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426
docs/en/advanced_config/parameter_reference.md
View File

@ -10,264 +10,6 @@ If a listed parameter is missing from the Firmware see: [Finding/Updating Parame
<!-- markdown generator: src/lib/parameters/px4params/markdownout.py -->
## UAVCAN Motor Parameters
### ctl_bw (`INT32`) {#ctl_bw}
Speed controller bandwidth.
Speed controller bandwidth, in Hz. Higher values result in faster speed and current rise times, but may result in overshoot and higher current consumption. For fixed-wing aircraft, this value should be less than 50 Hz; for multirotors, values up to 100 Hz may provide improvements in responsiveness.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 10 | 250 | | 75 | Hz |
### ctl_dir (`INT32`) {#ctl_dir}
Reverse direction.
Motor spin direction as detected during initial enumeration. Use 0 or 1 to reverse direction.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 1 | | 1 |
### ctl_gain (`FLOAT`) {#ctl_gain}
Speed (RPM) controller gain.
Determines controller
aggressiveness; units are amp-seconds per radian. Systems with
higher rotational inertia (large props) will need gain increased;
systems with low rotational inertia (small props) may need gain
decreased. Higher values result in faster response, but may result
in oscillation and excessive overshoot. Lower values result in a
slower, smoother response.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ----- |
| &nbsp; | 0.00 | 1.00 | | 1 | C/rad |
### ctl_hz_idle (`FLOAT`) {#ctl_hz_idle}
Idle speed (e Hz).
Idle speed (e Hz)
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.0 | 100.0 | | 3.5 | Hz |
### ctl_start_rate (`INT32`) {#ctl_start_rate}
Spin-up rate (e Hz/s).
Spin-up rate (e Hz/s)
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ----- |
| &nbsp; | 5 | 1000 | | 25 | 1/s^2 |
### esc_index (`INT32`) {#esc_index}
Index of this ESC in throttle command messages.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 15 | | 0 |
### id_ext_status (`INT32`) {#id_ext_status}
Extended status ID.
Extended status ID
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 1 | 1000000 | | 20034 |
### int_ext_status (`INT32`) {#int_ext_status}
Extended status interval (µs).
Extended status interval (µs)
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 1000000 | | 50000 | us |
### int_status (`INT32`) {#int_status}
ESC status interval (µs).
ESC status interval (µs)
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | 1000000 | | 50000 | us |
### mot_i_max (`FLOAT`) {#mot_i_max}
Motor current limit in amps.
This determines the maximum
current controller setpoint, as well as the maximum allowable
current setpoint slew rate. This value should generally be set to
the continuous current rating listed in the motor’s specification
sheet, or set equal to the motor’s specified continuous power
divided by the motor voltage limit.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 1 | 80 | | 12 | A |
### mot_kv (`INT32`) {#mot_kv}
Motor Kv in RPM per volt.
This can be taken from the motor’s
specification sheet; accuracy will help control performance but
some deviation from the specified value is acceptable.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ----- |
| &nbsp; | 0 | 4000 | | 2300 | rpm/V |
### mot_ls (`FLOAT`) {#mot_ls}
READ ONLY: Motor inductance in henries.
This is measured on start-up.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0.0 | H |
### mot_num_poles (`INT32`) {#mot_num_poles}
Number of motor poles.
Used to convert mechanical speeds to
electrical speeds. This number should be taken from the motor’s
specification sheet.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 2 | 40 | | 14 |
### mot_rs (`FLOAT`) {#mot_rs}
READ ONLY: Motor resistance in ohms.
This is measured on start-up. When
tuning a new motor, check that this value is approximately equal
to the value shown in the motor’s specification sheet.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0.0 | Ohm |
### mot_v_accel (`FLOAT`) {#mot_v_accel}
Acceleration limit (V).
Acceleration limit (V)
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.01 | 1.00 | | 0.5 | V |
### mot_v_max (`FLOAT`) {#mot_v_max}
Motor voltage limit in volts.
The current controller’s
commanded voltage will never exceed this value. Note that this may
safely be above the nominal voltage of the motor; to determine the
actual motor voltage limit, divide the motor’s rated power by the
motor current limit.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | | | 14.8 | V |
## UAVCAN GNSS
### gnss.dyn_model (`INT32`) {#gnss.dyn_model}
GNSS dynamic model.
Dynamic model used in the GNSS positioning engine. 0 –
Automotive, 1 – Sea, 2 – Airborne.
**Values:**
- `0`: Automotive
- `1`: Sea
- `2`: Airborne
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 2 | | 2 |
### gnss.old_fix_msg (`INT32`) {#gnss.old_fix_msg}
Broadcast old GNSS fix message.
