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docs: update uORB message reference docs
This commit is contained in:
Ramon Roche
@@ -1,6 +1,6 @@
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# ArmingCheckReply (UORB message)
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Arming check reply
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Arming check reply.
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This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
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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).
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@@ -12,7 +12,7 @@ The message is not used by internal/FMU components, as their mode requirements a
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg)
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```c
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# Arming check reply
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# Arming check reply.
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#
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# This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
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# 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).
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@@ -21,39 +21,39 @@ The message is not used by internal/FMU components, as their mode requirements a
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# Note that the external component is identified by its registration_id, which is allocated to the component during registration (arming_check_id in RegisterExtComponentReply).
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# The message is not used by internal/FMU components, as their mode requirements are known at compile time.
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uint32 MESSAGE_VERSION = 1
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uint32 MESSAGE_VERSION = 1
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uint64 timestamp # [us] Time since system start.
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uint8 request_id # [-] Id of ArmingCheckRequest for which this is a response
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uint8 registration_id # [-] Id of external component emitting this response
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uint8 request_id # Id of ArmingCheckRequest for which this is a response.
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uint8 registration_id # Id of external component emitting this response.
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uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies
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uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies.
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uint8 health_component_index # [@enum HEALTH_COMPONENT_INDEX]
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bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json)
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bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json)
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bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json)
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uint8 health_component_index # [@enum HEALTH_COMPONENT_INDEX]
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bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json).
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bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json).
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bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json).
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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
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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.
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uint8 num_events # Number of queued failure messages (Event) in the events field
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uint8 num_events # Number of queued failure messages (Event) in the events field.
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Event[5] events # Arming failure reasons (Queue of events to report to GCS)
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Event[5] events # Arming failure reasons (Queue of events to report to GCS).
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# Mode requirements
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bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope)
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bool mode_req_attitude # Requires an attitude estimate
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bool mode_req_local_alt # Requires a local altitude estimate
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bool mode_req_local_position # Requires a local position estimate
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bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate
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bool mode_req_global_position # Requires a global position estimate
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bool mode_req_global_position_relaxed # Requires a relaxed global position estimate
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bool mode_req_mission # Requires an uploaded mission
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bool mode_req_home_position # Requires a home position (such as RTL/Return mode)
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bool mode_req_prevent_arming # Prevent arming (such as in Land mode)
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bool mode_req_manual_control # Requires a manual controller
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bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope).
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bool mode_req_attitude # Requires an attitude estimate.
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bool mode_req_local_alt # Requires a local altitude estimate.
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bool mode_req_local_position # Requires a local position estimate.
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bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate.
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bool mode_req_global_position # Requires a global position estimate.
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bool mode_req_global_position_relaxed # Requires a relaxed global position estimate.
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bool mode_req_mission # Requires an uploaded mission.
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bool mode_req_home_position # Requires a home position (such as RTL/Return mode).
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bool mode_req_prevent_arming # Prevent arming (such as in Land mode).
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bool mode_req_manual_control # Requires a manual controller
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uint8 ORB_QUEUE_LENGTH = 4
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uint8 ORB_QUEUE_LENGTH = 4 #
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```
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@@ -1,5 +1,7 @@
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# ArmingCheckReplyV0 (UORB message)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckReplyV0.msg)
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```c
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@@ -1,6 +1,6 @@
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# ArmingCheckRequest (UORB message)
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Arming check request
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Arming check request.
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Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
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All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
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@@ -12,7 +12,7 @@ The reply will also include the registration_id for each external component, pro
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg)
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```c
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# Arming check request
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# Arming check request.
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#
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# Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
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# All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
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@@ -21,12 +21,10 @@ The reply will also include the registration_id for each external component, pro
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# The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
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# The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
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uint32 MESSAGE_VERSION = 1
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # [us] Time since system start
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uint64 timestamp # [us] Time since system start.
