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docs/en/middleware/dds_topics.md
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@@ -95,219 +95,219 @@ They are not build into the module, and hence are neither published or subscribe
::: details See messages
- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [Cpuload](../msg_docs/Cpuload.md)
- [HomePositionV0](../msg_docs/HomePositionV0.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [InputRc](../msg_docs/InputRc.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [LogMessage](../msg_docs/LogMessage.md)
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
- [VelocityLimits](../msg_docs/VelocityLimits.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [EscReport](../msg_docs/EscReport.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [NeuralControl](../msg_docs/NeuralControl.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [FollowTarget](../msg_docs/FollowTarget.md)
- [VteOrientation](../msg_docs/VteOrientation.md)
- [VtePosition](../msg_docs/VtePosition.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
- [RaptorStatus](../msg_docs/RaptorStatus.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
- [EventV0](../msg_docs/EventV0.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [SensorTemp](../msg_docs/SensorTemp.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
- [DeviceInformation](../msg_docs/DeviceInformation.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [MagWorkerData](../msg_docs/MagWorkerData.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [EscEepromRead](../msg_docs/EscEepromRead.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [FiducialMarkerYawReport](../msg_docs/FiducialMarkerYawReport.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
- [VehicleStatusV3](../msg_docs/VehicleStatusV3.md)
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
- [DebugValue](../msg_docs/DebugValue.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [HeaterStatus](../msg_docs/HeaterStatus.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [TargetGnss](../msg_docs/TargetGnss.md)
- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
- [TuneControl](../msg_docs/TuneControl.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [CameraStatus](../msg_docs/CameraStatus.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [Rpm](../msg_docs/Rpm.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [Vtx](../msg_docs/Vtx.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [RegisterExtComponentRequestV1](../msg_docs/RegisterExtComponentRequestV1.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [VteAidSource3d](../msg_docs/VteAidSource3d.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [VteAidSource1d](../msg_docs/VteAidSource1d.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [IrlockReport](../msg_docs/IrlockReport.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [Ping](../msg_docs/Ping.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [VteInput](../msg_docs/VteInput.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [VehicleStatusV3](../msg_docs/VehicleStatusV3.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [Mission](../msg_docs/Mission.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [GpioOut](../msg_docs/GpioOut.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [MavlinkLog](../msg_docs/MavlinkLog.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [LedControl](../msg_docs/LedControl.md)
- [RaptorInput](../msg_docs/RaptorInput.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [CameraCapture](../msg_docs/CameraCapture.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [PrecLandStatus](../msg_docs/PrecLandStatus.md)
- [GpioIn](../msg_docs/GpioIn.md)
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [BatteryInfo](../msg_docs/BatteryInfo.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [VteOrientation](../msg_docs/VteOrientation.md)
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
- [SensorTemp](../msg_docs/SensorTemp.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [RegisterExtComponentRequestV1](../msg_docs/RegisterExtComponentRequestV1.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [VteAidSource1d](../msg_docs/VteAidSource1d.md)
- [LogMessage](../msg_docs/LogMessage.md)
- [VtePosition](../msg_docs/VtePosition.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [DeviceInformation](../msg_docs/DeviceInformation.md)
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [VteBiasInitStatus](../msg_docs/VteBiasInitStatus.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
- [Gripper](../msg_docs/Gripper.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [Event](../msg_docs/Event.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
- [HomePositionV0](../msg_docs/HomePositionV0.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [VelocityLimits](../msg_docs/VelocityLimits.md)
- [InputRc](../msg_docs/InputRc.md)
- [IrlockReport](../msg_docs/IrlockReport.md)
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md)
- [MavlinkLog](../msg_docs/MavlinkLog.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [EscReport](../msg_docs/EscReport.md)
- [EscEepromWrite](../msg_docs/EscEepromWrite.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
- [PrecLandStatus](../msg_docs/PrecLandStatus.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [FiducialMarkerPosReport](../msg_docs/FiducialMarkerPosReport.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [Event](../msg_docs/Event.md)
- [GainCompression](../msg_docs/GainCompression.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
- [TuneControl](../msg_docs/TuneControl.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [EstimatorFusionControl](../msg_docs/EstimatorFusionControl.md)
- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md)
- [RangingBeacon](../msg_docs/RangingBeacon.md)
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [CameraTrigger](../msg_docs/CameraTrigger.md)
- [TargetGnss](../msg_docs/TargetGnss.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [LedControl](../msg_docs/LedControl.md)
- [EventV0](../msg_docs/EventV0.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [EstimatorFusionControl](../msg_docs/EstimatorFusionControl.md)
- [Rpm](../msg_docs/Rpm.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [VteBiasInitStatus](../msg_docs/VteBiasInitStatus.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [EscEepromRead](../msg_docs/EscEepromRead.md)
- [RangingBeacon](../msg_docs/RangingBeacon.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [Cpuload](../msg_docs/Cpuload.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [FollowTarget](../msg_docs/FollowTarget.md)
- [Gripper](../msg_docs/Gripper.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [CameraStatus](../msg_docs/CameraStatus.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [DebugValue](../msg_docs/DebugValue.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [NeuralControl](../msg_docs/NeuralControl.md)
- [VteAidSource3d](../msg_docs/VteAidSource3d.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [Vtx](../msg_docs/Vtx.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [Ping](../msg_docs/Ping.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [MagWorkerData](../msg_docs/MagWorkerData.md)
- [RaptorInput](../msg_docs/RaptorInput.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [CameraCapture](../msg_docs/CameraCapture.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [BatteryInfo](../msg_docs/BatteryInfo.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [GpioOut](../msg_docs/GpioOut.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [GainCompression](../msg_docs/GainCompression.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [GpioIn](../msg_docs/GpioIn.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [FiducialMarkerYawReport](../msg_docs/FiducialMarkerYawReport.md)
- [RaptorStatus](../msg_docs/RaptorStatus.md)
:::
docs/en/msg_docs/ActionRequest.md
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@@ -14,17 +14,19 @@ Request are published by `manual_control` and subscribed by the `commander` and
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------- | -------- | ------------ | ----------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| action | `uint8` | | [ACTION](#ACTION) | Requested action |
| source | `uint8` | | [SOURCE](#SOURCE) | Request trigger type, such as a switch, button or gesture |
| mode | `uint8` | | | Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration. |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------------------- | -------- | ------------ | ----------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_action"></a>action | `uint8` | | [ACTION](#ACTION) | Requested action |
| <a id="fld_source"></a>source | `uint8` | | [SOURCE](#SOURCE) | Request trigger type, such as a switch, button or gesture |
| <a id="fld_mode"></a>mode | `uint8` | | | Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration. |
## Enums
### ACTION {#ACTION}
Used in field(s): [action](#fld_action)
| Name | Type | Value | Description |
| ----------------------------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------------------- |
| <a id="#ACTION_DISARM"></a> ACTION_DISARM | `uint8` | 0 | Disarm vehicle |
@@ -39,6 +41,8 @@ Request are published by `manual_control` and subscribed by the `commander` and
### SOURCE {#SOURCE}
Used in field(s): [source](#fld_source)
| Name | Type | Value | Description |
| ------------------------------------------------------- | ------- | ----- | --------------------------------------------------------------- |
| <a id="#SOURCE_STICK_GESTURE"></a> SOURCE_STICK_GESTURE | `uint8` | 0 | Triggered by holding the sticks in a certain position |
docs/en/msg_docs/ActuatorArmed.md
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@@ -8,16 +8,16 @@ pageClass: is-wide-page
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------- | -------- | ------------ | ---------- | ------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| armed | `bool` | | | Set to true if system is armed |
| prearmed | `bool` | | | Set to true if the actuator safety is disabled but motors are not armed |
| ready_to_arm | `bool` | | | Set to true if system is ready to be armed |
| lockdown | `bool` | | | Set to true if actuators are forced to being disabled (due to emergency or HIL) |
| kill | `bool` | | | Set to true if manual throttle kill switch is engaged |
| termination | `bool` | | | Send out failsafe (by default same as disarmed) output |
| in_esc_calibration_mode | `bool` | | | IO/FMU should ignore messages from the actuator controls topics |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------------------------------------------------------------- | -------- | ------------ | ---------- | ------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_armed"></a>armed | `bool` | | | Set to true if system is armed |
| <a id="fld_prearmed"></a>prearmed | `bool` | | | Set to true if the actuator safety is disabled but motors are not armed |
| <a id="fld_ready_to_arm"></a>ready_to_arm | `bool` | | | Set to true if system is ready to be armed |
| <a id="fld_lockdown"></a>lockdown | `bool` | | | Set to true if actuators are forced to being disabled (due to emergency or HIL) |
| <a id="fld_kill"></a>kill | `bool` | | | Set to true if manual throttle kill switch is engaged |
| <a id="fld_termination"></a>termination | `bool` | | | Send out failsafe (by default same as disarmed) output |
| <a id="fld_in_esc_calibration_mode"></a>in_esc_calibration_mode | `bool` | | | IO/FMU should ignore messages from the actuator controls topics |
## Source Message
docs/en/msg_docs/ActuatorControlsStatus.md
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@@ -8,10 +8,10 @@ pageClass: is-wide-page
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------- | ------------ | ------------ | ---------- | -------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| control_power | `float32[3]` | | |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_control_power"></a>control_power | `float32[3]` | | |
## Source Message
docs/en/msg_docs/ActuatorMotors.md
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@@ -13,12 +13,12 @@ Published by the vehicle's allocation and consumed by the ESC protocol drivers e
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ---------------- | ------------- | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on |
| reversible_flags | `uint16` | | | Bitset indicating which motors are configured to be reversible |
| control | `float32[12]` | | [-1 : 1] | Normalized thrust. Where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors) |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------------------- | ------------- | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on |
| <a id="fld_reversible_flags"></a>reversible_flags | `uint16` | | | Bitset indicating which motors are configured to be reversible |
| <a id="fld_control"></a>control | `float32[12]` | | [-1 : 1] | Normalized thrust. Where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors) |
## Constants
docs/en/msg_docs/ActuatorOutputs.md
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@@ -8,11 +8,11 @@ pageClass: is-wide-page
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------- | ------------- | ------------ | ---------- | -------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| noutputs | `uint32` | | | valid outputs |
| output | `float32[16]` | | | output data, in natural output units |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------------------- | ------------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_noutputs"></a>noutputs | `uint32` | | | valid outputs |
| <a id="fld_output"></a>output | `float32[16]` | | | output data, in natural output units |
## Constants
docs/en/msg_docs/ActuatorServos.md
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@@ -13,11 +13,11 @@ Published by the vehicle's allocation and consumed by the actuator output driver
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ---------------- | ------------ | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on |
| control | `float32[8]` | | [-1 : 1] | Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed. |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------------------- | ------------ | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on |
| <a id="fld_control"></a>control | `float32[8]` | | [-1 : 1] | Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed. |
## Constants
docs/en/msg_docs/ActuatorServosTrim.md
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@@ -10,10 +10,10 @@ Servo trims, added as offset to servo outputs.