Broadcast the old (deprecated) GNSS fix message
uavcan.equipment.gnss.Fix alongside the new alternative
uavcan.equipment.gnss.Fix2. It is recommended to
disable this feature to reduce the CAN bus traffic.
**Values:**
- `0`: Fix2
- `1`: Fix and Fix2
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 1 | | 1 |
### gnss.warn_dimens (`INT32`) {#gnss.warn_dimens}
device health warning.
Set the device health to Warning if the dimensionality of
the GNSS solution is less than this value. 3 for the full (3D)
solution, 2 for planar (2D) solution, 1 for time-only solution,
0 disables the feature.
**Values:**
- `0`: disables the feature
- `1`: time-only solution
- `2`: planar (2D) solution
- `3`: full (3D) solution
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 3 | | 0 |
### gnss.warn_sats (`INT32`) {#gnss.warn_sats}
Set the device health to Warning if the number of satellites
used in the GNSS solution is below this threshold. Zero
disables the feature
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0 |
### uavcan.pubp-pres (`INT32`) {#uavcan.pubp-pres}
Set the device health to Warning if the number of satellites
used in the GNSS solution is below this threshold. Zero
disables the feature
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 1000000 | | 0 | us |
## ADSB
### ADSB_CALLSIGN_1 (`INT32`) {#ADSB_CALLSIGN_1}
@ -15723,6 +15465,7 @@ selected flight mode will be applied.
- `11`: Land
- `12`: Follow Me
- `13`: Precision Land
- `16`: Altitude Cruise
- `100`: External Mode 1
- `101`: External Mode 2
- `102`: External Mode 3
@ -15760,6 +15503,7 @@ selected flight mode will be applied.
- `11`: Land
- `12`: Follow Me
- `13`: Precision Land
- `16`: Altitude Cruise
- `100`: External Mode 1
- `101`: External Mode 2
- `102`: External Mode 3
@ -15797,6 +15541,7 @@ selected flight mode will be applied.
- `11`: Land
- `12`: Follow Me
- `13`: Precision Land
- `16`: Altitude Cruise
- `100`: External Mode 1
- `101`: External Mode 2
- `102`: External Mode 3
@ -15834,6 +15579,7 @@ selected flight mode will be applied.
- `11`: Land
- `12`: Follow Me
- `13`: Precision Land
- `16`: Altitude Cruise
- `100`: External Mode 1
- `101`: External Mode 2
- `102`: External Mode 3
@ -15871,6 +15617,7 @@ selected flight mode will be applied.
- `11`: Land
- `12`: Follow Me
- `13`: Precision Land
- `16`: Altitude Cruise
- `100`: External Mode 1
- `101`: External Mode 2
- `102`: External Mode 3
@ -15908,6 +15655,7 @@ selected flight mode will be applied.
- `11`: Land
- `12`: Follow Me
- `13`: Precision Land
- `16`: Altitude Cruise
- `100`: External Mode 1
- `101`: External Mode 2
- `102`: External Mode 3
@ -16369,10 +16117,11 @@ External modes requiring stick input will still failsafe.
- `1`: Hold
- `2`: Offboard
- `3`: External Mode
- `4`: Altitude Cruise
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 15 | | 0 |
| &nbsp; | 0 | 31 | | 0 |
### COM_RC_ARM_HYST (`INT32`) {#COM_RC_ARM_HYST}
@ -24821,6 +24570,19 @@ arms and to the lower left disarms the vehicle.
| ------ | -------- | -------- | --------- | ----------- | ---- |
| &nbsp; | | | | Enabled (1) |
### MAN_DEADZONE (`FLOAT`) {#MAN_DEADZONE}
Deadzone for sticks (only specific use cases).
Range around stick center ignored to prevent
vehicle drift from stick hardware inaccuracy.
Does not apply to any precise constant input like
throttle and attitude or rate piloting.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 1 | 0.01 | 0.1 |
### MAN_KILL_GEST_T (`FLOAT`) {#MAN_KILL_GEST_T}
Trigger time for kill stick gesture.
@ -25672,16 +25434,6 @@ The speed threshold is MPC_HOLD_MAX_XY
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 2 | | 2 |
### MPC_HOLD_DZ (`FLOAT`) {#MPC_HOLD_DZ}
Deadzone for sticks in manual piloted modes.
Does not apply to manual throttle and direct attitude piloting by stick.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 1 | 0.01 | 0.1 |
### MPC_HOLD_MAX_XY (`FLOAT`) {#MPC_HOLD_MAX_XY}
Maximum horizontal velocity for which position hold is enabled (use 0 to disable check).
@ -25824,7 +25576,7 @@ Airmode is used to keep torque authority with zero thrust (see MC_AIRMODE).