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uint8 request_id # [-] Id of this request. Allows correlation with associated ArmingCheckReply messages.
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uint32 valid_registrations_mask # [-] Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
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uint8 request_id # Id of this request. Allows correlation with associated ArmingCheckReply messages.
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```
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@@ -15,80 +15,79 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
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- [ActuatorMotors](ActuatorMotors.md) — Motor control message
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- [ActuatorServos](ActuatorServos.md) — Servo control message
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- [AirspeedValidated](AirspeedValidated.md) — Validated airspeed
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- [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply
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- [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request
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- [BatteryStatus](BatteryStatus.md) — Battery status
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- [AirspeedValidated](AirspeedValidated.md)
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- [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply.
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- [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request.
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- [BatteryStatus](BatteryStatus.md)
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- [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors
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- [Event](Event.md) — Events interface
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- [FixedWingLateralSetpoint](FixedWingLateralSetpoint.md) — Fixed Wing Lateral Setpoint message
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Used by the fw_lateral_longitudinal_control module
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At least one of course, airspeed_direction, or lateral_acceleration must be finite.
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Used by the fw_lateral_longitudinal_control module
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At least one of course, airspeed_direction, or lateral_acceleration must be finite.
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- [FixedWingLongitudinalSetpoint](FixedWingLongitudinalSetpoint.md) — Fixed Wing Longitudinal Setpoint message
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Used by the fw_lateral_longitudinal_control module
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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.
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If both altitude and height_rate are NAN, the controller maintains the current altitude.
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Used by the fw_lateral_longitudinal_control module
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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.
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If both altitude and height_rate are NAN, the controller maintains the current altitude.
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- [GotoSetpoint](GotoSetpoint.md) — Position and (optional) heading setpoints with corresponding speed constraints
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Setpoints are intended as inputs to position and heading smoothers, respectively
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Setpoints do not need to be kinematically consistent
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Optional heading setpoints may be specified as controlled by the respective flag
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Unset optional setpoints are not controlled
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Unset optional constraints default to vehicle specifications
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Setpoints are intended as inputs to position and heading smoothers, respectively
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Setpoints do not need to be kinematically consistent
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Optional heading setpoints may be specified as controlled by the respective flag
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Unset optional setpoints are not controlled
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Unset optional constraints default to vehicle specifications
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- [HomePosition](HomePosition.md) — GPS home position in WGS84 coordinates.
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- [LateralControlConfiguration](LateralControlConfiguration.md) — Fixed Wing Lateral Control Configuration message
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Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
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Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
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- [LongitudinalControlConfiguration](LongitudinalControlConfiguration.md) — Fixed Wing Longitudinal Control Configuration message
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Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages
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and configure the resultant setpoints.
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Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages
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and configure the resultant setpoints.
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- [ManualControlSetpoint](ManualControlSetpoint.md)
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- [ModeCompleted](ModeCompleted.md) — Mode completion result, published by an active mode.
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The possible values of nav_state are defined in the VehicleStatus msg.
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Note that this is not always published (e.g. when a user switches modes or on
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failsafe activation)
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The possible values of nav_state are defined in the VehicleStatus msg.
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Note that this is not always published (e.g. when a user switches modes or on
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failsafe activation)
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- [RegisterExtComponentReply](RegisterExtComponentReply.md)
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- [RegisterExtComponentRequest](RegisterExtComponentRequest.md) — Request to register an external component
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- [TrajectorySetpoint](TrajectorySetpoint.md) — Trajectory setpoint in NED frame
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Input to PID position controller.
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Needs to be kinematically consistent and feasible for smooth flight.
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setting a value to NaN means the state should not be controlled
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Input to PID position controller.
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Needs to be kinematically consistent and feasible for smooth flight.
