diff --git a/docs/en/msg_docs/ArmingCheckReply.md b/docs/en/msg_docs/ArmingCheckReply.md index 14af54f0d1..d5e3322506 100644 --- a/docs/en/msg_docs/ArmingCheckReply.md +++ b/docs/en/msg_docs/ArmingCheckReply.md @@ -1,6 +1,6 @@ # ArmingCheckReply (UORB message) -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). @@ -12,7 +12,7 @@ The message is not used by internal/FMU components, as their mode requirements a [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg) ```c -# 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). @@ -21,39 +21,39 @@ The message is not used by internal/FMU components, as their mode requirements a # Note that the external component is identified by its registration_id, which is allocated to the component during registration (arming_check_id in RegisterExtComponentReply). # The message is not used by internal/FMU components, as their mode requirements are known at compile time. -uint32 MESSAGE_VERSION = 1 +uint32 MESSAGE_VERSION = 1 uint64 timestamp # [us] Time since system start. -uint8 request_id # [-] Id of ArmingCheckRequest for which this is a response -uint8 registration_id # [-] Id of external component emitting this response +uint8 request_id # Id of ArmingCheckRequest for which this is a 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_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) +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_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 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_attitude # Requires an attitude 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_relaxed # Requires a more relaxed 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_mission # Requires an uploaded mission -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_manual_control # Requires a manual controller +bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope). +bool mode_req_attitude # Requires an attitude 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_relaxed # Requires a more relaxed 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_mission # Requires an uploaded mission. +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_manual_control # Requires a manual controller -uint8 ORB_QUEUE_LENGTH = 4 +uint8 ORB_QUEUE_LENGTH = 4 # ``` diff --git a/docs/en/msg_docs/ArmingCheckReplyV0.md b/docs/en/msg_docs/ArmingCheckReplyV0.md index 48917da802..3b927cb054 100644 --- a/docs/en/msg_docs/ArmingCheckReplyV0.md +++ b/docs/en/msg_docs/ArmingCheckReplyV0.md @@ -1,5 +1,7 @@ # ArmingCheckReplyV0 (UORB message) + + [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckReplyV0.msg) ```c diff --git a/docs/en/msg_docs/ArmingCheckRequest.md b/docs/en/msg_docs/ArmingCheckRequest.md index d093dfb5e1..cfa4b52c23 100644 --- a/docs/en/msg_docs/ArmingCheckRequest.md +++ b/docs/en/msg_docs/ArmingCheckRequest.md @@ -1,6 +1,6 @@ # ArmingCheckRequest (UORB message) -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. @@ -12,7 +12,7 @@ The reply will also include the registration_id for each external component, pro [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg) ```c -# 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. @@ -21,12 +21,10 @@ The reply will also include the registration_id for each external component, pro # The reply will include the published request_id, allowing correlation of all arming check information for a particular request. # The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply). -uint32 MESSAGE_VERSION = 1 +uint32 MESSAGE_VERSION = 0 -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. - -uint32 valid_registrations_mask # [-] Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive) +uint8 request_id # Id of this request. Allows correlation with associated ArmingCheckReply messages. ``` diff --git a/docs/en/msg_docs/index.md b/docs/en/msg_docs/index.md index 359abfc67f..9ba32ebdc6 100644 --- a/docs/en/msg_docs/index.md +++ b/docs/en/msg_docs/index.md @@ -15,80 +15,79 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [ActuatorMotors](ActuatorMotors.md) — Motor control message - [ActuatorServos](ActuatorServos.md) — Servo control message -- [AirspeedValidated](AirspeedValidated.md) — Validated airspeed -- [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply -- [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request -- [BatteryStatus](BatteryStatus.md) — Battery status +- [AirspeedValidated](AirspeedValidated.md) +- [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply. +- [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request. +- [BatteryStatus](BatteryStatus.md) - [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors - [Event](Event.md) — Events interface - [FixedWingLateralSetpoint](FixedWingLateralSetpoint.md) — Fixed Wing Lateral Setpoint message - Used by the fw_lateral_longitudinal_control module - At least one of course, airspeed_direction, or lateral_acceleration must be finite. +Used by the fw_lateral_longitudinal_control module +At least one of course, airspeed_direction, or lateral_acceleration must be finite. - [FixedWingLongitudinalSetpoint](FixedWingLongitudinalSetpoint.md) — Fixed Wing Longitudinal Setpoint message - Used by the fw_lateral_longitudinal_control module - If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion. - If both