### MPC_MAN_TILT_MAX (`FLOAT`) {#MPC_MAN_TILT_MAX}
Maximal tilt angle in Stabilized or Altitude mode.
Maximal tilt angle in Stabilized, Altitude and Altitude Cruise mode.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
@ -26092,19 +25844,6 @@ capabilities of the vehicle.
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.1 | 10 | 1 | 2. |
### MPC_XY_MAN_EXPO (`FLOAT`) {#MPC_XY_MAN_EXPO}
Manual position control stick exponential curve sensitivity.
The higher the value the less sensitivity the stick has around zero
while still reaching the maximum value with full stick deflection.
0 Purely linear input curve
1 Purely cubic input curve
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 1 | 0.01 | 0.6 |
### MPC_XY_P (`FLOAT`) {#MPC_XY_P}
Proportional gain for horizontal position error.
@ -26177,32 +25916,6 @@ Defined as corrective acceleration in m/s^2 per m/s velocity error
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 1.2 | 5 | 0.1 | 1.8 |
### MPC_YAW_EXPO (`FLOAT`) {#MPC_YAW_EXPO}
Manual control stick yaw rotation exponential curve.
The higher the value the less sensitivity the stick has around zero
while still reaching the maximum value with full stick deflection.
0 Purely linear input curve
1 Purely cubic input curve
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 1 | 0.01 | 0.6 |
### MPC_Z_MAN_EXPO (`FLOAT`) {#MPC_Z_MAN_EXPO}
Manual control stick vertical exponential curve.
The higher the value the less sensitivity the stick has around zero
while still reaching the maximum value with full stick deflection.
0 Purely linear input curve
1 Purely cubic input curve
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 1 | 0.01 | 0.6 |
### MPC_Z_P (`FLOAT`) {#MPC_Z_P}
Proportional gain for vertical position error.
@ -26537,7 +26250,7 @@ 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)
@ -26604,7 +26317,7 @@ 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)
@ -26671,7 +26384,7 @@ 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)
@ -26905,7 +26618,7 @@ 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.
@ -29769,7 +29482,7 @@ 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.
@ -33020,6 +32733,49 @@ reset of counter takes some time - measurement with reset has worse accuracy.
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | | | | 500000 |
### SBG_BAUDRATE (`INT32`) {#SBG_BAUDRATE}
sbgECom driver baudrate.
Baudrate used by default for serial communication between PX4
and SBG Systems INS through sbgECom driver.
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 9600 | 921600 | | 921600 |
### SBG_CONFIGURE_EN (`INT32`) {#SBG_CONFIGURE_EN}
sbgECom driver INS configuration enable.
Enable SBG Systems INS configuration through sbgECom driver
on start.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------------ | ---- |
| &nbsp; | | | | Disabled (0) |
### SBG_MODE (`INT32`) {#SBG_MODE}
sbgECom driver mode.
Modes available for sbgECom driver.
In Sensors Only mode, use external IMU and magnetometer.
In GNSS mode, use external GNSS in addition to sensors only mode.
In INS mode, use external Kalman Filter in addition to GNSS mode.
In INS mode, requires EKF2_EN 0. Keeping both enabled
can lead to an unexpected behavior and vehicle instability.
**Values:**
- `0`: Sensors Only
- `1`: GNSS
- `2`: INS (default)
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 2 |
### SENS_AFBR_HYSTER (`INT32`) {#SENS_AFBR_HYSTER}
AFBR Rangefinder Short/Long Range Threshold Hysteresis.
@ -34556,6 +34312,31 @@ Analog Devices ADIS16448 IMU Orientation(external SPI).
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 0 | 101 | | 0 |
### SENS_SBG_CFG (`INT32`) {#SENS_SBG_CFG}
Serial Configuration for sbgECom.
Configure on which serial port to run sbgECom.
**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 |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | | | | 0 |
### SENS_SF0X_CFG (`INT32`) {#SENS_SF0X_CFG}
Serial Configuration for Lightware Laser Rangefinder (serial).
@ -36480,7 +36261,7 @@ 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)
@ -36547,7 +36328,7 @@ 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)
@ -36614,7 +36395,7 @@ 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)
@ -40029,6 +39810,17 @@ must have a unique session key.
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | | | | 1 |
### UXRCE_DDS_NS_IDX (`INT32`) {#UXRCE_DDS_NS_IDX}
Define an index-based message namespace.
Defines an index-based namespace for DDS messages, e.g, uav_0, uav_1, up to uav_9999
A value less than zero leaves the namespace empty
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | -1 | 9999 | | -1 |
### UXRCE_DDS_PRT (`INT32`) {#UXRCE_DDS_PRT}
uXRCE-DDS UDP port.

