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docs: Update metadata (#25993)

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Hamish Willee
2025-11-26 15:05:05 +11:00
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3
docs/en/SUMMARY.md
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@@ -672,8 +672,6 @@
- [RoverSpeedStatus](msg_docs/RoverSpeedStatus.md)
- [RoverSteeringSetpoint](msg_docs/RoverSteeringSetpoint.md)
- [RoverThrottleSetpoint](msg_docs/RoverThrottleSetpoint.md)
- [RoverVelocitySetpoint](msg_docs/RoverVelocitySetpoint.md)
- [RoverVelocityStatus](msg_docs/RoverVelocityStatus.md)
- [Rpm](msg_docs/Rpm.md)
- [RtlStatus](msg_docs/RtlStatus.md)
- [RtlTimeEstimate](msg_docs/RtlTimeEstimate.md)
@@ -695,6 +693,7 @@
- [SensorOpticalFlow](msg_docs/SensorOpticalFlow.md)
- [SensorPreflightMag](msg_docs/SensorPreflightMag.md)
- [SensorSelection](msg_docs/SensorSelection.md)
- [SensorTemp](msg_docs/SensorTemp.md)
- [SensorUwb](msg_docs/SensorUwb.md)
- [SensorsStatus](msg_docs/SensorsStatus.md)
- [SensorsStatusImu](msg_docs/SensorsStatusImu.md)

88
docs/en/advanced_config/parameter_reference.md
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@@ -10,6 +10,48 @@ If a listed parameter is missing from the Firmware see: [Finding/Updating Parame
<!-- markdown generator: src/lib/parameters/px4params/markdownout.py -->
## ADC
### ADC_ADS7953_EN (`INT32`) {#ADC_ADS7953_EN}
Enable ADS7953.
Enable the driver for the ADS7953 board
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------------ | ---- |
| &check; | | | | Disabled (0) |
### ADC_ADS7953_REFV (`FLOAT`) {#ADC_ADS7953_REFV}
Applied reference Voltage.
The voltage applied to the ADS7953 board as reference
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 2.0 | 3.0 | 0.01 | 2.5 | V |
### ADC_TLA2528_EN (`INT32`) {#ADC_TLA2528_EN}
Enable TLA2528.
Enable the driver for the TLA2528
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------------ | ---- |
| &check; | | | | Disabled (0) |
### ADC_TLA2528_REFV (`FLOAT`) {#ADC_TLA2528_REFV}
Applied reference Voltage.
The voltage applied to the TLA2528 board as reference
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 2.0 | 3.0 | 0.01 | 2.5 | V |
## ADSB
### ADSB_CALLSIGN_1 (`INT32`) {#ADSB_CALLSIGN_1}
@@ -13955,9 +13997,9 @@ Scale of airspeed sensor 1.
This is the scale IAS --> CAS of the first airspeed sensor instance
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 0.5 | 2.0 | | 1.0 |
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.5 | 2.0 | | 1.0 |
### ASPD_SCALE_2 (`FLOAT`) {#ASPD_SCALE_2}
@@ -13965,9 +14007,9 @@ Scale of airspeed sensor 2.
This is the scale IAS --> CAS of the second airspeed sensor instance
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 0.5 | 2.0 | | 1.0 |