altitude and height_rate are NAN, the controller maintains the current altitude. +Used by the fw_lateral_longitudinal_control module +If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion. +If both altitude and height_rate are NAN, the controller maintains the current altitude. - [GotoSetpoint](GotoSetpoint.md) — Position and (optional) heading setpoints with corresponding speed constraints - Setpoints are intended as inputs to position and heading smoothers, respectively - Setpoints do not need to be kinematically consistent - Optional heading setpoints may be specified as controlled by the respective flag - Unset optional setpoints are not controlled - Unset optional constraints default to vehicle specifications +Setpoints are intended as inputs to position and heading smoothers, respectively +Setpoints do not need to be kinematically consistent +Optional heading setpoints may be specified as controlled by the respective flag +Unset optional setpoints are not controlled +Unset optional constraints default to vehicle specifications - [HomePosition](HomePosition.md) — GPS home position in WGS84 coordinates. - [LateralControlConfiguration](LateralControlConfiguration.md) — Fixed Wing Lateral Control Configuration message - Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages. +Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages. - [LongitudinalControlConfiguration](LongitudinalControlConfiguration.md) — Fixed Wing Longitudinal Control Configuration message - Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages - and configure the resultant setpoints. +Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages +and configure the resultant setpoints. - [ManualControlSetpoint](ManualControlSetpoint.md) - [ModeCompleted](ModeCompleted.md) — Mode completion result, published by an active mode. - The possible values of nav_state are defined in the VehicleStatus msg. - Note that this is not always published (e.g. when a user switches modes or on - failsafe activation) +The possible values of nav_state are defined in the VehicleStatus msg. +Note that this is not always published (e.g. when a user switches modes or on +failsafe activation) - [RegisterExtComponentReply](RegisterExtComponentReply.md) - [RegisterExtComponentRequest](RegisterExtComponentRequest.md) — Request to register an external component - [TrajectorySetpoint](TrajectorySetpoint.md) — Trajectory setpoint in NED frame - Input to PID position controller. - Needs to be kinematically consistent and feasible for smooth flight. - setting a value to NaN means the state should not be controlled +Input to PID position controller. +Needs to be kinematically consistent and feasible for smooth flight. +setting a value to NaN means the state should not be controlled - [UnregisterExtComponent](UnregisterExtComponent.md) - [VehicleAngularVelocity](VehicleAngularVelocity.md) - [VehicleAttitude](VehicleAttitude.md) — This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use - The quaternion uses the Hamilton convention, and the order is q(w, x, y, z) +The quaternion uses the Hamilton convention, and the order is q(w, x, y, z) - [VehicleAttitudeSetpoint](VehicleAttitudeSetpoint.md) - [VehicleCommand](VehicleCommand.md) — Vehicle Command uORB message. Used for commanding a mission / action / etc. - Follows the MAVLink COMMAND_INT / COMMAND_LONG definition +Follows the MAVLink COMMAND_INT / COMMAND_LONG definition - [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Ackonwledgement uORB message. - Used for acknowledging the vehicle command being received. - Follows the MAVLink COMMAND_ACK message definition +Used for acknowledging the vehicle command being received. +Follows the MAVLink COMMAND_ACK message definition - [VehicleControlMode](VehicleControlMode.md) - [VehicleGlobalPosition](VehicleGlobalPosition.md) — Fused global position in WGS84. - This struct contains global position estimation. It is not the raw GPS - measurement (@see vehicle_gps_position). This topic is usually published by the position - estimator, which will take more sources of information into account than just GPS, - e.g. control inputs of the vehicle in a Kalman-filter implementation. +This struct contains global position estimation. It is not the raw GPS +measurement (@see vehicle_gps_position). This topic is usually published by the position +estimator, which will take more sources of information into account than just GPS, +e.g. control inputs of the vehicle in a Kalman-filter implementation. - [VehicleLandDetected](VehicleLandDetected.md) - [VehicleLocalPosition](VehicleLocalPosition.md) — Fused local position in NED. - The coordinate system origin is the vehicle position at the time when the EKF2-module was started. -- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data +The coordinate system origin is the vehicle position at the time when the EKF2-module was started. +- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data. Fits ROS REP 147 for aerial vehicles - [VehicleRatesSetpoint](VehicleRatesSetpoint.md) - [VehicleStatus](VehicleStatus.md) — Encodes the system state of the vehicle published by commander - [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE -- [Wind](Wind.md) — Wind estimate (from EKF2) + ## Unversioned Messages -- [ActionRequest](ActionRequest.md) — Action