mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-26 01:17:51 +08:00
Remove legacy translations
This commit is contained in:
Hamish Willee
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# Buffer128 (повідомлення UORB)
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[вихідний файл](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Buffer128.msg)
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```c
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uint64 timestamp # time since system start (microseconds)
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uint8 len # length of data
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uint32 MAX_BUFLEN = 128
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uint8[128] data # data
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# TOPICS voxl2_io_data
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```
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# CollisionReport (повідомлення UORB)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CollisionReport.msg)
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```c
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uint64 timestamp # time since system start (microseconds)
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uint8 src
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uint32 id
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uint8 action
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uint8 threat_level
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float32 time_to_minimum_delta
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float32 altitude_minimum_delta
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float32 horizontal_minimum_delta
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```
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# DifferentialDriveSetpoint (повідомлення UORB)
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[вихідний файл](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DifferentialDriveSetpoint.msg)
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```c
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uint64 timestamp # time since system start (microseconds)
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float32 speed # [m/s] collective roll-off speed in body x-axis
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bool closed_loop_speed_control # true if speed is controlled using estimator feedback, false if direct feed-forward
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float32 yaw_rate # [rad/s] yaw rate
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bool closed_loop_yaw_rate_control # true if yaw rate is controlled using gyroscope feedback, false if direct feed-forward
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# TOPICS differential_drive_setpoint differential_drive_control_output
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```
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# NpfgStatus (UORB message)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/NpfgStatus.msg)
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```c
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uint64 timestamp # time since system start (microseconds)
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uint8 wind_est_valid # (boolean) true = wind estimate is valid and/or being used by controller (also indicates if wind est usage is disabled despite being valid)
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float32 lat_accel # resultant lateral acceleration reference [m/s^2]
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float32 lat_accel_ff # lateral acceleration demand only for maintaining curvature [m/s^2]
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float32 bearing_feas # bearing feasibility [0,1]
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float32 bearing_feas_on_track # on-track bearing feasibility [0,1]
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float32 signed_track_error # signed track error [m]
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float32 track_error_bound # track error bound [m]
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float32 airspeed_ref # (true) airspeed reference [m/s]
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float32 bearing # bearing angle [rad]
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float32 heading_ref # heading angle reference [rad]
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float32 min_ground_speed_ref # minimum forward ground speed reference [m/s]
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float32 adapted_period # adapted period (if auto-tuning enabled) [s]
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float32 p_gain # controller proportional gain [rad/s]
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float32 time_const # controller time constant [s]
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float32 can_run_factor # estimate of certainty of the correct functionality of the npfg roll setpoint in [0, 1]
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```
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# RoverAckermannGuidanceStatus (UORB message)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverAckermannGuidanceStatus.msg)
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```c
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uint64 timestamp # time since system start (microseconds)
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float32 lookahead_distance # [m] Lookahead distance of pure the pursuit controller
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float32 heading_error # [deg] Heading error of the pure pursuit controller
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# TOPICS rover_ackermann_guidance_status
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```
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# RoverAckermannSetpoint (UORB message)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverAckermannSetpoint.msg)
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```c
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uint64 timestamp # time since system start (microseconds)
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float32 forward_speed_setpoint # [m/s] Desired speed in body x direction. Positiv: forwards, Negativ: backwards
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float32 forward_speed_setpoint_normalized # [-1, 1] Desired normalized speed in body x direction. Positiv: forwards, Negativ: backwards
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float32 steering_setpoint # [rad] Desired steering angle
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float32 steering_setpoint_normalized # [-1, 1] Desired normalized steering angle
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float32 lateral_acceleration_setpoint # [m/s^2] Desired acceleration in body y direction. Positiv: right, Negativ: left.
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# TOPICS rover_ackermann_setpoint
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```
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# RoverAckermannStatus (UORB message)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverAckermannStatus.msg)
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```c
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uint64 timestamp # time since system start (microseconds)
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float32 measured_forward_speed # [m/s] Measured speed in body x direction. Forwards: positiv, Backwards: negativ
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float32 adjusted_forward_speed_setpoint # [m/s] Speed setpoint after applying slew rate
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float32 steering_setpoint_normalized # [-1, 1] Normalized steering setpoint
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float32 adjusted_steering_setpoint_normalized # [-1, 1] Normalized steering setpoint after applying slew rate
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float32 measured_lateral_acceleration # [m/s^2] Measured acceleration in body y direction. Positiv: right, Negativ: left.
