i2c_development.md b/docs/uk/sensor_bus/i2c_development.md index 29b3c4f004..24cd99d914 100644 --- a/docs/uk/sensor_bus/i2c_development.md +++ b/docs/uk/sensor_bus/i2c_development.md @@ -23,7 +23,7 @@ IMUs (accelerometers/gyroscopes) should not be attached via I2C (typically the [ Drivers should `#include ` and then provide an implementation of the abstract base class `I2C` defined in **I2C.hpp** for the target hardware (i.e. for NuttX [here](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/drivers/device/nuttx/I2C.hpp)). -A small number of drivers will also need to include headers for their type of device (**drv_\*.h**) in [/src/drivers/](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers) - e.g. [drv_led.h](https://github.com/PX4/PX4-Autopilot/blob/main/src/drivers/drv_led.h). +A small number of drivers will also need to include headers for their type of device (**drv\_\*.h**) in [/src/drivers/](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers) - e.g. [drv_led.h](https://github.com/PX4/PX4-Autopilot/blob/main/src/drivers/drv_led.h). Для включення драйвера в прошивку потрібно додати драйвер до файлу cmake, специфічного для плати, який відповідає цілі, для якої ви хочете збудувати. Ви можете це зробити для одного драйвера: diff --git a/docs/uk/sensor_bus/translator_tfi2cadt.md b/docs/uk/sensor_bus/translator_tfi2cadt.md index 8663da646c..596035c247 100644 --- a/docs/uk/sensor_bus/translator_tfi2cadt.md +++ b/docs/uk/sensor_bus/translator_tfi2cadt.md @@ -28,7 +28,7 @@ TFI2CADT01 виконує операцію XOR на викликаній адр ## Приклад використання The tachometer sensor [TFRPM01](../sensor/thunderfly_tachometer.md) can be set to two different addresses using a solder jumper. -Якщо автопілот має три шини, тільки 6 датчиків можуть бути підключені і жодна шина не залишається вільною (2 доступні адреси \* 3 порти I2C). +If the autopilot has three buses, only 6 sensors can be connected and no bus remains free (2 available addresses \* 3 I2C ports). У деяких мультикоптерах або рішеннях VTOL є необхідність вимірювати оберти хвилину RPM 8 або більше елементів. The [TFI2CADT01](https://www.tindie.com/products/26353/) is highly recommended in this case. diff --git a/docs/uk/sim_gazebo_gz/index.md b/docs/uk/sim_gazebo_gz/index.md index a05e18c158..e2f0cd5637 100644 --- a/docs/uk/sim_gazebo_gz/index.md +++ b/docs/uk/sim_gazebo_gz/index.md @@ -254,7 +254,6 @@ where `ARGS` is a list of environment variables including: - `PX4_GZ_MODEL_NAME`: Sets the name of an _existing_ model in the gazebo simulation. Якщо вказано, скрипт запуску намагається прив'язати новий екземпляр PX4 до ресурсу Gazebo, що відповідає точно такому імені. - - The setting is mutually exclusive with `PX4_SIM_MODEL`. - `PX4_SIM_MODEL`: @@ -271,7 +270,6 @@ where `ARGS` is a list of environment variables including: - `PX4_GZ_MODEL_POSE`: Sets the spawning position and orientation of the model when `PX4_SIM_MODEL` is adopted. If provided, the startup script spawns the model at a pose following the syntax `"x,y,z,roll,pitch,yaw"`, where the positions are given in metres and the angles are in radians. - - If omitted, the zero pose `[0,0,0,0,0,0]` is used. - Якщо надано менше ніж 6 значень, то відсутні фіксуються на нулі. - This can only be used with `PX4_SIM_MODEL` (not `PX4_GZ_MODEL_NAME`). @@ -279,7 +277,6 @@ where `ARGS` is a list of environment variables including: - `PX4_GZ_WORLD`: Sets the Gazebo world file for a new simulation. If it is not given, then [default](https://github.com/PX4/PX4-gazebo-models/blob/main/worlds/default.sdf) is used. - - Ця змінна ігнорується, якщо наявна модель вже запущена. - This value should be [specified for the selected airframe](#adding-new-worlds-and-models) but may be overridden using this argument. - If the [moving platform world](../sim_gazebo_gz/worlds.md#moving-platform) is selected using `PX4_GZ_WORLD=moving_platform` (or any world using the moving platform plugin), the platform can be configured using environment variables: @@ -288,7 +285,6 @@ where `ARGS` is a list of environment variables including: - `PX4_SIMULATOR=GZ`: Sets the simulator, which for Gazebo must be `gz`. - - This value should be [set for the selected airframe](#adding-new-worlds-and-models), in which case it does not need to be set as an argument. - `PX4_GZ_STANDALONE`: @@ -390,7 +386,6 @@ SDF files, mesh files, textures and anything else to do with the functionality a 1. Add your world to the list of worlds found in the [`CMakeLists.txt` here](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/simulation/gz_bridge/CMakeLists.txt). This is required in order to allow `CMake` to generate correct targets. - - If you plan to use "normal" mode, add your world sdf to `Tools/simulation/gz/worlds/`. - If you plan to use _standalone_ mode, add your world SDF to `~/.simulation-gazebo/worlds/` diff --git a/docs/uk/simulation/community_supported_simulators.md b/docs/uk/simulation/community_supported_simulators.md index bc7940696b..26261eeb93 100644 --- a/docs/uk/simulation/community_supported_simulators.md +++ b/docs/uk/simulation/community_supported_simulators.md @@ -12,10 +12,10 @@ These simulators are not maintained, tested, or supported, by the core developme Інструменти мають різний рівень підтримки своїми спільнотами (деякі добре підтримують, інші - ні). Питання про ці інструменти повинні порушуватися на [форумах для обговорення](../contribute/support.md#forums-and-chat) -| Симулятор | Опис | -| ----------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| [Simulation-In-Hardware](../sim_sih/README.md) (SIH) |