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setting a value to NaN means the state should not be controlled
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- [UnregisterExtComponent](UnregisterExtComponent.md)
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- [VehicleAngularVelocity](VehicleAngularVelocity.md)
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- [VehicleAttitude](VehicleAttitude.md) — This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use
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The quaternion uses the Hamilton convention, and the order is q(w, x, y, z)
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The quaternion uses the Hamilton convention, and the order is q(w, x, y, z)
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- [VehicleAttitudeSetpoint](VehicleAttitudeSetpoint.md)
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- [VehicleCommand](VehicleCommand.md) — Vehicle Command uORB message. Used for commanding a mission / action / etc.
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Follows the MAVLink COMMAND_INT / COMMAND_LONG definition
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Follows the MAVLink COMMAND_INT / COMMAND_LONG definition
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- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Ackonwledgement uORB message.
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Used for acknowledging the vehicle command being received.
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Follows the MAVLink COMMAND_ACK message definition
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Used for acknowledging the vehicle command being received.
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Follows the MAVLink COMMAND_ACK message definition
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- [VehicleControlMode](VehicleControlMode.md)
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- [VehicleGlobalPosition](VehicleGlobalPosition.md) — Fused global position in WGS84.
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This struct contains global position estimation. It is not the raw GPS
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measurement (@see vehicle_gps_position). This topic is usually published by the position
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estimator, which will take more sources of information into account than just GPS,
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e.g. control inputs of the vehicle in a Kalman-filter implementation.
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This struct contains global position estimation. It is not the raw GPS
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measurement (@see vehicle_gps_position). This topic is usually published by the position
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estimator, which will take more sources of information into account than just GPS,
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e.g. control inputs of the vehicle in a Kalman-filter implementation.
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- [VehicleLandDetected](VehicleLandDetected.md)
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- [VehicleLocalPosition](VehicleLocalPosition.md) — Fused local position in NED.
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The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
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- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data
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The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
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- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
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- [VehicleRatesSetpoint](VehicleRatesSetpoint.md)
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- [VehicleStatus](VehicleStatus.md) — Encodes the system state of the vehicle published by commander
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- [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE
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- [Wind](Wind.md) — Wind estimate (from EKF2)
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## Unversioned Messages
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- [ActionRequest](ActionRequest.md) — Action request for the vehicle's main state
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- [ActionRequest](ActionRequest.md)
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- [ActuatorArmed](ActuatorArmed.md)
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- [ActuatorControlsStatus](ActuatorControlsStatus.md)
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- [ActuatorOutputs](ActuatorOutputs.md)
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- [ActuatorServosTrim](ActuatorServosTrim.md) — Servo trims, added as offset to servo outputs
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- [ActuatorTest](ActuatorTest.md)
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- [AdcReport](AdcReport.md) — ADC raw data.
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- [Airspeed](Airspeed.md) — Airspeed data from sensors
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- [AirspeedWind](AirspeedWind.md) — Wind estimate (from airspeed_selector)
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- [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md) — Autotune attitude control status
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- [BatteryInfo](BatteryInfo.md) — Battery information
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- [AdcReport](AdcReport.md)
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- [Airspeed](Airspeed.md)
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- [AirspeedWind](AirspeedWind.md)
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- [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md)
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- [ButtonEvent](ButtonEvent.md)
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- [CameraCapture](CameraCapture.md)
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- [CameraStatus](CameraStatus.md)
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@@ -96,7 +95,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
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- [CanInterfaceStatus](CanInterfaceStatus.md)
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- [CellularStatus](CellularStatus.md) — Cellular status
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- [CollisionConstraints](CollisionConstraints.md) — Local setpoint constraints in NED frame
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setting something to NaN means that no limit is provided
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setting something to NaN means that no limit is provided
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- [ControlAllocatorStatus](ControlAllocatorStatus.md)
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- [Cpuload](Cpuload.md)
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- [DatamanRequest](DatamanRequest.md)
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@@ -105,13 +104,11 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
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- [DebugKeyValue](DebugKeyValue.md)
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- [DebugValue](DebugValue.md)
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- [DebugVect](DebugVect.md)
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- [DeviceInformation](DeviceInformation.md) — Device information
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- [DifferentialPressure](DifferentialPressure.md) — Differential-pressure (airspeed) sensor
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- [DifferentialPressure](DifferentialPressure.md)
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- [DistanceSensor](DistanceSensor.md) — DISTANCE_SENSOR message data
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- [DistanceSensorModeChangeRequest](DistanceSensorModeChangeRequest.md)
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- [DronecanNodeStatus](DronecanNodeStatus.md)
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- [Ekf2Timestamps](Ekf2Timestamps.md) — this message contains the (relative) timestamps of the sensor inputs used by EKF2.