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------- | ------------ | ------------ | ---------- | -------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| trim | `float32[8]` | | | range: [-1, 1] |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------------------- | ------------ | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_trim"></a>trim | `float32[8]` | | | range: [-1, 1] |
## Constants
docs/en/msg_docs/ActuatorTest.md
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@@ -8,13 +8,13 @@ pageClass: is-wide-page
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ---------- | --------- | ------------ | ---------- | ------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| action | `uint8` | | | one of ACTION\_\* |
| function | `uint16` | | | actuator output function |
| value | `float32` | | | range: [-1, 1], where 1 means maximum positive output, |
| timeout_ms | `uint32` | | | timeout in ms after which to exit test mode (if 0, do not time out) |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_action"></a>action | `uint8` | | | one of ACTION\_\* |
| <a id="fld_function"></a>function | `uint16` | | | actuator output function |
| <a id="fld_value"></a>value | `float32` | | | range: [-1, 1], where 1 means maximum positive output, |
| <a id="fld_timeout_ms"></a>timeout_ms | `uint32` | | | timeout in ms after which to exit test mode (if 0, do not time out) |
## Constants
docs/en/msg_docs/AdcReport.md
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View File
@@ -12,14 +12,14 @@ Communicates raw data from an analog-to-digital converter (ADC) to other modules
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ---------- | ----------- | ------------ | ---------- | ------------------------------------------------------------------------------------ |
| timestamp | `uint64` | us | | Time since system start |
| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| channel_id | `int16[16]` | | | ADC channel IDs, negative for non-existent, TODO: should be kept same as array index |
| raw_data | `int32[16]` | | | ADC channel raw value, accept negative value, valid if channel ID is positive |
| resolution | `uint32` | | | ADC channel resolution |
| v_ref | `float32` | V | | ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution) |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------- | ----------- | ------------ | ---------- | ------------------------------------------------------------------------------------ |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_device_id"></a>device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| <a id="fld_channel_id"></a>channel_id | `int16[16]` | | | ADC channel IDs, negative for non-existent, TODO: should be kept same as array index |
| <a id="fld_raw_data"></a>raw_data | `int32[16]` | | | ADC channel raw value, accept negative value, valid if channel ID is positive |
| <a id="fld_resolution"></a>resolution | `uint32` | | | ADC channel resolution |
| <a id="fld_v_ref"></a>v_ref | `float32` | V | | ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution) |
## Source Message
docs/en/msg_docs/Airspeed.md
+7 -7
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@@ -13,13 +13,13 @@ It is subscribed by the airspeed selector module, which validates the data from
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ---------------------- | --------- | ------------ | ---------- | -------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| timestamp_sample | `uint64` | us | | Timestamp of the raw data |
| indicated_airspeed_m_s | `float32` | m/s | | Indicated airspeed |
| true_airspeed_m_s | `float32` | m/s | | True airspeed |
| confidence | `float32` | | [0 : 1] | Confidence value for this sensor |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------------------------------- | --------- | ------------ | ---------- | -------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | us | | Timestamp of the raw data |
| <a id="fld_indicated_airspeed_m_s"></a>indicated_airspeed_m_s | `float32` | m/s | | Indicated airspeed |
| <a id="fld_true_airspeed_m_s"></a>true_airspeed_m_s | `float32` | m/s | | True airspeed |
| <a id="fld_confidence"></a>confidence | `float32` | | [0 : 1] | Confidence value for this sensor |
## Source Message
docs/en/msg_docs/AirspeedValidated.md
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@@ -13,23 +13,25 @@ Used by controllers, estimators and for airspeed reporting to operator.
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| -------------------------------- | --------- | ------------ | ----------------- | ---------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| indicated_airspeed_m_s | `float32` | m/s | | Indicated airspeed (IAS) (Invalid: NaN) |
| calibrated_airspeed_m_s | `float32` | m/s | | Calibrated airspeed (CAS) (Invalid: NaN) |
| true_airspeed_m_s | `float32` | m/s | | True airspeed (TAS) (Invalid: NaN) |
| airspeed_source | `int8` | | [SOURCE](#SOURCE) | Source of currently published airspeed values |
| calibrated_ground_minus_wind_m_s | `float32` | m/s | | CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption (Invalid: NaN) |
| calibraded_airspeed_synth_m_s | `float32` | m/s | | Synthetic airspeed (Invalid: NaN) |
| airspeed_derivative_filtered | `float32` | m/s^2 | | Filtered indicated airspeed derivative |
| throttle_filtered | `float32` | | | Filtered fixed-wing throttle |
| pitch_filtered | `float32` | rad | | Filtered pitch |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------------------------------------------------------------------------------- | --------- | ------------ | ----------------- | ---------------------------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_indicated_airspeed_m_s"></a>indicated_airspeed_m_s | `float32` | m/s | | Indicated airspeed (IAS) (Invalid: NaN) |
| <a id="fld_calibrated_airspeed_m_s"></a>calibrated_airspeed_m_s | `float32` | m/s | | Calibrated airspeed (CAS) (Invalid: NaN) |
| <a id="fld_true_airspeed_m_s"></a>true_airspeed_m_s | `float32` | m/s | | True airspeed (TAS) (Invalid: NaN) |
| <a id="fld_airspeed_source"></a>airspeed_source | `int8` | | [SOURCE](#SOURCE) | Source of currently published airspeed values |
| <a id="fld_calibrated_ground_minus_wind_m_s"></a>calibrated_ground_minus_wind_m_s | `float32` | m/s | | CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption (Invalid: NaN) |
| <a id="fld_calibraded_airspeed_synth_m_s"></a>calibraded_airspeed_synth_m_s | `float32` | m/s | | Synthetic airspeed (Invalid: NaN) |
| <a id="fld_airspeed_derivative_filtered"></a>airspeed_derivative_filtered | `float32` | m/s^2 | | Filtered indicated airspeed derivative |
| <a id="fld_throttle_filtered"></a>throttle_filtered | `float32` | | | Filtered fixed-wing throttle |
| <a id="fld_pitch_filtered"></a>pitch_filtered | `float32` | rad | | Filtered pitch |
## Enums
### SOURCE {#SOURCE}
Used in field(s): [airspeed_source](#fld_airspeed_source)
| Name | Type | Value | Description |
| --------------------------------------------------------------- | ------ | ----- | ----------------------- |
| <a id="#SOURCE_DISABLED"></a> SOURCE_DISABLED | `int8` | -1 | Disabled |
docs/en/msg_docs/AirspeedValidatedV0.md
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@@ -8,19 +8,19 @@ pageClass: is-wide-page
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------------------------------------ |
| timestamp | `uint64` | | | time since system start (microseconds) |
| indicated_airspeed_m_s | `float32` | | | indicated airspeed in m/s (IAS), set to NAN if invalid |
| calibrated_airspeed_m_s | `float32` | | | calibrated airspeed in m/s (CAS, accounts for instrumentation errors), set to NAN if invalid |
| true_airspeed_m_s | `float32` | | | true filtered airspeed in m/s (TAS), set to NAN if invalid |
| calibrated_ground_minus_wind_m_s | `float32` | | | CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid |
| true_ground_minus_wind_m_s | `float32` | | | TAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid |
| airspeed_sensor_measurement_valid | `bool` | | | True if data from at least one airspeed sensor is declared valid. |
| selected_airspeed_index | `int8` | | | 1-3: airspeed sensor index, 0: groundspeed-windspeed, -1: airspeed invalid |
| airspeed_derivative_filtered | `float32` | | | filtered indicated airspeed derivative [m/s/s] |
| throttle_filtered | `float32` | | | filtered fixed-wing throttle [-] |
| pitch_filtered | `float32` | | | filtered pitch [rad] |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------------------------------------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------------------------------------ |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_indicated_airspeed_m_s"></a>indicated_airspeed_m_s | `float32` | | | indicated airspeed in m/s (IAS), set to NAN if invalid |
| <a id="fld_calibrated_airspeed_m_s"></a>calibrated_airspeed_m_s | `float32` | | | calibrated airspeed in m/s (CAS, accounts for instrumentation errors), set to NAN if invalid |
| <a id="fld_true_airspeed_m_s"></a>true_airspeed_m_s | `float32` | | | true filtered airspeed in m/s (TAS), set to NAN if invalid |
| <a id="fld_calibrated_ground_minus_wind_m_s"></a>calibrated_ground_minus_wind_m_s | `float32` | | | CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid |
| <a id="fld_true_ground_minus_wind_m_s"></a>true_ground_minus_wind_m_s | `float32` | | | TAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid |
| <a id="fld_airspeed_sensor_measurement_valid"></a>airspeed_sensor_measurement_valid | `bool` | | | True if data from at least one airspeed sensor is declared valid. |
| <a id="fld_selected_airspeed_index"></a>selected_airspeed_index | `int8` | | | 1-3: airspeed sensor index, 0: groundspeed-windspeed, -1: airspeed invalid |
| <a id="fld_airspeed_derivative_filtered"></a>airspeed_derivative_filtered | `float32` | | | filtered indicated airspeed derivative [m/s/s] |
| <a id="fld_throttle_filtered"></a>throttle_filtered | `float32` | | | filtered fixed-wing throttle [-] |
| <a id="fld_pitch_filtered"></a>pitch_filtered | `float32` | | | filtered pitch [rad] |
## Constants
docs/en/msg_docs/AirspeedWind.md
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@@ -16,22 +16,22 @@ subscribed to by any other modules.