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.5 | 2.0 | | 1.0 |
### ASPD_SCALE_3 (`FLOAT`) {#ASPD_SCALE_3}
@@ -13975,9 +14017,9 @@ Scale of airspeed sensor 3.
This is the scale IAS --> CAS of the third airspeed sensor instance
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 0.5 | 2.0 | | 1.0 |
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.5 | 2.0 | | 1.0 |
### ASPD_SCALE_APPLY (`INT32`) {#ASPD_SCALE_APPLY}
@@ -17165,7 +17207,9 @@ Set bits in the following positions to enable: 0 : Longitude and latitude fusion
### EKF2_GPS_DELAY (`FLOAT`) {#EKF2_GPS_DELAY}
GPS measurement delay relative to IMU measurements.
GPS measurement delay relative to IMU measurement.
GPS measurement delay relative to IMU measurement if PPS time correction is not available/enabled (PPS_CAP_ENABLE).
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
@@ -17175,7 +17219,7 @@ GPS measurement delay relative to IMU measurements.
Fusion reset mode.
Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available
Automatic: reset on fusion timeout if no other source of position is available. Dead-reckoning: reset on fusion timeout if no source of velocity is available.
**Values:**
@@ -33105,6 +33149,14 @@ Maxbotix Sonar (mb12xx).
| ------- | -------- | -------- | --------- | ------------ | ---- |
| &check; | | | | Disabled (0) |
### SENS_EN_MCP9808 (`INT32`) {#SENS_EN_MCP9808}
Enable MCP9808 temperature sensor (external I2C).
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------------ | ---- |
| &check; | | | | Disabled (0) |
### SENS_EN_MPDT (`INT32`) {#SENS_EN_MPDT}
Enable Mappydot rangefinder (i2c).
@@ -39432,6 +39484,14 @@ Maximum time (in seconds) before resetting setpoint.
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 2.0 |
### UUV_STICK_MODE (`INT32`) {#UUV_STICK_MODE}
Stick mode selector (0=Heave/sway control, roll/pitch leveled; 1=Pitch/roll control).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 1 | | 0 |
### UUV_THRUST_SAT (`FLOAT`) {#UUV_THRUST_SAT}
UUV Thrust setpoint Saturation.
@@ -40135,7 +40195,7 @@ Time in seconds it takes to tilt form VT_TILT_FW to VT_TILT_MC.
### VT_B_DEC_I (`FLOAT`) {#VT_B_DEC_I}
Backtransition deceleration setpoint to pitch I gain.
Backtransition deceleration setpoint to tilt I gain.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ------- |
@@ -40353,7 +40413,7 @@ During landing it can be beneficial to reduce the pitch angle to reduce the gene
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | -10.0 | 45.0 | 0.1 | -5.0 | deg |
| &nbsp; | -10.0 | 45.0 | 0.1 | 0.0 | deg |
### VT_PITCH_MIN (`FLOAT`) {#VT_PITCH_MIN}
@@ -40364,7 +40424,7 @@ VT_FWD_TRHUST_EN is set.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | -10.0 | 45.0 | 0.1 | -5.0 | deg |
| &nbsp; | -10.0 | 45.0 | 0.1 | 0.0 | deg |
### VT_PSHER_SLEW (`FLOAT`) {#VT_PSHER_SLEW}