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It can be used for reproducible replay.
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It can be used for reproducible replay.
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- [EscReport](EscReport.md)
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- [EscStatus](EscStatus.md)
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- [EstimatorAidSource1d](EstimatorAidSource1d.md)
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@@ -124,7 +121,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
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- [EstimatorInnovations](EstimatorInnovations.md)
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- [EstimatorSelectorStatus](EstimatorSelectorStatus.md)
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- [EstimatorSensorBias](EstimatorSensorBias.md) — Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets,
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scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).
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scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).
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- [EstimatorStates](EstimatorStates.md)
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- [EstimatorStatus](EstimatorStatus.md)
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- [EstimatorStatusFlags](EstimatorStatusFlags.md)
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@@ -132,16 +129,15 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
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- [FailureDetectorStatus](FailureDetectorStatus.md)
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- [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
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Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs
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- [FixedWingLateralStatus](FixedWingLateralStatus.md) — Fixed Wing Lateral Status message
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Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint
|
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Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint
|
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- [FixedWingRunwayControl](FixedWingRunwayControl.md) — Auxiliary control fields for fixed-wing runway takeoff/landing
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||||
- [FlightPhaseEstimation](FlightPhaseEstimation.md)
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- [FollowTarget](FollowTarget.md)
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||||
- [FollowTargetEstimator](FollowTargetEstimator.md)
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- [FollowTargetStatus](FollowTargetStatus.md)
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||||
- [FuelTankStatus](FuelTankStatus.md)
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||||
- [GainCompression](GainCompression.md)
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||||
- [GeneratorStatus](GeneratorStatus.md)
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||||
- [GeofenceResult](GeofenceResult.md)
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- [GeofenceStatus](GeofenceStatus.md)
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@@ -174,7 +170,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
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- [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)
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||||
- [LedControl](LedControl.md) — LED control: control a single or multiple LED's.
|
||||
These are the externally visible LED's, not the board LED's
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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)
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- [MagWorkerData](MagWorkerData.md)
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||||
@@ -189,8 +185,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
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||||
- [MountOrientation](MountOrientation.md)
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||||
- [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
|
||||
The possible values of nav_state are defined in the VehicleStatus msg.
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||||
- [NormalizedUnsignedSetpoint](NormalizedUnsignedSetpoint.md)
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||||
- [ObstacleDistance](ObstacleDistance.md) — Obstacle distances in front of the sensor.
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||||
- [OffboardControlMode](OffboardControlMode.md) — Off-board control mode
|
||||
@@ -213,11 +208,11 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
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||||
- [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.
|
||||
This are the three next waypoints (or just the next two or one).
|
||||
This are the three next waypoints (or just the next two or one).