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------- | --------- | ------------ | ---------- | --------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| timestamp_sample | `uint64` | us | | Timestamp of the raw data |
| windspeed_north | `float32` | m/s | | Wind component in north / X direction |
| windspeed_east | `float32` | m/s | | Wind component in east / Y direction |
| variance_north | `float32` | (m/s)^2 | | Wind estimate error variance in north / X direction (Invalid: 0 if not estimated) |
| variance_east | `float32` | (m/s)^2 | | Wind estimate error variance in east / Y direction (Invalid: 0 if not estimated) |
| tas_innov | `float32` | m/s | | True airspeed innovation |
| tas_innov_var | `float32` | m/s | | True airspeed innovation variance |
| tas_scale_raw | `float32` | | | Estimated true airspeed scale factor (not validated) |
| tas_scale_raw_var | `float32` | | | True airspeed scale factor variance |
| tas_scale_validated | `float32` | | | Estimated true airspeed scale factor after validation |
| beta_innov | `float32` | rad | | Sideslip measurement innovation |
| beta_innov_var | `float32` | rad^2 | | Sideslip measurement innovation variance |
| source | `uint8` | | | source of wind estimate |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------------------------- | --------- | ------------ | ---------- | --------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | us | | Timestamp of the raw data |
| <a id="fld_windspeed_north"></a>windspeed_north | `float32` | m/s | | Wind component in north / X direction |
| <a id="fld_windspeed_east"></a>windspeed_east | `float32` | m/s | | Wind component in east / Y direction |
| <a id="fld_variance_north"></a>variance_north | `float32` | (m/s)^2 | | Wind estimate error variance in north / X direction (Invalid: 0 if not estimated) |
| <a id="fld_variance_east"></a>variance_east | `float32` | (m/s)^2 | | Wind estimate error variance in east / Y direction (Invalid: 0 if not estimated) |
| <a id="fld_tas_innov"></a>tas_innov | `float32` | m/s | | True airspeed innovation |
| <a id="fld_tas_innov_var"></a>tas_innov_var | `float32` | m/s | | True airspeed innovation variance |
| <a id="fld_tas_scale_raw"></a>tas_scale_raw | `float32` | | | Estimated true airspeed scale factor (not validated) |
| <a id="fld_tas_scale_raw_var"></a>tas_scale_raw_var | `float32` | | | True airspeed scale factor variance |
| <a id="fld_tas_scale_validated"></a>tas_scale_validated | `float32` | | | Estimated true airspeed scale factor after validation |
| <a id="fld_beta_innov"></a>beta_innov | `float32` | rad | | Sideslip measurement innovation |
| <a id="fld_beta_innov_var"></a>beta_innov_var | `float32` | rad^2 | | Sideslip measurement innovation variance |
| <a id="fld_source"></a>source | `uint8` | | | source of wind estimate |
## Constants
docs/en/msg_docs/ArmingCheckReply.md
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@@ -17,34 +17,36 @@ The message is not used by internal/FMU components, as their mode requirements a
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| -------------------------------- | ---------- | ------------ | ------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start. |
| request_id | `uint8` | | | Id of ArmingCheckRequest for which this is a response |
| registration_id | `uint8` | | | Id of external component emitting this response |
| health_component_index | `uint8` | | [HEALTH_COMPONENT_INDEX](#HEALTH_COMPONENT_INDEX) |
| health_component_is_present | `bool` | | | Unused. Intended for use with health events interface (health_component_t in events.json) |
| health_component_warning | `bool` | | | Unused. Intended for use with health events interface (health_component_t in events.json) |
| health_component_error | `bool` | | | Unused. Intended for use with health events interface (health_component_t in events.json) |
| can_arm_and_run | `bool` | | | 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 |
| num_events | `uint8` | | | Number of queued failure messages (Event) in the events field |
| events | `Event[5]` | | | Arming failure reasons (Queue of events to report to GCS) |
| mode_req_angular_velocity | `bool` | | | Requires angular velocity estimate (e.g. from gyroscope) |
| mode_req_attitude | `bool` | | | Requires an attitude estimate |
| mode_req_local_alt | `bool` | | | Requires a local altitude estimate |
| mode_req_local_position | `bool` | | | Requires a local position estimate |
| mode_req_local_position_relaxed | `bool` | | | Requires a more relaxed global position estimate |
| mode_req_global_position | `bool` | | | Requires a global position estimate |
| mode_req_global_position_relaxed | `bool` | | | Requires a relaxed global position estimate |
| mode_req_mission | `bool` | | | Requires an uploaded mission |
| mode_req_home_position | `bool` | | | Requires a home position (such as RTL/Return mode) |
| mode_req_prevent_arming | `bool` | | | Prevent arming (such as in Land mode) |
| mode_req_manual_control | `bool` | | | Requires a manual controller |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------------------------------------------------------------------------------- | ---------- | ------------ | ------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start. |
| <a id="fld_request_id"></a>request_id | `uint8` | | | Id of ArmingCheckRequest for which this is a response |
| <a id="fld_registration_id"></a>registration_id | `uint8` | | | Id of external component emitting this response |
| <a id="fld_health_component_index"></a>health_component_index | `uint8` | | [HEALTH_COMPONENT_INDEX](#HEALTH_COMPONENT_INDEX) |
| <a id="fld_health_component_is_present"></a>health_component_is_present | `bool` | | | Unused. Intended for use with health events interface (health_component_t in events.json) |
| <a id="fld_health_component_warning"></a>health_component_warning | `bool` | | | Unused. Intended for use with health events interface (health_component_t in events.json) |
| <a id="fld_health_component_error"></a>health_component_error | `bool` | | | Unused. Intended for use with health events interface (health_component_t in events.json) |
| <a id="fld_can_arm_and_run"></a>can_arm_and_run | `bool` | | | 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 |
| <a id="fld_num_events"></a>num_events | `uint8` | | | Number of queued failure messages (Event) in the events field |
| <a id="fld_events"></a>events | `Event[5]` | | | Arming failure reasons (Queue of events to report to GCS) |
| <a id="fld_mode_req_angular_velocity"></a>mode_req_angular_velocity | `bool` | | | Requires angular velocity estimate (e.g. from gyroscope) |
| <a id="fld_mode_req_attitude"></a>mode_req_attitude | `bool` | | | Requires an attitude estimate |
| <a id="fld_mode_req_local_alt"></a>mode_req_local_alt | `bool` | | | Requires a local altitude estimate |
| <a id="fld_mode_req_local_position"></a>mode_req_local_position | `bool` | | | Requires a local position estimate |
| <a id="fld_mode_req_local_position_relaxed"></a>mode_req_local_position_relaxed | `bool` | | | Requires a more relaxed global position estimate |
| <a id="fld_mode_req_global_position"></a>mode_req_global_position | `bool` | | | Requires a global position estimate |
| <a id="fld_mode_req_global_position_relaxed"></a>mode_req_global_position_relaxed | `bool` | | | Requires a relaxed global position estimate |
| <a id="fld_mode_req_mission"></a>mode_req_mission | `bool` | | | Requires an uploaded mission |
| <a id="fld_mode_req_home_position"></a>mode_req_home_position | `bool` | | | Requires a home position (such as RTL/Return mode) |
| <a id="fld_mode_req_prevent_arming"></a>mode_req_prevent_arming | `bool` | | | Prevent arming (such as in Land mode) |
| <a id="fld_mode_req_manual_control"></a>mode_req_manual_control | `bool` | | | Requires a manual controller |
## Enums
### HEALTH_COMPONENT_INDEX {#HEALTH_COMPONENT_INDEX}
Used in field(s): [health_component_index](#fld_health_component_index)
| Name | Type | Value | Description |
| --------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------- |
| <a id="#HEALTH_COMPONENT_INDEX_NONE"></a> HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 | Index of health component for which this response applies |
docs/en/msg_docs/ArmingCheckReplyV0.md
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@@ -8,28 +8,28 @@ pageClass: is-wide-page
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------ |
| timestamp | `uint64` | | | time since system start (microseconds) |
| request_id | `uint8` | | |
| registration_id | `uint8` | | |
| health_component_index | `uint8` | | | HEALTH*COMPONENT_INDEX*\* |
| health_component_is_present | `bool` | | |
| health_component_warning | `bool` | | |
| health_component_error | `bool` | | |
| can_arm_and_run | `bool` | | | whether arming is possible, and if it's a navigation mode, if it can run |
| num_events | `uint8` | | |
| events | `EventV0[5]` | | |
| mode_req_angular_velocity | `bool` | | |
| mode_req_attitude | `bool` | | |
| mode_req_local_alt | `bool` | | |
| mode_req_local_position | `bool` | | |
| mode_req_local_position_relaxed | `bool` | | |
| mode_req_global_position | `bool` | | |
| mode_req_mission | `bool` | | |
| mode_req_home_position | `bool` | | |
| mode_req_prevent_arming | `bool` | | |
| mode_req_manual_control | `bool` | | |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------------------------------------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------ |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_request_id"></a>request_id | `uint8` | | |
| <a id="fld_registration_id"></a>registration_id | `uint8` | | |
| <a id="fld_health_component_index"></a>health_component_index | `uint8` | | | HEALTH*COMPONENT_INDEX*\* |
| <a id="fld_health_component_is_present"></a>health_component_is_present | `bool` | | |
| <a id="fld_health_component_warning"></a>health_component_warning | `bool` | | |
| <a id="fld_health_component_error"></a>health_component_error | `bool` | | |
| <a id="fld_can_arm_and_run"></a>can_arm_and_run | `bool` | | | whether arming is possible, and if it's a navigation mode, if it can run |
| <a id="fld_num_events"></a>num_events | `uint8` | | |
| <a id="fld_events"></a>events | `EventV0[5]` | | |
| <a id="fld_mode_req_angular_velocity"></a>mode_req_angular_velocity | `bool` | | |
| <a id="fld_mode_req_attitude"></a>mode_req_attitude | `bool` | | |
| <a id="fld_mode_req_local_alt"></a>mode_req_local_alt | `bool` | | |
| <a id="fld_mode_req_local_position"></a>mode_req_local_position | `bool` | | |
| <a id="fld_mode_req_local_position_relaxed"></a>mode_req_local_position_relaxed | `bool` | | |
| <a id="fld_mode_req_global_position"></a>mode_req_global_position | `bool` | | |
| <a id="fld_mode_req_mission"></a>mode_req_mission | `bool` | | |
| <a id="fld_mode_req_home_position"></a>mode_req_home_position | `bool` | | |
| <a id="fld_mode_req_prevent_arming"></a>mode_req_prevent_arming | `bool` | | |
| <a id="fld_mode_req_manual_control"></a>mode_req_manual_control | `bool` | | |
## Constants
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@@ -17,11 +17,11 @@ The reply will also include the registration_id for each external component, pro
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------ | -------- | ------------ | ---------- | --------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| request_id | `uint8` | | | Id of this request. Allows correlation with associated ArmingCheckReply messages. |
| valid_registrations_mask | `uint32` | | | Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive) |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------------------------------------------------- | -------- | ------------ | ---------- | --------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_request_id"></a>request_id | `uint8` | | | Id of this request. Allows correlation with associated ArmingCheckReply messages. |
| <a id="fld_valid_registrations_mask"></a>valid_registrations_mask | `uint32` | | | Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive) |
## Constants
docs/en/msg_docs/ArmingCheckRequestV0.md
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@@ -17,10 +17,10 @@ The reply will also include the registration_id for each external component, pro
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ---------- | -------- | ------------ | ---------- | --------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start. |
| request_id | `uint8` | | | Id of this request. Allows correlation with associated ArmingCheckReply messages. |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------- | -------- | ------------ | ---------- | --------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start. |
| <a id="fld_request_id"></a>request_id | `uint8` | | | Id of this request. Allows correlation with associated ArmingCheckReply messages. |
## Constants
docs/en/msg_docs/AutotuneAttitudeControlStatus.md
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@@ -15,28 +15,30 @@ The rate_sp field is consumed by the controllers, while the remaining fields (mo
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------- | ------------ | ------------ | --------------- | --------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| coeff | `float32[5]` | | | Coefficients of the identified discrete-time model |
| coeff_var | `float32[5]` | | | Coefficients' variance of the identified discrete-time model |
| fitness | `float32` | | | Fitness of the parameter estimate |
| innov | `float32` | rad/s | | Innovation (residual error between model and measured output) |
| dt_model | `float32` | s | | Model sample time used for identification |
| kc | `float32` | | | Proportional rate-loop gain (ideal form) |
| ki | `float32` | | | Integral rate-loop gain (ideal form) |
| kd | `float32` | | | Derivative rate-loop gain (ideal form) |
| kff | `float32` | | | Feedforward rate-loop gain |
| att_p | `float32` | | | Proportional attitude gain |
| rate_sp | `float32[3]` | rad/s | | Rate setpoint commanded to the attitude controller. |
| u_filt | `float32` | | | Filtered input signal (normalized torque setpoint) used in system identification. |
| y_filt | `float32` | rad/s | | Filtered output signal (angular velocity) used in system identification. |
| state | `uint8` | | [STATE](#STATE) | Current state of the autotune procedure. |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------------------- | ------------ | ------------ | --------------- | --------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_coeff"></a>coeff | `float32[5]` | | | Coefficients of the identified discrete-time model |
| <a id="fld_coeff_var"></a>coeff_var | `float32[5]` | | | Coefficients' variance of the identified discrete-time model |
| <a id="fld_fitness"></a>fitness | `float32` | | | Fitness of the parameter estimate |
| <a id="fld_innov"></a>innov | `float32` | rad/s | | Innovation (residual error between model and measured output) |
| <a id="fld_dt_model"></a>dt_model | `float32` | s | | Model sample time used for identification |
| <a id="fld_kc"></a>kc | `float32` | | | Proportional rate-loop gain (ideal form) |
| <a id="fld_ki"></a>ki | `float32` | | | Integral rate-loop gain (ideal form) |
| <a id="fld_kd"></a>kd | `float32` | | | Derivative rate-loop gain (ideal form) |
| <a id="fld_kff"></a>kff | `float32` | | | Feedforward rate-loop gain |
| <a id="fld_att_p"></a>att_p | `float32` | | | Proportional attitude gain |
| <a id="fld_rate_sp"></a>rate_sp | `float32[3]` | rad/s | | Rate setpoint commanded to the attitude controller. |
| <a id="fld_u_filt"></a>u_filt | `float32` | | | Filtered input signal (normalized torque setpoint) used in system identification. |
| <a id="fld_y_filt"></a>y_filt | `float32` | rad/s | | Filtered output signal (angular velocity) used in system identification. |
| <a id="fld_state"></a>state | `uint8` | | [STATE](#STATE) | Current state of the autotune procedure. |
## Enums
### STATE {#STATE}
Used in field(s): [state](#fld_state)
| Name | Type | Value | Description |
| ----------------------------------------------------------------------------- | ------- | ----- | -------------------------------------------------------- |
| <a id="#STATE_IDLE"></a> STATE_IDLE | `uint8` | 0 | Idle (not running) |
docs/en/msg_docs/AuxGlobalPosition.md
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@@ -13,23 +13,25 @@ pseudolites, visual navigation, or other positioning system.