2
docs/en/config_rover/basic_setup.md
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@@ -88,7 +88,7 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and
One approach to determine an appropriate value is:
1. From a standstill, give the rover full throttle until it reaches the maximum speed.
2. Disarm the rover and plot the `measured_speed_body_x` from [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md).
2. Disarm the rover and plot the `measured_speed_body_x` from [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md).
3. Divide the maximum speed by the time it took to reach it and set this as the value for [RO_ACCEL_LIM](#RO_ACCEL_LIM).
Some RC rovers have enough torque to lift up if the maximum acceleration is not limited.

5
docs/en/config_rover/position_tuning.md
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@@ -19,7 +19,6 @@ To tune the position controller configure the [parameters](../advanced_config/pa
$v*{max} = v*{full throttle} \cdot (1 - \theta\_{normalized} \cdot k) $
with
- $v_{max}:$ Maximum speed
- $v_{full throttle}:$ Speed at maximum throttle [RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED).
- $\theta_{normalized}:$ Course error (Course - bearing setpoint) normalized from $[0\degree, 180\degree]$ to $[0, 1]$
@@ -34,14 +33,13 @@ To tune the position controller configure the [parameters](../advanced_config/pa
::: tip
Plan a mission for the rover to drive a square and observe how it slows down when approaching a waypoint:
- If the rover decelerates too quickly decrease the [RO_DECEL_LIM](../advanced_config/parameter_reference.md#RO_DECEL_LIM) parameter, if it starts slowing down too early increase the parameter.
- If you observe a jerking motion as the rover slows down, decrease the [RO_JERK_LIM](../advanced_config/parameter_reference.md#RO_JERK_LIM) parameter otherwise increase it as much as possible as it can interfere with the tuning of [RO_DECEL_LIM](../advanced_config/parameter_reference.md#RO_DECEL_LIM).
These two parameters have to be tuned as a pair, repeat until you are satisfied with the behaviour.
:::
3. Plot the `adjusted_speed_body_x_setpoint` and `measured_speed_body_x` from the [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md) message over each other.
3. Plot the `adjusted_speed_body_x_setpoint` and `measured_speed_body_x` from the [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) message over each other.
If the tracking of these setpoints is not satisfactory adjust the values for [RO_SPEED_P](../advanced_config/parameter_reference.md#RO_SPEED_P) and [RO_SPEED_I](../advanced_config/parameter_reference.md#RO_SPEED_I).
## Path Following
@@ -57,7 +55,6 @@ The following parameters are used to tune the algorithm:
Decreasing the parameter makes it more aggressive but can lead to oscillations.
To tune this:
1. Start with a value of 1 for [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN)
2. Put the rover in [Position mode](../flight_modes_rover/manual.md#position-mode) and while driving a straight line at approximately half the maximum speed observe its behaviour.
3. If the rover does not drive in a straight line, reduce the value of the parameter, if it oscillates around the path increase the value.

4
docs/en/config_rover/velocity_tuning.md
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@@ -23,11 +23,10 @@ To tune the velocity controller configure the following [parameters](../advanced
::: tip
To further tune this parameter:
1. Set [RO_SPEED_P](#RO_SPEED_P) and [RO_SPEED_I](#RO_SPEED_I) to zero.
This way the speed is only controlled by the feed-forward term, which makes it easier to tune.
2. Put the rover in [Position mode](../flight_modes_rover/manual.md#position-mode) and then move the left stick of your controller up and/or down and hold it at a few different levels for a couple of seconds each.
3. Disarm the rover and from the flight log plot the `adjusted_speed_body_x_setpoint` and the `measured_speed_body_x` from the [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md) message over each other.
3. Disarm the rover and from the flight log plot the `adjusted_speed_body_x_setpoint` and the `measured_speed_body_x` from the [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) message over each other.
4. If the actual speed of the rover is higher than the speed setpoint, increase [RO_MAX_THR_SPEED](#RO_MAX_THR_SPEED).
If it is the other way around decrease the parameter and repeat until you are satisfied with the setpoint tracking.
@@ -64,7 +63,6 @@ These steps are only necessary if you are tuning/want to unlock the manual [Posi
Decreasing the parameter makes it more aggressive but can lead to oscillations.
To tune this:
1. Start with a value of 1 for [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN)
2. Put the rover in [Position mode](../flight_modes_rover/manual.md#position-mode) and while driving a straight line at approximately half the maximum speed observe its behaviour.
3. If the rover does not drive in a straight line, reduce the value of the parameter, if it oscillates around the path increase the value.