25
docs/en/modules/modules_driver_ins.md
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@ -125,6 +125,31 @@ ilabs <command> [arguments...]
status Print driver status
```
## sbgecom
Source: [drivers/ins/sbgecom](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/sbgecom)
Description du module
### Usage {#sbgecom_usage}
```
sbgecom <command> [arguments...]
Commands:
start Start driver
[-d <val>] Serial device
default: /dev/ttyS0
[-b <val>] Baudrate device
default: 921600
[-f <val>] Config JSON file path
default: /etc/extras/sbg_settings\.json
[-s <val>] Config JSON string
status Driver status
stop Stop driver
```
## vectornav
Source: [drivers/ins/vectornav](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/vectornav)

13
docs/en/modules/modules_system.md
View File

@ -140,9 +140,9 @@ commander <command> [arguments...]
transition VTOL transition
mode Change flight mode
manual|acro|offboard|stabilized|altctl|posctl|position:slow|auto:mission|au
to:loiter|auto:rtl|auto:takeoff|auto:land|auto:precland|ext1
Flight mode
manual|acro|offboard|stabilized|altctl|posctl|altitude_cruise|position:slow
|auto:mission|auto:loiter|auto:rtl|auto:takeoff|auto:land|auto:
precland|ext1 Flight mode
pair
@ -154,6 +154,9 @@ commander <command> [arguments...]
lat|lon|alt Origin latitude longitude altitude
set_heading Set current heading
heading degrees from True North [0 360]
poweroff Power off board (if supported)
stop
@ -1062,7 +1065,9 @@ uxrce_dds_client <command> [arguments...]
values: <IP>
[-p <val>] Agent listening port. If not provided, defaults to
UXRCE_DDS_PRT
[-n <val>] Client DDS namespace
[-n <val>] Client DDS namespace. If not provided but UXRCE_DDS_NS_IDX is
between 0 and 9999 inclusive, then uav_ + UXRCE_DDS_NS_IDX will
be used
stop

4
docs/en/msg_docs/ActuatorMotors.md
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@ -18,11 +18,11 @@ uint32 MESSAGE_VERSION = 0
uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
uint16 reversible_flags # Bitset indicating which motors are configured to be reversible
uint16 reversible_flags # [-] Bitset indicating which motors are configured to be reversible
uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 #
uint8 NUM_CONTROLS = 12 #
float32[12] control # [@range -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)
float32[12] control # [@range -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)
```

2
docs/en/msg_docs/ActuatorServos.md
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@ -19,6 +19,6 @@ uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
uint8 NUM_CONTROLS = 8 #
float32[8] control # [@range -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.
float32[8] control # [-] [@range -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.
```

42
docs/en/msg_docs/ArmingCheckReply.md
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@ -1,6 +1,6 @@
# ArmingCheckReply (UORB message)
Arming check reply.
Arming check reply
This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station).
@ -12,7 +12,7 @@ The message is not used by internal/FMU components, as their mode requirements a
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg)
```c
# Arming check reply.
# Arming check reply
#
# This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
# The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station).
@ -25,33 +25,33 @@ uint32 MESSAGE_VERSION = 1
uint64 timestamp # [us] Time since system start.
uint8 request_id # Id of ArmingCheckRequest for which this is a response.
uint8 registration_id # Id of external component emitting this response.
uint8 request_id # [-] Id of ArmingCheckRequest for which this is a response
uint8 registration_id # [-] Id of external component emitting this response
uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies.
uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies
uint8 health_component_index # [@enum HEALTH_COMPONENT_INDEX]
bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json).
bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json).
bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json).
bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json)
bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json)
bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json)
bool can_arm_and_run # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed.
bool can_arm_and_run # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed
uint8 num_events # Number of queued failure messages (Event) in the events field.
uint8 num_events # Number of queued failure messages (Event) in the events field
Event[5] events # Arming failure reasons (Queue of events to report to GCS).
Event[5] events # Arming failure reasons (Queue of events to report to GCS)
# Mode requirements
bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope).
bool mode_req_attitude # Requires an attitude estimate.
bool mode_req_local_alt # Requires a local altitude estimate.
bool mode_req_local_position # Requires a local position estimate.
bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate.
bool mode_req_global_position # Requires a global position estimate.
bool mode_req_global_position_relaxed # Requires a relaxed global position estimate.
bool mode_req_mission # Requires an uploaded mission.
bool mode_req_home_position # Requires a home position (such as RTL/Return mode).
bool mode_req_prevent_arming # Prevent arming (such as in Land mode).
bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope)
bool mode_req_attitude # Requires an attitude estimate
bool mode_req_local_alt # Requires a local altitude estimate
bool mode_req_local_position # Requires a local position estimate
bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate
bool mode_req_global_position # Requires a global position estimate
bool mode_req_global_position_relaxed # Requires a relaxed global position estimate
bool mode_req_mission # Requires an uploaded mission
bool mode_req_home_position # Requires a home position (such as RTL/Return mode)
bool mode_req_prevent_arming # Prevent arming (such as in Land mode)
bool mode_req_manual_control # Requires a manual controller
uint8 ORB_QUEUE_LENGTH = 4

10
docs/en/msg_docs/ArmingCheckRequest.md
View File

@ -1,6 +1,6 @@
# ArmingCheckRequest (UORB message)
Arming check request.
Arming check request
Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
@ -12,7 +12,7 @@ The reply will also include the registration_id for each external component, pro
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg)
```c
# Arming check request.
# Arming check request
#
# Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
# All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
@ -23,10 +23,10 @@ The reply will also include the registration_id for each external component, pro
uint32 MESSAGE_VERSION = 1
uint64 timestamp # [us] Time since system start.
uint64 timestamp # [us] Time since system start
uint8 request_id # Id of this request. Allows correlation with associated ArmingCheckReply messages.
uint8 request_id # [-] Id of this request. Allows correlation with associated ArmingCheckReply messages.
uint32 valid_registrations_mask # Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
uint32 valid_registrations_mask # [-] Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
```

123
docs/en/msg_docs/BatteryStatus.md
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@ -16,76 +16,77 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
# Battery instance information is also logged and streamed in MAVLink telemetry.
uint32 MESSAGE_VERSION = 1
uint8 MAX_INSTANCES = 4
uint8 MAX_INSTANCES = 3
uint64 timestamp # [us] Time since system start
bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
float32 voltage_v # [V] [@invalid 0] Battery voltage
float32 current_a # [A] [@invalid -1] Battery current
float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight)
float32 discharged_mah # [mAh] [@invalid -1] Discharged amount
float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity
float32 scale # [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
float32 temperature # [°C] [@invalid NaN] Temperature of the battery
uint8 cell_count # [@invalid 0] Number of cells
uint64 timestamp # [us] Time since system start
bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
float32 voltage_v # [V] [@invalid 0] Battery voltage
float32 current_a # [A] [@invalid -1] Battery current
float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight)
float32 discharged_mah # [mAh] [@invalid -1] Discharged amount
float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity
float32 scale # [-] [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
float32 temperature # [°C] [@invalid NaN] Temperature of the battery
uint8 cell_count # [-] [@invalid 0] Number of cells
uint8 source # [@enum SOURCE] Battery source
uint8 SOURCE_POWER_MODULE = 0 # Power module
uint8 SOURCE_EXTERNAL = 1 # External
uint8 SOURCE_ESCS = 2 # ESCs
uint8 source # [@enum SOURCE] Battery source
uint8 SOURCE_POWER_MODULE = 0 # Power module
uint8 SOURCE_EXTERNAL = 1 # External
uint8 SOURCE_ESCS = 2 # ESCs
uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
uint16 capacity # [mAh] Capacity of the battery when fully charged
uint16 cycle_count # Number of discharge cycles the battery has experienced
uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
uint16 manufacture_date # Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
uint8 id # ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
uint16 interface_error # Interface error counter
uint8 priority # [-] Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
uint16 capacity # [mAh] Capacity of the battery when fully charged
uint16 cycle_count # [-] Number of discharge cycles the battery has experienced
uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
uint16 manufacture_date # [-] Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
uint8 id # [-] ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
uint16 interface_error # [-] Interface error counter
float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages
float32 max_cell_voltage_delta # Max difference between individual cell voltages
float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages
float32 max_cell_voltage_delta # [V] Max difference between individual cell voltages
bool is_powering_off # Power off event imminent indication, false if unknown
bool is_required # Set if the battery is explicitly required before arming
bool is_powering_off # Power off event imminent indication, false if unknown
bool is_required # Set if the battery is explicitly required before arming