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------------------- | --------- | ------------ | ----------------- | --------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| timestamp_sample | `uint64` | us | | Timestamp of the raw data |
| id | `uint8` | | | Unique identifier for the AGP source |
| source | `uint8` | | [SOURCE](#SOURCE) | Source type of the position data (based on mavlink::GLOBAL_POSITION_SRC) |
| lat | `float64` | deg | | Latitude in WGS84 |
| lon | `float64` | deg | | Longitude in WGS84 |
| alt | `float32` | m | | Altitude above mean sea level (AMSL) (Invalid: NaN) |
| eph | `float32` | m | | Std dev of horizontal position, lower bounded by NOISE param (Invalid: NaN) |
| epv | `float32` | m | | Std dev of vertical position, lower bounded by NOISE param (Invalid: NaN) |
| lat_lon_reset_counter | `uint8` | | | Counter for reset events on horizontal position coordinates |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------------------------------------------- | --------- | ------------ | ----------------- | --------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | us | | Timestamp of the raw data |
| <a id="fld_id"></a>id | `uint8` | | | Unique identifier for the AGP source |
| <a id="fld_source"></a>source | `uint8` | | [SOURCE](#SOURCE) | Source type of the position data (based on mavlink::GLOBAL_POSITION_SRC) |
| <a id="fld_lat"></a>lat | `float64` | deg | | Latitude in WGS84 |
| <a id="fld_lon"></a>lon | `float64` | deg | | Longitude in WGS84 |
| <a id="fld_alt"></a>alt | `float32` | m | | Altitude above mean sea level (AMSL) (Invalid: NaN) |
| <a id="fld_eph"></a>eph | `float32` | m | | Std dev of horizontal position, lower bounded by NOISE param (Invalid: NaN) |
| <a id="fld_epv"></a>epv | `float32` | m | | Std dev of vertical position, lower bounded by NOISE param (Invalid: NaN) |
| <a id="fld_lat_lon_reset_counter"></a>lat_lon_reset_counter | `uint8` | | | Counter for reset events on horizontal position coordinates |
## Enums
### SOURCE {#SOURCE}
Used in field(s): [source](#fld_source)
| Name | Type | Value | Description |
| --------------------------------------------------- | ------- | ----- | ------------------------------------------- |
| <a id="#SOURCE_UNKNOWN"></a> SOURCE_UNKNOWN | `uint8` | 0 | Unknown source |
docs/en/msg_docs/BatteryInfo.md
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@@ -13,11 +13,11 @@ Should be streamed at low rate.
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------- | ---------- | ------------ | ---------- | ------------------------------------------------------------------------------------------ |
| timestamp | `uint64` | us | | Time since system start |
| id | `uint8` | | | Must match the id in the battery_status message for the same battery |
| serial_number | `char[32]` | | | Serial number of the battery pack in ASCII characters, 0 terminated (Invalid: 0 All bytes) |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------------- | ---------- | ------------ | ---------- | ------------------------------------------------------------------------------------------ |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_id"></a>id | `uint8` | | | Must match the id in the battery_status message for the same battery |
| <a id="fld_serial_number"></a>serial_number | `char[32]` | | | Serial number of the battery pack in ASCII characters, 0 terminated (Invalid: 0 All bytes) |
## Source Message
docs/en/msg_docs/BatteryStatus.md
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@@ -14,51 +14,53 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ---------------------------- | ------------- | ------------ | ---------------------------------- | ----------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| connected | `bool` | | | Whether or not a battery is connected. For power modules this is based on a voltage threshold. |
| voltage_v | `float32` | V | | Battery voltage (Invalid: 0) |
| current_a | `float32` | A | | Battery current (Invalid: -1) |
| current_average_a | `float32` | A | | Battery current average (for FW average in level flight) (Invalid: -1) |
| discharged_mah | `float32` | mAh | | Discharged amount (Invalid: -1) |
| remaining | `float32` | | [0 : 1] | Remaining capacity (Invalid: -1) |
| scale | `float32` | | [1 : -] | Scaling factor to compensate for lower actuation power caused by voltage sag (Invalid: -1) |
| time_remaining_s | `float32` | s | | Predicted time remaining until battery is empty under previous averaged load (Invalid: NaN) |
| temperature | `float32` | degC | | Temperature of the battery (Invalid: NaN) |
| cell_count | `uint8` | | | Number of cells (Invalid: 0) |
| source | `uint8` | | [SOURCE](#SOURCE) | Battery source |
| priority | `uint8` | | | Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 |
| capacity | `uint16` | mAh | | Capacity of the battery when fully charged |
| cycle_count | `uint16` | | | Number of discharge cycles the battery has experienced |
| average_time_to_empty | `uint16` | minutes | | Predicted remaining battery capacity based on the average rate of discharge |
| manufacture_date | `uint16` | | | Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512 |
| state_of_health | `uint16` | % | [0 : 100] | State of health. FullChargeCapacity/DesignCapacity |
| max_error | `uint16` | % | [1 : 100] | Max error, expected margin of error in the state-of-charge calculation |
| id | `uint8` | | | ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed |
| interface_error | `uint16` | | | Interface error counter |
| voltage_cell_v | `float32[14]` | V | | Battery individual cell voltages (Invalid: 0) |
| max_cell_voltage_delta | `float32` | V | | Max difference between individual cell voltages |
| is_powering_off | `bool` | | | Power off event imminent indication, false if unknown |
| is_required | `bool` | | | Set if the battery is explicitly required before arming |
| warning | `uint8` | | [WARNING](#WARNING)[STATE](#STATE) | Current battery warning |
| faults | `uint16` | | [FAULT](#FAULT) | Smart battery supply status/fault flags (bitmask) for health indication |
| full_charge_capacity_wh | `float32` | Wh | | Compensated battery capacity |
| remaining_capacity_wh | `float32` | Wh | | Compensated battery capacity remaining (Invalid: NaN) |
| over_discharge_count | `uint16` | | | Number of battery overdischarge |
| nominal_voltage | `float32` | V | | Nominal voltage of the battery pack (Invalid: NaN) |
| internal_resistance_estimate | `float32` | Ohm | | Internal resistance per cell estimate |
| ocv_estimate | `float32` | V | | Open circuit voltage estimate |
| ocv_estimate_filtered | `float32` | V | | Filtered open circuit voltage estimate |
| volt_based_soc_estimate | `float32` | | [0 : 1] | Normalized volt based state of charge estimate |
| voltage_prediction | `float32` | V | | Predicted voltage |
| prediction_error | `float32` | V | | Prediction error |
| estimation_covariance_norm | `float32` | | | Norm of the covariance matrix |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------------------------------------------- | ------------- | ------------ | ------------------------------------ | ----------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_connected"></a>connected | `bool` | | | Whether or not a battery is connected. For power modules this is based on a voltage threshold. |
| <a id="fld_voltage_v"></a>voltage_v | `float32` | V | | Battery voltage (Invalid: 0) |
| <a id="fld_current_a"></a>current_a | `float32` | A | | Battery current (Invalid: -1) |
| <a id="fld_current_average_a"></a>current_average_a | `float32` | A | | Battery current average (for FW average in level flight) (Invalid: -1) |
| <a id="fld_discharged_mah"></a>discharged_mah | `float32` | mAh | | Discharged amount (Invalid: -1) |
| <a id="fld_remaining"></a>remaining | `float32` | | [0 : 1] | Remaining capacity (Invalid: -1) |
| <a id="fld_scale"></a>scale | `float32` | | [1 : -] | Scaling factor to compensate for lower actuation power caused by voltage sag (Invalid: -1) |
| <a id="fld_time_remaining_s"></a>time_remaining_s | `float32` | s | | Predicted time remaining until battery is empty under previous averaged load (Invalid: NaN) |
| <a id="fld_temperature"></a>temperature | `float32` | degC | | Temperature of the battery (Invalid: NaN) |
| <a id="fld_cell_count"></a>cell_count | `uint8` | | | Number of cells (Invalid: 0) |
| <a id="fld_source"></a>source | `uint8` | | [SOURCE](#SOURCE) | Battery source |
| <a id="fld_priority"></a>priority | `uint8` | | | Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 |
| <a id="fld_capacity"></a>capacity | `uint16` | mAh | | Capacity of the battery when fully charged |
| <a id="fld_cycle_count"></a>cycle_count | `uint16` | | | Number of discharge cycles the battery has experienced |
| <a id="fld_average_time_to_empty"></a>average_time_to_empty | `uint16` | minutes | | Predicted remaining battery capacity based on the average rate of discharge |
| <a id="fld_manufacture_date"></a>manufacture_date | `uint16` | | | Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512 |
| <a id="fld_state_of_health"></a>state_of_health | `uint16` | % | [0 : 100] | State of health. FullChargeCapacity/DesignCapacity |
| <a id="fld_max_error"></a>max_error | `uint16` | % | [1 : 100] | Max error, expected margin of error in the state-of-charge calculation |
| <a id="fld_id"></a>id | `uint8` | | | ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed |
| <a id="fld_interface_error"></a>interface_error | `uint16` | | | Interface error counter |
| <a id="fld_voltage_cell_v"></a>voltage_cell_v | `float32[14]` | V | | Battery individual cell voltages (Invalid: 0) |
| <a id="fld_max_cell_voltage_delta"></a>max_cell_voltage_delta | `float32` | V | | Max difference between individual cell voltages |
| <a id="fld_is_powering_off"></a>is_powering_off | `bool` | | | Power off event imminent indication, false if unknown |
| <a id="fld_is_required"></a>is_required | `bool` | | | Set if the battery is explicitly required before arming |
| <a id="fld_warning"></a>warning | `uint8` | | [WARNING](#WARNING), [STATE](#STATE) | Current battery warning |
| <a id="fld_faults"></a>faults | `uint16` | | [FAULT](#FAULT) | Smart battery supply status/fault flags (bitmask) for health indication |
| <a id="fld_full_charge_capacity_wh"></a>full_charge_capacity_wh | `float32` | Wh | | Compensated battery capacity |
| <a id="fld_remaining_capacity_wh"></a>remaining_capacity_wh | `float32` | Wh | | Compensated battery capacity remaining (Invalid: NaN) |