A simulator implemented in C++ as a PX4 module directly in the Firmware [code](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/simulator_sih). It can be ran in SITL directly on the computer or as an alternative to HITL offering a hard real-time simulation directly on the hardware autopilot.

Supported Vehicles: Quad, Hexa, Plane, Tailsitter, Standard VTOL, Ackermann Rover

| -| [FlightGear](../sim_flightgear/README.md) |

Симулятор який надає фізично та візуально реалістичні симуляції. Зокрема він може моделювати багато погодних умов, включаючи грози, сніг, дощ та град, а також може симулювати температурні режими та різні типи атмосферних течій. [Симуляція кількох засобів](../sim_flightgear/multi_vehicle.md) також підтримується.

Рухомі засоби, що підтримуються: Літак, Автожир, Ровер

| -| [JMAVSim](../sim_jmavsim/index.md) |

A simple multirotor/quad simulator. This was previously part of the PX4 development toolchain but was removed in favour of [Gazebo](../sim_gazebo_gz/index.md).

Supported Vehicles: Quad

| -| [JSBSim](../sim_jsbsim/README.md) |

Симулятор, який надає моделі просунутої динаміки польоту. Він може використовуватися для моделювання реалістичної динаміки польоту, заснованої на даних з аеродинамічної труби.

Рухомі засоби, що підтримуються: Літак, Квадрокоптер, Гексакоптер

| -| [AirSim](../sim_airsim/README.md) |

Міжплатформовий симулятор який надає фізично та візуально реалістичні симуляції. This simulator is resource intensive, and requires a significantly more powerful computer than the other simulators described here.

