uORB message layout fixes (#25581)

* uORB message layout fixes * Apply suggestions from code review --------- Co-authored-by: PX4BuildBot <bot@pixhawk.org>
2026-05-28 02:36:37 +08:00 · 2025-09-19 09:06:01 +10:00
parent c06ba93175
commit 799f910ca9
5 changed files with 88 additions and 87 deletions
@@ -8,9 +8,9 @@ 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
-uint16 reversible_flags  # Bitset indicating which motors are configured to be reversible
+uint16 reversible_flags  # [-] Bitset indicating which motors are configured to be reversible
 uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 #
 uint8 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)
+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)
@@ -9,4 +9,4 @@ uint64 timestamp         # [us] Time since system start
 uint64 timestamp_sample  # [us] Sampling timestamp of the data this control response is based on
 uint8 NUM_CONTROLS = 8  #
-float32[8] control      # [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
+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.
@@ -1,4 +1,4 @@
-# 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).
@@ -11,33 +11,33 @@ uint32 MESSAGE_VERSION  = 1
 uint64 timestamp # [us] Time since system start.
-uint8 request_id       # Id of ArmingCheckRequest for which this is a response.
+uint8 request_id       # [-] Id of ArmingCheckRequest for which this is a response
-uint8 registration_id  # Id of external component emitting this response.
+uint8 registration_id  # [-] Id of external component emitting this response
-uint8 HEALTH_COMPONENT_INDEX_NONE = 0  # Index of health component for which this response applies.
+uint8 HEALTH_COMPONENT_INDEX_NONE = 0  # Index of health component for which this response applies
 uint8 health_component_index      # [@enum HEALTH_COMPONENT_INDEX]
-bool health_component_is_present  # Unused. Intended for use with health events interface (health_component_t in events.json).
+bool health_component_is_present  # Unused. Intended for use with health events interface (health_component_t in events.json)
-bool health_component_warning     # Unused. Intended for use with health events interface (health_component_t in events.json).
+bool health_component_warning     # Unused. Intended for use with health events interface (health_component_t in events.json)
-bool health_component_error       # Unused. Intended for use with health events interface (health_component_t in events.json).
+bool health_component_error       # Unused. Intended for use with health events interface (health_component_t in events.json)
-bool can_arm_and_run  # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed.
+bool can_arm_and_run  # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed
-uint8 num_events  # Number of queued failure messages (Event) in the events field.
+uint8 num_events  # Number of queued failure messages (Event) in the events field
-Event[5] events  # Arming failure reasons (Queue of events to report to GCS).
+Event[5] events  # Arming failure reasons (Queue of events to report to GCS)
 # Mode requirements
-bool mode_req_angular_velocity         # Requires angular velocity estimate (e.g. from gyroscope).
+bool mode_req_angular_velocity         # Requires angular velocity estimate (e.g. from gyroscope)
-bool mode_req_attitude                 # Requires an attitude estimate.
+bool mode_req_attitude                 # Requires an attitude estimate
-bool mode_req_local_alt                # Requires a local altitude estimate.
+bool mode_req_local_alt                # Requires a local altitude estimate
-bool mode_req_local_position           # Requires a local position estimate.
+bool mode_req_local_position           # Requires a local position estimate
-bool mode_req_local_position_relaxed   # Requires a more relaxed global position estimate.
+bool mode_req_local_position_relaxed   # Requires a more relaxed global position estimate
-bool mode_req_global_position          # Requires a global position estimate.
+bool mode_req_global_position          # Requires a global position estimate
-bool mode_req_global_position_relaxed  # Requires a relaxed global position estimate.
+bool mode_req_global_position_relaxed  # Requires a relaxed global position estimate
-bool mode_req_mission                  # Requires an uploaded mission.
+bool mode_req_mission                  # Requires an uploaded mission
-bool mode_req_home_position            # Requires a home position (such as RTL/Return mode).