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float32 pid_throttle_integral # Integral of the PID for the closed loop speed controller
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float32 pid_lat_accel_integral # Integral of the PID for the closed loop lateral acceleration controller
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# TOPICS rover_ackermann_status
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```
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# RoverDifferentialGuidanceStatus (UORB message)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverDifferentialGuidanceStatus.msg)
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```c
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uint64 timestamp # time since system start (microseconds)
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float32 lookahead_distance # [m] Lookahead distance of pure the pursuit controller
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float32 heading_error_deg # [deg] Heading error of the pure pursuit controller
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uint8 state_machine # Driving state of the rover [0: SPOT_TURNING, 1: DRIVING, 2: GOAL_REACHED]
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# TOPICS rover_differential_guidance_status
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```
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# RoverDifferentialSetpoint (UORB message)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverDifferentialSetpoint.msg)
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```c
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uint64 timestamp # time since system start (microseconds)
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float32 forward_speed_setpoint # [m/s] Desired forward speed for the rover
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float32 forward_speed_setpoint_normalized # [-1, 1] Normalized forward speed for the rover
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float32 yaw_rate_setpoint # [rad/s] Desired yaw rate for the rover (Overriden by yaw controller if yaw_setpoint is used)
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float32 speed_diff_setpoint_normalized # [-1, 1] Normalized speed difference between the left and right wheels
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float32 yaw_setpoint # [rad] Desired yaw (heading) for the rover
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# TOPICS rover_differential_setpoint
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```
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# RoverDifferentialStatus (UORB message)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverDifferentialStatus.msg)
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```c
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uint64 timestamp # time since system start (microseconds)
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float32 measured_forward_speed # [m/s] Measured speed in body x direction. Forwards: positiv, Backwards: negativ
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float32 adjusted_forward_speed_setpoint # [m/s] Speed setpoint after applying slew rate
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float32 measured_yaw # [rad] Measured yaw
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float32 adjusted_yaw_setpoint # [rad] Yaw setpoint after applying slew rate
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float32 clyaw_yaw_rate_setpoint # [rad/s] Yaw rate setpoint output by the closed loop yaw controller
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float32 measured_yaw_rate # [rad/s] Measured yaw rate
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float32 adjusted_yaw_rate_setpoint # [rad/s] Yaw rate setpoint from the closed loop yaw controller
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float32 pid_yaw_integral # Integral of the PID for the closed loop yaw controller
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float32 pid_yaw_rate_integral # Integral of the PID for the closed loop yaw rate controller
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float32 pid_throttle_integral # Integral of the PID for the closed loop speed controller
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# TOPICS rover_differential_status
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```
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# RoverMecanumGuidanceStatus (UORB message)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverMecanumGuidanceStatus.msg)
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```c
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uint64 timestamp # time since system start (microseconds)
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float32 lookahead_distance # [m] Lookahead distance of pure the pursuit controller
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float32 heading_error # [rad] Heading error of the pure pursuit controller
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float32 desired_speed # [m/s] Desired velocity magnitude (speed)
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# TOPICS rover_mecanum_guidance_status
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```
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# RoverMecanumSetpoint (UORB message)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverMecanumSetpoint.msg)
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```c
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uint64 timestamp # time since system start (microseconds)
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float32 forward_speed_setpoint # [m/s] Desired forward speed
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float32 forward_speed_setpoint_normalized # [-1, 1] Desired normalized forward speed
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float32 lateral_speed_setpoint # [m/s] Desired lateral speed
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float32 lateral_speed_setpoint_normalized # [-1, 1] Desired normalized lateral speed
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float32 yaw_rate_setpoint # [rad/s] Desired yaw rate
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float32 speed_diff_setpoint_normalized # [-1, 1] Normalized speed difference between the left and right wheels
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float32 yaw_setpoint # [rad] Desired yaw (heading)
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# TOPICS rover_mecanum_setpoint
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```
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# RoverMecanumStatus (UORB message)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverMecanumStatus.msg)
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```c
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uint64 timestamp # time since system start (microseconds)
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float32 measured_forward_speed # [m/s] Measured speed in body x direction. Positiv: forwards, Negativ: backwards
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float32 adjusted_forward_speed_setpoint # [m/s] Speed setpoint after applying slew rate
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float32 measured_lateral_speed # [m/s] Measured speed in body y direction. Positiv: right, Negativ: left
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float32 adjusted_lateral_speed_setpoint # [m/s] Speed setpoint after applying slew rate
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float32 measured_yaw_rate # [rad/s] Measured yaw rate
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float32 clyaw_yaw_rate_setpoint # [rad/s] Yaw rate setpoint output by the closed loop yaw controller
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float32 adjusted_yaw_rate_setpoint # [rad/s] Yaw rate setpoint from the closed loop yaw controller
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float32 measured_yaw # [rad] Measured yaw