Supported Vehicles: Iris (MultiRotor model and a configuration for PX4 QuadRotor in the X configuration).

| +| Симулятор | Опис | +| ----------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| [Simulation-In-Hardware](../sim_sih/README.md) (SIH) |

A simulator implemented in C++ as a PX4 module directly in the Firmware [code](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/simulator_sih). It can be ran in SITL directly on the computer or as an alternative to HITL offering a hard real-time simulation directly on the hardware autopilot.

Supported Vehicles: Quad, Hexa, Plane, Tailsitter, Standard VTOL, Ackermann Rover

| +| [FlightGear](../sim_flightgear/README.md) |

Симулятор який надає фізично та візуально реалістичні симуляції. Зокрема він може моделювати багато погодних умов, включаючи грози, сніг, дощ та град, а також може симулювати температурні режими та різні типи атмосферних течій. [Симуляція кількох засобів](../sim_flightgear/multi_vehicle.md) також підтримується.

Рухомі засоби, що підтримуються: Літак, Автожир, Ровер

| +| [JMAVSim](../sim_jmavsim/index.md) |

A simple multirotor/quad simulator. This was previously part of the PX4 development toolchain but was removed in favour of [Gazebo](../sim_gazebo_gz/index.md).

Supported Vehicles: Quad

| +| [JSBSim](../sim_jsbsim/README.md) |

Симулятор, який надає моделі просунутої динаміки польоту. Він може використовуватися для моделювання реалістичної динаміки польоту, заснованої на даних з аеродинамічної труби.

Рухомі засоби, що підтримуються: Літак, Квадрокоптер, Гексакоптер

| +| [AirSim](../sim_airsim/README.md) |

Міжплатформовий симулятор який надає фізично та візуально реалістичні симуляції. This simulator is resource intensive, and requires a significantly more powerful computer than the other simulators described here.

Supported Vehicles: Iris (MultiRotor model and a configuration for PX4 QuadRotor in the X configuration).