request for the vehicle's main state +- [ActionRequest](ActionRequest.md) - [ActuatorArmed](ActuatorArmed.md) - [ActuatorControlsStatus](ActuatorControlsStatus.md) - [ActuatorOutputs](ActuatorOutputs.md) - [ActuatorServosTrim](ActuatorServosTrim.md) — Servo trims, added as offset to servo outputs - [ActuatorTest](ActuatorTest.md) -- [AdcReport](AdcReport.md) — ADC raw data. -- [Airspeed](Airspeed.md) — Airspeed data from sensors -- [AirspeedWind](AirspeedWind.md) — Wind estimate (from airspeed_selector) -- [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md) — Autotune attitude control status -- [BatteryInfo](BatteryInfo.md) — Battery information +- [AdcReport](AdcReport.md) +- [Airspeed](Airspeed.md) +- [AirspeedWind](AirspeedWind.md) +- [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md) - [ButtonEvent](ButtonEvent.md) - [CameraCapture](CameraCapture.md) - [CameraStatus](CameraStatus.md) @@ -96,7 +95,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [CanInterfaceStatus](CanInterfaceStatus.md) - [CellularStatus](CellularStatus.md) — Cellular status - [CollisionConstraints](CollisionConstraints.md) — Local setpoint constraints in NED frame - setting something to NaN means that no limit is provided +setting something to NaN means that no limit is provided - [ControlAllocatorStatus](ControlAllocatorStatus.md) - [Cpuload](Cpuload.md) - [DatamanRequest](DatamanRequest.md) @@ -105,13 +104,11 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [DebugKeyValue](DebugKeyValue.md) - [DebugValue](DebugValue.md) - [DebugVect](DebugVect.md) -- [DeviceInformation](DeviceInformation.md) — Device information -- [DifferentialPressure](DifferentialPressure.md) — Differential-pressure (airspeed) sensor +- [DifferentialPressure](DifferentialPressure.md) - [DistanceSensor](DistanceSensor.md) — DISTANCE_SENSOR message data - [DistanceSensorModeChangeRequest](DistanceSensorModeChangeRequest.md) -- [DronecanNodeStatus](DronecanNodeStatus.md) - [Ekf2Timestamps](Ekf2Timestamps.md) — this message contains the (relative) timestamps of the sensor inputs used by EKF2. - It can be used for reproducible replay. +It can be used for reproducible replay. - [EscReport](EscReport.md) - [EscStatus](EscStatus.md) - [EstimatorAidSource1d](EstimatorAidSource1d.md) @@ -124,7 +121,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [EstimatorInnovations](EstimatorInnovations.md) - [EstimatorSelectorStatus](EstimatorSelectorStatus.md) - [EstimatorSensorBias](EstimatorSensorBias.md) — Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets, - scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available). +scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available). - [EstimatorStates](EstimatorStates.md) - [EstimatorStatus](EstimatorStatus.md) - [EstimatorStatusFlags](EstimatorStatusFlags.md) @@ -132,16 +129,15 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [FailureDetectorStatus](FailureDetectorStatus.md) - [FigureEightStatus](FigureEightStatus.md) - [FixedWingLateralGuidanceStatus](FixedWingLateralGuidanceStatus.md) — Fixed Wing Lateral Guidance Status message - Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs +Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs - [FixedWingLateralStatus](FixedWingLateralStatus.md) — Fixed Wing Lateral Status message - Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint +Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint - [FixedWingRunwayControl](FixedWingRunwayControl.md) — Auxiliary control fields for fixed-wing runway takeoff/landing - [FlightPhaseEstimation](FlightPhaseEstimation.md) - [FollowTarget](FollowTarget.md) - [FollowTargetEstimator](FollowTargetEstimator.md) - [FollowTargetStatus](FollowTargetStatus.md) - [FuelTankStatus](FuelTankStatus.md) -- [GainCompression](GainCompression.md) - [GeneratorStatus](GeneratorStatus.md) - [GeofenceResult](GeofenceResult.md) - [GeofenceStatus](GeofenceStatus.md) @@ -174,7 +170,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [LandingTargetPose](LandingTargetPose.md) — Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames - [LaunchDetectionStatus](LaunchDetectionStatus.md) — Status of the launch detection state machine (fixed-wing only) - [LedControl](LedControl.md) — LED control: control a single or multiple LED's. - These are the externally visible LED's, not the board LED's +These are the externally visible LED's, not the board LED's - [LogMessage](LogMessage.md) — A logging message, output with PX4_WARN, PX4_ERR, PX4_INFO - [LoggerStatus](LoggerStatus.md) - [MagWorkerData](MagWorkerData.md) @@ -189,8 +185,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [MountOrientation](MountOrientation.md) - [NavigatorMissionItem](NavigatorMissionItem.md) - [NavigatorStatus](NavigatorStatus.md) — Current status of a Navigator mode - The possible values of nav_state are defined in the VehicleStatus msg. -- [NeuralControl](NeuralControl.md) — Neural control +The possible values of nav_state are defined in the VehicleStatus msg. - [NormalizedUnsignedSetpoint](NormalizedUnsignedSetpoint.md) - [ObstacleDistance](ObstacleDistance.md) — Obstacle distances in front of the sensor. - [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 - [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 + + \ No newline at end of file