+bool mode_req_home_position            # Requires a home position (such as RTL/Return mode)
-bool mode_req_prevent_arming           # Prevent arming (such as in Land mode).
+bool mode_req_prevent_arming           # Prevent arming (such as in Land mode)
 bool mode_req_manual_control           # Requires a manual controller
 uint8 ORB_QUEUE_LENGTH  = 4
@@ -1,4 +1,4 @@
-# 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.
@@ -9,8 +9,8 @@
 uint32 MESSAGE_VERSION = 1
-uint64 timestamp  # [us] Time since system start.
+uint64 timestamp  # [us] Time since system start
-uint8 request_id  # Id of this request. Allows correlation with associated ArmingCheckReply messages.
+uint8 request_id  # [-] Id of this request. Allows correlation with associated ArmingCheckReply messages.
-uint32 valid_registrations_mask # Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
+uint32 valid_registrations_mask # [-] Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
@@ -7,72 +7,73 @@
 uint32 MESSAGE_VERSION = 1
 uint8 MAX_INSTANCES = 4
-uint64 timestamp # [us] Time since system start
+uint64 timestamp  # [us] Time since system start
-bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
+
-float32 voltage_v # [V] [@invalid 0] Battery voltage
+bool connected             # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
-float32 current_a # [A] [@invalid -1] Battery current
+float32 voltage_v          # [V] [@invalid 0] Battery voltage
-float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight)
+float32 current_a          # [A] [@invalid -1] Battery current
-float32 discharged_mah # [mAh] [@invalid -1] Discharged amount
+float32 current_average_a  # [A] [@invalid -1] Battery current average (for FW average in level flight)
-float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity
+float32 discharged_mah     # [mAh] [@invalid -1] Discharged amount
-float32 scale # [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
+float32 remaining          # [@range 0,1] [@invalid -1] Remaining capacity
-float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
+float32 scale              # [-] [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
-float32 temperature # [°C] [@invalid NaN] Temperature of the battery
+float32 time_remaining_s   # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
-uint8 cell_count # [@invalid 0] Number of cells
+float32 temperature        # [°C] [@invalid NaN] Temperature of the battery
 uint8 cell_count           # [-] [@invalid 0] Number of cells
-uint8 source # [@enum SOURCE] Battery source
+uint8 source                   # [@enum SOURCE] Battery source
-uint8 SOURCE_POWER_MODULE = 0 # Power module
+uint8 SOURCE_POWER_MODULE = 0  # Power module
-uint8 SOURCE_EXTERNAL = 1 # External
+uint8 SOURCE_EXTERNAL = 1      # External
-uint8 SOURCE_ESCS = 2 # ESCs
+uint8 SOURCE_ESCS = 2          # ESCs
-uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
+uint8 priority                # [-] Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
-uint16 capacity # [mAh] Capacity of the battery when fully charged
+uint16 capacity               # [mAh] Capacity of the battery when fully charged
-uint16 cycle_count # Number of discharge cycles the battery has experienced
+uint16 cycle_count            # [-] Number of discharge cycles the battery has experienced
-uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
+uint16 average_time_to_empty  # [minutes] Predicted remaining battery capacity based on the average rate of discharge
-uint16 manufacture_date # Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
+uint16 manufacture_date       # [-] Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
-uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
+uint16 state_of_health        # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
-uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
+uint16 max_error              # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
-uint8 id # ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
+uint8 id                      # [-] ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
-uint16 interface_error # Interface error counter
+uint16 interface_error        # [-] Interface error counter
-float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages
+float32[14] voltage_cell_v      # [V] [@invalid 0] Battery individual cell voltages
-float32 max_cell_voltage_delta # Max difference between individual cell voltages
+float32 max_cell_voltage_delta  # [V] Max difference between individual cell voltages