| diff --git a/docs/uk/smart_batteries/rotoye_batmon.md b/docs/uk/smart_batteries/rotoye_batmon.md index 9050fe7efd..43f79d30c7 100644 --- a/docs/uk/smart_batteries/rotoye_batmon.md +++ b/docs/uk/smart_batteries/rotoye_batmon.md @@ -47,7 +47,7 @@ In _QGroundControl_: 3. Start the [batt_smbus driver](../modules/modules_driver.md) in the console. Наприклад, для запуску двох BatMons у одному підключенні: ```sh - batt_smbus start -X -b 1 -a 11 # External bus 1, address 0x0b + batt_smbus start -X -b 1 -a 11 # External bus 1, address 0x0b batt_smbus start -X -b 1 -a 12 # External bus 1, address 0x0c ``` diff --git a/docs/uk/test_and_ci/continous_integration.md b/docs/uk/test_and_ci/continous_integration.md index 2dfa556b90..dbf3b444a7 100644 --- a/docs/uk/test_and_ci/continous_integration.md +++ b/docs/uk/test_and_ci/continous_integration.md @@ -1,3 +1,194 @@ # Безперервна інтеграція -PX4 збірки і тестування виконуються використовуючи GitHub і сервер Jenkins . +PX4 uses GitHub Actions for continuous integration, with different workflows handling code builds, testing, and documentation. + +## Documentation CI + +The documentation pipeline handles building, deploying, and translating the PX4 User Guide. +All documentation CI is consolidated into a single orchestrator workflow organized in tiers. + +### Docs Orchestrator + +**Workflow file:** [`docs-orchestrator.yml`](https://github.com/PX4/PX4-Autopilot/blob/main/.github/workflows/docs-orchestrator.yml) + +This is the main documentation workflow. It runs on pull requests, pushes to `main` and `release/**` branches, and manual `workflow_dispatch` triggers, performing different jobs depending on the trigger event. +Jobs are organized in tiers, where each tier depends on the previous one completing successfully. + +#### Tier Structure + +| Tier | Job | PR | Push / Dispatch | Опис | +| ---- | -------------- | ----------------------------------------------- | --------------------------------- | -------------------------------------------------------------------------------- | +| T1 | Detect Changes | Так | — | Checks if source code files changed (triggers metadata regen) | +| T2 | PR Metadata | Yes (conditional) | — | Builds PX4 SITL and regenerates all auto-generated docs | +| T2 | Metadata Sync | — | Так | Builds PX4 SITL, regenerates metadata, auto-commits | +| T2 | Link Check | Так | — | Checks for broken links in changed files, posts PR comment | +| T3 | Build Site | Yes (if docs/source changed) | Yes (after T2) | Builds the VitePress documentation site | +| T4 | Deploy | — | Так | Deploys to AWS S3 | + +#### Pull Request Flow + +When a PR modifies files in `docs/**` or the orchestrator workflow file itself, the workflow validates the changes: + +```txt +PR Event + │ + ▼ +┌─────────────────────────────────────┐ +│ T1: Detect Changes │ +│ • Checks if src/msg/ROMFS changed │ +└─────────────────┬───────────────────┘ + │ + ┌───────┴───────┐ + ▼ ▼ +┌──────────────────┐ ┌─────────────────────────┐ +│ T2: PR Metadata │ │ T2: Link Check (~30s) │ +│ (conditional) │ │ • Detects changed .md │ +│ • Builds SITL │ │ • Runs filtered check │ +│ • Generates │ │ • Posts PR comment │ +│ metadata │ │ • Runs full check │ +│ • Builds │ └────────────┬────────────┘ +│ failsafe web │ │ +└────────┬─────────┘ │ + └───────────┬────────────┘ + ▼ +┌─────────────────────────────────────┐ +│ T3: Build Site (~7-10 min) │ +│ (skipped if only workflow YAML │ +│ changed — no docs/source changes) │ +│ • Builds VitePress site │ +│ • Verifies no build errors │ +└─────────────────┬───────────────────┘ + │ + ▼ + DONE +``` + +| Job | Duration | Опис | +| -------------------------------------- | ----------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| **T1: Detect Changes** | ~10s | Determines if metadata regeneration is needed | +| **T2: PR Metadata** | ~10-15m | Rebuilds PX4 SITL and regenerates all metadata (only if source files changed) | +| **T2: Link Check** | ~30s | Checks for broken links in changed markdown files and posts a sticky comment to the PR (skipped on fork PRs) | +| **T3: Build Site** | ~7-10m | Builds the VitePress site to verify there are