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docs/ko/msg_docs/ActionRequest.md
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# ActionRequest (UORB message)
Action request for the vehicle's main state
Action request for the vehicle's main state.
Message represents actions requested by a PX4 internal component towards the main state machine such as a request to arm or switch mode.
It allows mapping triggers from various external interfaces like RC channels or MAVLink to cause an action.
Request are published by `manual_control` and subscribed by the `commander` and `vtol_att_control` modules.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActionRequest.msg)
**TOPICS:** action_request
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| --------- | -------- | ---------------------------------------------------------------- | ----------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| action | `uint8` | | [ACTION](#ACTION) | Requested action |
| source | `uint8` | | [SOURCE](#SOURCE) | Request trigger type, such as a switch, button or gesture |
| mode | `uint8` | | | Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration. |
## Enums
### ACTION {#ACTION}
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ---------------------------------------------------------------------------------------- |
| <a href="#ACTION_DISARM"></a> ACTION_DISARM | `uint8` | 0 | Disarm vehicle |
| <a href="#ACTION_ARM"></a> ACTION_ARM | `uint8` | 1 | Arm vehicle |
| <a href="#ACTION_TOGGLE_ARMING"></a> ACTION_TOGGLE_ARMING | `uint8` | 2 | Toggle arming |
| <a href="#ACTION_UNKILL"></a> ACTION_UNKILL | `uint8` | 3 | Revert a kill action |
| <a href="#ACTION_KILL"></a> ACTION_KILL | `uint8` | 4 | Kill vehicle (instantly stop the motors) |
| <a href="#ACTION_SWITCH_MODE"></a> ACTION_SWITCH_MODE | `uint8` | 5 | Switch mode. The target mode is set in the `mode` field. |
| <a href="#ACTION_VTOL_TRANSITION_TO_MULTICOPTER"></a> ACTION_VTOL_TRANSITION_TO_MULTICOPTER | `uint8` | 6 | Transition to hover flight |
| <a href="#ACTION_VTOL_TRANSITION_TO_FIXEDWING"></a> ACTION_VTOL_TRANSITION_TO_FIXEDWING | `uint8` | 7 | Transition to fast forward flight |
| <a href="#ACTION_TERMINATION"></a> ACTION_TERMINATION | `uint8` | 8 | Irreversibly output failsafe values on all outputs, trigger parachute |
### SOURCE {#SOURCE}
| 명칭 | 형식 | Value | 설명 |
| ---------------------------------------------------------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------------- |
| <a href="#SOURCE_STICK_GESTURE"></a> SOURCE_STICK_GESTURE | `uint8` | 0 | Triggered by holding the sticks in a certain position |
| <a href="#SOURCE_RC_SWITCH"></a> SOURCE_RC_SWITCH | `uint8` | 1 | Triggered by an RC switch moving into a certain position |
| <a href="#SOURCE_RC_BUTTON"></a> SOURCE_RC_BUTTON | `uint8` | 2 | Triggered by a momentary button on the RC being pressed or held |
| <a href="#SOURCE_RC_MODE_SLOT"></a> SOURCE_RC_MODE_SLOT | `uint8` | 3 | Mode change through the RC mode selection mechanism |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActionRequest.msg)
:::details
Click here to see original file
```c
# Action request for the vehicle's main state
@@ -35,5 +80,6 @@ uint8 SOURCE_RC_BUTTON = 2 # Triggered by a momentary button on the RC bein
uint8 SOURCE_RC_MODE_SLOT = 3 # Mode change through the RC mode selection mechanism
uint8 mode # Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration.
```
:::
docs/ko/msg_docs/ActuatorArmed.md
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# ActuatorArmed (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorArmed.msg)
**TOPICS:** actuator_armed
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| -------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| armed | `bool` | | | Set to true if system is armed |
| prearmed | `bool` | | | Set to true if the actuator safety is disabled but motors are not armed |
| ready_to_arm | `bool` | | | Set to true if system is ready to be armed |
| lockdown | `bool` | | | Set to true if actuators are forced to being disabled (due to emergency or HIL) |
| kill | `bool` | | | Set to true if manual throttle kill switch is engaged |
| termination | `bool` | | | Send out failsafe (by default same as disarmed) output |
| in_esc_calibration_mode | `bool` | | | IO/FMU should ignore messages from the actuator controls topics |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorArmed.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -12,5 +36,6 @@ bool lockdown # Set to true if actuators are forced to being disabled (due to e
bool kill # Set to true if manual throttle kill switch is engaged
bool termination # Send out failsafe (by default same as disarmed) output
bool in_esc_calibration_mode # IO/FMU should ignore messages from the actuator controls topics
```
:::
docs/ko/msg_docs/ActuatorControlsStatus.md
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# ActuatorControlsStatus (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorControlsStatus.msg)
**TOPICS:** actuator_controls_status_0 actuator_controls_status_1
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ---------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| control_power | `float32[3]` | | | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorControlsStatus.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -8,5 +26,6 @@ uint64 timestamp # time since system start (microseconds)
float32[3] control_power
# TOPICS actuator_controls_status_0 actuator_controls_status_1
```
:::
docs/ko/msg_docs/ActuatorMotors.md
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# ActuatorMotors (UORB message)
Motor control message
Motor control message.
Normalised thrust setpoint for up to 12 motors.