| <a id="fld_over_discharge_count"></a>over_discharge_count | `uint16` | | | Number of battery overdischarge |
| <a id="fld_nominal_voltage"></a>nominal_voltage | `float32` | V | | Nominal voltage of the battery pack (Invalid: NaN) |
| <a id="fld_internal_resistance_estimate"></a>internal_resistance_estimate | `float32` | Ohm | | Internal resistance per cell estimate |
| <a id="fld_ocv_estimate"></a>ocv_estimate | `float32` | V | | Open circuit voltage estimate |
| <a id="fld_ocv_estimate_filtered"></a>ocv_estimate_filtered | `float32` | V | | Filtered open circuit voltage estimate |
| <a id="fld_volt_based_soc_estimate"></a>volt_based_soc_estimate | `float32` | | [0 : 1] | Normalized volt based state of charge estimate |
| <a id="fld_voltage_prediction"></a>voltage_prediction | `float32` | V | | Predicted voltage |
| <a id="fld_prediction_error"></a>prediction_error | `float32` | V | | Prediction error |
| <a id="fld_estimation_covariance_norm"></a>estimation_covariance_norm | `float32` | | | Norm of the covariance matrix |
## Enums
### SOURCE {#SOURCE}
Used in field(s): [source](#fld_source)
| Name | Type | Value | Description |
| ----------------------------------------------------- | ------- | ----- | ---------------------------------------------- |
| <a id="#SOURCE_POWER_MODULE"></a> SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) |
@@ -67,6 +69,8 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
### WARNING {#WARNING}
Used in field(s): [warning](#fld_warning)
| Name | Type | Value | Description |
| ------------------------------------------------- | ------- | ----- | -------------------------------------------- |
| <a id="#WARNING_NONE"></a> WARNING_NONE | `uint8` | 0 | No battery low voltage warning active |
@@ -77,6 +81,8 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
### STATE {#STATE}
Used in field(s): [warning](#fld_warning)
| Name | Type | Value | Description |
| --------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="#STATE_UNHEALTHY"></a> STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field |
@@ -84,6 +90,8 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
### FAULT {#FAULT}
Used in field(s): [faults](#fld_faults)
| Name | Type | Value | Description |
| --------------------------------------------------------------------- | ------- | ----- | -------------------------------------------------------------------------------------------------------------- |
| <a id="#FAULT_DEEP_DISCHARGE"></a> FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged |
docs/en/msg_docs/BatteryStatusV0.md
+49 -41
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@@ -14,52 +14,54 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ---------------------------- | ------------- | ------------ | ---------------------------------- | ----------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| connected | `bool` | | | Whether or not a battery is connected. For power modules this is based on a voltage threshold. |
| voltage_v | `float32` | V | | Battery voltage (Invalid: 0) |
| current_a | `float32` | A | | Battery current (Invalid: -1) |
| current_average_a | `float32` | A | | Battery current average (for FW average in level flight) (Invalid: -1) |
| discharged_mah | `float32` | mAh | | Discharged amount (Invalid: -1) |
| remaining | `float32` | | [0 : 1] | Remaining capacity (Invalid: -1) |
| scale | `float32` | | [1 : -] | Scaling factor to compensate for lower actuation power caused by voltage sag (Invalid: -1) |
| time_remaining_s | `float32` | s | | Predicted time remaining until battery is empty under previous averaged load (Invalid: NaN) |
| temperature | `float32` | °C | | Temperature of the battery (Invalid: NaN) |
| cell_count | `uint8` | | | Number of cells (Invalid: 0) |
| source | `uint8` | | [SOURCE](#SOURCE) | Battery source |
| priority | `uint8` | | | Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 |
| capacity | `uint16` | mAh | | Capacity of the battery when fully charged |
| cycle_count | `uint16` | | | Number of discharge cycles the battery has experienced |
| average_time_to_empty | `uint16` | minutes | | Predicted remaining battery capacity based on the average rate of discharge |
| serial_number | `uint16` | | | Serial number of the battery pack |
| manufacture_date | `uint16` | | | Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512 |
| state_of_health | `uint16` | % | [0 : 100] | State of health. FullChargeCapacity/DesignCapacity |
| max_error | `uint16` | % | [1 : 100] | Max error, expected margin of error in the state-of-charge calculation |
| id | `uint8` | | | ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed |
| interface_error | `uint16` | | | Interface error counter |
| voltage_cell_v | `float32[14]` | V | | Battery individual cell voltages (Invalid: 0) |
| max_cell_voltage_delta | `float32` | | | Max difference between individual cell voltages |
| is_powering_off | `bool` | | | Power off event imminent indication, false if unknown |
| is_required | `bool` | | | Set if the battery is explicitly required before arming |
| warning | `uint8` | | [WARNING](#WARNING)[STATE](#STATE) | Current battery warning |
| faults | `uint16` | | [FAULT](#FAULT) | Smart battery supply status/fault flags (bitmask) for health indication |
| full_charge_capacity_wh | `float32` | Wh | | Compensated battery capacity |
| remaining_capacity_wh | `float32` | Wh | | Compensated battery capacity remaining |
| over_discharge_count | `uint16` | | | Number of battery overdischarge |
| nominal_voltage | `float32` | V | | Nominal voltage of the battery pack |
| internal_resistance_estimate | `float32` | Ohm | | Internal resistance per cell estimate |
| ocv_estimate | `float32` | V | | Open circuit voltage estimate |
| ocv_estimate_filtered | `float32` | V | | Filtered open circuit voltage estimate |
| volt_based_soc_estimate | `float32` | | [0 : 1] | Normalized volt based state of charge estimate |
| voltage_prediction | `float32` | V | | Predicted voltage |
| prediction_error | `float32` | V | | Prediction error |
| estimation_covariance_norm | `float32` | | | Norm of the covariance matrix |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------------------------------------------- | ------------- | ------------ | ------------------------------------ | ----------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_connected"></a>connected | `bool` | | | Whether or not a battery is connected. For power modules this is based on a voltage threshold. |
| <a id="fld_voltage_v"></a>voltage_v | `float32` | V | | Battery voltage (Invalid: 0) |
| <a id="fld_current_a"></a>current_a | `float32` | A | | Battery current (Invalid: -1) |
| <a id="fld_current_average_a"></a>current_average_a | `float32` | A | | Battery current average (for FW average in level flight) (Invalid: -1) |
| <a id="fld_discharged_mah"></a>discharged_mah | `float32` | mAh | | Discharged amount (Invalid: -1) |
| <a id="fld_remaining"></a>remaining | `float32` | | [0 : 1] | Remaining capacity (Invalid: -1) |
| <a id="fld_scale"></a>scale | `float32` | | [1 : -] | Scaling factor to compensate for lower actuation power caused by voltage sag (Invalid: -1) |
| <a id="fld_time_remaining_s"></a>time_remaining_s | `float32` | s | | Predicted time remaining until battery is empty under previous averaged load (Invalid: NaN) |
| <a id="fld_temperature"></a>temperature | `float32` | °C | | Temperature of the battery (Invalid: NaN) |
| <a id="fld_cell_count"></a>cell_count | `uint8` | | | Number of cells (Invalid: 0) |
| <a id="fld_source"></a>source | `uint8` | | [SOURCE](#SOURCE) | Battery source |
| <a id="fld_priority"></a>priority | `uint8` | | | Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 |
| <a id="fld_capacity"></a>capacity | `uint16` | mAh | | Capacity of the battery when fully charged |
| <a id="fld_cycle_count"></a>cycle_count | `uint16` | | | Number of discharge cycles the battery has experienced |
| <a id="fld_average_time_to_empty"></a>average_time_to_empty | `uint16` | minutes | | Predicted remaining battery capacity based on the average rate of discharge |
| <a id="fld_serial_number"></a>serial_number | `uint16` | | | Serial number of the battery pack |
| <a id="fld_manufacture_date"></a>manufacture_date | `uint16` | | | Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512 |
| <a id="fld_state_of_health"></a>state_of_health | `uint16` | % | [0 : 100] | State of health. FullChargeCapacity/DesignCapacity |
| <a id="fld_max_error"></a>max_error | `uint16` | % | [1 : 100] | Max error, expected margin of error in the state-of-charge calculation |
| <a id="fld_id"></a>id | `uint8` | | | ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed |
| <a id="fld_interface_error"></a>interface_error | `uint16` | | | Interface error counter |
| <a id="fld_voltage_cell_v"></a>voltage_cell_v | `float32[14]` | V | | Battery individual cell voltages (Invalid: 0) |
| <a id="fld_max_cell_voltage_delta"></a>max_cell_voltage_delta | `float32` | | | Max difference between individual cell voltages |
| <a id="fld_is_powering_off"></a>is_powering_off | `bool` | | | Power off event imminent indication, false if unknown |
| <a id="fld_is_required"></a>is_required | `bool` | | | Set if the battery is explicitly required before arming |
| <a id="fld_warning"></a>warning | `uint8` | | [WARNING](#WARNING), [STATE](#STATE) | Current battery warning |
| <a id="fld_faults"></a>faults | `uint16` | | [FAULT](#FAULT) | Smart battery supply status/fault flags (bitmask) for health indication |
| <a id="fld_full_charge_capacity_wh"></a>full_charge_capacity_wh | `float32` | Wh | | Compensated battery capacity |
| <a id="fld_remaining_capacity_wh"></a>remaining_capacity_wh | `float32` | Wh | | Compensated battery capacity remaining |
| <a id="fld_over_discharge_count"></a>over_discharge_count | `uint16` | | | Number of battery overdischarge |
| <a id="fld_nominal_voltage"></a>nominal_voltage | `float32` | V | | Nominal voltage of the battery pack |
| <a id="fld_internal_resistance_estimate"></a>internal_resistance_estimate | `float32` | Ohm | | Internal resistance per cell estimate |
| <a id="fld_ocv_estimate"></a>ocv_estimate | `float32` | V | | Open circuit voltage estimate |
| <a id="fld_ocv_estimate_filtered"></a>ocv_estimate_filtered | `float32` | V | | Filtered open circuit voltage estimate |
| <a id="fld_volt_based_soc_estimate"></a>volt_based_soc_estimate | `float32` | | [0 : 1] | Normalized volt based state of charge estimate |