-bool is_powering_off # Power off event imminent indication, false if unknown
+bool is_powering_off  # Power off event imminent indication, false if unknown
-bool is_required # Set if the battery is explicitly required before arming
+bool is_required      # Set if the battery is explicitly required before arming
-uint8 warning # [@enum WARNING STATE] Current battery warning
+uint8 warning                # [@enum WARNING STATE] Current battery warning
-uint8 WARNING_NONE = 0 # No battery low voltage warning active
+uint8 WARNING_NONE = 0       # No battery low voltage warning active
-uint8 WARNING_LOW = 1 # Low voltage warning
+uint8 WARNING_LOW = 1        # Low voltage warning
-uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
+uint8 WARNING_CRITICAL = 2   # Critical voltage, return / abort immediately
-uint8 WARNING_EMERGENCY = 3 # Immediate landing required
+uint8 WARNING_EMERGENCY = 3  # Immediate landing required
-uint8 WARNING_FAILED = 4 # Battery has failed completely
+uint8 WARNING_FAILED = 4     # Battery has failed completely
-uint8 STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field
+uint8 STATE_UNHEALTHY = 6    # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field
-uint8 STATE_CHARGING = 7 # Battery is charging
+uint8 STATE_CHARGING = 7     # Battery is charging
-uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication
+uint16 faults                          # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication
-uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
+uint8 FAULT_DEEP_DISCHARGE = 0         # Battery has deep discharged
-uint8 FAULT_SPIKES = 1 # Voltage spikes
+uint8 FAULT_SPIKES = 1                 # Voltage spikes
-uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed
+uint8 FAULT_CELL_FAIL= 2               # One or more cells have failed
-uint8 FAULT_OVER_CURRENT = 3 # Over-current
+uint8 FAULT_OVER_CURRENT = 3           # Over-current
-uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature
+uint8 FAULT_OVER_TEMPERATURE = 4       # Over-temperature
-uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
+uint8 FAULT_UNDER_TEMPERATURE = 5      # Under-temperature fault
-uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
+uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6   # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
-uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
+uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7  # Battery firmware is not compatible with current autopilot firmware
-uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
+uint8 FAULT_INCOMPATIBLE_MODEL = 8     # Battery model is not supported by the system
-uint8 FAULT_HARDWARE_FAILURE = 9 # Hardware problem
+uint8 FAULT_HARDWARE_FAILURE = 9       # Hardware problem
-uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
+uint8 FAULT_FAILED_TO_ARM = 10         # Battery had a problem while arming
-uint8 FAULT_COUNT = 11 # Counter. Keep this as last element
+uint8 FAULT_COUNT = 11                 # Counter. Keep this as last element
-float32 full_charge_capacity_wh # [Wh] Compensated battery capacity
+float32 full_charge_capacity_wh  # [Wh] Compensated battery capacity
-float32 remaining_capacity_wh # [Wh] Compensated battery capacity remaining
+float32 remaining_capacity_wh    # [Wh] Compensated battery capacity remaining
-uint16 over_discharge_count # Number of battery overdischarge
+uint16 over_discharge_count      # [-] Number of battery overdischarge
-float32 nominal_voltage # [V] Nominal voltage of the battery pack
+float32 nominal_voltage          # [V] Nominal voltage of the battery pack
-float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
+float32 internal_resistance_estimate  # [Ohm] Internal resistance per cell estimate
-float32 ocv_estimate # [V] Open circuit voltage estimate
+float32 ocv_estimate                  # [V] Open circuit voltage estimate
-float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate
+float32 ocv_estimate_filtered         # [V] Filtered open circuit voltage estimate
-float32 volt_based_soc_estimate # [@range 0, 1] Normalized volt based state of charge estimate
+float32 volt_based_soc_estimate       # [-] [@range 0, 1] Normalized volt based state of charge estimate
-float32 voltage_prediction # [V] Predicted voltage
+float32 voltage_prediction            # [V] Predicted voltage
-float32 prediction_error # [V] Prediction error
+float32 prediction_error              # [V] Prediction error
-float32 estimation_covariance_norm # Norm of the covariance matrix
+float32 estimation_covariance_norm    # [-] Norm of the covariance matrix