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docs/en/middleware/dds_topics.md
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85
docs/en/modules/modules_driver.md
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@@ -2,6 +2,7 @@
Subcategories:
- [Adc](modules_driver_adc.md)
- [Airspeed Sensor](modules_driver_airspeed_sensor.md)
- [Baro](modules_driver_baro.md)
- [Camera](modules_driver_camera.md)
@@ -46,66 +47,6 @@ MCP23009 <command> [arguments...]
status print status info
```
## adc
Source: [drivers/adc/board_adc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/board_adc)
### Description
ADC driver.
### Usage {#adc_usage}
```
adc <command> [arguments...]
Commands:
start
test
[-n] Do not publish ADC report, only system power
stop
status print status info
```
## ads1115
Source: [drivers/adc/ads1115](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/ads1115)
### Description
Driver to enable an external [ADS1115](https://www.adafruit.com/product/1085) ADC connected via I2C.
The driver is included by default in firmware for boards that do not have an internal analog to digital converter,
such as [PilotPi](../flight_controller/raspberry_pi_pilotpi.md) or [CUAV Nora](../flight_controller/cuav_nora.md)
(search for `CONFIG_DRIVERS_ADC_ADS1115` in board configuration files).
It is enabled/disabled using the
[ADC_ADS1115_EN](../advanced_config/parameter_reference.md#ADC_ADS1115_EN)
parameter, and is disabled by default.
If enabled, internal ADCs are not used.
### Usage {#ads1115_usage}
```
ads1115 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 72
stop
status print status info
```
## atxxxx
Source: [drivers/osd/atxxxx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/osd/atxxxx)
@@ -808,6 +749,30 @@ lsm303agr <command> [arguments...]
status print status info
```
## mcp9808
Source: [drivers/temperature_sensor/mcp9808](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/temperature_sensor/mcp9808)
### Usage {#mcp9808_usage}
```
mcp9808 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 24
stop
status print status info
```
## msp_osd
Source: [drivers/osd/msp_osd](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/osd/msp_osd)

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docs/en/modules/modules_driver_adc.md Normal file
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@@ -0,0 +1,107 @@
# Modules Reference: Adc (Driver)
## TLA2528
Source: [drivers/adc/tla2528](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/tla2528)
### Usage {#TLA2528_usage}
```
TLA2528 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
stop
status print status info
```
## adc
Source: [drivers/adc/board_adc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/board_adc)
### Description
ADC driver.
### Usage {#adc_usage}
```
adc <command> [arguments...]
Commands:
start
test
[-n] Do not publish ADC report, only system power
stop
status print status info
```
## ads1115
Source: [drivers/adc/ads1115](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/ads1115)
### Description
Driver to enable an external [ADS1115](https://www.adafruit.com/product/1085) ADC connected via I2C.
The driver is included by default in firmware for boards that do not have an internal analog to digital converter,
such as [PilotPi](../flight_controller/raspberry_pi_pilotpi.md) or [CUAV Nora](../flight_controller/cuav_nora.md)
(search for `CONFIG_DRIVERS_ADC_ADS1115` in board configuration files).
It is enabled/disabled using the
[ADC_ADS1115_EN](../advanced_config/parameter_reference.md#ADC_ADS1115_EN)
parameter, and is disabled by default.
If enabled, internal ADCs are not used.
### Usage {#ads1115_usage}
```
ads1115 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 72
stop
status print status info
```
## ads7953
Source: [drivers/adc/ads7953](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/ads7953)
### Usage {#ads7953_usage}
```
ads7953 <command> [arguments...]
Commands:
start
[-s] Internal SPI bus(es)
[-S] External SPI bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
[-m <val>] SPI mode
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
stop
status print status info
```