| <a id="fld_voltage_prediction"></a>voltage_prediction | `float32` | V | | Predicted voltage |
| <a id="fld_prediction_error"></a>prediction_error | `float32` | V | | Prediction error |
| <a id="fld_estimation_covariance_norm"></a>estimation_covariance_norm | `float32` | | | Norm of the covariance matrix |
## Enums
### SOURCE {#SOURCE}
Used in field(s): [source](#fld_source)
| Name | Type | Value | Description |
| ----------------------------------------------------- | ------- | ----- | ---------------------------------------------- |
| <a id="#SOURCE_POWER_MODULE"></a> SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) |
@@ -68,6 +70,8 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
### WARNING {#WARNING}
Used in field(s): [warning](#fld_warning)
| Name | Type | Value | Description |
| ------------------------------------------------- | ------- | ----- | -------------------------------------------- |
| <a id="#WARNING_NONE"></a> WARNING_NONE | `uint8` | 0 | No battery low voltage warning active |
@@ -78,6 +82,8 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
### STATE {#STATE}
Used in field(s): [warning](#fld_warning)
| Name | Type | Value | Description |
| --------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="#STATE_UNHEALTHY"></a> STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field |
@@ -85,6 +91,8 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
### FAULT {#FAULT}
Used in field(s): [faults](#fld_faults)
| Name | Type | Value | Description |
| --------------------------------------------------------------------- | ------- | ----- | -------------------------------------------------------------------------------------------------------------- |
| <a id="#FAULT_DEEP_DISCHARGE"></a> FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged |
docs/en/msg_docs/ButtonEvent.md
+4 -4
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@@ -8,10 +8,10 @@ pageClass: is-wide-page
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------- | -------- | ------------ | ---------- | -------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| triggered | `bool` | | | Set to true if the event is triggered |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------------------- | -------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_triggered"></a>triggered | `bool` | | | Set to true if the event is triggered |
## Constants
docs/en/msg_docs/CameraCapture.md
+11 -11
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@@ -8,17 +8,17 @@ pageClass: is-wide-page
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_utc | `uint64` | | | Capture time in UTC / GPS time |
| seq | `uint32` | | | Image sequence number |
| lat | `float64` | | | Latitude in degrees (WGS84) |
| lon | `float64` | | | Longitude in degrees (WGS84) |
| alt | `float32` | | | Altitude (AMSL) |
| ground_distance | `float32` | | | Altitude above ground (meters) |
| q | `float32[4]` | | | Attitude of the camera relative to NED earth-fixed frame when using a gimbal, otherwise vehicle attitude |
| result | `int8` | | | 1 for success, 0 for failure, -1 if camera does not provide feedback |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_timestamp_utc"></a>timestamp_utc | `uint64` | | | Capture time in UTC / GPS time |
| <a id="fld_seq"></a>seq | `uint32` | | | Image sequence number |
| <a id="fld_lat"></a>lat | `float64` | | | Latitude in degrees (WGS84) |
| <a id="fld_lon"></a>lon | `float64` | | | Longitude in degrees (WGS84) |
| <a id="fld_alt"></a>alt | `float32` | | | Altitude (AMSL) |
| <a id="fld_ground_distance"></a>ground_distance | `float32` | | | Altitude above ground (meters) |
| <a id="fld_q"></a>q | `float32[4]` | | | Attitude of the camera relative to NED earth-fixed frame when using a gimbal, otherwise vehicle attitude |
| <a id="fld_result"></a>result | `int8` | | | 1 for success, 0 for failure, -1 if camera does not provide feedback |
## Source Message
docs/en/msg_docs/CameraStatus.md
+5 -5
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@@ -8,11 +8,11 @@ pageClass: is-wide-page
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| -------------- | -------- | ------------ | ---------- | ------------------------------------------------ |
| timestamp | `uint64` | | | time since system start (microseconds) |
| active_sys_id | `uint8` | | | mavlink system id of the currently active camera |
| active_comp_id | `uint8` | | | mavlink component id of currently active camera |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------------------------------------------- | -------- | ------------ | ---------- | ------------------------------------------------ |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_active_sys_id"></a>active_sys_id | `uint8` | | | mavlink system id of the currently active camera |
| <a id="fld_active_comp_id"></a>active_comp_id | `uint8` | | | mavlink component id of currently active camera |
## Source Message
docs/en/msg_docs/CameraTrigger.md
+6 -6
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@@ -8,12 +8,12 @@ pageClass: is-wide-page
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------- | -------- | ------------ | ---------- | -------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_utc | `uint64` | | | UTC timestamp |
| seq | `uint32` | | | Image sequence number |
| feedback | `bool` | | | Trigger feedback from camera |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------------- | -------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_timestamp_utc"></a>timestamp_utc | `uint64` | | | UTC timestamp |
| <a id="fld_seq"></a>seq | `uint32` | | | Image sequence number |
| <a id="fld_feedback"></a>feedback | `bool` | | | Trigger feedback from camera |
## Constants
docs/en/msg_docs/CanInterfaceStatus.md
+7 -7
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@@ -8,13 +8,13 @@ pageClass: is-wide-page
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------- | -------- | ------------ | ---------- | -------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| interface | `uint8` | | |
| io_errors | `uint64` | | |
| frames_tx | `uint64` | | |
| frames_rx | `uint64` | | |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------------------- | -------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_interface"></a>interface | `uint8` | | |
| <a id="fld_io_errors"></a>io_errors | `uint64` | | |
| <a id="fld_frames_tx"></a>frames_tx | `uint64` | | |
| <a id="fld_frames_rx"></a>frames_rx | `uint64` | | |
## Source Message
docs/en/msg_docs/CellularStatus.md
+16 -10
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@@ -12,21 +12,23 @@ This is currently used only for logging cell status from MAVLink.
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| -------------- | -------- | ------------ | ----------------------------------------------------------- | ------------------------------------------ |
| timestamp | `uint64` | us | | Time since system start |
| status | `uint16` | | [STATUS_FLAG](#STATUS_FLAG) | Status bitmap |
| failure_reason | `uint8` | | [FAILURE_REASON](#FAILURE_REASON) | Failure reason |
| type | `uint8` | | [CELLULAR_NETWORK_RADIO_TYPE](#CELLULAR_NETWORK_RADIO_TYPE) | Cellular network radio type |
| quality | `uint8` | dBm | | Cellular network RSSI/RSRP, absolute value |
| mcc | `uint16` | | | Mobile country code (Invalid: UINT16_MAX) |
| mnc | `uint16` | | | Mobile network code (Invalid: UINT16_MAX) |
| lac | `uint16` | | | Location area code (Invalid: 0) |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------------------------------------------- | -------- | ------------ | ----------------------------------------------------------- | ------------------------------------------ |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_status"></a>status | `uint16` | | [STATUS_FLAG](#STATUS_FLAG) | Status bitmap |
| <a id="fld_failure_reason"></a>failure_reason | `uint8` | | [FAILURE_REASON](#FAILURE_REASON) | Failure reason |
| <a id="fld_type"></a>type | `uint8` | | [CELLULAR_NETWORK_RADIO_TYPE](#CELLULAR_NETWORK_RADIO_TYPE) | Cellular network radio type |
| <a id="fld_quality"></a>quality | `uint8` | dBm | | Cellular network RSSI/RSRP, absolute value |
| <a id="fld_mcc"></a>mcc | `uint16` | | | Mobile country code (Invalid: UINT16_MAX) |
| <a id="fld_mnc"></a>mnc | `uint16` | | | Mobile network code (Invalid: UINT16_MAX) |
| <a id="fld_lac"></a>lac | `uint16` | | | Location area code (Invalid: 0) |
## Enums
### STATUS_FLAG {#STATUS_FLAG}
Used in field(s): [status](#fld_status)
| Name | Type | Value | Description |
| ----------------------------------------------------------------- | -------- | ----- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="#STATUS_FLAG_UNKNOWN"></a> STATUS_FLAG_UNKNOWN | `uint16` | 1 | State unknown or not reportable |
@@ -45,6 +47,8 @@ This is currently used only for logging cell status from MAVLink.
### FAILURE_REASON {#FAILURE_REASON}
Used in field(s): [failure_reason](#fld_failure_reason)
| Name | Type | Value | Description |
| ------------------------------------------------------------------- | ------- | ----- | ----------------------------------------------- |
| <a id="#FAILURE_REASON_NONE"></a> FAILURE_REASON_NONE | `uint8` | 0 | No error |
@@ -54,6 +58,8 @@ This is currently used only for logging cell status from MAVLink.
### CELLULAR_NETWORK_RADIO_TYPE {#CELLULAR_NETWORK_RADIO_TYPE}
Used in field(s): [type](#fld_type)
| Name | Type | Value | Description |
| --------------------------------------------------------------------------------- | ------- | ----- | ----------- |
| <a id="#CELLULAR_NETWORK_RADIO_TYPE_NONE"></a> CELLULAR_NETWORK_RADIO_TYPE_NONE | `uint8` | 0 | None |
docs/en/msg_docs/CollisionConstraints.md
+5 -5
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@@ -10,11 +10,11 @@ Local setpoint constraints in NED frame. setting something to NaN means that no
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------- | ------------ | ------------ | ---------- | -------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| original_setpoint | `float32[2]` | | | velocities demanded |
| adapted_setpoint | `float32[2]` | | | velocities allowed |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_original_setpoint"></a>original_setpoint | `float32[2]` | | | velocities demanded |
| <a id="fld_adapted_setpoint"></a>adapted_setpoint | `float32[2]` | | | velocities allowed |
## Source Message
docs/en/msg_docs/ConfigOverrides.md
+9 -9
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@@ -10,15 +10,15 @@ Configurable overrides by (external) modes or mode executors.