no build errors. Skipped when only the workflow YAML changed (no docs or source changes). | + +#### Push / Dispatch Flow (main/release branches) + +When changes are pushed to `main` or `release/**` branches (or a `workflow_dispatch` is triggered), the workflow regenerates metadata, builds, and deploys. +Only `main` and `release/*` branches are accepted for deploy — other branches will fail with a clear error. + +```txt +Push / Dispatch Event + │ + ▼ +┌─────────────────────────────────────┐ +│ T2: Metadata Sync (~10-15 min) │ +│ • Builds px4_sitl_default │ +│ • Generates parameter/airframe/ │ +│ module documentation │ +│ • Builds failsafe web simulator │ +│ • Formats with Prettier │ +│ • Auto-commits if changes detected │ +│ (with [skip ci]) │ +└─────────────────┬───────────────────┘ + │ + ▼ +┌─────────────────────────────────────┐ +│ T3: Build Site (~7-10 min) │ +│ • Builds VitePress site │ +│ • Uploads build artifact │ +└─────────────────┬───────────────────┘ + │ + ▼ +┌─────────────────────────────────────┐ +│ T4: Deploy (~3 min) │ +│ • Syncs to AWS S3 │ +│ • HTML: 60s cache │ +│ • Assets: 24h immutable cache │ +└─────────────────────────────────────┘ +``` + +| Job | Duration | Опис | +| ------------------------------------- | ----------------------- | ------------------------------------------------------------------------------------------------------------------ | +| **T2: Metadata Sync** | ~10-15m | Rebuilds PX4 SITL, regenerates all metadata, formats with Prettier, auto-commits with `[skip ci]` | +| **T3: Build Site** | ~7-10m | Builds the VitePress documentation site | +| **T4: Deploy** | ~3m | Syncs built site to AWS S3 (HTML: 60s cache, assets: 24h cache) | + +Crowdin upload is handled by a separate workflow (see below). + +#### Generated Metadata + +The metadata regeneration job creates the following auto-generated documentation: + +| Тип | Output | Опис | +| ------------------ | ------------------------------------------------ | --------------------------------------------------------------- | +| Параметри | `docs/en/advanced_config/parameter_reference.md` | Complete parameter reference | +| Планери | `docs/en/airframes/airframe_reference.md` | Airframe configurations | +| Модулі | `docs/en/modules/*.md` | Module documentation | +| Messages | `docs/en/msg_docs/*.md` | uORB message documentation | +| uORB Graphs | `docs/public/middleware/*.json` | Topic dependency graphs | +| Failsafe Simulator | `docs/public/config/failsafe/*` | Interactive failsafe simulator (WebAssembly) | + +:::warning +Do not manually edit the auto-generated files listed above. They are overwritten on every push to main. +::: + +#### Path Triggers + +The workflow triggers on different paths depending on the event: + +**Push** (main/release branches): + +| Path | Reason | +| ------------------------ | ------------------------------------- | +| `docs/**` | Documentation source files | +| `src/**` | Source code changes affect metadata | +| `msg/**` | Message definitions affect metadata | +| `ROMFS/**` | ROMFS files affect metadata | +| `Tools/module_config/**` | Module configuration affects metadata | + +**Pull Request:** + +| Path | Reason | +| ----------------------------------------- | ------------------------------ | +| `docs/**` | Documentation source files | +| `.github/workflows/docs-orchestrator.yml` | Changes to the workflow itself | + +Source-only changes on PRs are detected at runtime by the T1: Detect Changes job using [dorny/paths-filter](https://github.com/dorny/paths-filter), which conditionally triggers the T2: PR Metadata job. + +### Crowdin Download Workflow + +**Workflow file:** [`docs_crowdin_download.yml`](https://github.com/PX4/PX4-Autopilot/blob/main/.github/workflows/docs_crowdin_download.yml) + +This scheduled workflow downloads completed translations from Crowdin and creates pull requests. + +| Налаштування | Значення | +| -------------------- | ---------------------------------------------------------------------------------------------------------------- | +| **Schedule** | Every Sunday at 00:00 UTC | +| **Target Languages** | Korean (ko), Ukrainian (uk), Chinese