uint8 warning # [@enum WARNING STATE] Current battery warning
uint8 WARNING_NONE = 0 # No battery low voltage warning active
uint8 WARNING_LOW = 1 # Low voltage warning
uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
uint8 WARNING_EMERGENCY = 3 # Immediate landing required
uint8 WARNING_FAILED = 4 # Battery has failed completely
uint8 STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field
uint8 STATE_CHARGING = 7 # Battery is charging
uint8 warning # [@enum WARNING STATE] Current battery warning
uint8 WARNING_NONE = 0 # No battery low voltage warning active
uint8 WARNING_LOW = 1 # Low voltage warning
uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
uint8 WARNING_EMERGENCY = 3 # Immediate landing required
uint8 WARNING_FAILED = 4 # Battery has failed completely
uint8 STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field
uint8 STATE_CHARGING = 7 # Battery is charging
uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication
uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
uint8 FAULT_SPIKES = 1 # Voltage spikes
uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed
uint8 FAULT_OVER_CURRENT = 3 # Over-current
uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature
uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
uint8 FAULT_HARDWARE_FAILURE = 9 # Hardware problem
uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
uint8 FAULT_COUNT = 11 # Counter. Keep this as last element
uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication
uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
uint8 FAULT_SPIKES = 1 # Voltage spikes
uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed
uint8 FAULT_OVER_CURRENT = 3 # Over-current
uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature
uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
uint8 FAULT_HARDWARE_FAILURE = 9 # Hardware problem
uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
uint8 FAULT_COUNT = 11 # Counter. Keep this as last element
float32 full_charge_capacity_wh # [Wh] Compensated battery capacity
float32 remaining_capacity_wh # [Wh] Compensated battery capacity remaining
uint16 over_discharge_count # Number of battery overdischarge
float32 nominal_voltage # [V] Nominal voltage of the battery pack
float32 full_charge_capacity_wh # [Wh] Compensated battery capacity
float32 remaining_capacity_wh # [Wh] Compensated battery capacity remaining
uint16 over_discharge_count # [-] Number of battery overdischarge
float32 nominal_voltage # [V] Nominal voltage of the battery pack
float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
float32 ocv_estimate # [V] Open circuit voltage estimate
float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate
float32 volt_based_soc_estimate # [@range 0, 1] Normalized volt based state of charge estimate
float32 voltage_prediction # [V] Predicted voltage
float32 prediction_error # [V] Prediction error
float32 estimation_covariance_norm # Norm of the covariance matrix
float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
float32 ocv_estimate # [V] Open circuit voltage estimate
float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate
float32 volt_based_soc_estimate # [-] [@range 0, 1] Normalized volt based state of charge estimate
float32 voltage_prediction # [V] Predicted voltage
float32 prediction_error # [V] Prediction error
float32 estimation_covariance_norm # [-] Norm of the covariance matrix
```

6
docs/en/msg_docs/EstimatorStatus.md
View File

@ -1,7 +1,5 @@
# EstimatorStatus (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg)
```c
@ -54,7 +52,9 @@ uint8 CS_SYNTHETIC_MAG_Z = 25 # 25 - true when we are using a synthesized measur
uint8 CS_VEHICLE_AT_REST = 26 # 26 - true when the vehicle is at rest
uint8 CS_GPS_YAW_FAULT = 27 # 27 - true when the GNSS heading has been declared faulty and is no longer being used
uint8 CS_RNG_FAULT = 28 # 28 - true when the range finder has been declared faulty and is no longer being used
uint8 CS_GNSS_VEL = 44 # 44 - true if GNSS velocity measurements are being fused
uint8 CS_GNSS_VEL = 44 # 44 - true if GNSS velocity measurement fusion is intended
uint8 CS_GNSS_FAULT = 45 # 45 - true if GNSS measurements have been declared faulty and are no longer used
uint8 CS_YAW_MANUAL = 46 # 46 - true if yaw has been set manually
uint32 filter_fault_flags # Bitmask to indicate EKF internal faults
# 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error

4
docs/en/msg_docs/EstimatorStatusFlags.md
View File

@ -1,7 +1,5 @@
# EstimatorStatusFlags (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatusFlags.msg)
```c
@ -56,6 +54,8 @@ 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_yaw_manual # 46 - true if yaw has been set manually
# fault status
uint32 fault_status_changes # number of filter fault status (fs) changes

12
docs/en/msg_docs/PurePursuitStatus.md
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@ -7,11 +7,11 @@ Pure pursuit status
```c
# Pure pursuit status
uint64 timestamp # [us] Time since system start
float32 lookahead_distance # [m] [@range 0, inf] Lookahead distance of pure the pursuit controller
float32 target_bearing # [rad] [@range -pi, pi] [@frame NED] Target bearing calculated by the pure pursuit controller