20
docs/en/modules/modules_driver_radio_control.md
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@@ -4,10 +4,9 @@
Source: [drivers/rc/crsf_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/crsf_rc)
### Description
This module parses the CRSF RC uplink protocol and generates CRSF downlink telemetry data
This module parses the CRSF RC uplink protocol and generates CRSF downlink telemetry data
### Usage {#crsf_rc_usage}
@@ -17,6 +16,10 @@ crsf_rc <command> [arguments...]
start
[-d <val>] RC device
values: <file:dev>, default: /dev/ttyS3
[-b <val>] RC baudrate
default: 420000
inject Inject frame data bytes (for testing)
stop
@@ -27,10 +30,9 @@ crsf_rc <command> [arguments...]
Source: [drivers/rc/dsm_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/dsm_rc)
### Description
This module does Spektrum DSM RC input parsing.
This module does Spektrum DSM RC input parsing.
### Usage {#dsm_rc_usage}
@@ -52,10 +54,9 @@ dsm_rc <command> [arguments...]
Source: [drivers/rc/ghst_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/ghst_rc)
### Description
This module does Ghost (GHST) RC input parsing.
This module does Ghost (GHST) RC input parsing.
### Usage {#ghst_rc_usage}
@@ -75,9 +76,10 @@ ghst_rc <command> [arguments...]
Source: [drivers/rc_input](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc_input)
### Description
This module does the RC input parsing and auto-selecting the method. Supported methods are:
- PPM
- SBUS
- DSM
@@ -85,7 +87,6 @@ This module does the RC input parsing and auto-selecting the method. Supported m
- ST24
- TBS Crossfire (CRSF)
### Usage {#rc_input_usage}
```
@@ -106,10 +107,9 @@ rc_input <command> [arguments...]
Source: [drivers/rc/sbus_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/sbus_rc)
### Description
This module does SBUS RC input parsing.
This module does SBUS RC input parsing.
### Usage {#sbus_rc_usage}

18
docs/en/msg_docs/AdcReport.md
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@@ -1,15 +1,21 @@
# AdcReport (UORB message)
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)
```c
uint64 timestamp # time since system start (microseconds)
uint32 device_id # unique device ID for the sensor that does not change between power cycles
int16[12] channel_id # ADC channel IDs, negative for non-existent, TODO: should be kept same as array index
int32[12] raw_data # ADC channel raw value, accept negative value, valid if channel ID is positive
uint32 resolution # ADC channel resolution
float32 v_ref # ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution)
# ADC raw data.
#
# Communicates raw data from an analog-to-digital converter (ADC) to other modules, such as battery status.
uint64 timestamp # [us] Time since system start
uint32 device_id # [-] unique device ID for the sensor that does not change between power cycles
int16[16] channel_id # [-] ADC channel IDs, negative for non-existent, TODO: should be kept same as array index
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)
```

15
docs/en/msg_docs/EscReport.md
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@@ -1,7 +1,5 @@
# EscReport (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscReport.msg)
```c
@@ -18,6 +16,19 @@ uint8 esc_state # State of ESC - depend on Vendor
uint8 actuator_function # actuator output function (one of Motor1...MotorN)
uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
uint8 ACTUATOR_FUNCTION_MOTOR2 = 102
uint8 ACTUATOR_FUNCTION_MOTOR3 = 103
uint8 ACTUATOR_FUNCTION_MOTOR4 = 104
uint8 ACTUATOR_FUNCTION_MOTOR5 = 105
uint8 ACTUATOR_FUNCTION_MOTOR6 = 106
uint8 ACTUATOR_FUNCTION_MOTOR7 = 107
uint8 ACTUATOR_FUNCTION_MOTOR8 = 108
uint8 ACTUATOR_FUNCTION_MOTOR9 = 109
uint8 ACTUATOR_FUNCTION_MOTOR10 = 110
uint8 ACTUATOR_FUNCTION_MOTOR11 = 111
uint8 ACTUATOR_FUNCTION_MOTOR12 = 112
uint16 failures # Bitmask to indicate the internal ESC faults
int8 esc_power # Applied power 0-100 in % (negative values reserved)

4
docs/en/msg_docs/InputRc.md
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@@ -1,7 +1,5 @@
# InputRc (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/InputRc.msg)
```c
@@ -39,11 +37,13 @@ bool rc_lost # RC receiver connection status: True,if no frame has arrived in
uint16 rc_lost_frame_count # 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.
uint16 rc_total_frame_count # 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.
uint16 rc_ppm_frame_length # Length of a single PPM frame. Zero for non-PPM systems
uint16 rc_frame_rate # RC frame rate in msg/second. 0 = invalid
uint8 input_source # Input source
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
```