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float32 adjusted_yaw_setpoint # [rad] Yaw setpoint after applying slew rate
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float32 pid_yaw_rate_integral # Integral of the PID for the closed loop yaw rate controller
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float32 pid_yaw_integral # Integral of the PID for the closed loop yaw controller
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float32 pid_forward_throttle_integral # Integral of the PID for the closed loop forward speed controller
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float32 pid_lateral_throttle_integral # Integral of the PID for the closed loop lateral speed controller
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# TOPICS rover_mecanum_status
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```
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# TrjectoryBezier (UORB повідомлення)
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Опис траекторії Безьє. Див. також Повідомлення Mavlink TRAJECTORY
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Тема trajectory_bezier описує кожну точку маршруту, визначену в vehicle_trajectory_bezier
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TrajectoryBezier.msg)
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```c
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# Bezier Trajectory description. See also Mavlink TRAJECTORY msg
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# The topic trajectory_bezier describe each waypoint defined in vehicle_trajectory_bezier
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uint64 timestamp # time since system start (microseconds)
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float32[3] position # local position x,y,z (metres)
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float32 yaw # yaw angle (rad)
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float32 delta # time it should take to get to this waypoint, if this is the final waypoint (seconds)
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```
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# TrajectoryWaypoint (Повідомлення UORB)
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Опис траекторії точки маршруту. Див. також Повідомлення Mavlink TRAJECTORY
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Тема trajectory_waypoint описує кожну точку маршруту, визначену в vehicle_trajectory_waypoint
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TrajectoryWaypoint.msg)
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```c
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# Waypoint Trajectory description. See also Mavlink TRAJECTORY msg
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# The topic trajectory_waypoint describe each waypoint defined in vehicle_trajectory_waypoint
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uint64 timestamp # time since system start (microseconds)
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float32[3] position
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float32[3] velocity
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float32[3] acceleration
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float32 yaw
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float32 yaw_speed
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bool point_valid
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uint8 type
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```
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@@ -1,29 +0,0 @@
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# VehicleTrajectoryBezier (Повідомлення UORB)
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Опис Vehicle Waypoints Trajectory. Дивіться також MAVLink MAV_TRAJECTORY_REPRESENTATION msg
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Тема vehicle_trajectory_bezier використовується для надсилання плавної траєкторії польоту від
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комп'ютера-супутника/модуля уникання перешкод до контролера положення.
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleTrajectoryBezier.msg)
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```c
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# Vehicle Waypoints Trajectory description. See also MAVLink MAV_TRAJECTORY_REPRESENTATION msg
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# The topic vehicle_trajectory_bezier is used to send a smooth flight path from the
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# companion computer / avoidance module to the position controller.
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uint64 timestamp # time since system start (microseconds)
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uint8 POINT_0 = 0
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uint8 POINT_1 = 1
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uint8 POINT_2 = 2
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uint8 POINT_3 = 3
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uint8 POINT_4 = 4
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uint8 NUMBER_POINTS = 5
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TrajectoryBezier[5] control_points
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uint8 bezier_order
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# TOPICS vehicle_trajectory_bezier
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```
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@@ -1,32 +0,0 @@
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# VehicleTrajectoryWaypoint (повідомлення UORB)
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Опис Vehicle Waypoints Trajectory. Дивіться також MAVLink MAV_TRAJECTORY_REPRESENTATION msg
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Тема vehicle_trajectory_waypoint_desired використовується для надсилання користувачем бажаних точок шляху від контролера положення до комп'ютера-супутника/модуля уникання перешкод.
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Тема vehicle_trajectory_waypoint використовується для надсилання відкоригованих точок маршруту від комп'ютера-супутника/модуля уникання перешкод до контролера положення.
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleTrajectoryWaypoint.msg)
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```c
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# Vehicle Waypoints Trajectory description. See also MAVLink MAV_TRAJECTORY_REPRESENTATION msg
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# The topic vehicle_trajectory_waypoint_desired is used to send the user desired waypoints from the position controller to the companion computer / avoidance module.
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# The topic vehicle_trajectory_waypoint is used to send the adjusted waypoints from the companion computer / avoidance module to the position controller.
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uint64 timestamp # time since system start (microseconds)
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uint8 MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS = 0
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uint8 type # Type from MAV_TRAJECTORY_REPRESENTATION enum.
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uint8 POINT_0 = 0
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uint8 POINT_1 = 1
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uint8 POINT_2 = 2
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uint8 POINT_3 = 3
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uint8 POINT_4 = 4
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uint8 NUMBER_POINTS = 5
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TrajectoryWaypoint[5] waypoints
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# TOPICS vehicle_trajectory_waypoint vehicle_trajectory_waypoint_desired
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```
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Block a user