float32 crosstrack_error # [m] [@range -inf (Left of the path), inf (Right of the path)] Shortest distance from the vehicle to the path
float32 distance_to_waypoint # [m] [@range -inf, inf]Distance from the vehicle to the current waypoint
float32 bearing_to_waypoint # [rad] [@range -pi, pi] [@frame NED]Bearing towards current waypoint
uint64 timestamp # [us] Time since system start
float32 lookahead_distance # [m] [@range 0, inf] Lookahead distance of pure the pursuit controller
float32 target_bearing # [rad] [@range -pi, pi] [@frame NED] Target bearing calculated by the pure pursuit controller
float32 crosstrack_error # [m] [@range -inf (Left of the path), inf (Right of the path)] Shortest distance from the vehicle to the path
float32 distance_to_waypoint # [m] [@range -inf, inf]Distance from the vehicle to the current waypoint
float32 bearing_to_waypoint # [rad] [@range -pi, pi] [@frame NED]Bearing towards current waypoint
```

4
docs/en/msg_docs/RoverAttitudeSetpoint.md
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@ -7,7 +7,7 @@ Rover Attitude Setpoint
```c
# Rover Attitude Setpoint
uint64 timestamp # [us] Time since system start
float32 yaw_setpoint # [rad] [@range -inf, inf] [@frame NED] Yaw setpoint
uint64 timestamp # [us] Time since system start
float32 yaw_setpoint # [rad] [@range -inf, inf] [@frame NED] Yaw setpoint
```

6
docs/en/msg_docs/RoverAttitudeStatus.md
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@ -7,8 +7,8 @@ Rover Attitude Status
```c
# Rover Attitude Status
uint64 timestamp # [us] Time since system start
float32 measured_yaw # [rad] [@range -pi, pi] [@frame NED]Measured yaw
float32 adjusted_yaw_setpoint # [rad] [@range -pi, pi] [@frame NED] Yaw setpoint that is being tracked (Applied slew rates)
uint64 timestamp # [us] Time since system start
float32 measured_yaw # [rad] [@range -pi, pi] [@frame NED]Measured yaw
float32 adjusted_yaw_setpoint # [rad] [@range -pi, pi] [@frame NED] Yaw setpoint that is being tracked (Applied slew rates)
```

12
docs/en/msg_docs/RoverPositionSetpoint.md
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@ -7,11 +7,11 @@ Rover Position Setpoint
```c
# Rover Position Setpoint
uint64 timestamp # [us] Time since system start
float32[2] position_ned # [m] [@range -inf, inf] [@frame NED] Target position
float32[2] start_ned # [m] [@range -inf, inf] [@frame NED] [@invalid NaN Defaults to vehicle position] Start position which specifies a line for the rover to track
float32 cruising_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to maximum speed] Cruising speed
float32 arrival_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to 0] Speed the rover should arrive at the target with
float32 yaw # [rad] [@range -pi,pi] [@frame NED] [@invalid NaN Defaults to vehicle yaw] Mecanum only: Specify vehicle yaw during travel
uint64 timestamp # [us] Time since system start
float32[2] position_ned # [m] [@range -inf, inf] [@frame NED] Target position
float32[2] start_ned # [m] [@range -inf, inf] [@frame NED] [@invalid NaN Defaults to vehicle position] Start position which specifies a line for the rover to track
float32 cruising_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to maximum speed] Cruising speed
float32 arrival_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to 0] Speed the rover should arrive at the target with
float32 yaw # [rad] [@range -pi,pi] [@frame NED] [@invalid NaN Defaults to vehicle yaw] Mecanum only: Specify vehicle yaw during travel
```

4
docs/en/msg_docs/RoverRateSetpoint.md
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@ -7,7 +7,7 @@ Rover Rate setpoint
```c
# Rover Rate setpoint
uint64 timestamp # [us] Time since system start
float32 yaw_rate_setpoint # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint
uint64 timestamp # [us] Time since system start
float32 yaw_rate_setpoint # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint
```

8
docs/en/msg_docs/RoverRateStatus.md
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@ -7,9 +7,9 @@ Rover Rate Status
```c
# Rover Rate Status
uint64 timestamp # [us] Time since system start
float32 measured_yaw_rate # [rad/s] [@range -inf, inf] [@frame NED] Measured yaw rate
float32 adjusted_yaw_rate_setpoint # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint that is being tracked (Applied slew rates)
float32 pid_yaw_rate_integral # [] [@range -1, 1] Integral of the PID for the closed loop yaw rate controller
uint64 timestamp # [us] Time since system start
float32 measured_yaw_rate # [rad/s] [@range -inf, inf] [@frame NED] Measured yaw rate
float32 adjusted_yaw_rate_setpoint # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint that is being tracked (Applied slew rates)
float32 pid_yaw_rate_integral # [-] [@range -1, 1] Integral of the PID for the closed loop yaw rate controller
```

6
docs/en/msg_docs/RoverSpeedSetpoint.md
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@ -7,8 +7,8 @@ Rover Speed Setpoint
```c
# Rover Speed Setpoint
uint64 timestamp # [us] Time since system start
float32 speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction
float32 speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction
uint64 timestamp # [us] Time since system start
float32 speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction
float32 speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction
```

14
docs/en/msg_docs/RoverSpeedStatus.md
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@ -7,12 +7,12 @@ Rover Velocity Status
```c
# Rover Velocity Status
uint64 timestamp # [us] Time since system start
float32 measured_speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Measured speed in body x direction
float32 adjusted_speed_body_x_setpoint # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction that is being tracked (Applied slew rates)
float32 pid_throttle_body_x_integral # [] [@range -1, 1] Integral of the PID for the closed loop controller of the speed in body x direction
float32 measured_speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Measured speed in body y direction
float32 adjusted_speed_body_y_setpoint # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates)
float32 pid_throttle_body_y_integral # [] [@range -1, 1] [@invalid NaN If not mecanum] Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction
uint64 timestamp # [us] Time since system start
float32 measured_speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Measured speed in body x direction
float32 adjusted_speed_body_x_setpoint # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction that is being tracked (Applied slew rates)
float32 pid_throttle_body_x_integral # [-] [@range -1, 1] Integral of the PID for the closed loop controller of the speed in body x direction
float32 measured_speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Measured speed in body y direction
float32 adjusted_speed_body_y_setpoint # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates)
float32 pid_throttle_body_y_integral # [-] [@range -1, 1] [@invalid NaN If not mecanum] Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction
```

4
docs/en/msg_docs/RoverSteeringSetpoint.md
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@ -7,7 +7,7 @@ Rover Steering setpoint
```c
# Rover Steering setpoint
uint64 timestamp # [us] Time since system start
float32 normalized_steering_setpoint # [@range -1 (Left), 1 (Right)] [@frame Body] Ackermann: Normalized steering angle, Differential/Mecanum: Normalized speed difference between the left and right wheels
uint64 timestamp # [us] Time since system start
float32 normalized_steering_setpoint # [-] [@range -1 (Left), 1 (Right)] [@frame Body] Ackermann: Normalized steering angle, Differential/Mecanum: Normalized speed difference between the left and right wheels
```

6
docs/en/msg_docs/RoverThrottleSetpoint.md
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@ -7,8 +7,8 @@ Rover Throttle setpoint
```c
# Rover Throttle setpoint
uint64 timestamp # [us] Time since system start
float32 throttle_body_x # [] [@range -1 (Backwards), 1 (Forwards)] [@frame Body] Throttle setpoint along body X axis
float32 throttle_body_y # [] [@range -1 (Left), 1 (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Throttle setpoint along body Y axis
uint64 timestamp # [us] Time since system start
float32 throttle_body_x # [-] [@range -1 (Backwards), 1 (Forwards)] [@frame Body] Throttle setpoint along body X axis
float32 throttle_body_y # [-] [@range -1 (Left), 1 (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Throttle setpoint along body Y axis
```

1
docs/en/msg_docs/VehicleCommand.md
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@ -96,6 +96,7 @@ uint16 VEHICLE_CMD_REQUEST_CAMERA_INFORMATION = 521 # Request camera information
uint16 VEHICLE_CMD_SET_CAMERA_MODE = 530 # Set camera capture mode (photo, video, etc.).
uint16 VEHICLE_CMD_SET_CAMERA_ZOOM = 531 # Set camera zoom.
uint16 VEHICLE_CMD_SET_CAMERA_FOCUS = 532
uint16 VEHICLE_CMD_EXTERNAL_ATTITUDE_ESTIMATE = 620 # Set an external estimate of vehicle attitude in degrees.
uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW = 1000 # Setpoint to be sent to a gimbal manager to set a gimbal pitch and yaw.
uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE = 1001 # Gimbal configuration to set which sysid/compid is in primary and secondary control.
uint16 VEHICLE_CMD_IMAGE_START_CAPTURE = 2000 # Start image capture sequence.

2
docs/en/msg_docs/VehicleStatus.md
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@ -48,7 +48,7 @@ uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode
uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode
uint8 NAVIGATION_STATE_POSITION_SLOW = 6
uint8 NAVIGATION_STATE_FREE5 = 7
uint8 NAVIGATION_STATE_FREE4 = 8
uint8 NAVIGATION_STATE_ALTITUDE_CRUISE = 8 # Altitude with Cruise mode
uint8 NAVIGATION_STATE_FREE3 = 9
uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
uint8 NAVIGATION_STATE_FREE2 = 11

4
docs/en/msg_docs/index.md
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@ -16,8 +16,8 @@ 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)
- [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply.
- [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request.
- [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply
- [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request
- [BatteryStatus](BatteryStatus.md) — Battery status
- [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors
- [Event](Event.md) — Events interface