|
||||
- [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)
|
||||
- [PwmInput](PwmInput.md)
|
||||
- [Px4ioStatus](Px4ioStatus.md)
|
||||
- [QshellReq](QshellReq.md)
|
||||
@@ -226,15 +221,15 @@ 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)
|
||||
- [RoverAttitudeStatus](RoverAttitudeStatus.md)
|
||||
- [RoverPositionSetpoint](RoverPositionSetpoint.md)
|
||||
- [RoverRateSetpoint](RoverRateSetpoint.md)
|
||||
- [RoverRateStatus](RoverRateStatus.md)
|
||||
- [RoverSteeringSetpoint](RoverSteeringSetpoint.md)
|
||||
- [RoverThrottleSetpoint](RoverThrottleSetpoint.md)
|
||||
- [RoverVelocitySetpoint](RoverVelocitySetpoint.md)
|
||||
- [RoverVelocityStatus](RoverVelocityStatus.md)
|
||||
- [Rpm](Rpm.md)
|
||||
- [RtlStatus](RtlStatus.md)
|
||||
- [RtlTimeEstimate](RtlTimeEstimate.md)
|
||||
@@ -242,15 +237,14 @@ 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
|
||||
- [SensorBaro](SensorBaro.md)
|
||||
- [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.
|
||||
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. The NED frame is defined as the local topological system at the reference station.
|
||||
- [SensorGnssStatus](SensorGnssStatus.md) — Gnss quality indicators
|
||||
- [SensorGps](SensorGps.md) — GPS position in WGS84 coordinates.
|
||||
the field 'timestamp' is for the position & velocity (microseconds)
|
||||
the field 'timestamp' is for the position & velocity (microseconds)
|
||||
- [SensorGyro](SensorGyro.md)
|
||||
- [SensorGyroFft](SensorGyroFft.md)
|
||||
- [SensorGyroFifo](SensorGyroFifo.md)
|
||||
@@ -258,12 +252,11 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
|
||||
- [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
|
||||
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)
|
||||
Will be updated on startup of the sensor module and when sensor selection changes
|
||||
- [SensorUwb](SensorUwb.md) — UWB distance contains the distance information measured by an ultra-wideband positioning system,
|
||||
such as Pozyx or NXP Rddrone.
|
||||
such as Pozyx or NXP Rddrone.
|
||||
- [SensorsStatus](SensorsStatus.md) — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
|
||||
- [SensorsStatusImu](SensorsStatusImu.md) — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
|
||||
- [SystemPower](SystemPower.md)
|
||||
@@ -274,26 +267,26 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
|
||||
- [TiltrotorExtraControls](TiltrotorExtraControls.md)
|
||||
- [TimesyncStatus](TimesyncStatus.md)
|
||||
- [TrajectorySetpoint6dof](TrajectorySetpoint6dof.md) — Trajectory setpoint in NED frame
|
||||
Input to position controller.
|
||||
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.
|
||||
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
|
||||
mavlink message
|
||||
- [UlogStreamAck](UlogStreamAck.md) — Ack a previously sent ulog_stream message that had
|
||||
the NEED_ACK flag set
|
||||
the NEED_ACK flag set
|
||||
- [VehicleAcceleration](VehicleAcceleration.md)
|
||||
- [VehicleAirData](VehicleAirData.md) — Vehicle air data
|
||||
- [VehicleAirData](VehicleAirData.md)
|
||||
- [VehicleAngularAccelerationSetpoint](VehicleAngularAccelerationSetpoint.md)
|
||||
- [VehicleConstraints](VehicleConstraints.md) — Local setpoint constraints in NED frame
|
||||
setting something to NaN means that no limit is provided
|
||||
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
|
||||
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)
|
||||
@@ -302,18 +295,13 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
|
||||
- [VehicleTorqueSetpoint](VehicleTorqueSetpoint.md)
|
||||
- [VelocityLimits](VelocityLimits.md) — Velocity and yaw rate limits for a multicopter position slow mode only
|
||||
- [WheelEncoders](WheelEncoders.md)
|
||||
- [Wind](Wind.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
|
||||
- [HomePositionV0](HomePositionV0.md) — GPS home position in WGS84 coordinates.
|
||||
- [RegisterExtComponentReplyV0](RegisterExtComponentReplyV0.md)
|
||||
- [RegisterExtComponentRequestV0](RegisterExtComponentRequestV0.md) — Request to register an external component
|
||||
Events interface
|
||||
- [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
|
||||
|
||||
|
||||
Reference in New Issue
Block a user