diff --git a/docs/en/advanced_config/parameter_reference.md b/docs/en/advanced_config/parameter_reference.md index 9c8c4b9a15..10c8b67f67 100644 --- a/docs/en/advanced_config/parameter_reference.md +++ b/docs/en/advanced_config/parameter_reference.md @@ -10,264 +10,6 @@ If a listed parameter is missing from the Firmware see: [Finding/Updating Parame -## 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 | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 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 | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 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 | -| ------ | -------- | -------- | --------- | ------- | ----- | -|   | 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 | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 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 | -| ------ | -------- | -------- | --------- | ------- | ----- | -|   | 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 | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 0 | 15 | | 0 | - -### id_ext_status (`INT32`) {#id_ext_status} - -Extended status ID. - -Extended status ID - -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 1 | 1000000 | | 20034 | - -### int_ext_status (`INT32`) {#int_ext_status} - -Extended status interval (µs). - -Extended status interval (µs) - -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 0 | 1000000 | | 50000 | us | - -### int_status (`INT32`) {#int_status} - -ESC status interval (µs). - -ESC status interval (µs) - -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | | 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 | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 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 | -| ------ | -------- | -------- | --------- | ------- | ----- | -|   | 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 | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | | | | 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 | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 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 | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | | | | 0.0 | Ohm | - -### mot_v_accel (`FLOAT`) {#mot_v_accel} - -Acceleration limit (V). - -Acceleration limit (V) - -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 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 | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 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 | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 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 | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 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 | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 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 | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | | | | 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 | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 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 | | ------ | -------- | -------- | --------- | ------- | ---- | -|   | 0 | 15 | | 0 | +|   | 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. | ------ | -------- | -------- | --------- | ----------- | ---- | |   | | | | 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 | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | 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 | ------ | -------- | -------- | --------- | ------- | ---- | |   | 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 | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 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. | ------ | -------- | -------- | --------- | ------- | ---- | |   | 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 | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 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 | ------ | -------- | -------- | --------- | ------- | ---- | |   | 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 | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 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 | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 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. | ------- | -------- | -------- | --------- | ------- | ---- | | ✓ | | | | 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 | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | 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 | +| ------ | -------- | -------- | --------- | ------------ | ---- | +|   | | | | 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 | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | | | | 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). | ------- | -------- | -------- | --------- | ------- | ---- | | ✓ | 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 | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | | | | 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. | ------- | -------- | -------- | --------- | ------- | ---- | | ✓ | | | | 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 | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | -1 | 9999 | | -1 | + ### UXRCE_DDS_PRT (`INT32`) {#UXRCE_DDS_PRT} uXRCE-DDS UDP port. diff --git a/docs/en/modules/modules_driver_ins.md b/docs/en/modules/modules_driver_ins.md index 6d72447f28..844aa645bb 100644 --- a/docs/en/modules/modules_driver_ins.md +++ b/docs/en/modules/modules_driver_ins.md @@ -125,6 +125,31 @@ ilabs [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 [arguments...] + Commands: + start Start driver + [-d ] Serial device + default: /dev/ttyS0 + [-b ] Baudrate device + default: 921600 + [-f ] Config JSON file path + default: /etc/extras/sbg_settings\.json + [-s ] 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) diff --git a/docs/en/modules/modules_system.md b/docs/en/modules/modules_system.md index c078d9202e..57c36506d8 100644 --- a/docs/en/modules/modules_system.md +++ b/docs/en/modules/modules_system.md @@ -140,9 +140,9 @@ commander [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 [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 [arguments...] values: [-p ] Agent listening port. If not provided, defaults to UXRCE_DDS_PRT - [-n ] Client DDS namespace + [-n ] 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 diff --git a/docs/en/msg_docs/ActuatorMotors.md b/docs/en/msg_docs/ActuatorMotors.md index ca739f6c22..701465d6ea 100644 --- a/docs/en/msg_docs/ActuatorMotors.md +++ b/docs/en/msg_docs/ActuatorMotors.md @@ -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) ``` diff --git a/docs/en/msg_docs/ActuatorServos.md b/docs/en/msg_docs/ActuatorServos.md index 6f0a677dbf..ea053f67a3 100644 --- a/docs/en/msg_docs/ActuatorServos.md +++ b/docs/en/msg_docs/ActuatorServos.md @@ -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. ``` diff --git a/docs/en/msg_docs/ArmingCheckReply.md b/docs/en/msg_docs/ArmingCheckReply.md index 8d619f5aaf..14af54f0d1 100644 --- a/docs/en/msg_docs/ArmingCheckReply.md +++ b/docs/en/msg_docs/ArmingCheckReply.md @@ -1,6 +1,6 @@ # ArmingCheckReply (UORB message) -Arming check reply. +Arming check reply This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode. The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station). @@ -12,7 +12,7 @@ The message is not used by internal/FMU components, as their mode requirements a [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg) ```c -# Arming check reply. +# Arming check reply # # This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode. # The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station). @@ -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 diff --git a/docs/en/msg_docs/ArmingCheckRequest.md b/docs/en/msg_docs/ArmingCheckRequest.md index 653d58d2d2..d093dfb5e1 100644 --- a/docs/en/msg_docs/ArmingCheckRequest.md +++ b/docs/en/msg_docs/ArmingCheckRequest.md @@ -1,6 +1,6 @@ # ArmingCheckRequest (UORB message) -Arming check request. +Arming check request Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes. All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information. @@ -12,7 +12,7 @@ The reply will also include the registration_id for each external component, pro [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg) ```c -# Arming check request. +# Arming check request # # Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes. # All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information. @@ -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) ``` diff --git a/docs/en/msg_docs/BatteryStatus.md b/docs/en/msg_docs/BatteryStatus.md index 7204a2a12f..addd1ae524 100644 --- a/docs/en/msg_docs/BatteryStatus.md +++ b/docs/en/msg_docs/BatteryStatus.md @@ -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 ``` diff --git a/docs/en/msg_docs/EstimatorStatus.md b/docs/en/msg_docs/EstimatorStatus.md index 96254b1d1c..9c24221691 100644 --- a/docs/en/msg_docs/EstimatorStatus.md +++ b/docs/en/msg_docs/EstimatorStatus.md @@ -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 diff --git a/docs/en/msg_docs/EstimatorStatusFlags.md b/docs/en/msg_docs/EstimatorStatusFlags.md index eede0693db..0ac832817d 100644 --- a/docs/en/msg_docs/EstimatorStatusFlags.md +++ b/docs/en/msg_docs/EstimatorStatusFlags.md @@ -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 diff --git a/docs/en/msg_docs/PurePursuitStatus.md b/docs/en/msg_docs/PurePursuitStatus.md index 96577a0220..8d54ba473e 100644 --- a/docs/en/msg_docs/PurePursuitStatus.md +++ b/docs/en/msg_docs/PurePursuitStatus.md @@ -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 ``` diff --git a/docs/en/msg_docs/RoverAttitudeSetpoint.md b/docs/en/msg_docs/RoverAttitudeSetpoint.md index bd436278ca..ca75a6e3e2 100644 --- a/docs/en/msg_docs/RoverAttitudeSetpoint.md +++ b/docs/en/msg_docs/RoverAttitudeSetpoint.md @@ -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 ``` diff --git a/docs/en/msg_docs/RoverAttitudeStatus.md b/docs/en/msg_docs/RoverAttitudeStatus.md index e6df929abd..f5a9ce1f02 100644 --- a/docs/en/msg_docs/RoverAttitudeStatus.md +++ b/docs/en/msg_docs/RoverAttitudeStatus.md @@ -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) ``` diff --git a/docs/en/msg_docs/RoverPositionSetpoint.md b/docs/en/msg_docs/RoverPositionSetpoint.md index b45aa0515f..751536e7f9 100644 --- a/docs/en/msg_docs/RoverPositionSetpoint.md +++ b/docs/en/msg_docs/RoverPositionSetpoint.md @@ -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 ``` diff --git a/docs/en/msg_docs/RoverRateSetpoint.md b/docs/en/msg_docs/RoverRateSetpoint.md index 9bffa41b80..9bb844e802 100644 --- a/docs/en/msg_docs/RoverRateSetpoint.md +++ b/docs/en/msg_docs/RoverRateSetpoint.md @@ -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 ``` diff --git a/docs/en/msg_docs/RoverRateStatus.md b/docs/en/msg_docs/RoverRateStatus.md index 684e4c458a..70345fe315 100644 --- a/docs/en/msg_docs/RoverRateStatus.md +++ b/docs/en/msg_docs/RoverRateStatus.md @@ -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 ``` diff --git a/docs/en/msg_docs/RoverSpeedSetpoint.md b/docs/en/msg_docs/RoverSpeedSetpoint.md index 9eea46e60f..84176cd1c3 100644 --- a/docs/en/msg_docs/RoverSpeedSetpoint.md +++ b/docs/en/msg_docs/RoverSpeedSetpoint.md @@ -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 ``` diff --git a/docs/en/msg_docs/RoverSpeedStatus.md b/docs/en/msg_docs/RoverSpeedStatus.md index 8c212e2b0f..4213e1e5df 100644 --- a/docs/en/msg_docs/RoverSpeedStatus.md +++ b/docs/en/msg_docs/RoverSpeedStatus.md @@ -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 ``` diff --git a/docs/en/msg_docs/RoverSteeringSetpoint.md b/docs/en/msg_docs/RoverSteeringSetpoint.md index 3e40a3986b..974f3fc4c9 100644 --- a/docs/en/msg_docs/RoverSteeringSetpoint.md +++ b/docs/en/msg_docs/RoverSteeringSetpoint.md @@ -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 ``` diff --git a/docs/en/msg_docs/RoverThrottleSetpoint.md b/docs/en/msg_docs/RoverThrottleSetpoint.md index f1c4f7f653..bd5ee93d55 100644 --- a/docs/en/msg_docs/RoverThrottleSetpoint.md +++ b/docs/en/msg_docs/RoverThrottleSetpoint.md @@ -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 ``` diff --git a/docs/en/msg_docs/VehicleCommand.md b/docs/en/msg_docs/VehicleCommand.md index 19557cf496..6c5e87ff5b 100644 --- a/docs/en/msg_docs/VehicleCommand.md +++ b/docs/en/msg_docs/VehicleCommand.md @@ -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. diff --git a/docs/en/msg_docs/VehicleStatus.md b/docs/en/msg_docs/VehicleStatus.md index d1deeb0500..9d46e42cb3 100644 --- a/docs/en/msg_docs/VehicleStatus.md +++ b/docs/en/msg_docs/VehicleStatus.md @@ -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 diff --git a/docs/en/msg_docs/index.md b/docs/en/msg_docs/index.md index 2c8085dc85..23f6c9441f 100644 --- a/docs/en/msg_docs/index.md +++ b/docs/en/msg_docs/index.md @@ -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