15
docs/en/msg_docs/RoverVelocitySetpoint.md
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@@ -1,15 +0,0 @@
# RoverVelocitySetpoint (UORB message)
Rover Velocity Setpoint
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverVelocitySetpoint.msg)
```c
# Rover Velocity Setpoint
uint64 timestamp # [us] Time since system start
float32 speed # [m/s] [@range -inf (Backwards), inf (Forwards)] Speed setpoint
float32 bearing # [rad] [@range -pi,pi] [@frame NED] [@invalid: NaN, speed is defined in body x direction] Bearing setpoint
float32 yaw # [rad] [@range -pi, pi] [@frame NED] [@invalid NaN, Defaults to vehicle yaw] Mecanum only: Yaw setpoint
```

18
docs/en/msg_docs/RoverVelocityStatus.md
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@@ -1,18 +0,0 @@
# RoverVelocityStatus (UORB message)
Rover Velocity Status
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverVelocityStatus.msg)
```c
# Rover Velocity Status
uint64 timestamp # [us] Time since system start
float32 measured_speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Measured speed in body x direction
float32 adjusted_speed_body_x_setpoint # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction that is being tracked (Applied slew rates)
float32 pid_throttle_body_x_integral # [] [@range -1, 1] Integral of the PID for the closed loop controller of the speed in body x direction
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
```

11
docs/en/msg_docs/SensorTemp.md Normal file
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@@ -0,0 +1,11 @@
# SensorTemp (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorTemp.msg)
```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)
```

2
docs/en/msg_docs/VehicleCommand.md
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@@ -28,7 +28,7 @@ uint16 VEHICLE_CMD_DO_ORBIT = 34 # Start orbiting on the circumference of a circ
uint16 VEHICLE_CMD_DO_FIGUREEIGHT = 35 # Start flying on the outline of a figure eight defined by the parameters. |[m] Major radius|[m] Minor radius|[m/s] Velocity|Orientation|Latitude/X|Longitude/Y|Altitude/Z|
uint16 VEHICLE_CMD_NAV_ROI = 80 # Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |[@enum VEHICLE_ROI] Region of interest mode.|MISSION index/ target ID.|ROI index (allows a vehicle to manage multiple ROI's)|Unused|x the location of the fixed ROI (see MAV_FRAME)|y|z|
uint16 VEHICLE_CMD_NAV_PATHPLANNING = 81 # Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning|0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid|Unused|[deg] [@range 0, 360] Yaw angle at goal, in compass degrees|Latitude/X of goal|Longitude/Y of goal|Altitude/Z of goal|
uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84 # Takeoff from ground / hand and transition to fixed wing. |Minimum pitch (if airspeed sensor present), desired pitch without sensor|Unused|Unused|Yaw angle (if magnetometer present), ignored without magnetometer|Latitude|Longitude|Altitude|
uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84 # Takeoff from ground / hand and transition to fixed wing. |Minimum pitch (if airspeed sensor present), desired pitch without sensor|Transition heading, 0: Default, 3: Use specified transition heading|Unused|Yaw angle (if magnetometer present), ignored without magnetometer|Latitude|Longitude|Altitude|
uint16 VEHICLE_CMD_NAV_VTOL_LAND = 85 # Transition to MC and land at location. |Unused|Unused|Unused|Desired yaw angle.|Latitude|Longitude|Altitude|
uint16 VEHICLE_CMD_NAV_GUIDED_LIMITS = 90 # Set limits for external control. |[s] Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout|[m] Absolute altitude min AMSL - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit|[m] Absolute altitude max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit|[m] Horizontal move limit (AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit|Unused|Unused|Unused|
uint16 VEHICLE_CMD_NAV_GUIDED_MASTER = 91 # Set id of master controller. |System ID|Component ID|Unused|Unused|Unused|Unused|Unused|

3
docs/en/msg_docs/index.md
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@@ -84,7 +84,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [ActuatorOutputs](ActuatorOutputs.md)
- [ActuatorServosTrim](ActuatorServosTrim.md) — Servo trims, added as offset to servo outputs
- [ActuatorTest](ActuatorTest.md)
- [AdcReport](AdcReport.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
@@ -259,6 +259,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
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.
- [SensorsStatus](SensorsStatus.md) — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.