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------- | -------- | ------------ | ---------- | -------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| disable_auto_disarm | `bool` | | | Prevent the drone from automatically disarming after landing (if configured) |
| defer_failsafes | `bool` | | | Defer all failsafes that can be deferred (until the flag is cleared) |
| defer_failsafes_timeout_s | `int16` | | | Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout |
| disable_auto_set_home | `bool` | | | Prevent the drone from automatically setting the home position on arm or takeoff |
| source_type | `int8` | | |
| source_id | `uint8` | | | ID depending on source_type |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------------------------------------- | -------- | ------------ | ---------- | -------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_disable_auto_disarm"></a>disable_auto_disarm | `bool` | | | Prevent the drone from automatically disarming after landing (if configured) |
| <a id="fld_defer_failsafes"></a>defer_failsafes | `bool` | | | Defer all failsafes that can be deferred (until the flag is cleared) |
| <a id="fld_defer_failsafes_timeout_s"></a>defer_failsafes_timeout_s | `int16` | | | Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout |
| <a id="fld_disable_auto_set_home"></a>disable_auto_set_home | `bool` | | | Prevent the drone from automatically setting the home position on arm or takeoff |
| <a id="fld_source_type"></a>source_type | `int8` | | |
| <a id="fld_source_id"></a>source_id | `uint8` | | | ID depending on source_type |
## Constants
docs/en/msg_docs/ConfigOverridesV0.md
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## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------- | -------- | ------------ | ---------- | ---------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| disable_auto_disarm | `bool` | | | Prevent the drone from automatically disarming after landing (if configured) |
| defer_failsafes | `bool` | | | Defer all failsafes that can be deferred (until the flag is cleared) |
| defer_failsafes_timeout_s | `int16` | | | Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout |
| source_type | `int8` | | |
| source_id | `uint8` | | | ID depending on source_type |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------------------------------------- | -------- | ------------ | ---------- | ---------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_disable_auto_disarm"></a>disable_auto_disarm | `bool` | | | Prevent the drone from automatically disarming after landing (if configured) |
| <a id="fld_defer_failsafes"></a>defer_failsafes | `bool` | | | Defer all failsafes that can be deferred (until the flag is cleared) |
| <a id="fld_defer_failsafes_timeout_s"></a>defer_failsafes_timeout_s | `int16` | | | Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout |
| <a id="fld_source_type"></a>source_type | `int8` | | |
| <a id="fld_source_id"></a>source_id | `uint8` | | | ID depending on source_type |
## Constants
docs/en/msg_docs/ControlAllocatorStatus.md
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## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------- | ------------ | ------------ | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| torque_setpoint_achieved | `bool` | | | Boolean indicating whether the 3D torque setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved. |
| unallocated_torque | `float32[3]` | | | Unallocated torque. Equal to 0 if the setpoint was achieved. |
| thrust_setpoint_achieved | `bool` | | | Boolean indicating whether the 3D thrust setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved. |
| unallocated_thrust | `float32[3]` | | | Unallocated thrust. Equal to 0 if the setpoint was achieved. |
| actuator_saturation | `int8[16]` | | | Indicates actuator saturation status. |
| handled_motor_failure_mask | `uint16` | | | Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector |
| motor_stop_mask | `uint16` | | | Bitmaks of motors stopped by failure injection |
| actuator_group_preflight_check_active | `bool` | | | True while an actuator group preflight check (VEHICLE_CMD_ACTUATOR_GROUP_TEST) is overriding the torque/thrust setpoint or collective-tilt |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------------------------------------------------------------- | ------------ | ------------ | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_torque_setpoint_achieved"></a>torque_setpoint_achieved | `bool` | | | Boolean indicating whether the 3D torque setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved. |
| <a id="fld_unallocated_torque"></a>unallocated_torque | `float32[3]` | | | Unallocated torque. Equal to 0 if the setpoint was achieved. |
| <a id="fld_thrust_setpoint_achieved"></a>thrust_setpoint_achieved | `bool` | | | Boolean indicating whether the 3D thrust setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved. |
| <a id="fld_unallocated_thrust"></a>unallocated_thrust | `float32[3]` | | | Unallocated thrust. Equal to 0 if the setpoint was achieved. |
| <a id="fld_actuator_saturation"></a>actuator_saturation | `int8[16]` | | | Indicates actuator saturation status. |
| <a id="fld_handled_motor_failure_mask"></a>handled_motor_failure_mask | `uint16` | | | Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector |
| <a id="fld_motor_stop_mask"></a>motor_stop_mask | `uint16` | | | Bitmaks of motors stopped by failure injection |
| <a id="fld_actuator_group_preflight_check_active"></a>actuator_group_preflight_check_active | `bool` | | | True while an actuator group preflight check (VEHICLE_CMD_ACTUATOR_GROUP_TEST) is overriding the torque/thrust setpoint or collective-tilt |
## Constants
docs/en/msg_docs/Cpuload.md
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## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------- | --------- | ------------ | ---------- | -------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| load | `float32` | | | processor load from 0 to 1 |
| ram_usage | `float32` | | | RAM usage from 0 to 1 |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------------------- | --------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_load"></a>load | `float32` | | | processor load from 0 to 1 |
| <a id="fld_ram_usage"></a>ram_usage | `float32` | | | RAM usage from 0 to 1 |
## Source Message
docs/en/msg_docs/DatamanRequest.md
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## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------ | ----------- | ------------ | ---------- | -------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| client_id | `uint8` | | |
| request_type | `uint8` | | | id/read/write/clear |
| item | `uint8` | | | dm_item_t |
| index | `uint32` | | |
| data | `uint8[56]` | | |
| data_length | `uint32` | | |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------------------------- | ----------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_client_id"></a>client_id | `uint8` | | |
| <a id="fld_request_type"></a>request_type | `uint8` | | | id/read/write/clear |
| <a id="fld_item"></a>item | `uint8` | | | dm_item_t |
| <a id="fld_index"></a>index | `uint32` | | |
| <a id="fld_data"></a>data | `uint8[56]` | | |
| <a id="fld_data_length"></a>data_length | `uint32` | | |
## Source Message
docs/en/msg_docs/DatamanResponse.md
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## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------ | ----------- | ------------ | ---------- | -------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| client_id | `uint8` | | |
| request_type | `uint8` | | | id/read/write/clear |
| item | `uint8` | | | dm_item_t |
| index | `uint32` | | |
| data | `uint8[56]` | | |
| status | `uint8` | | |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------------------------- | ----------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_client_id"></a>client_id | `uint8` | | |
| <a id="fld_request_type"></a>request_type | `uint8` | | | id/read/write/clear |
| <a id="fld_item"></a>item | `uint8` | | | dm_item_t |
| <a id="fld_index"></a>index | `uint32` | | |
| <a id="fld_data"></a>data | `uint8[56]` | | |
| <a id="fld_status"></a>status | `uint8` | | |
## Constants
docs/en/msg_docs/DebugArray.md
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## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------- | ------------- | ------------ | ---------- | ------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| id | `uint16` | | | unique ID of debug array, used to discriminate between arrays |
| name | `char[10]` | | | name of the debug array (max. 10 characters) |
| data | `float32[58]` | | | data |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------------------- | ------------- | ------------ | ---------- | ------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_id"></a>id | `uint16` | | | unique ID of debug array, used to discriminate between arrays |
| <a id="fld_name"></a>name | `char[10]` | | | name of the debug array (max. 10 characters) |
| <a id="fld_data"></a>data | `float32[58]` | | | data |
## Constants
docs/en/msg_docs/DebugKeyValue.md
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## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------- | ---------- | ------------ | ---------- | -------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| key | `char[10]` | | | max. 10 characters as key / name |
| value | `float32` | | | the value to send as debug output |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------------------- | ---------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_key"></a>key | `char[10]` | | | max. 10 characters as key / name |
| <a id="fld_value"></a>value | `float32` | | | the value to send as debug output |
## Source Message
docs/en/msg_docs/DebugValue.md
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## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------- | --------- | ------------ | ---------- | -------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| ind | `int8` | | | index of debug variable |
| value | `float32` | | | the value to send as debug output |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------------------- | --------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_ind"></a>ind | `int8` | | | index of debug variable |
| <a id="fld_value"></a>value | `float32` | | | the value to send as debug output |
## Source Message
docs/en/msg_docs/DebugVect.md
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## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------- | ---------- | ------------ | ---------- | -------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| name | `char[10]` | | | max. 10 characters as key / name |
| x | `float32` | | | x value |
| y | `float32` | | | y value |
| z | `float32` | | | z value |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------------------- | ---------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_name"></a>name | `char[10]` | | | max. 10 characters as key / name |
| <a id="fld_x"></a>x | `float32` | | | x value |
| <a id="fld_y"></a>y | `float32` | | | y value |
| <a id="fld_z"></a>z | `float32` | | | z value |
## Source Message
docs/en/msg_docs/DeviceInformation.md
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@@ -13,20 +13,22 @@ as well as tracking of the used firmware versions on the devices.
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ---------------- | ---------- | ------------ | ---------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| device_type | `uint8` | | [DEVICE_TYPE](#DEVICE_TYPE) | Type of the device. Matches MAVLink DEVICE_TYPE enum |
| name | `char[80]` | | | Name of device e.g. DroneCAN node name |
| `uint32` | | | Unique device ID for the sensor. Does not change between power cycles. (Invalid: 0 if not available) |
| firmware_version | `char[24]` | | | Firmware version. (Invalid: empty if not available) |
| hardware_version | `char[24]` | | | Hardware version. (Invalid: empty if not available) |
| serial_number | `char[33]` | | | Device serial number or unique identifier. (Invalid: empty if not available) |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------------------- | ---------- | ------------ | --------------------------- | ---------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_device_type"></a>device_type | `uint8` | | [DEVICE_TYPE](#DEVICE_TYPE) | Type of the device. Matches MAVLink DEVICE_TYPE enum |
| <a id="fld_name"></a>name | `char[80]` | | | Name of device e.g. DroneCAN node name |
| <a id="fld_"></a> | `uint32` | | | Unique device ID for the sensor. Does not change between power cycles. (Invalid: 0 if not available) |
| <a id="fld_firmware_version"></a>firmware_version | `char[24]` | | | Firmware version. (Invalid: empty if not available) |
| <a id="fld_hardware_version"></a>hardware_version | `char[24]` | | | Hardware version. (Invalid: empty if not available) |
| <a id="fld_serial_number"></a>serial_number | `char[33]` | | | Device serial number or unique identifier. (Invalid: empty if not available) |
## Enums
### DEVICE_TYPE {#DEVICE_TYPE}
Used in field(s): [device_type](#fld_device_type)
| Name | Type | Value | Description |
| --------------------------------------------------------------------------------- | ------- | ----- | ---------------------- |
| <a id="#DEVICE_TYPE_GENERIC"></a> DEVICE_TYPE_GENERIC | `uint8` | 0 | Generic/unknown sensor |
docs/en/msg_docs/DifferentialPressure.md
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## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------ | --------- | ------------ | ---------- | ------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time of publication (since system start) |
| timestamp_sample | `uint64` | us | | Time of raw data capture |
| device_id | `uint32` | | | Unique device ID for the sensor that does not change between power cycles |
| differential_pressure_pa | `float32` | Pa | | Differential pressure reading (may be negative) |
| temperature | `float32` | degC | | Temperature (Invalid: NaN if unknown) |
| error_count | `uint32` | | | Number of errors detected by driver |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------------------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time of publication (since system start) |
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | us | | Time of raw data capture |
| <a id="fld_device_id"></a>device_id | `uint32` | | | Unique device ID for the sensor that does not change between power cycles |
| <a id="fld_differential_pressure_pa"></a>differential_pressure_pa | `float32` | Pa | | Differential pressure reading (may be negative) |
| <a id="fld_temperature"></a>temperature | `float32` | degC | | Temperature (Invalid: NaN if unknown) |
| <a id="fld_error_count"></a>error_count | `uint32` | | | Number of errors detected by driver |
## Source Message
docs/en/msg_docs/DistanceSensor.md
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## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ---------------- | ------------ | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| min_distance | `float32` | | | Minimum distance the sensor can measure (in m) |
| max_distance | `float32` | | | Maximum distance the sensor can measure (in m) |
| current_distance | `float32` | | | Current distance reading (in m) |
| variance | `float32` | | | Measurement variance (in m^2), 0 for unknown / invalid readings |
| signal_quality | `int8` | | | Signal quality in percent (0...100%), where 0 = invalid signal, 100 = perfect signal, and -1 = unknown signal quality. |
| type | `uint8` | | | Type from MAV_DISTANCE_SENSOR enum |
| h_fov | `float32` | | | Sensor horizontal field of view (rad) |
| v_fov | `float32` | | | Sensor vertical field of view (rad) |
| q | `float32[4]` | | | Quaterion sensor orientation with respect to the vehicle body frame to specify the orientation ROTATION_CUSTOM |
| orientation | `uint8` | | | Direction the sensor faces from MAV_SENSOR_ORIENTATION enum |
| mode | `uint8` | | |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------------------- | ------------ | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_device_id"></a>device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| <a id="fld_min_distance"></a>min_distance | `float32` | | | Minimum distance the sensor can measure (in m) |
| <a id="fld_max_distance"></a>max_distance | `float32` | | | Maximum distance the sensor can measure (in m) |
| <a id="fld_current_distance"></a>current_distance | `float32` | | | Current distance reading (in m) |
| <a id="fld_variance"></a>variance | `float32` | | | Measurement variance (in m^2), 0 for unknown / invalid readings |
| <a id="fld_signal_quality"></a>signal_quality | `int8` | | | Signal quality in percent (0...100%), where 0 = invalid signal, 100 = perfect signal, and -1 = unknown signal quality. |
| <a id="fld_type"></a>type | `uint8` | | | Type from MAV_DISTANCE_SENSOR enum |
| <a id="fld_h_fov"></a>h_fov | `float32` | | | Sensor horizontal field of view (rad) |
| <a id="fld_v_fov"></a>v_fov | `float32` | | | Sensor vertical field of view (rad) |
| <a id="fld_q"></a>q | `float32[4]` | | | Quaterion sensor orientation with respect to the vehicle body frame to specify the orientation ROTATION_CUSTOM |
| <a id="fld_orientation"></a>orientation | `uint8` | | | Direction the sensor faces from MAV_SENSOR_ORIENTATION enum |
| <a id="fld_mode"></a>mode | `uint8` | | |
## Constants
docs/en/msg_docs/DistanceSensorModeChangeRequest.md
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## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| -------------- | -------- | ------------ | ---------- | --------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| request_on_off | `uint8` | | | request to disable/enable the distance sensor |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------------------------------------------- | -------- | ------------ | ---------- | --------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_request_on_off"></a>request_on_off | `uint8` | | | request to disable/enable the distance sensor |
## Constants
docs/en/msg_docs/DronecanNodeStatus.md
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## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------------------------- | -------- | ------------ | ---------- | -------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| node_id | `uint16` | | | The node ID which this data comes from |
| uptime_sec | `uint32` | | | Node uptime |
| health | `uint8` | | |
| mode | `uint8` | | |
| sub_mode | `uint8` | | |
| vendor_specific_status_code | `uint16` | | |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------------------------------------------------------- | -------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_node_id"></a>node_id | `uint16` | | | The node ID which this data comes from |
| <a id="fld_uptime_sec"></a>uptime_sec | `uint32` | | | Node uptime |
| <a id="fld_health"></a>health | `uint8` | | |
| <a id="fld_mode"></a>mode | `uint8` | | |
| <a id="fld_sub_mode"></a>sub_mode | `uint8` | | |
| <a id="fld_vendor_specific_status_code"></a>vendor_specific_status_code | `uint16` | | |
## Constants
docs/en/msg_docs/Ekf2Timestamps.md
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## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ---------------------------------- | -------- | ------------ | ---------- | -------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| airspeed_timestamp_rel | `int16` | | |
| airspeed_validated_timestamp_rel | `int16` | | |
| distance_sensor_timestamp_rel | `int16` | | |
| optical_flow_timestamp_rel | `int16` | | |
| vehicle_air_data_timestamp_rel | `int16` | | |
| vehicle_magnetometer_timestamp_rel | `int16` | | |
| visual_odometry_timestamp_rel | `int16` | | |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------------------------------------------------------- | -------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_airspeed_timestamp_rel"></a>airspeed_timestamp_rel | `int16` | | |
| <a id="fld_airspeed_validated_timestamp_rel"></a>airspeed_validated_timestamp_rel | `int16` | | |
| <a id="fld_distance_sensor_timestamp_rel"></a>distance_sensor_timestamp_rel | `int16` | | |
| <a id="fld_optical_flow_timestamp_rel"></a>optical_flow_timestamp_rel | `int16` | | |
| <a id="fld_vehicle_air_data_timestamp_rel"></a>vehicle_air_data_timestamp_rel | `int16` | | |
| <a id="fld_vehicle_magnetometer_timestamp_rel"></a>vehicle_magnetometer_timestamp_rel | `int16` | | |
| <a id="fld_visual_odometry_timestamp_rel"></a>visual_odometry_timestamp_rel | `int16` | | |
## Constants
docs/en/msg_docs/EscEepromRead.md
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## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------- | ----------- | ------------ | ---------- | ---------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| firmware | `uint8` | | | ESC firmware type (see ESC_FIRMWARE enum in MAVLink) |
| index | `uint8` | | | Index of the ESC (0 = ESC1, 1 = ESC2, etc.) |
| length | `uint16` | | | Length of valid data |
| data | `uint8[48]` | | | Raw ESC EEPROM data |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------------------- | ----------- | ------------ | ---------- | ---------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_firmware"></a>firmware | `uint8` | | | ESC firmware type (see ESC_FIRMWARE enum in MAVLink) |
| <a id="fld_index"></a>index | `uint8` | | | Index of the ESC (0 = ESC1, 1 = ESC2, etc.) |
| <a id="fld_length"></a>length | `uint16` | | | Length of valid data |
| <a id="fld_data"></a>data | `uint8[48]` | | | Raw ESC EEPROM data |
## Constants
docs/en/msg_docs/EscEepromWrite.md
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## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ---------- | ----------- | ------------ | ---------- | ---------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| firmware | `uint8` | | | ESC firmware type (see ESC_FIRMWARE enum in MAVLink) |
| index | `uint8` | | | Index of the ESC (0 = ESC1, 1 = ESC2, etc, 255 = All) |
| length | `uint16` | | | Length of valid data |
| data | `uint8[48]` | | | Raw ESC EEPROM data |
| write_mask | `uint32[2]` | | | Bitmask indicating which bytes in the data array should be written (max 48 values) |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------- | ----------- | ------------ | ---------- | ---------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_firmware"></a>firmware | `uint8` | | | ESC firmware type (see ESC_FIRMWARE enum in MAVLink) |
| <a id="fld_index"></a>index | `uint8` | | | Index of the ESC (0 = ESC1, 1 = ESC2, etc, 255 = All) |
| <a id="fld_length"></a>length | `uint16` | | | Length of valid data |
| <a id="fld_data"></a>data | `uint8[48]` | | | Raw ESC EEPROM data |
| <a id="fld_write_mask"></a>write_mask | `uint32[2]` | | | Bitmask indicating which bytes in the data array should be written (max 48 values) |
## Constants
docs/en/msg_docs/EscReport.md
+15 -13
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@@ -8,24 +8,26 @@ pageClass: is-wide-page
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------- | --------- | ------------ | ------------------- | ------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| esc_errorcount | `uint32` | | | Number of reported errors by ESC - if supported |
| esc_rpm | `int32` | rpm | | Motor RPM, negative for reverse rotation - if supported |
| esc_voltage | `float32` | V | | Voltage measured from current ESC - if supported |
| esc_current | `float32` | A | | Current measured from current ESC - if supported |
| esc_temperature | `float32` | degC | | Temperature measured from current ESC - if supported |
| motor_temperature | `int16` | degC | | Temperature measured from current motor - if supported |
| esc_state | `uint8` | | | State of ESC - depend on Vendor |
| actuator_function | `uint8` | | | Actuator output function (one of Motor1...MotorN) |
| failures | `uint16` | | [FAILURE](#FAILURE) | Bitmask to indicate the internal ESC faults |
| esc_power | `int8` | % | [0 : 100] | Applied power (negative values reserved) |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------------------------------------------------- | --------- | ------------ | ------------------- | ------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_esc_errorcount"></a>esc_errorcount | `uint32` | | | Number of reported errors by ESC - if supported |
| <a id="fld_esc_rpm"></a>esc_rpm | `int32` | rpm | | Motor RPM, negative for reverse rotation - if supported |
| <a id="fld_esc_voltage"></a>esc_voltage | `float32` | V | | Voltage measured from current ESC - if supported |
| <a id="fld_esc_current"></a>esc_current | `float32` | A | | Current measured from current ESC - if supported |
| <a id="fld_esc_temperature"></a>esc_temperature | `float32` | degC | | Temperature measured from current ESC - if supported |
| <a id="fld_motor_temperature"></a>motor_temperature | `int16` | degC | | Temperature measured from current motor - if supported |
| <a id="fld_esc_state"></a>esc_state | `uint8` | | | State of ESC - depend on Vendor |
| <a id="fld_actuator_function"></a>actuator_function | `uint8` | | | Actuator output function (one of Motor1...MotorN) |
| <a id="fld_failures"></a>failures | `uint16` | | [FAILURE](#FAILURE) | Bitmask to indicate the internal ESC faults |
| <a id="fld_esc_power"></a>esc_power | `int8` | % | [0 : 100] | Applied power (negative values reserved) |
## Enums
### FAILURE {#FAILURE}
Used in field(s): [failures](#fld_failures)
| Name | Type | Value | Description |
| --------------------------------------------------------------------------- | ------- | ----- | ---------------------------------------------------------------------------- |
| <a id="#FAILURE_OVER_CURRENT"></a> FAILURE_OVER_CURRENT | `uint8` | 0 | (1 << 0) |
docs/en/msg_docs/EscStatus.md
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## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------ | --------------- | ------------ | ------------------------------------------- | --------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| counter | `uint16` | | | Incremented by the writing thread everytime new data is stored |
| esc_count | `uint8` | | | Number of connected ESCs |
| esc_connectiontype | `uint8` | | [ESC_CONNECTION_TYPE](#ESC_CONNECTION_TYPE) | How ESCs connected to the system |
| esc_online_flags | `uint16` | | | Bitmask indicating which ESC is online/offline (in motor order) |
| esc_armed_flags | `uint16` | | | Bitmask indicating which ESC is armed (in motor order) |
| esc | `EscReport[12]` | | |
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------------------------------------- | --------------- | ------------ | ------------------------------------------- | --------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_counter"></a>counter | `uint16` | | | Incremented by the writing thread everytime new data is stored |
| <a id="fld_esc_count"></a>esc_count | `uint8` | | | Number of connected ESCs |
| <a id="fld_esc_connectiontype"></a>esc_connectiontype | `uint8` | | [ESC_CONNECTION_TYPE](#ESC_CONNECTION_TYPE) | How ESCs connected to the system |
| <a id="fld_esc_online_flags"></a>esc_online_flags | `uint16` | | | Bitmask indicating which ESC is online/offline (in motor order) |
| <a id="fld_esc_armed_flags"></a>esc_armed_flags | `uint16` | | | Bitmask indicating which ESC is armed (in motor order) |
| <a id="fld_esc"></a>esc | `EscReport[12]` | | |
## Enums
### ESC_CONNECTION_TYPE {#ESC_CONNECTION_TYPE}
Used in field(s): [esc_connectiontype](#fld_esc_connectiontype)
| Name | Type | Value | Description |
| --------------------------------------------------------------------- | ------- | ----- | ------------------------ |
| <a id="#ESC_CONNECTION_TYPE_PPM"></a> ESC_CONNECTION_TYPE_PPM | `uint8` | 0 | Traditional PPM ESC |

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