Simplified (zh-CN) | + +**Process:** + +1. Downloads translations for each target language from Crowdin +2. Creates a separate PR for each language with new translations +3. PRs are labeled "Documentation" and assigned for review + +### Caching Strategy + +The workflows use caching to speed up builds: + +| Cache | Розмір | Ціль | +| --------------------------------- | --------------------- | -------------------------------------------------- | +| ccache | 1GB | C++ compilation cache for SITL builds | +| node_modules | ~26MB | Node.js dependencies for VitePress | + +### Infrastructure + +Jobs run on [runs-on](https://runs-on.com/) self-hosted runners with S3 cache: + +| Job | Runner | +| ---------------------------------- | ------------------------------------------------- | +| T1: Detect Changes | ubuntu-latest | +| T2: PR Metadata | 4 CPU (with px4-dev container) | +| T2: Metadata Sync | 4 CPU (with px4-dev container) | +| T2: Link Check | ubuntu-latest | +| T3: Build Site | 4 CPU | +| T4: Deploy | ubuntu-latest | diff --git a/docs/uk/test_and_ci/docker.md b/docs/uk/test_and_ci/docker.md index 1cb4ad8cdf..ee4f47ace8 100644 --- a/docs/uk/test_and_ci/docker.md +++ b/docs/uk/test_and_ci/docker.md @@ -1,12 +1,11 @@ # Docker контейнери для PX4 -Docker containers are provided for the complete [PX4 development toolchain](../dev_setup/dev_env.md#supported-targets) including NuttX and Linux based hardware, [Gazebo Classic](../sim_gazebo_classic/index.md) simulation, and [ROS](../simulation/ros_interface.md). +Docker containers are provided for the complete [PX4 development toolchain](../dev_setup/dev_env.md#supported-targets) including NuttX and Linux based hardware, [Gazebo](../sim_gazebo_gz/index.md) simulation, and [ROS 2](../ros2/user_guide.md). This topic shows how to use the [available docker containers](#px4_containers) to access the build environment in a local Linux computer. :::info -Dockerfiles and README can be found on [Github here](https://github.com/PX4/PX4-containers/tree/master?tab=readme-ov-file#container-hierarchy). -They are built automatically on [Docker Hub](https://hub.docker.com/u/px4io/). +The recommended `px4-dev` container is built from the [Dockerfile in the PX4-Autopilot source tree](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/setup/Dockerfile) by the [Container build workflow](https://github.com/PX4/PX4-Autopilot/actions/workflows/dev_container.yml). ::: ## Вимоги @@ -35,33 +34,36 @@ sudo usermod -aG docker $USER # Log in/out again before using docker! ``` -## Container Hierarchy {#px4_containers} +## px4-dev Container (Recommended) {#px4_containers} -The available containers are on [GitHub here](https://github.com/PX4/PX4-containers/tree/master?tab=readme-ov-file#container-hierarchy). +The **`px4-dev`** container is the recommended container for building PX4 firmware. +It is a single, multi-architecture container (linux/amd64 and linux/arm64) based on Ubuntu 24.04 that includes everything needed to build PX4 for NuttX hardware targets. -Вони дозволяють тестувати різні цілі збірки та конфігурації (включені інструменти можна зрозуміти з їх назв). -Контейнери є ієрархічними, тобто такими, що мають функціональність вихідних контейнерів. -For example, the partial hierarchy below shows that the docker container with NuttX build tools (`px4-dev-nuttx-focal`) does not include ROS 2, while the simulation containers do: +It is published to both registries simultaneously: -```plain -- px4io/px4-dev-base-focal - - px4io/px4-dev-nuttx-focal - - px4io/px4-dev-simulation-focal - - px4io/px4-dev-ros-noetic - - px4io/px4-dev-ros2-foxy - - px4io/px4-dev-ros2-rolling -- px4io/px4-dev-base-jammy - - px4io/px4-dev-nuttx-jammy -``` +- **GitHub Container Registry:** [ghcr.io/px4/px4-dev](https://github.com/PX4/PX4-Autopilot/pkgs/container/px4-dev) +- **Docker Hub:** [px4io/px4-dev](https://hub.docker.com/r/px4io/px4-dev) -The most recent version can be accessed using the `latest` tag: `px4io/px4-dev-nuttx-focal:latest` -(available tags are listed for each container on _hub.docker.com_. -For example, the `px4io/px4-dev-nuttx-focal` tags can be found on [hub.docker.com here](https://hub.docker.com/r/px4io/px4-dev-nuttx-focal/tags?page=1&ordering=last_updated)). +The container includes: + +- Ubuntu 24.04 base +- ARM cross-compiler (`gcc-arm-none-eabi`) and Xtensa compiler (for ESP32 targets) +- Build tools: `cmake`, `ninja`, `ccache`, `make` +- Python 3 with PX4 build dependencies +- NuttX toolchain libraries (`libnewlib-arm-none-eabi`, etc.) + +The container is built from the [Dockerfile](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/setup/Dockerfile) in the PX4 source tree using the [Container build workflow](https://github.com/PX4/PX4-Autopilot/actions/workflows/dev_container.yml). +Images are tagged with the PX4 version (e.g. `px4io/px4-dev:v1.16.0`). :::tip -Typically you should use a recent container, but not necessarily the `latest` (as this changes too often). +A `px4-sim` container with simulation tools (Gazebo Harmonic) is planned to complement `px4-dev` for simulation workflows. ::: +### Legacy Containers + +The older per-distro containers from [PX4/PX4-containers](https://github.com/PX4/PX4-containers) (e.g. `px4-dev-nuttx-jammy`, `px4-dev-ros2-humble`, etc.) are no longer recommended. +They will be replaced by `px4-dev` (for builds) and the upcoming `px4-sim` (for simulation). + ## Використання Docker контейнера Наступні інструкції показують, як зібрати вихідний код PX4 на основному комп'ютері за допомогою інструментарію, що працює у docker контейнері. @@ -121,23 +123,23 @@ docker run -it --privileged \ - ``: The host computer directory to be mapped to `` in the container. This should normally be the **PX4-Autopilot** directory. - ``: The location of the shared (source) directory when inside the container. - ``: A name for the docker container being created. Це потім можна використовувати, якщо потрібно посилатись на контейнер знову. -- `:`: The container with version tag to start - e.g.: `px4io/px4-dev-ros:2017-10-23`. +- `:`: The container with version tag to start - e.g.: `px4io/px4-dev:v1.16.0`. - ``: The command to invoke on the new container. Наприклад, `bash` is used to open a bash shell in the container. The concrete example below shows how to open a bash shell and share the directory **~/src/PX4-Autopilot** on the host computer. ```sh -# дозвольте доступ до xhost з контейнера +# enable access to xhost from the container xhost + -# запуск docker та оболонки bash +# Run docker and open bash shell docker run -it --privileged \ --env=LOCAL_USER_ID="$(id -u)" \ -v ~/src/PX4-Autopilot:/src/PX4-Autopilot/:rw \ -v /tmp/.X11-unix:/tmp/.X11-unix:ro \ -e DISPLAY=:0 \ --network host \ ---name=px4-ros px4io/px4-dev-ros2-foxy:2022-07-31 bash +--name=px4-dev px4io/px4-dev:v1.16.0 bash ``` :::info @@ -155,7 +157,7 @@ On other hosts you might iterate the value of `0` in `-e DISPLAY=:0` until the " ```sh cd src/PX4-Autopilot #This is -make px4_sitl_default gazebo-classic +make px4_sitl gz_x500 ``` ### Повторний вхід в контейнер @@ -219,7 +221,7 @@ The example above uses the line `--env=LOCAL_USER_ID="$(id -u)"` to create a use #### Проблеми з драйверами графіки -Можливо, що запуск Gazebo Classic призведе до подібного повідомлення про помилку: +It's possible that running Gazebo will result in a similar error message like the following: ```sh libGL error: failed to load driver: swrast @@ -239,7 +241,7 @@ libGL error: failed to load driver: swrast Наступна конфігурація протестована: -- OS X з підтримкою VMWare Fusion і Ubuntu 14.04 (Docker контейнер з підтримкою GUI в Parallels призводить до падіння X-Server). +- OS X with VMWare Fusion and Ubuntu 22.04 (Docker container with GUI support on Parallels make the X-Server crash). **Memory** diff --git a/docs/uk/uart/user_configurable_serial_driver.md b/docs/uk/uart/user_configurable_serial_driver.md index 4164dfbf84..ac764cf213 100644 --- a/docs/uk/uart/user_configurable_serial_driver.md +++ b/docs/uk/uart/user_configurable_serial_driver.md @@ -25,7 +25,6 @@ Аби зробити драйвер налаштовуваним: 1. Створіть конфігураційний файл модуля YAML: - - Add a new file in the driver's source directory named **module.yaml** - Вставте наступний текст і підлаштуйте за потреби: