diff --git a/docs/assets/flight_controller/radiolink_pix6/radiolink_pix6_hero.png b/docs/assets/flight_controller/radiolink_pix6/radiolink_pix6_hero.png deleted file mode 100644 index 1296d02ed8..0000000000 Binary files a/docs/assets/flight_controller/radiolink_pix6/radiolink_pix6_hero.png and /dev/null differ diff --git a/docs/en/SUMMARY.md b/docs/en/SUMMARY.md index 1285360522..c34718f6d3 100644 --- a/docs/en/SUMMARY.md +++ b/docs/en/SUMMARY.md @@ -681,6 +681,7 @@ - [SensorCombined](msg_docs/SensorCombined.md) - [SensorCorrection](msg_docs/SensorCorrection.md) - [SensorGnssRelative](msg_docs/SensorGnssRelative.md) + - [SensorGnssStatus](msg_docs/SensorGnssStatus.md) - [SensorGps](msg_docs/SensorGps.md) - [SensorGyro](msg_docs/SensorGyro.md) - [SensorGyroFft](msg_docs/SensorGyroFft.md) diff --git a/docs/en/_sidebar.md b/docs/en/_sidebar.md index 949c3bc253..390114db6a 100644 --- a/docs/en/_sidebar.md +++ b/docs/en/_sidebar.md @@ -1,5 +1,4 @@ - - [Introduction](/index.md) - [Basic Concepts](/getting_started/px4_basic_concepts.md) @@ -9,6 +8,7 @@ - [Position Mode (MC)](/flight_modes_mc/position.md) - [Position Slow Mode (MC)](/flight_modes_mc/position_slow.md) - [Altitude Mode (MC)](/flight_modes_mc/altitude.md) + - [Altitude Cruise Mode (MC)](/flight_modes_mc/altitude_cruise.md) - [Stabilized Mode (MC)](/flight_modes_mc/manual_stabilized.md) - [Acro Mode (MC)](/flight_modes_mc/acro.md) - [Orbit Mode (MC)](/flight_modes_mc/orbit.md) @@ -185,6 +185,7 @@ - [Wiring Quickstart](/assembly/quick_start_holybro_pix32_v5.md) - [ModalAI VOXL 2](/flight_controller/modalai_voxl_2.md) - [mRo Control Zero F7](/flight_controller/mro_control_zero_f7.md) + - [Radiolink PIX6](/flight_controller/radiolink_pix6.md) - [Sky-Drones AIRLink](/flight_controller/airlink.md) - [SPRacing SPRacingH7EXTREME](/flight_controller/spracingh7extreme.md) - [ThePeach FCC-K1](/flight_controller/thepeach_k1.md) @@ -284,6 +285,7 @@ - [CubePilot Here+ (Discontined)](/gps_compass/rtk_gps_hex_hereplus.md) - [INS (Inertial Navigation/GNSS)](/sensor/inertial_navigation_systems.md) - [InertialLabs](/sensor/inertiallabs.md) + - [sbgECom](/sensor/sbgecom.md) - [VectorNav](/sensor/vectornav.md) - [Optical Flow](/sensor/optical_flow.md) - [ARK Flow](/dronecan/ark_flow.md) @@ -415,6 +417,7 @@ - [Attitude Tuning](/config_rover/attitude_tuning.md) - [Velocity Tuning](/config_rover/velocity_tuning.md) - [Position Tuning](/config_rover/position_tuning.md) + - [Apps & API](/flight_modes_rover/api.md) - [Complete Vehicles](/complete_vehicles_rover/index.md) - [Aion Robotics R1](/complete_vehicles_rover/aion_r1.md) - [Submarines (experimental)](/frames_sub/index.md) @@ -852,6 +855,7 @@ - [PX4 ROS 2 Interface Library](/ros2/px4_ros2_interface_lib.md) - [Control Interface](/ros2/px4_ros2_control_interface.md) - [Navigation Interface](/ros2/px4_ros2_navigation_interface.md) + - [Waypoint Missions](/ros2/px4_ros2_waypoint_missions.md) - [ROS 2 Message Translation Node](/ros2/px4_ros2_msg_translation_node.md) - [ROS 1 (Deprecated)](/ros/ros1.md) - [ROS/MAVROS Installation Guide](/ros/mavros_installation.md) diff --git a/docs/en/advanced_config/parameter_reference.md b/docs/en/advanced_config/parameter_reference.md index 10c8b67f67..41db8563d2 100644 --- a/docs/en/advanced_config/parameter_reference.md +++ b/docs/en/advanced_config/parameter_reference.md @@ -14216,24 +14216,11 @@ Any motion of the remote stick will abort the signal injection and reset this parameter Best is to perform the identification in position or hold mode. -Increase the amplitude of the injected signal using -FW_AT_SYSID_AMP for more signal/noise ratio | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------------ | ---- | |   | | | | Disabled (0) | -### FW_AT_SYSID_AMP (`FLOAT`) {#FW_AT_SYSID_AMP} - -Amplitude of the injected signal. - -This parameter scales the signal sent to the -rate controller during system identification. - -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 0.1 | 6.0 | | 1.0 | - ### FW_AT_SYSID_F0 (`FLOAT`) {#FW_AT_SYSID_F0} Start frequency of the injected signal. @@ -14252,7 +14239,7 @@ Can be set lower or higher than the start frequency | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------- | ---- | -|   | 0.1 | 30.0 | | 20. | Hz | +|   | 0.1 | 30.0 | | 10. | Hz | ### FW_AT_SYSID_TIME (`FLOAT`) {#FW_AT_SYSID_TIME} @@ -14278,7 +14265,7 @@ Type of signal used during system identification to excite the system. | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------- | ---- | -|   | | | | 0 | +|   | | | | 1 | ### MC_AT_APPLY (`INT32`) {#MC_AT_APPLY} @@ -16135,29 +16122,36 @@ The default value of 1000 requires the stick to be held in the arm or disarm pos ### COM_RC_IN_MODE (`INT32`) {#COM_RC_IN_MODE} -RC control input mode. +Manual control input source configuration. -A value of 0 enables RC transmitter control (only). A valid RC transmitter calibration is required. -A value of 1 allows joystick control only. RC input handling and the associated checks are disabled. -A value of 2 allows either RC Transmitter or Joystick input. The first valid input is used, will fallback to other sources if the input stream becomes invalid. -A value of 3 allows either input from RC or joystick. The first available source is selected and used until reboot. -A value of 4 ignores any stick input. -A value of 5 allows either RC Transmitter or Joystick input. But RC has priority and whenever avaiable is immedietely used. -A value of 6 allows either RC Transmitter or Joystick input. But Joystick has priority and whenever avaiable is immedietely used. +Selects stick input selection behavior: +either a traditional remote control receiver (RC) or a MAVLink joystick (MANUAL_CONTROL message) +Priority sources are immediately switched to whenever they get valid. +0 RC only. Requires valid RC calibration. +1 MAVLink only. RC and related checks are disabled. +2 Switches only if current source becomes invalid. +3 Locks to the first valid source until reboot. +4 Ignores all sources. +5 RC priority, then MAVLink (lower instance before higher) +6 MAVLink priority (lower instance before higher), then RC +7 RC priority, then MAVLink (higher instance before lower) +8 MAVLink priority (higher instance before lower), then RC **Values:** -- `0`: RC Transmitter only -- `1`: Joystick only -- `2`: RC and Joystick with fallback -- `3`: RC or Joystick keep first -- `4`: Stick input disabled -- `5`: RC priority, Joystick fallback -- `6`: Joystick priority, RC fallback +- `0`: RC only +- `1`: MAVLink only +- `2`: RC or MAVLink with fallback +- `3`: RC or MAVLink keep first +- `4`: Disable manual control +- `5`: Prio: RC > MAVL 1 > MAVL 2 +- `6`: Prio: MAVL 1 > MAVL 2 > RC +- `7`: Prio: RC > MAVL 2 > MAVL 1 +- `8`: Prio: MAVL 2 > MAVL 1 > RC | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------- | ---- | -|   | 0 | 4 | | 3 | +|   | 0 | 8 | | 3 | ### COM_RC_LOSS_T (`FLOAT`) {#COM_RC_LOSS_T} @@ -17528,7 +17522,7 @@ If the vehicle is on ground, is not moving as determined by the motion test and | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------- | ---- | -|   | 0.01 | | | 0.1 | m | +|   | 0.01 | | | 0.01 | m | ### EKF2_MULTI_IMU (`INT32`) {#EKF2_MULTI_IMU} @@ -24402,13 +24396,12 @@ MAVLink protocol version. **Values:** -- `0`: Default to 1, switch to 2 if GCS sends version 2 -- `1`: Always use version 1 -- `2`: Always use version 2 +- `1`: Version 1 with auto-upgrade to v2 if detected +- `2`: Version 2 | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------- | ---- | -|   | | | | 0 | +|   | | | | 2 | ### MAV_RADIO_TOUT (`INT32`) {#MAV_RADIO_TOUT} @@ -24443,6 +24436,36 @@ MAVLink system ID. | ------- | -------- | -------- | --------- | ------- | ---- | | ✓ | 1 | 250 | | 1 | +### MAV_S_FORWARD (`INT32`) {#MAV_S_FORWARD} + +Enable MAVLink forwarding on TELEM2. + +TELEM2 on Skynode only. + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------------ | ---- | +| ✓ | | | | Disabled (0) | + +### MAV_S_MODE (`INT32`) {#MAV_S_MODE} + +MAVLink Mode for SOM to FMU communication channel. + +The MAVLink Mode defines the set of streamed messages (for example the +vehicle's attitude) and their sending rates. + +**Values:** + +- `0`: Normal +- `2`: Onboard +- `5`: Config +- `7`: Minimal +- `11`: Onboard Low Bandwidth +- `13`: Low Bandwidth + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 11 | + ### MAV_TYPE (`INT32`) {#MAV_TYPE} MAVLink airframe type. @@ -26250,7 +26273,7 @@ Pitch rate controller gain. Global gain of the controller. This gain scales the P, I and D terms of the controller: -output = MC*PITCHRATE_K * (MC*PITCHRATE_P * error +output = MC_PITCHRATE_K _ (MC_PITCHRATE_P _ error - MC_PITCHRATE_I \* error_integral - MC_PITCHRATE_D \* error_derivative) @@ -26317,7 +26340,7 @@ Roll rate controller gain. Global gain of the controller. This gain scales the P, I and D terms of the controller: -output = MC*ROLLRATE_K * (MC*ROLLRATE_P * error +output = MC_ROLLRATE_K _ (MC_ROLLRATE_P _ error - MC_ROLLRATE_I \* error_integral - MC_ROLLRATE_D \* error_derivative) @@ -26384,7 +26407,7 @@ Yaw rate controller gain. Global gain of the controller. This gain scales the P, I and D terms of the controller: -output = MC*YAWRATE_K * (MC*YAWRATE_P * error +output = MC_YAWRATE_K _ (MC_YAWRATE_P _ error - MC_YAWRATE_I \* error_integral - MC_YAWRATE_D \* error_derivative) @@ -26618,7 +26641,7 @@ Thrust to motor control signal model parameter. Parameter used to model the nonlinear relationship between motor control signal (e.g. PWM) and static thrust. -The model is: rel*thrust = factor * rel*signal^2 + (1-factor) * rel_signal, +The model is: rel_thrust = factor _ rel_signal^2 + (1-factor) _ rel_signal, where rel_thrust is the normalized thrust between 0 and 1, and rel_signal is the relative motor control signal between 0 and 1. @@ -26792,16 +26815,6 @@ Select your RC input protocol or auto to scan. ## Radio Calibration -### RC10_DZ (`FLOAT`) {#RC10_DZ} - -RC channel 10 dead zone. - -The +- range of this value around the trim value will be considered as zero. - -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 0.0 | 100.0 | | 0.0 | - ### RC10_MAX (`FLOAT`) {#RC10_MAX} RC channel 10 maximum. @@ -26847,16 +26860,6 @@ Mid point value | ------ | -------- | -------- | --------- | ------- | ---- | |   | 800.0 | 2200.0 | | 1500 | us | -### RC11_DZ (`FLOAT`) {#RC11_DZ} - -RC channel 11 dead zone. - -The +- range of this value around the trim value will be considered as zero. - -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 0.0 | 100.0 | | 0.0 | - ### RC11_MAX (`FLOAT`) {#RC11_MAX} RC channel 11 maximum. @@ -26902,16 +26905,6 @@ Mid point value | ------ | -------- | -------- | --------- | ------- | ---- | |   | 800.0 | 2200.0 | | 1500 | us | -### RC12_DZ (`FLOAT`) {#RC12_DZ} - -RC channel 12 dead zone. - -The +- range of this value around the trim value will be considered as zero. - -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 0.0 | 100.0 | | 0.0 | - ### RC12_MAX (`FLOAT`) {#RC12_MAX} RC channel 12 maximum. @@ -26957,16 +26950,6 @@ Mid point value | ------ | -------- | -------- | --------- | ------- | ---- | |   | 800.0 | 2200.0 | | 1500 | us | -### RC13_DZ (`FLOAT`) {#RC13_DZ} - -RC channel 13 dead zone. - -The +- range of this value around the trim value will be considered as zero. - -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 0.0 | 100.0 | | 0.0 | - ### RC13_MAX (`FLOAT`) {#RC13_MAX} RC channel 13 maximum. @@ -27012,16 +26995,6 @@ Mid point value | ------ | -------- | -------- | --------- | ------- | ---- | |   | 800.0 | 2200.0 | | 1500 | us | -### RC14_DZ (`FLOAT`) {#RC14_DZ} - -RC channel 14 dead zone. - -The +- range of this value around the trim value will be considered as zero. - -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 0.0 | 100.0 | | 0.0 | - ### RC14_MAX (`FLOAT`) {#RC14_MAX} RC channel 14 maximum. @@ -27067,16 +27040,6 @@ Mid point value | ------ | -------- | -------- | --------- | ------- | ---- | |   | 800.0 | 2200.0 | | 1500 | us | -### RC15_DZ (`FLOAT`) {#RC15_DZ} - -RC channel 15 dead zone. - -The +- range of this value around the trim value will be considered as zero. - -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 0.0 | 100.0 | | 0.0 | - ### RC15_MAX (`FLOAT`) {#RC15_MAX} RC channel 15 maximum. @@ -27122,16 +27085,6 @@ Mid point value | ------ | -------- | -------- | --------- | ------- | ---- | |   | 800.0 | 2200.0 | | 1500 | us | -### RC16_DZ (`FLOAT`) {#RC16_DZ} - -RC channel 16 dead zone. - -The +- range of this value around the trim value will be considered as zero. - -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 0.0 | 100.0 | | 0.0 | - ### RC16_MAX (`FLOAT`) {#RC16_MAX} RC channel 16 maximum. @@ -27177,16 +27130,6 @@ Mid point value | ------ | -------- | -------- | --------- | ------- | ---- | |   | 800.0 | 2200.0 | | 1500 | us | -### RC17_DZ (`FLOAT`) {#RC17_DZ} - -RC channel 17 dead zone. - -The +- range of this value around the trim value will be considered as zero. - -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 0.0 | 100.0 | | 0.0 | - ### RC17_MAX (`FLOAT`) {#RC17_MAX} RC channel 17 maximum. @@ -27232,16 +27175,6 @@ Mid point value | ------ | -------- | -------- | --------- | ------- | ---- | |   | 800.0 | 2200.0 | | 1500 | us | -### RC18_DZ (`FLOAT`) {#RC18_DZ} - -RC channel 18 dead zone. - -The +- range of this value around the trim value will be considered as zero. - -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 0.0 | 100.0 | | 0.0 | - ### RC18_MAX (`FLOAT`) {#RC18_MAX} RC channel 18 maximum. @@ -27287,16 +27220,6 @@ Mid point value | ------ | -------- | -------- | --------- | ------- | ---- | |   | 800.0 | 2200.0 | | 1500 | us | -### RC1_DZ (`FLOAT`) {#RC1_DZ} - -RC channel 1 dead zone. - -The +- range of this value around the trim value will be considered as zero. - -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 0.0 | 100.0 | | 10.0 | us | - ### RC1_MAX (`FLOAT`) {#RC1_MAX} RC channel 1 maximum. @@ -27342,16 +27265,6 @@ Mid point value | ------ | -------- | -------- | --------- | ------- | ---- | |   | 800.0 | 2200.0 | | 1500.0 | us | -### RC2_DZ (`FLOAT`) {#RC2_DZ} - -RC channel 2 dead zone. - -The +- range of this value around the trim value will be considered as zero. - -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 0.0 | 100.0 | | 10.0 | us | - ### RC2_MAX (`FLOAT`) {#RC2_MAX} RC channel 2 maximum. @@ -27397,16 +27310,6 @@ Mid point value | ------ | -------- | -------- | --------- | ------- | ---- | |   | 800.0 | 2200.0 | | 1500.0 | us | -### RC3_DZ (`FLOAT`) {#RC3_DZ} - -RC channel 3 dead zone. - -The +- range of this value around the trim value will be considered as zero. - -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 0.0 | 100.0 | | 10.0 | us | - ### RC3_MAX (`FLOAT`) {#RC3_MAX} RC channel 3 maximum. @@ -27452,16 +27355,6 @@ Mid point value | ------ | -------- | -------- | --------- | ------- | ---- | |   | 800.0 | 2200.0 | | 1500 | us | -### RC4_DZ (`FLOAT`) {#RC4_DZ} - -RC channel 4 dead zone. - -The +- range of this value around the trim value will be considered as zero. - -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 0.0 | 100.0 | | 10.0 | us | - ### RC4_MAX (`FLOAT`) {#RC4_MAX} RC channel 4 maximum. @@ -27507,16 +27400,6 @@ Mid point value | ------ | -------- | -------- | --------- | ------- | ---- | |   | 800.0 | 2200.0 | | 1500 | us | -### RC5_DZ (`FLOAT`) {#RC5_DZ} - -RC channel 5 dead zone. - -The +- range of this value around the trim value will be considered as zero. - -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 0.0 | 100.0 | | 10.0 | - ### RC5_MAX (`FLOAT`) {#RC5_MAX} RC channel 5 maximum. @@ -27562,16 +27445,6 @@ Mid point value | ------ | -------- | -------- | --------- | ------- | ---- | |   | 800.0 | 2200.0 | | 1500 | us | -### RC6_DZ (`FLOAT`) {#RC6_DZ} - -RC channel 6 dead zone. - -The +- range of this value around the trim value will be considered as zero. - -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 0.0 | 100.0 | | 10.0 | - ### RC6_MAX (`FLOAT`) {#RC6_MAX} RC channel 6 maximum. @@ -27617,16 +27490,6 @@ Mid point value | ------ | -------- | -------- | --------- | ------- | ---- | |   | 800.0 | 2200.0 | | 1500 | us | -### RC7_DZ (`FLOAT`) {#RC7_DZ} - -RC channel 7 dead zone. - -The +- range of this value around the trim value will be considered as zero. - -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 0.0 | 100.0 | | 10.0 | - ### RC7_MAX (`FLOAT`) {#RC7_MAX} RC channel 7 maximum. @@ -27672,16 +27535,6 @@ Mid point value | ------ | -------- | -------- | --------- | ------- | ---- | |   | 800.0 | 2200.0 | | 1500 | us | -### RC8_DZ (`FLOAT`) {#RC8_DZ} - -RC channel 8 dead zone. - -The +- range of this value around the trim value will be considered as zero. - -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 0.0 | 100.0 | | 10.0 | - ### RC8_MAX (`FLOAT`) {#RC8_MAX} RC channel 8 maximum. @@ -27727,16 +27580,6 @@ Mid point value | ------ | -------- | -------- | --------- | ------- | ---- | |   | 800.0 | 2200.0 | | 1500 | us | -### RC9_DZ (`FLOAT`) {#RC9_DZ} - -RC channel 9 dead zone. - -The +- range of this value around the trim value will be considered as zero. - -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 0.0 | 100.0 | | 0.0 | - ### RC9_MAX (`FLOAT`) {#RC9_MAX} RC channel 9 maximum. @@ -29482,7 +29325,7 @@ Proportional gain for ground speed controller. Tuning parameter for the speed reduction based on the course error. -Reduced*speed = RO_MAX_THR_SPEED * (1 - normalized*course_error * RO_SPEED_RED) +Reduced_speed = RO_MAX_THR_SPEED _ (1 - normalized_course_error _ RO_SPEED_RED) The normalized course error is the angle between the current course and the bearing setpoint interpolated from [0, 180] -> [0, 1]. Higher value -> More speed reduction. @@ -29596,10 +29439,7 @@ Selects the algorithm used for logfile encryption Logging Backend (integer bitmask). -If no logging is set the logger will not be started. -Set bits true to enable: -0: SD card logging -1: Mavlink logging +If no logging is set the logger will not be started. Set bits true to enable: 0: SD card logging 1: Mavlink logging **Bitmask:** @@ -29614,11 +29454,7 @@ Set bits true to enable: Battery-only Logging. -When enabled, logging will not start from boot if battery power is not detected -(e.g. powered via USB on a test bench). This prevents extraneous flight logs from -being created during bench testing. -Note that this only applies to log-from-boot modes. This has no effect on arm-based -modes. +When enabled, logging will not start from boot if battery power is not detected (e.g. powered via USB on a test bench). This prevents extraneous flight logs from being created during bench testing. Note that this only applies to log-from-boot modes. This has no effect on arm-based modes. | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------------ | ---- | @@ -29628,13 +29464,7 @@ modes. Maximum number of log directories to keep. -If there are more log directories than this value, -the system will delete the oldest directories during startup. -In addition, the system will delete old logs if there is not enough free space left. -The minimum amount is 300 MB. -If this is set to 0, old directories will only be removed if the free space falls below -the minimum. -Note: this does not apply to mission log files. +If there are more log directories than this value, the system will delete the oldest directories during startup. In addition, the system will delete old logs if there is not enough free space left. The minimum amount is 300 MB. If this is set to 0, old directories will only be removed if the free space falls below the minimum. Note: this does not apply to mission log files. | Reboot | minValue | maxValue | increment | default | unit | | ------- | -------- | -------- | --------- | ------- | ---- | @@ -29644,9 +29474,7 @@ Note: this does not apply to mission log files. Logfile Encryption key exchange key. -If the logfile is encrypted using a symmetric key algorithm, -the used encryption key is generated at logging start and stored -on the sdcard RSA2048 encrypted using this key. +If the logfile is encrypted using a symmetric key algorithm, the used encryption key is generated at logging start and stored on the sdcard RSA2048 encrypted using this key. | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------- | ---- | @@ -29656,12 +29484,7 @@ on the sdcard RSA2048 encrypted using this key. Logfile Encryption key index. -Selects the key in keystore, used for encrypting the log. When using -a symmetric encryption algorithm, the key is generated at logging start -and kept stored in this index. For symmetric algorithms, the key is -volatile and valid only for the duration of logging. The key is stored -in encrypted format on the sdcard alongside the logfile, using an RSA2048 -key defined by the SDLOG_EXCHANGE_KEY +Selects the key in keystore, used for encrypting the log. When using a symmetric encryption algorithm, the key is generated at logging start and kept stored in this index. For symmetric algorithms, the key is volatile and valid only for the duration of logging. The key is stored in encrypted format on the sdcard alongside the logfile, using an RSA2048 key defined by the SDLOG_EXCHANGE_KEY | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------- | ---- | @@ -29671,14 +29494,7 @@ key defined by the SDLOG_EXCHANGE_KEY Mission Log. -If enabled, a small additional "mission" log file will be written to the SD card. -The log contains just those messages that are useful for tasks like -generating flight statistics and geotagging. -The different modes can be used to further reduce the logged data -(and thus the log file size). For example, choose geotagging mode to -only log data required for geotagging. -Note that the normal/full log is still created, and contains all -the data in the mission log (and more). +If enabled, a small additional "mission" log file will be written to the SD card. The log contains just those messages that are useful for tasks like generating flight statistics and geotagging. The different modes can be used to further reduce the logged data (and thus the log file size). For example, choose geotagging mode to only log data required for geotagging. Note that the normal/full log is still created, and contains all the data in the mission log (and more). **Values:** @@ -29694,11 +29510,7 @@ the data in the mission log (and more). Logging Mode. -Determines when to start and stop logging. By default, logging is started -when arming the system, and stopped when disarming. -Note: The logging start/end points that can be configured here only apply to -SD logging. The mavlink backend is started/stopped independently -of these points. +Determines when to start and stop logging. By default, logging is started when arming the system, and stopped when disarming. Note: The logging start/end points that can be configured here only apply to SD logging. The mavlink backend is started/stopped independently of these points. **Values:** @@ -29716,23 +29528,7 @@ of these points. Logging topic profile (integer bitmask). -This integer bitmask controls the set and rates of logged topics. -The default allows for general log analysis while keeping the -log file size reasonably small. -Enabling multiple sets leads to higher bandwidth requirements and larger log -files. -Set bits true to enable: -0 : Default set (used for general log analysis) -1 : Full rate estimator (EKF2) replay topics -2 : Topics for thermal calibration (high rate raw IMU and Baro sensor data) -3 : Topics for system identification (high rate actuator control and IMU data) -4 : Full rates for analysis of fast maneuvers (RC, attitude, rates and actuators) -5 : Debugging topics (debug\_\*.msg topics, for custom code) -6 : Topics for sensor comparison (low rate raw IMU, Baro and magnetometer data) -7 : Topics for computer vision and collision prevention -8 : Raw FIFO high-rate IMU (Gyro) -9 : Raw FIFO high-rate IMU (Accel) -10: Logging of mavlink tunnel message (useful for payload communication debugging) +This integer bitmask controls the set and rates of logged topics. The default allows for general log analysis while keeping the log file size reasonably small. Enabling multiple sets leads to higher bandwidth requirements and larger log files. Set bits true to enable: 0 : Default set (used for general log analysis) 1 : Full rate estimator (EKF2) replay topics 2 : Topics for thermal calibration (high rate raw IMU and Baro sensor data) 3 : Topics for system identification (high rate actuator control and IMU data) 4 : Full rates for analysis of fast maneuvers (RC, attitude, rates and actuators) 5 : Debugging topics (debug\_\*.msg topics, for custom code) 6 : Topics for sensor comparison (low rate raw IMU, Baro and magnetometer data) 7 : Topics for computer vision and collision prevention 8 : Raw FIFO high-rate IMU (Gyro) 9 : Raw FIFO high-rate IMU (Accel) 10: Logging of mavlink tunnel message (useful for payload communication debugging) **Bitmask:** @@ -29757,11 +29553,7 @@ Set bits true to enable: UTC offset (unit: min). -the difference in hours and minutes from Coordinated -Universal Time (UTC) for a your place and date. -for example, In case of South Korea(UTC+09:00), -UTC offset is 540 min (9\*60) -refer to https://en.wikipedia.org/wiki/List_of_UTC_time_offsets +the difference in hours and minutes from Coordinated Universal Time (UTC) for a your place and date. for example, In case of South Korea(UTC+09:00), UTC offset is 540 min (9\*60) refer to https://en.wikipedia.org/wiki/List_of_UTC_time_offsets | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------- | ---- | @@ -32374,331 +32166,423 @@ INA238 Power Monitor Shunt. ### MS_ACCEL_RANGE (`INT32`) {#MS_ACCEL_RANGE} -Sets the range of the accelerometer. +MicroStrain accelerometer range. --1 = Will not be configured, and will use the device default range, -Each adjustable range has a corresponding integer setting. Refer to the device's User Manual to check the available adjustment ranges. -https://www.hbkworld.com/en/products/transducers/inertial-sensors#!ref_microstrain.com -Restart required -This parameter is specific to the MicroStrain driver. +-1 = Will not be configured, and will use the device default range. +Ranges vary by device and map to integer codes. Check the device's [User Manual](https://www.hbkworld.com/en/products/transducers/inertial-sensors#!ref_microstrain.com) for supported ranges and set the corresponding integer. -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | | | | -1 | +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | -1 | ### MS_ALIGNMENT (`INT32`) {#MS_ALIGNMENT} -Alignment type. +MicroStrain heading alignment type. -Select the source of heading alignment -This is a bitfield, you can use more than 1 source -Bit 0 - Dual-antenna GNSS -Bit 1 - GNSS kinematic (requires motion, e.g. a GNSS velocity) -Bit 2 - Magnetometer -Bit 3 - External Heading (first valid external heading will be used to initialize the filter) -Restart required -This parameter is specific to the MicroStrain driver. +Select the source of heading alignment. -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | | | | 2 | +**Bitmask:** + +- `0`: Dual-antenna GNSS +- `1`: GNSS kinematic (requires motion, e.g. a GNSS velocity) +- `2`: Magnetometer +- `3`: External Heading (first valid external heading will be used to initialize the filter) + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | 1 | 15 | | 2 | ### MS_BARO_RATE_HZ (`INT32`) {#MS_BARO_RATE_HZ} -Barometer data rate. +MicroStrain barometer data rate. -Barometer data rate -Max Limit: 1000 -0 - Disable barometer datastream -The max limit should be divisible by the rate -eg: 1000 % MS_BARO_RATE_HZ = 0 -Restart required -This parameter is specific to the MicroStrain driver. +Barometer data rate (Hz). +Valid rates: 0 or any factor of 1000. -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | | | | 50 | +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | 0 | 1000 | | 50 | + +### MS_EHEAD_YAW (`FLOAT`) {#MS_EHEAD_YAW} + +MicroStrain External Heading Orientation (Yaw). + +The orientation of the device (Radians) with respect to the vehicle frame around the z axis. +Requires MS_EXT_HEAD_EN to be enabled to be used. + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 0.0 | + +### MS_EMAG_PTCH (`FLOAT`) {#MS_EMAG_PTCH} + +MicroStrain External Magnetometer Orientation (Pitch). + +The orientation of the device (Radians) with respect to the vehicle frame around the y axis. +Requires MS_EXT_MAG_EN to be enabled to be used. + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 0.0 | + +### MS_EMAG_ROLL (`FLOAT`) {#MS_EMAG_ROLL} + +MicroStrain External Magnetometer Orientation (Roll). + +The orientation of the device (Radians) with respect to the vehicle frame around the x axis. +Requires MS_EXT_MAG_EN to be enabled to be used. + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 0.0 | + +### MS_EMAG_UNCERT (`FLOAT`) {#MS_EMAG_UNCERT} + +MicroStrain external magnetometer uncertainty. + +The 1-sigma uncertainty (in Gauss) for all axes, which will remain constant across all aiding measurements. +Requires MS_EXT_MAG_EN to be enabled to be used. + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 0.1 | + +### MS_EMAG_YAW (`FLOAT`) {#MS_EMAG_YAW} + +MicroStrain External Magnetometer Orientation (Yaw). + +The orientation of the device (Radians) with respect to the vehicle frame around the z axis. +Requires MS_EXT_MAG_EN to be enabled to be used. + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 0.0 | ### MS_EXT_HEAD_EN (`INT32`) {#MS_EXT_HEAD_EN} +Enable MicroStrain external heading aiding. + Toggles external heading as an aiding measurement. - -0 = Disabled, -1 = Enabled If enabled, the filter will be configured to accept external heading as an aiding meaurement. -Restart required -This parameter is specific to the MicroStrain driver. -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | | | | 0 | +**Values:** + +- `0`: Disabled +- `1`: Enabled + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 0 | + +### MS_EXT_MAG_EN (`INT32`) {#MS_EXT_MAG_EN} + +Enable MicroStrain external magnetometer aiding. + +Toggles external magnetometer aiding in the device filter. + +**Values:** + +- `0`: Disabled +- `1`: Enabled + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 0 | ### MS_FILT_RATE_HZ (`INT32`) {#MS_FILT_RATE_HZ} -EKF data Rate. +MicroStrain EKF data rate. -EKF data rate -Max Limit: 1000 -0 - Disable EKF datastream -The max limit should be divisible by the rate -eg: 1000 % MS_FILT_RATE_HZ = 0 -Restart required -This parameter is specific to the MicroStrain driver. +The rate at which the INS data is published (Hz). +Valid rates: 0 or any factor of 1000. -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | | | | 250 | +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | 0 | 1000 | | 250 | ### MS_GNSS_AID_SRC (`INT32`) {#MS_GNSS_AID_SRC} -GNSS aiding source control. +MicroStrain GNSS aiding source control. -Select the source of gnss aiding (GNSS/INS) -1 = All internal receivers, -2 = External GNSS messages, -3 = GNSS receiver 1 only -4 = GNSS receiver 2 only -Restart required -This parameter is specific to the MicroStrain driver. +Select the source of gnss aiding (GNSS/INS). -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | | | | 1 | +**Values:** + +- `1`: All internal receivers +- `2`: External GNSS messages +- `3`: GNSS receiver 1 only +- `4`: GNSS receiver 2 only + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 1 | ### MS_GNSS_OFF1_X (`FLOAT`) {#MS_GNSS_OFF1_X} -GNSS lever arm offset 1 (X). +MicroStrain GNSS lever arm offset 1 (X). -Lever arm offset (m) in the X direction for the external GNSS receiver -In the case of a dual antenna setup, this is antenna 1 -Restart required -This parameter is specific to the MicroStrain driver. +Lever arm offset (m) in the X direction for the external GNSS receiver. +In the case of a dual antenna setup, this is antenna 1. -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | | | | 0.0 | +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 0.0 | ### MS_GNSS_OFF1_Y (`FLOAT`) {#MS_GNSS_OFF1_Y} -GNSS lever arm offset 1 (Y). +MicroStrain GNSS lever arm offset 1 (Y). -Lever arm offset (m) in the Y direction for the external GNSS receiver -In the case of a dual antenna setup, this is antenna 1 -Restart required -This parameter is specific to the MicroStrain driver. +Lever arm offset (m) in the Y direction for the external GNSS receiver. +In the case of a dual antenna setup, this is antenna 1. -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | | | | 0.0 | +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 0.0 | ### MS_GNSS_OFF1_Z (`FLOAT`) {#MS_GNSS_OFF1_Z} -GNSS lever arm offset 1 (Z). +MicroStrain GNSS lever arm offset 1 (Z). -Lever arm offset (m) in the Z direction for the external GNSS receiver -In the case of a dual antenna setup, this is antenna 1 -Restart required -This parameter is specific to the MicroStrain driver. +Lever arm offset (m) in the Z direction for the external GNSS receiver. +In the case of a dual antenna setup, this is antenna 1. -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | | | | 0.0 | +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 0.0 | ### MS_GNSS_OFF2_X (`FLOAT`) {#MS_GNSS_OFF2_X} -GNSS lever arm offset 2 (X). +MicroStrain GNSS lever arm offset 2 (X). Lever arm offset (m) in the X direction for antenna 2 -This will only be used if the device supports a dual antenna setup -Restart required -This parameter is specific to the MicroStrain driver. +This will only be used if the device supports a dual antenna setup. -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | | | | 0.0 | +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 0.0 | ### MS_GNSS_OFF2_Y (`FLOAT`) {#MS_GNSS_OFF2_Y} -GNSS lever arm offset 2 (Y). +MicroStrain GNSS lever arm offset 2 (Y). -Lever arm offset (m) in the Y direction for antenna 2 -This will only be used if the device supports a dual antenna setup -Restart required -This parameter is specific to the MicroStrain driver. +Lever arm offset (m) in the Y direction for antenna 2. +This will only be used if the device supports a dual antenna setup. -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | | | | 0.0 | +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 0.0 | ### MS_GNSS_OFF2_Z (`FLOAT`) {#MS_GNSS_OFF2_Z} -GNSS lever arm offset 2 (Z). +MicroStrain GNSS lever arm offset 2 (Z). -Lever arm offset (m) in the X direction for antenna 2 -This will only be used if the device supports a dual antenna setup -Restart required -This parameter is specific to the MicroStrain driver. +Lever arm offset (m) in the X direction for antenna 2. +This will only be used if the device supports a dual antenna setup. -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | | | | 0.0 | +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 0.0 | ### MS_GNSS_RATE_HZ (`INT32`) {#MS_GNSS_RATE_HZ} -GNSS data Rate. +MicroStrain GNSS data rate. -GNSS receiver 1 and 2 data rate -Max Limit: 5 -The max limit should be divisible by the rate -0 - Disable GNSS datastream -eg: 5 % MS_GNSS_RATE_HZ = 0 -Restart required -This parameter is specific to the MicroStrain driver. +GNSS receiver 1 and 2 data rate (Hz). +Valid rates: 0, 1 or 5. -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | | | | 5 | +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | 0 | 5 | | 5 | ### MS_GYRO_RANGE (`INT32`) {#MS_GYRO_RANGE} -Sets the range of the gyro. +MicroStrain gyroscope range. --1 = Will not be configured, and will use the device default range, -Each adjustable range has a corresponding integer setting. Refer to the device's User Manual to check the available adjustment ranges. -https://www.hbkworld.com/en/products/transducers/inertial-sensors#!ref_microstrain.com -Restart required -This parameter is specific to the MicroStrain driver. +-1 = Will not be configured, and will use the device default range. +Ranges vary by device and map to integer codes. Check the device's [User Manual](https://www.hbkworld.com/en/products/transducers/inertial-sensors#!ref_microstrain.com) for supported ranges and set the corresponding integer. -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | | | | -1 | +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | -1 | ### MS_IMU_RATE_HZ (`INT32`) {#MS_IMU_RATE_HZ} -IMU Data Rate. +MicroStrain IMU data rate. -IMU (Accelerometer and Gyroscope) data rate -The INS driver will be scheduled at a rate 2\*MS_IMU_RATE_HZ -Max Limit: 1000 -0 - Disable IMU datastream -The max limit should be divisible by the rate -eg: 1000 % MS_IMU_RATE_HZ = 0 -Restart required -This parameter is specific to the MicroStrain driver. +Accelerometer and Gyroscope data rate (Hz). +Valid rates: 0 or any factor of 1000. -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | | | | 500 | +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | 0 | 1000 | | 500 | ### MS_INT_HEAD_EN (`INT32`) {#MS_INT_HEAD_EN} +Enable MicroStrain internal heading aiding. + Toggles internal heading as an aiding measurement. - -0 = Disabled, -1 = Enabled If dual antennas are supported (CV7-GNSS/INS). The filter will be configured to use dual antenna heading as an aiding measurement. -Restart required -This parameter is specific to the MicroStrain driver. -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | | | | 0 | +**Values:** + +- `0`: Disabled +- `1`: Enabled + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 0 | ### MS_INT_MAG_EN (`INT32`) {#MS_INT_MAG_EN} +Enable MicroStrain internal magnetometer. + Toggles internal magnetometer aiding in the device filter. -0 = Disabled, -1 = Enabled -Restart required -This parameter is specific to the MicroStrain driver. +**Values:** -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | | | | 0 | +- `0`: Disabled +- `1`: Enabled + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 0 | ### MS_MAG_RATE_HZ (`INT32`) {#MS_MAG_RATE_HZ} -Magnetometer Data Rate. +MicroStrain magnetometer data rate. -Magnetometer data rate -Max Limit: 1000 -0 - Disable magnetometer datastream -The max limit should be divisible by the rate -eg: 1000 % MS_MAG_RATE_HZ = 0 -Restart required -This parameter is specific to the MicroStrain driver. +Magnetometer data rate (Hz). +Valid rates: 0 or any factor of 1000. -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | | | | 50 | +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | 0 | 1000 | | 50 | ### MS_MODE (`INT32`) {#MS_MODE} -Toggles using the device as the primary EKF. +MicroStrain device mode. -Setting to 1 will publish data from the device to the vehicle topics (global_position, attitude, local_position, odometry), estimator_status and sensor_selection -Setting to 0 will publish data from the device to the external_ins topics (global position, attitude, local position) -Restart Required -This parameter is specific to the MicroStrain driver. +Sensor mode publishes raw IMU data to be used by EKF2. INS data from the device is published to the external INS topics. +INS mode publishes the INS data to the vehicle topics to be used for navigation. -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | | | | 1 | +**Values:** + +- `0`: Sensor Mode +- `1`: INS Mode + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 0 | + +### MS_OFLW_OFF_X (`FLOAT`) {#MS_OFLW_OFF_X} + +MicroStrain optical flow offset (X). + +Offset (m) in the X direction if an Optical Flow sensor is connected. +Requires MS_OPT_FLOW_EN to be enabled to be used. + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 0.0 | + +### MS_OFLW_OFF_Y (`FLOAT`) {#MS_OFLW_OFF_Y} + +MicroStrain optical flow offset (Y). + +Offset (m) in the Y direction if an Optical Flow sensor is connected. +Requires MS_OPT_FLOW_EN to be enabled to be used. + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 0.0 | + +### MS_OFLW_OFF_Z (`FLOAT`) {#MS_OFLW_OFF_Z} + +MicroStrain optical flow offset (Z). + +Offset (m) in the Z direction if an Optical Flow sensor is connected. +Requires MS_OPT_FLOW_EN to be enabled to be used. + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 0.0 | + +### MS_OFLW_UNCERT (`FLOAT`) {#MS_OFLW_UNCERT} + +MicroStrain optical flow uncertainty. + +The 1-sigma uncertainty (in m/s) for the X and Y axes, which will remain constant across all aiding measurements. +The Z axis is not used for aiding. +Requires MS_OPT_FLOW_EN to be enabled to be used. + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 0.1 | + +### MS_OPT_FLOW_EN (`INT32`) {#MS_OPT_FLOW_EN} + +Enable MicroStrain optical flow aiding. + +Toggles body frame velocity as an aiding measurement. +The driver uses the body frame velocity from the optical flow sensor as the aiding measurements. + +**Values:** + +- `0`: Disabled +- `1`: Enabled + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 0 | ### MS_SENSOR_PTCH (`FLOAT`) {#MS_SENSOR_PTCH} -Sensor to Vehicle Transform (Pitch). +MicroStrain Sensor to Vehicle Transform (Pitch). -The orientation of the device (Radians) with respect to the vehicle frame around the y axis -Requires MS_SVT_EN to be enabled to be used -Restart required -This parameter is specific to the MicroStrain driver. +The orientation of the device (Radians) with respect to the vehicle frame around the y axis. +Requires MS_SVT_EN to be enabled to be used. -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | | | | 0.0 | +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 0.0 | ### MS_SENSOR_ROLL (`FLOAT`) {#MS_SENSOR_ROLL} -Sensor to Vehicle Transform (Roll). +MicroStrain Sensor to vehicle transform (Roll). -The orientation of the device (Radians) with respect to the vehicle frame around the x axis -Requires MS_SVT_EN to be enabled to be used -Restart required -This parameter is specific to the MicroStrain driver. +The orientation of the device (Radians) with respect to the vehicle frame around the x axis. +Requires MS_SVT_EN to be enabled to be used. -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | | | | 0.0 | +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 0.0 | ### MS_SENSOR_YAW (`FLOAT`) {#MS_SENSOR_YAW} -Sensor to Vehicle Transform (Yaw). +MicroStrain Sensor to Vehicle Transform (Yaw). -The orientation of the device (Radians) with respect to the vehicle frame around the z axis -Requires MS_SVT_EN to be enabled to be used -Restart required -This parameter is specific to the MicroStrain driver. +The orientation of the device (Radians) with respect to the vehicle frame around the z axis. +Requires MS_SVT_EN to be enabled to be used. -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | | | | 0.0 | +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 0.0 | ### MS_SVT_EN (`INT32`) {#MS_SVT_EN} -Enables sensor to vehicle transform. +Enables Microstrain sensor to vehicle transform. -0 = Disabled, -1 = Enabled If the sensor has a different orientation with respect to the vehicle. This will enable a transform to correct itself. -The transform is described by MS_SENSOR_ROLL, MS_SENSOR_PITCH, MS_SENSOR_YAW -Restart required -This parameter is specific to the MicroStrain driver. +The transform is described by MS_SENSOR_ROLL, MS_SENSOR_PITCH, MS_SENSOR_YAW. -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | | | | 0 | +**Values:** + +- `0`: Disabled +- `1`: Enabled + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 0 | ### PCF8583_MAGNET (`INT32`) {#PCF8583_MAGNET} @@ -33366,7 +33250,7 @@ Lightware SF1xx/SF20/LW20 laser rangefinder (i2c). | Reboot | minValue | maxValue | increment | default | unit | | ------- | -------- | -------- | --------- | ------- | ---- | -| ✓ | 0 | 6 | | 0 | +| ✓ | 0 | 7 | | 0 | ### SENS_EN_SF45_CFG (`INT32`) {#SENS_EN_SF45_CFG} @@ -34299,6 +34183,31 @@ This parameter defines the rotation of the Mappydot sensor relative to the platf | ------- | -------- | -------- | --------- | ------- | ---- | | ✓ | 0 | 7 | | 0 | +### SENS_MS_CFG (`INT32`) {#SENS_MS_CFG} + +Serial Configuration for MICROSTRAIN. + +Configure on which serial port to run MICROSTRAIN. + +**Values:** + +- `0`: Disabled +- `6`: UART 6 +- `101`: TELEM 1 +- `102`: TELEM 2 +- `103`: TELEM 3 +- `104`: TELEM/SERIAL 4 +- `201`: GPS 1 +- `202`: GPS 2 +- `203`: GPS 3 +- `300`: Radio Controller +- `301`: Wifi Port +- `401`: EXT2 + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 0 | + ### SENS_OR_ADIS164X (`INT32`) {#SENS_OR_ADIS164X} Analog Devices ADIS16448 IMU Orientation(external SPI). @@ -36261,7 +36170,7 @@ Pitch rate controller gain. Global gain of the controller. This gain scales the P, I and D terms of the controller: -output = SC*PITCHRATE_K * (SC*PITCHRATE_P * error +output = SC_PITCHRATE_K _ (SC_PITCHRATE_P _ error - SC_PITCHRATE_I \* error_integral - SC_PITCHRATE_D \* error_derivative) @@ -36328,7 +36237,7 @@ Roll rate controller gain. Global gain of the controller. This gain scales the P, I and D terms of the controller: -output = SC*ROLLRATE_K * (SC*ROLLRATE_P * error +output = SC_ROLLRATE_K _ (SC_ROLLRATE_P _ error - SC_ROLLRATE_I \* error_integral - SC_ROLLRATE_D \* error_derivative) @@ -36395,7 +36304,7 @@ Yaw rate controller gain. Global gain of the controller. This gain scales the P, I and D terms of the controller: -output = SC*YAWRATE_K * (SC*YAWRATE_P * error +output = SC_YAWRATE_K _ (SC_YAWRATE_P _ error - SC_YAWRATE_I \* error_integral - SC_YAWRATE_D \* error_derivative) diff --git a/docs/en/airframes/airframe_reference.md b/docs/en/airframes/airframe_reference.md index fdcefc78d9..2067c8f6a5 100644 --- a/docs/en/airframes/airframe_reference.md +++ b/docs/en/airframes/airframe_reference.md @@ -615,6 +615,10 @@ div.frame_variant td, div.frame_variant th { Axial SCX10 2 Trail Honcho Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 51001

+ + NXP B3RB Rover Ackermann + Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 51002

+ Generic Rover Mecanum Maintainer: John Doe <john@example.com>

SYS_AUTOSTART = 52000

diff --git a/docs/en/index.md b/docs/en/index.md index 047ff55c45..53bcd97f66 100644 --- a/docs/en/index.md +++ b/docs/en/index.md @@ -1,3 +1,8 @@ + +
# PX4 Autopilot User Guide @@ -8,17 +13,22 @@ PX4 is the _Professional Autopilot_. Developed by world-class developers from industry and academia, and supported by an active world wide community, it powers all kinds of vehicles from racing and cargo drones through to ground vehicles and submersibles. :::tip -This guide contains everything you need to assemble, configure, and safely fly a PX4-based vehicle. Interested in contributing? Check out the [Development](development/development.md) section. - +This guide contains everything you need to assemble, configure, and safely fly a PX4-based vehicle. +Interested in contributing? Check out the [Development](development/development.md) section. ::: +
+ :::warning + This guide is for the _development_ version of PX4 (`main` branch). Use the **Version** selector to find the current _stable_ version. Documented changes since the stable release are captured in the evolving [release note](releases/main.md). ::: +
+ ## How Do I Get Started? [Basic Concepts](getting_started/px4_basic_concepts.md) should be read by all users! diff --git a/docs/en/modules/modules_driver_distance_sensor.md b/docs/en/modules/modules_driver_distance_sensor.md index af48d491a5..4e78a7e7ff 100644 --- a/docs/en/modules/modules_driver_distance_sensor.md +++ b/docs/en/modules/modules_driver_distance_sensor.md @@ -104,7 +104,7 @@ Source: [drivers/distance_sensor/lightware_laser_i2c](https://github.com/PX4/PX4 ### Description -I2C bus driver for Lightware SFxx series LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20. +I2C bus driver for Lightware SFxx series LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20, SF30/d. Setup/usage information: https://docs.px4.io/main/en/sensor/sfxx_lidar.html diff --git a/docs/en/msg_docs/AirspeedValidated.md b/docs/en/msg_docs/AirspeedValidated.md index b5fe9191a5..61f607e7fa 100644 --- a/docs/en/msg_docs/AirspeedValidated.md +++ b/docs/en/msg_docs/AirspeedValidated.md @@ -1,31 +1,39 @@ # AirspeedValidated (UORB message) +Validated airspeed +Provides information about airspeed (indicated, true, calibrated) and the source of the data. +Used by controllers, estimators and for airspeed reporting to operator. [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/AirspeedValidated.msg) ```c +# Validated airspeed +# +# Provides information about airspeed (indicated, true, calibrated) and the source of the data. +# Used by controllers, estimators and for airspeed reporting to operator. + + uint32 MESSAGE_VERSION = 1 -uint64 timestamp # time since system start (microseconds) +uint64 timestamp # [us] Time since system start -float32 indicated_airspeed_m_s # [m/s] Indicated airspeed (IAS), set to NAN if invalid -float32 calibrated_airspeed_m_s # [m/s] Calibrated airspeed (CAS), set to NAN if invalid -float32 true_airspeed_m_s # [m/s] True airspeed (TAS), set to NAN if invalid +float32 indicated_airspeed_m_s # [m/s] [@invalid NaN] Indicated airspeed (IAS) +float32 calibrated_airspeed_m_s # [m/s] [@invalid NaN] Calibrated airspeed (CAS) +float32 true_airspeed_m_s # [m/s] [@invalid NaN] True airspeed (TAS) -int8 airspeed_source # Source of currently published airspeed values -int8 DISABLED = -1 -int8 GROUND_MINUS_WIND = 0 -int8 SENSOR_1 = 1 -int8 SENSOR_2 = 2 -int8 SENSOR_3 = 3 -int8 SYNTHETIC = 4 +int8 airspeed_source # [@enum SOURCE] Source of currently published airspeed values +int8 SOURCE_DISABLED = -1 # Disabled +int8 SOURCE_GROUND_MINUS_WIND = 0 # Ground speed minus wind +int8 SOURCE_SENSOR_1 = 1 # Sensor 1 +int8 SOURCE_SENSOR_2 = 2 # Sensor 2 +int8 SOURCE_SENSOR_3 = 3 # Sensor 3 +int8 SOURCE_SYNTHETIC = 4 # Synthetic airspeed -# debug states -float32 calibrated_ground_minus_wind_m_s # CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid -float32 calibraded_airspeed_synth_m_s # synthetic airspeed in m/s, set to NAN if invalid -float32 airspeed_derivative_filtered # filtered indicated airspeed derivative [m/s/s] -float32 throttle_filtered # filtered fixed-wing throttle [-] -float32 pitch_filtered # filtered pitch [rad] +float32 calibrated_ground_minus_wind_m_s # [m/s] [@invalid NaN] CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption +float32 calibraded_airspeed_synth_m_s # [m/s] [@invalid NaN] Synthetic airspeed +float32 airspeed_derivative_filtered # [m/s^2] Filtered indicated airspeed derivative +float32 throttle_filtered # [-] Filtered fixed-wing throttle +float32 pitch_filtered # [rad] Filtered pitch ``` diff --git a/docs/en/msg_docs/AutotuneAttitudeControlStatus.md b/docs/en/msg_docs/AutotuneAttitudeControlStatus.md index b8d7517950..31a47ef204 100644 --- a/docs/en/msg_docs/AutotuneAttitudeControlStatus.md +++ b/docs/en/msg_docs/AutotuneAttitudeControlStatus.md @@ -1,44 +1,59 @@ # AutotuneAttitudeControlStatus (UORB message) +Autotune attitude control status +This message is published by the fw_autotune_attitude_control and mc_autotune_attitude_control modules when the user engages autotune, +and is subscribed to by the respective attitude controllers to command rate setpoints. + +The rate_sp field is consumed by the controllers, while the remaining fields (model coefficients, gains, filters, and autotune state) are used for logging and debugging. [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AutotuneAttitudeControlStatus.msg) ```c -uint64 timestamp # time since system start (microseconds) +# Autotune attitude control status +# +# This message is published by the fw_autotune_attitude_control and mc_autotune_attitude_control modules when the user engages autotune, +# and is subscribed to by the respective attitude controllers to command rate setpoints. +# +# The rate_sp field is consumed by the controllers, while the remaining fields (model coefficients, gains, filters, and autotune state) are used for logging and debugging. -float32[5] coeff # coefficients of the identified discrete-time model -float32[5] coeff_var # coefficients' variance of the identified discrete-time model -float32 fitness # fitness of the parameter estimate -float32 innov -float32 dt_model +uint64 timestamp # [us] Time since system start -float32 kc -float32 ki -float32 kd -float32 kff -float32 att_p +float32[5] coeff # [-] Coefficients of the identified discrete-time model +float32[5] coeff_var # [-] Coefficients' variance of the identified discrete-time model +float32 fitness # [-] Fitness of the parameter estimate +float32 innov # [rad/s] Innovation (residual error between model and measured output) +float32 dt_model # [s] Model sample time used for identification -float32[3] rate_sp -float32 u_filt -float32 y_filt +float32 kc # [-] Proportional rate-loop gain (ideal form) +float32 ki # [-] Integral rate-loop gain (ideal form) +float32 kd # [-] Derivative rate-loop gain (ideal form) +float32 kff # [-] Feedforward rate-loop gain +float32 att_p # [-] Proportional attitude gain -uint8 STATE_IDLE = 0 -uint8 STATE_INIT = 1 -uint8 STATE_ROLL = 2 -uint8 STATE_ROLL_PAUSE = 3 -uint8 STATE_PITCH = 4 -uint8 STATE_PITCH_PAUSE = 5 -uint8 STATE_YAW = 6 -uint8 STATE_YAW_PAUSE = 7 -uint8 STATE_VERIFICATION = 8 -uint8 STATE_APPLY = 9 -uint8 STATE_TEST = 10 -uint8 STATE_COMPLETE = 11 -uint8 STATE_FAIL = 12 -uint8 STATE_WAIT_FOR_DISARM = 13 +float32[3] rate_sp # [rad/s] Rate setpoint commanded to the attitude controller. -uint8 state +float32 u_filt # [-] Filtered input signal (normalized torque setpoint) used in system identification. +float32 y_filt # [rad/s] Filtered output signal (angular velocity) used in system identification. + +uint8 state # [@enum STATE] Current state of the autotune procedure. +uint8 STATE_IDLE = 0 # Idle (not running) +uint8 STATE_INIT = 1 # Initialize filters and setup +uint8 STATE_ROLL_AMPLITUDE_DETECTION = 2 # FW only: determine required excitation amplitude (roll) +uint8 STATE_ROLL = 3 # Roll-axis excitation and model identification +uint8 STATE_ROLL_PAUSE = 4 # Pause to return to level flight +uint8 STATE_PITCH_AMPLITUDE_DETECTION = 5 # FW only: determine required excitation amplitude (pitch) +uint8 STATE_PITCH = 6 # Pitch-axis excitation and model identification +uint8 STATE_PITCH_PAUSE = 7 # Pause to return to level flight +uint8 STATE_YAW_AMPLITUDE_DETECTION = 8 # FW only: determine required excitation amplitude (yaw) +uint8 STATE_YAW = 9 # Yaw-axis excitation and model identification +uint8 STATE_YAW_PAUSE = 10 # Pause to return to level flight +uint8 STATE_VERIFICATION = 11 # Verify model and candidate gains +uint8 STATE_APPLY = 12 # Apply gains +uint8 STATE_TEST = 13 # Test gains in closed-loop +uint8 STATE_COMPLETE = 14 # Tuning completed successfully +uint8 STATE_FAIL = 15 # Tuning failed (model invalid or controller unstable) +uint8 STATE_WAIT_FOR_DISARM = 16 # Waiting for disarm before finalizing ``` diff --git a/docs/en/msg_docs/ControlAllocatorStatus.md b/docs/en/msg_docs/ControlAllocatorStatus.md index 0ac1b24b55..4068e7b4f4 100644 --- a/docs/en/msg_docs/ControlAllocatorStatus.md +++ b/docs/en/msg_docs/ControlAllocatorStatus.md @@ -1,7 +1,5 @@ # ControlAllocatorStatus (UORB message) - - [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ControlAllocatorStatus.msg) ```c @@ -26,5 +24,6 @@ int8[16] actuator_saturation # Indicates actuator saturation status. # Note 2: an actuator with limited dynamics can be indicated as upper-saturated even if it as not reached its maximum value. uint16 handled_motor_failure_mask # Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector +uint16 motor_stop_mask # Bitmaks of motors stopped by failure injection ``` diff --git a/docs/en/msg_docs/EstimatorStatusFlags.md b/docs/en/msg_docs/EstimatorStatusFlags.md index 0ac832817d..aa7250fe1e 100644 --- a/docs/en/msg_docs/EstimatorStatusFlags.md +++ b/docs/en/msg_docs/EstimatorStatusFlags.md @@ -54,8 +54,9 @@ bool cs_valid_fake_pos # 41 - true if a valid constant position is bein bool cs_constant_pos # 42 - true if the vehicle is at a constant position bool cs_baro_fault # 43 - true when the current baro has been declared faulty and is no longer being used bool cs_gnss_vel # 44 - true if GNSS velocity measurement fusion is intended -bool cs_gnss_fault # 45 - true if GNSS measurements have been declared faulty and are no longer used +bool cs_gnss_fault # 45 - true if GNSS true if GNSS measurements (lat, lon, vel) have been declared faulty bool cs_yaw_manual # 46 - true if yaw has been set manually +bool cs_gnss_hgt_fault # 47 - true if GNSS true if GNSS measurements (alt) have been declared faulty # fault status uint32 fault_status_changes # number of filter fault status (fs) changes diff --git a/docs/en/msg_docs/FailureDetectorStatus.md b/docs/en/msg_docs/FailureDetectorStatus.md index 369a176b24..a112a1e642 100644 --- a/docs/en/msg_docs/FailureDetectorStatus.md +++ b/docs/en/msg_docs/FailureDetectorStatus.md @@ -1,7 +1,5 @@ # FailureDetectorStatus (UORB message) - - [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FailureDetectorStatus.msg) ```c @@ -19,5 +17,6 @@ bool fd_motor float32 imbalanced_prop_metric # Metric of the imbalanced propeller check (low-passed) uint16 motor_failure_mask # Bit-mask with motor indices, indicating critical motor failures +uint16 motor_stop_mask # Bitmaks of motors stopped by failure injection ``` diff --git a/docs/en/msg_docs/GimbalDeviceAttitudeStatus.md b/docs/en/msg_docs/GimbalDeviceAttitudeStatus.md index cb14c570d5..0935029087 100644 --- a/docs/en/msg_docs/GimbalDeviceAttitudeStatus.md +++ b/docs/en/msg_docs/GimbalDeviceAttitudeStatus.md @@ -1,7 +1,5 @@ # GimbalDeviceAttitudeStatus (UORB message) - - [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalDeviceAttitudeStatus.msg) ```c @@ -16,6 +14,9 @@ uint16 DEVICE_FLAGS_NEUTRAL = 2 uint16 DEVICE_FLAGS_ROLL_LOCK = 4 uint16 DEVICE_FLAGS_PITCH_LOCK = 8 uint16 DEVICE_FLAGS_YAW_LOCK = 16 +uint16 DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME = 32 +uint16 DEVICE_FLAGS_YAW_IN_EARTH_FRAME = 64 + float32[4] q float32 angular_velocity_x diff --git a/docs/en/msg_docs/SensorGnssStatus.md b/docs/en/msg_docs/SensorGnssStatus.md new file mode 100644 index 0000000000..70602b85fc --- /dev/null +++ b/docs/en/msg_docs/SensorGnssStatus.md @@ -0,0 +1,19 @@ +# SensorGnssStatus (UORB message) + +Gnss quality indicators + +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorGnssStatus.msg) + +```c +# Gnss quality indicators + +uint64 timestamp # time since system start (microseconds) +uint32 device_id # unique device ID for the sensor that does not change between power cycles + +bool quality_available # Set to true if quality indicators are available +uint8 quality_corrections # Corrections quality from 0 to 10, or 255 if not available +uint8 quality_receiver # Overall receiver operating status from 0 to 10, or 255 if not available +uint8 quality_gnss_signals # Quality of GNSS signals from 0 to 10, or 255 if not available +uint8 quality_post_processing # Expected post processing quality from 0 to 10, or 255 if not available + +``` diff --git a/docs/en/msg_docs/SensorGps.md b/docs/en/msg_docs/SensorGps.md index c8d09e9472..1b5fb3cf41 100644 --- a/docs/en/msg_docs/SensorGps.md +++ b/docs/en/msg_docs/SensorGps.md @@ -38,18 +38,26 @@ float32 vdop # Vertical dilution of precision int32 noise_per_ms # GPS noise per millisecond uint16 automatic_gain_control # Automatic gain control monitor -uint8 JAMMING_STATE_UNKNOWN = 0 -uint8 JAMMING_STATE_OK = 1 -uint8 JAMMING_STATE_WARNING = 2 -uint8 JAMMING_STATE_CRITICAL = 3 -uint8 jamming_state # indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical -int32 jamming_indicator # indicates jamming is occurring +uint8 JAMMING_STATE_UNKNOWN = 0 #default +uint8 JAMMING_STATE_OK = 1 +uint8 JAMMING_STATE_MITIGATED = 2 +uint8 JAMMING_STATE_DETECTED = 3 +uint8 jamming_state # indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected +int32 jamming_indicator # indicates jamming is occurring -uint8 SPOOFING_STATE_UNKNOWN = 0 -uint8 SPOOFING_STATE_NONE = 1 -uint8 SPOOFING_STATE_INDICATED = 2 -uint8 SPOOFING_STATE_MULTIPLE = 3 -uint8 spoofing_state # indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical +uint8 SPOOFING_STATE_UNKNOWN = 0 #default +uint8 SPOOFING_STATE_OK = 1 +uint8 SPOOFING_STATE_MITIGATED = 2 +uint8 SPOOFING_STATE_DETECTED = 3 +uint8 spoofing_state # indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected + +# Combined authentication state (e.g. Galileo OSNMA) +uint8 AUTHENTICATION_STATE_UNKNOWN = 0 #default +uint8 AUTHENTICATION_STATE_INITIALIZING = 1 +uint8 AUTHENTICATION_STATE_ERROR = 2 +uint8 AUTHENTICATION_STATE_OK = 3 +uint8 AUTHENTICATION_STATE_DISABLED = 4 +uint8 authentication_state # GPS signal authentication state float32 vel_m_s # GPS ground speed, (metres/sec) float32 vel_n_m_s # GPS North velocity, (metres/sec) @@ -63,6 +71,16 @@ uint64 time_utc_usec # Timestamp (microseconds, UTC), this is the timestamp whi uint8 satellites_used # Number of satellites used +uint32 SYSTEM_ERROR_OK = 0 #default +uint32 SYSTEM_ERROR_INCOMING_CORRECTIONS = 1 +uint32 SYSTEM_ERROR_CONFIGURATION = 2 +uint32 SYSTEM_ERROR_SOFTWARE = 4 +uint32 SYSTEM_ERROR_ANTENNA = 8 +uint32 SYSTEM_ERROR_EVENT_CONGESTION = 16 +uint32 SYSTEM_ERROR_CPU_OVERLOAD = 32 +uint32 SYSTEM_ERROR_OUTPUT_CONGESTION = 64 +uint32 system_error # General errors with the connected GPS receiver + float32 heading # heading angle of XYZ body frame rel to NED. Set to NaN if not available and updated (used for dual antenna GPS), (rad, [-PI, PI]) float32 heading_offset # heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI]) float32 heading_accuracy # heading accuracy (rad, [0, 2PI]) diff --git a/docs/en/msg_docs/VehicleOdometry.md b/docs/en/msg_docs/VehicleOdometry.md index d559ded6c7..4213c23337 100644 --- a/docs/en/msg_docs/VehicleOdometry.md +++ b/docs/en/msg_docs/VehicleOdometry.md @@ -1,41 +1,44 @@ # VehicleOdometry (UORB message) -Vehicle odometry data. Fits ROS REP 147 for aerial vehicles +Vehicle odometry data + +Fits ROS REP 147 for aerial vehicles [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleOdometry.msg) ```c -# Vehicle odometry data. Fits ROS REP 147 for aerial vehicles +# Vehicle odometry data +# +# Fits ROS REP 147 for aerial vehicles uint32 MESSAGE_VERSION = 0 -uint64 timestamp # time since system start (microseconds) -uint64 timestamp_sample +uint64 timestamp # [us] Time since system start +uint64 timestamp_sample # [us] Timestamp sample -uint8 POSE_FRAME_UNKNOWN = 0 -uint8 POSE_FRAME_NED = 1 # NED earth-fixed frame -uint8 POSE_FRAME_FRD = 2 # FRD world-fixed frame, arbitrary heading reference -uint8 pose_frame # Position and orientation frame of reference +uint8 pose_frame # [@enum POSE_FRAME] Position and orientation frame of reference +uint8 POSE_FRAME_UNKNOWN = 0 # Unknown frame +uint8 POSE_FRAME_NED = 1 # North-East-Down (NED) navigation frame. Aligned with True North. +uint8 POSE_FRAME_FRD = 2 # Forward-Right-Down (FRD) frame. Constant arbitrary heading offset from True North. Z is down. -float32[3] position # Position in meters. Frame of reference defined by local_frame. NaN if invalid/unknown -float32[4] q # Quaternion rotation from FRD body frame to reference frame. First value NaN if invalid/unknown +float32[3] position # [m] [@frame local frame] [@invalid NaN If invalid/unknown] Position. Origin is position of GC at startup. +float32[4] q # [-] [@invalid NaN First value if invalid/unknown] Attitude (expressed as a quaternion) relative to pose reference frame at current location. Follows the Hamiltonian convention (w, x, y, z, right-handed, passive rotations from body to world) -uint8 VELOCITY_FRAME_UNKNOWN = 0 -uint8 VELOCITY_FRAME_NED = 1 # NED earth-fixed frame -uint8 VELOCITY_FRAME_FRD = 2 # FRD world-fixed frame, arbitrary heading reference -uint8 VELOCITY_FRAME_BODY_FRD = 3 # FRD body-fixed frame -uint8 velocity_frame # Reference frame of the velocity data +uint8 velocity_frame # [@enum VELOCITY_FRAME] Reference frame of the velocity data +uint8 VELOCITY_FRAME_UNKNOWN = 0 # Unknown frame +uint8 VELOCITY_FRAME_NED = 1 # NED navigation frame at current position. +uint8 VELOCITY_FRAME_FRD = 2 # FRD navigation frame at current position. Constant arbitrary heading offset from True North. Z is down. +uint8 VELOCITY_FRAME_BODY_FRD = 3 # FRD body-fixed frame -float32[3] velocity # Velocity in meters/sec. Frame of reference defined by velocity_frame variable. NaN if invalid/unknown +float32[3] velocity # [m/s] [@frame @velocity_frame] [@invalid NaN If invalid/unknown] Velocity. +float32[3] angular_velocity # [rad/s] [@frame @VELOCITY_FRAME_BODY_FRD] [@invalid NaN If invalid/unknown] Angular velocity in body-fixed frame -float32[3] angular_velocity # Angular velocity in body-fixed frame (rad/s). NaN if invalid/unknown +float32[3] position_variance # [m^2] Variance of position error +float32[3] orientation_variance # [rad^2] Variance of orientation/attitude error (expressed in body frame) +float32[3] velocity_variance # [m^2/s^2] Variance of velocity error -float32[3] position_variance -float32[3] orientation_variance -float32[3] velocity_variance - -uint8 reset_counter -int8 quality +uint8 reset_counter # [-] Reset counter. Counts reset events on attitude, velocity and position. +int8 quality # [-] [@invalid 0] Quality. Unused. # TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry # TOPICS estimator_odometry diff --git a/docs/en/msg_docs/index.md b/docs/en/msg_docs/index.md index 23f6c9441f..44ab566a6b 100644 --- a/docs/en/msg_docs/index.md +++ b/docs/en/msg_docs/index.md @@ -15,7 +15,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [ActuatorMotors](ActuatorMotors.md) — Motor control message - [ActuatorServos](ActuatorServos.md) — Servo control message -- [AirspeedValidated](AirspeedValidated.md) +- [AirspeedValidated](AirspeedValidated.md) — Validated airspeed - [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply - [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request - [BatteryStatus](BatteryStatus.md) — Battery status @@ -70,7 +70,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [VehicleLandDetected](VehicleLandDetected.md) - [VehicleLocalPosition](VehicleLocalPosition.md) — Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started. -- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data. Fits ROS REP 147 for aerial vehicles +- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data - [VehicleRatesSetpoint](VehicleRatesSetpoint.md) - [VehicleStatus](VehicleStatus.md) — Encodes the system state of the vehicle published by commander - [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE @@ -87,7 +87,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [AdcReport](AdcReport.md) - [Airspeed](Airspeed.md) — Airspeed data from sensors - [AirspeedWind](AirspeedWind.md) — Wind estimate (from airspeed_selector) -- [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md) +- [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md) — Autotune attitude control status - [BatteryInfo](BatteryInfo.md) — Battery information - [ButtonEvent](ButtonEvent.md) - [CameraCapture](CameraCapture.md) @@ -246,6 +246,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m change with board revisions and sensor updates. - [SensorCorrection](SensorCorrection.md) — Sensor corrections in SI-unit form for the voted sensor - [SensorGnssRelative](SensorGnssRelative.md) — GNSS relative positioning information in NED frame. The NED frame is defined as the local topological system at the reference station. +- [SensorGnssStatus](SensorGnssStatus.md) — Gnss quality indicators - [SensorGps](SensorGps.md) — GPS position in WGS84 coordinates. the field 'timestamp' is for the position & velocity (microseconds) - [SensorGyro](SensorGyro.md) diff --git a/docs/en/ros2/px4_ros2_waypoint_missions.md b/docs/en/ros2/px4_ros2_waypoint_missions.md index 0e54b9e6cb..4484e1c136 100644 --- a/docs/en/ros2/px4_ros2_waypoint_missions.md +++ b/docs/en/ros2/px4_ros2_waypoint_missions.md @@ -36,7 +36,7 @@ There are some benefits and drawbacks to using ROS-based missions, which are pro - QGroundControl currently does not display the mission or progress during execution, and cannot upload or download a mission. Therefore you will need another mechanism to provide a mission, such as from a web server, a custom GCS, or by generating it directly inside the application. -- The current implementation only supports multicopters (it uses the [GotoSetpointType](../ros2/px4_ros2_control_interface.md#go-to-setpoint-gotosetpointtype), which only works for multicopters, and VTOL in MC mode). +- The current implementation only supports multicopters (it uses the [GotoSetpointType](../ros2/px4_ros2_control_interface.md#go-to-setpoint-multicoptergotosetpointtype), which only works for multicopters, and VTOL in MC mode). It is designed to be extendable to any other vehicle type. ## Overview diff --git a/docs/ko/_sidebar.md b/docs/ko/_sidebar.md index 6fda5a26c0..3455e4ecec 100644 --- a/docs/ko/_sidebar.md +++ b/docs/ko/_sidebar.md @@ -8,6 +8,7 @@ - [위치 모드 (멀티콥터)](/flight_modes_mc/position.md) - [Position Slow Mode (MC)](/flight_modes_mc/position_slow.md) - [고도 모드 (멀티콥터)](/flight_modes_mc/altitude.md) + - [Altitude Cruise Mode (MC)](/flight_modes_mc/altitude_cruise.md) - [Stabilized Mode (MC)](/flight_modes_mc/manual_stabilized.md) - [아크로 모드 (멀티콥터)](/flight_modes_mc/acro.md) - [궤도 모드 (멀티콥터)](/flight_modes_mc/orbit.md) @@ -158,6 +159,7 @@ - [mRo (3DR) Pixhawk 배선 퀵 스타트](/assembly/quick_start_pixhawk.md) - [Holybro Pixhawk Mini (FMUv3) - Discontinued](/flight_controller/pixhawk_mini.md) - [Manufacturer-Supported Autopilots](/flight_controller/autopilot_manufacturer_supported.md) + - [Accton Godwit GA1](/flight_controller/accton-godwit_ga1.md) - [AirMind MindPX](/flight_controller/mindpx.md) - [AirMind MindRacer](/flight_controller/mindracer.md) - [ARK Electronics ARKV6X](/flight_controller/ark_v6x.md) @@ -183,6 +185,7 @@ - [Wiring Quickstart](/assembly/quick_start_holybro_pix32_v5.md) - [ModalAI VOXL 2](/flight_controller/modalai_voxl_2.md) - [mRo Control Zero F7](/flight_controller/mro_control_zero_f7.md) + - [Radiolink PIX6](/flight_controller/radiolink_pix6.md) - [Sky-Drones AIRLink](/flight_controller/airlink.md) - [SPRacing SPRacingH7EXTREME](/flight_controller/spracingh7extreme.md) - [ThePeach FCC-K1](/flight_controller/thepeach_k1.md) @@ -284,6 +287,7 @@ - [CubePilot Here+ (Discontined)](/gps_compass/rtk_gps_hex_hereplus.md) - [INS (Inertial Navigation/GNSS)](/sensor/inertial_navigation_systems.md) - [InertialLabs](/sensor/inertiallabs.md) + - [sbgECom](/sensor/sbgecom.md) - [VectorNav](/sensor/vectornav.md) - [광류 센서](/sensor/optical_flow.md) - [ARK Flow](/dronecan/ark_flow.md) @@ -433,6 +437,7 @@ - [Attitude Tuning](/config_rover/attitude_tuning.md) - [Velocity Tuning](/config_rover/velocity_tuning.md) - [Position Tuning](/config_rover/position_tuning.md) + - [Apps & API](/flight_modes_rover/api.md) - [Complete Vehicles](/complete_vehicles_rover/index.md) - [Aion Robotics R1](/complete_vehicles_rover/aion_r1.md) - [Submarines (experimental)](/frames_sub/index.md) @@ -680,6 +685,8 @@ - [RoverPositionSetpoint](/msg_docs/RoverPositionSetpoint.md) - [RoverRateSetpoint](/msg_docs/RoverRateSetpoint.md) - [RoverRateStatus](/msg_docs/RoverRateStatus.md) + - [RoverSpeedSetpoint](/msg_docs/RoverSpeedSetpoint.md) + - [RoverSpeedStatus](/msg_docs/RoverSpeedStatus.md) - [RoverSteeringSetpoint](/msg_docs/RoverSteeringSetpoint.md) - [RoverThrottleSetpoint](/msg_docs/RoverThrottleSetpoint.md) - [RoverVelocitySetpoint](/msg_docs/RoverVelocitySetpoint.md) @@ -740,6 +747,7 @@ - [YawEstimatorStatus](/msg_docs/YawEstimatorStatus.md) - [AirspeedValidatedV0](/msg_docs/AirspeedValidatedV0.md) - [ArmingCheckReplyV0](/msg_docs/ArmingCheckReplyV0.md) + - [ArmingCheckRequestV0](/msg_docs/ArmingCheckRequestV0.md) - [BatteryStatusV0](/msg_docs/BatteryStatusV0.md) - [EventV0](/msg_docs/EventV0.md) - [HomePositionV0](/msg_docs/HomePositionV0.md) @@ -844,8 +852,10 @@ - [시험 MC_04 - 안전 장치 시험](/test_cards/mc_04_failsafe_testing.md) - [Test MC_05 - Manual Modes (Inside)](/test_cards/mc_05_indoor_flight_manual_modes.md) - [Test MC_06 - Optical Flow (Inside)](/test_cards/mc_06_optical_flow.md) - - [Test MC_07 - VIO (Inside)](/test_cards/mc_07_vio.md) + - [Test MC_07 - Optical Flow Low Mount](/test_cards/mc_07_optical_flow_low_mount.md) - [Test MC_08 - DSHOT ESC](/test_cards/mc_08_dshot.md) + - [Test MC_09 - VIO (Visual-Inertial Odometry)](/test_cards/mc_09_vio.md) + - [Test MC_10 - Optical Flow / GPS Mixed](/test_cards/mc_10_optical_flow_gps_mixed.md) - [단위 테스트](/test_and_ci/unit_tests.md) - [Fuzz Tests](/test_and_ci/fuzz_tests.md) - [지속 통합](/test_and_ci/continous_integration.md) @@ -866,6 +876,7 @@ - [PX4 ROS 2 Interface Library](/ros2/px4_ros2_interface_lib.md) - [Control Interface](/ros2/px4_ros2_control_interface.md) - [Navigation Interface](/ros2/px4_ros2_navigation_interface.md) + - [Waypoint Missions](/ros2/px4_ros2_waypoint_missions.md) - [ROS 2 Message Translation Node](/ros2/px4_ros2_msg_translation_node.md) - [ROS 1 (Deprecated)](/ros/ros1.md) - [ROS/MAVROS 설치 가이드](/ros/mavros_installation.md) diff --git a/docs/uk/_sidebar.md b/docs/uk/_sidebar.md index e441417899..07336221de 100644 --- a/docs/uk/_sidebar.md +++ b/docs/uk/_sidebar.md @@ -8,6 +8,7 @@ - [Position Mode (MC)](/flight_modes_mc/position.md) - [Position Slow Mode (MC)](/flight_modes_mc/position_slow.md) - [Altitude Mode (MC)](/flight_modes_mc/altitude.md) + - [Altitude Cruise Mode (MC)](/flight_modes_mc/altitude_cruise.md) - [Stabilized Mode (MC)](/flight_modes_mc/manual_stabilized.md) - [Acro Mode (MC)](/flight_modes_mc/acro.md) - [Orbit Mode (MC)](/flight_modes_mc/orbit.md) @@ -158,6 +159,7 @@ - [Швидке підключення mRo (3DR) Pixhawk](/assembly/quick_start_pixhawk.md) - [Holybro Pixhawk Mini (FMUv3) - Припинено](/flight_controller/pixhawk_mini.md) - [Автопілоти, що підтримуються виробником](/flight_controller/autopilot_manufacturer_supported.md) + - [Accton Godwit GA1](/flight_controller/accton-godwit_ga1.md) - [AirMind MindPX](/flight_controller/mindpx.md) - [AirMind MindRacer](/flight_controller/mindracer.md) - [ARK Electronics ARKV6X](/flight_controller/ark_v6x.md) @@ -183,6 +185,7 @@ - [Wiring Quickstart](/assembly/quick_start_holybro_pix32_v5.md) - [ModalAI VOXL 2](/flight_controller/modalai_voxl_2.md) - [mRo Control Zero F7](/flight_controller/mro_control_zero_f7.md) + - [Radiolink PIX6](/flight_controller/radiolink_pix6.md) - [Sky-Drones AIRLink](/flight_controller/airlink.md) - [SPRacing SPRacingH7EXTREME](/flight_controller/spracingh7extreme.md) - [ThePeach FCC-K1](/flight_controller/thepeach_k1.md) @@ -284,6 +287,7 @@ - [CubePilot Here+ (Discontined)](/gps_compass/rtk_gps_hex_hereplus.md) - [INS (Інерціальна навігація/GNSS)](/sensor/inertial_navigation_systems.md) - [InertialLabs](/sensor/inertiallabs.md) + - [sbgECom](/sensor/sbgecom.md) - [VectorNav](/sensor/vectornav.md) - [Optical Flow](/sensor/optical_flow.md) - [ARK Flow](/dronecan/ark_flow.md) @@ -433,6 +437,7 @@ - [Attitude Tuning](/config_rover/attitude_tuning.md) - [Velocity Tuning](/config_rover/velocity_tuning.md) - [Position Tuning](/config_rover/position_tuning.md) + - [Apps & API](/flight_modes_rover/api.md) - [Complete Vehicles](/complete_vehicles_rover/index.md) - [Aion Robotics R1](/complete_vehicles_rover/aion_r1.md) - [Submarines (experimental)](/frames_sub/index.md) @@ -680,6 +685,8 @@ - [RoverPositionSetpoint](/msg_docs/RoverPositionSetpoint.md) - [RoverRateSetpoint](/msg_docs/RoverRateSetpoint.md) - [RoverRateStatus](/msg_docs/RoverRateStatus.md) + - [RoverSpeedSetpoint](/msg_docs/RoverSpeedSetpoint.md) + - [RoverSpeedStatus](/msg_docs/RoverSpeedStatus.md) - [RoverSteeringSetpoint](/msg_docs/RoverSteeringSetpoint.md) - [RoverThrottleSetpoint](/msg_docs/RoverThrottleSetpoint.md) - [RoverVelocitySetpoint](/msg_docs/RoverVelocitySetpoint.md) @@ -740,6 +747,7 @@ - [YawEstimatorStatus](/msg_docs/YawEstimatorStatus.md) - [AirspeedValidatedV0](/msg_docs/AirspeedValidatedV0.md) - [ArmingCheckReplyV0](/msg_docs/ArmingCheckReplyV0.md) + - [ArmingCheckRequestV0](/msg_docs/ArmingCheckRequestV0.md) - [BatteryStatusV0](/msg_docs/BatteryStatusV0.md) - [EventV0](/msg_docs/EventV0.md) - [HomePositionV0](/msg_docs/HomePositionV0.md) @@ -844,8 +852,10 @@ - [Тест MC_04 - Тестування відмовостійкості](/test_cards/mc_04_failsafe_testing.md) - [Test MC_05 - Manual Modes (Inside)](/test_cards/mc_05_indoor_flight_manual_modes.md) - [Test MC_06 - Optical Flow (Inside)](/test_cards/mc_06_optical_flow.md) - - [Test MC_07 - VIO (Inside)](/test_cards/mc_07_vio.md) + - [Test MC_07 - Optical Flow Low Mount](/test_cards/mc_07_optical_flow_low_mount.md) - [Test MC_08 - DSHOT ESC](/test_cards/mc_08_dshot.md) + - [Test MC_09 - VIO (Visual-Inertial Odometry)](/test_cards/mc_09_vio.md) + - [Test MC_10 - Optical Flow / GPS Mixed](/test_cards/mc_10_optical_flow_gps_mixed.md) - [Модульні Тести](/test_and_ci/unit_tests.md) - [Fuzz Tests](/test_and_ci/fuzz_tests.md) - [Безперервна інтеграція](/test_and_ci/continous_integration.md) @@ -866,6 +876,7 @@ - [Інтерфейсна бібліотека PX4 ROS 2](/ros2/px4_ros2_interface_lib.md) - [Керування інтерфейсом](/ros2/px4_ros2_control_interface.md) - [Навігаційний інтерфейс](/ros2/px4_ros2_navigation_interface.md) + - [Waypoint Missions](/ros2/px4_ros2_waypoint_missions.md) - [ROS 2 Message Translation Node](/ros2/px4_ros2_msg_translation_node.md) - [ROS 1 (Deprecated)](/ros/ros1.md) - [Посібник із встановлення ROS/MAVROS](/ros/mavros_installation.md) diff --git a/docs/zh/_sidebar.md b/docs/zh/_sidebar.md index d95b8103d5..cb4c6eba8e 100644 --- a/docs/zh/_sidebar.md +++ b/docs/zh/_sidebar.md @@ -8,6 +8,7 @@ - [位置模式（多旋翼）](/flight_modes_mc/position.md) - [Position Slow Mode (MC)](/flight_modes_mc/position_slow.md) - [高度模式（多旋翼）](/flight_modes_mc/altitude.md) + - [Altitude Cruise Mode (MC)](/flight_modes_mc/altitude_cruise.md) - [Stabilized Mode (MC)](/flight_modes_mc/manual_stabilized.md) - [特技模式（多旋翼）](/flight_modes_mc/acro.md) - [环绕模式（多旋翼）](/flight_modes_mc/orbit.md) @@ -158,6 +159,7 @@ - [mRo (3DR) Pixhawk Wiring Quickstart](/assembly/quick_start_pixhawk.md) - [Holybro Pixhawk Mini (FMUv3) - Discontinued](/flight_controller/pixhawk_mini.md) - [Manufacturer-Supported Autopilots](/flight_controller/autopilot_manufacturer_supported.md) + - [Accton Godwit GA1](/flight_controller/accton-godwit_ga1.md) - [AirMind MindPX](/flight_controller/mindpx.md) - [AirMind MindRacer](/flight_controller/mindracer.md) - [ARK Electronics ARKV6X](/flight_controller/ark_v6x.md) @@ -183,6 +185,7 @@ - [Wiring Quickstart](/assembly/quick_start_holybro_pix32_v5.md) - [ModalAI VOXL 2](/flight_controller/modalai_voxl_2.md) - [mRo Control Zero F7](/flight_controller/mro_control_zero_f7.md) + - [Radiolink PIX6](/flight_controller/radiolink_pix6.md) - [Sky-Drones AIRLink](/flight_controller/airlink.md) - [SPRacing SPRacingH7EXTREME](/flight_controller/spracingh7extreme.md) - [ThePeach FCC-K1](/flight_controller/thepeach_k1.md) @@ -284,6 +287,7 @@ - [CubePilot Here+ (Discontined)](/gps_compass/rtk_gps_hex_hereplus.md) - [INS (Inertial Navigation/GNSS)](/sensor/inertial_navigation_systems.md) - [InertialLabs](/sensor/inertiallabs.md) + - [sbgECom](/sensor/sbgecom.md) - [VectorNav](/sensor/vectornav.md) - [光流](/sensor/optical_flow.md) - [ARK 光流](/dronecan/ark_flow.md) @@ -433,6 +437,7 @@ - [Attitude Tuning](/config_rover/attitude_tuning.md) - [Velocity Tuning](/config_rover/velocity_tuning.md) - [Position Tuning](/config_rover/position_tuning.md) + - [Apps & API](/flight_modes_rover/api.md) - [Complete Vehicles](/complete_vehicles_rover/index.md) - [Aion Robotics R1](/complete_vehicles_rover/aion_r1.md) - [Submarines (experimental)](/frames_sub/index.md) @@ -680,6 +685,8 @@ - [RoverPositionSetpoint](/msg_docs/RoverPositionSetpoint.md) - [RoverRateSetpoint](/msg_docs/RoverRateSetpoint.md) - [RoverRateStatus](/msg_docs/RoverRateStatus.md) + - [RoverSpeedSetpoint](/msg_docs/RoverSpeedSetpoint.md) + - [RoverSpeedStatus](/msg_docs/RoverSpeedStatus.md) - [RoverSteeringSetpoint](/msg_docs/RoverSteeringSetpoint.md) - [RoverThrottleSetpoint](/msg_docs/RoverThrottleSetpoint.md) - [RoverVelocitySetpoint](/msg_docs/RoverVelocitySetpoint.md) @@ -740,6 +747,7 @@ - [YawEstimatorStatus](/msg_docs/YawEstimatorStatus.md) - [AirspeedValidatedV0](/msg_docs/AirspeedValidatedV0.md) - [ArmingCheckReplyV0](/msg_docs/ArmingCheckReplyV0.md) + - [ArmingCheckRequestV0](/msg_docs/ArmingCheckRequestV0.md) - [BatteryStatusV0](/msg_docs/BatteryStatusV0.md) - [EventV0](/msg_docs/EventV0.md) - [HomePositionV0](/msg_docs/HomePositionV0.md) @@ -844,8 +852,10 @@ - [测试 MC_04 -故障安全测试](/test_cards/mc_04_failsafe_testing.md) - [Test MC_05 - Manual Modes (Inside)](/test_cards/mc_05_indoor_flight_manual_modes.md) - [Test MC_06 - Optical Flow (Inside)](/test_cards/mc_06_optical_flow.md) - - [Test MC_07 - VIO (Inside)](/test_cards/mc_07_vio.md) + - [Test MC_07 - Optical Flow Low Mount](/test_cards/mc_07_optical_flow_low_mount.md) - [Test MC_08 - DSHOT ESC](/test_cards/mc_08_dshot.md) + - [Test MC_09 - VIO (Visual-Inertial Odometry)](/test_cards/mc_09_vio.md) + - [Test MC_10 - Optical Flow / GPS Mixed](/test_cards/mc_10_optical_flow_gps_mixed.md) - [单元测试](/test_and_ci/unit_tests.md) - [Fuzz Tests](/test_and_ci/fuzz_tests.md) - [持续集成](/test_and_ci/continous_integration.md) @@ -866,6 +876,7 @@ - [PX4 ROS 2 Interface Library](/ros2/px4_ros2_interface_lib.md) - [Control Interface](/ros2/px4_ros2_control_interface.md) - [Navigation Interface](/ros2/px4_ros2_navigation_interface.md) + - [Waypoint Missions](/ros2/px4_ros2_waypoint_missions.md) - [ROS 2 Message Translation Node](/ros2/px4_ros2_msg_translation_node.md) - [ROS 1 (Deprecated)](/ros/ros1.md) - [ROS/MAVROS安装指南](/ros/mavros_installation.md)