Published by the vehicle's allocation and consumed by the ESC protocol drivers e.g. PWM, DSHOT, UAVCAN.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg)
**TOPICS:** actuator_motors
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------- | ------------- | ---------------------------------------------------------------- | ---------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on |
| reversible_flags | `uint16` | | | Bitset indicating which motors are configured to be reversible |
| control | `float32[12]` | | [-1 : 1] | Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors) |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ----------------------------------------------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR1"></a> ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | |
| <a href="#NUM_CONTROLS"></a> NUM_CONTROLS | `uint8` | 12 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg)
:::details
Click here to see original file
```c
# Motor control message
@@ -24,5 +52,6 @@ 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)
```
:::
docs/ko/msg_docs/ActuatorOutputs.md
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# ActuatorOutputs (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorOutputs.msg)
**TOPICS:** actuator_outputs actuator_outputs_sim actuator_outputs_debug
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| --------- | ------------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| noutputs | `uint32` | | | valid outputs |
| output | `float32[16]` | | | output data, in natural output units |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ------------------- |
| <a href="#NUM_ACTUATOR_OUTPUTS"></a> NUM_ACTUATOR_OUTPUTS | `uint8` | 16 | |
| <a href="#NUM_ACTUATOR_OUTPUT_GROUPS "></a> NUM_ACTUATOR_OUTPUT_GROUPS | `uint8` | 4 | for sanity checking |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorOutputs.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -11,5 +37,6 @@ float32[16] output # output data, in natural output units
# actuator_outputs_sim is used for SITL, HITL & SIH (with an output range of [-1, 1])
# TOPICS actuator_outputs actuator_outputs_sim actuator_outputs_debug
```
:::
docs/ko/msg_docs/ActuatorServos.md
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# ActuatorServos (UORB message)
Servo control message
Servo control message.
Normalised output setpoint for up to 8 servos.
Published by the vehicle's allocation and consumed by the actuator output drivers.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorServos.msg)
**TOPICS:** actuator_servos
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on |
| control | `float32[8]` | | [-1 : 1] | Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed. |
## Constants
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| <a href="#NUM_CONTROLS"></a> NUM_CONTROLS | `uint8` | 8 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorServos.msg)
:::details
Click here to see original file
```c
# Servo control message
@@ -20,5 +46,6 @@ uint64 timestamp_sample # [us] Sampling timestamp of the data this control resp
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.
```
:::
docs/ko/msg_docs/ActuatorServosTrim.md
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# ActuatorServosTrim (UORB message)
Servo trims, added as offset to servo outputs
Servo trims, added as offset to servo outputs.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorServosTrim.msg)
**TOPICS:** actuator_servostrim
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| --------- | ------------ | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| trim | `float32[8]` | | | range: [-1, 1] |
## Constants
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------- | ------- | ----- | -- |
| <a href="#NUM_CONTROLS"></a> NUM_CONTROLS | `uint8` | 8 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorServosTrim.msg)
:::details
Click here to see original file
```c
# Servo trims, added as offset to servo outputs
@@ -10,5 +34,6 @@ uint64 timestamp # time since system start (microseconds)
uint8 NUM_CONTROLS = 8
float32[8] trim # range: [-1, 1]
```
:::
docs/ko/msg_docs/ActuatorTest.md
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# ActuatorTest (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorTest.msg)
**TOPICS:** actuator_test
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| action | `uint8` | | | one of ACTION\_\* |
| function | `uint16` | | | actuator output function |
| value | `float32` | | | range: [-1, 1], where 1 means maximum positive output, |
| timeout_ms | `uint32` | | | timeout in ms after which to exit test mode (if 0, do not time out) |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------------------- | ------- | ----- | -------------------------------------------------------------------------------------------------------------------- |
| <a href="#ACTION_RELEASE_CONTROL"></a> ACTION_RELEASE_CONTROL | `uint8` | 0 | exit test mode for the given function |
| <a href="#ACTION_DO_CONTROL"></a> ACTION_DO_CONTROL | `uint8` | 1 | enable actuator test mode |
| <a href="#FUNCTION_MOTOR1"></a> FUNCTION_MOTOR1 | `uint8` | 101 | |
| <a href="#MAX_NUM_MOTORS"></a> MAX_NUM_MOTORS | `uint8` | 12 | |
| <a href="#FUNCTION_SERVO1"></a> FUNCTION_SERVO1 | `uint8` | 201 | |
| <a href="#MAX_NUM_SERVOS"></a> MAX_NUM_SERVOS | `uint8` | 8 | |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 16 | > = MAX_NUM_MOTORS to support code in esc_calibration |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorTest.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -24,5 +57,6 @@ float32 value # range: [-1, 1], where 1 means maximum positive output,
uint32 timeout_ms # timeout in ms after which to exit test mode (if 0, do not time out)
uint8 ORB_QUEUE_LENGTH = 16 # >= MAX_NUM_MOTORS to support code in esc_calibration
```
:::
docs/ko/msg_docs/AdcReport.md
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# AdcReport (UORB message)
ADC raw data.
Communicates raw data from an analog-to-digital converter (ADC) to other modules, such as battery status.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AdcReport.msg)
**TOPICS:** adc_report
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| channel_id | `int16[16]` | | | ADC channel IDs, negative for non-existent, TODO: should be kept same as array index |
| raw_data | `int32[16]` | | | ADC channel raw value, accept negative value, valid if channel ID is positive |
| resolution | `uint32` | | | ADC channel resolution |
| v_ref | `float32` | V | | ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution) |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AdcReport.msg)
:::details
Click here to see original file
```c
# ADC raw data.
@@ -17,5 +39,6 @@ int16[16] channel_id # [-] ADC channel IDs, negative for non-existent, TODO: sh
int32[16] raw_data # [-] ADC channel raw value, accept negative value, valid if channel ID is positive
uint32 resolution # [-] ADC channel resolution
float32 v_ref # [V] ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution)
```
:::
docs/ko/msg_docs/Airspeed.md
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# Airspeed (UORB message)
Airspeed data from sensors
Airspeed data from sensors.
This is published by airspeed sensor drivers, CAN airspeed sensors, simulators.
It is subscribed by the airspeed selector module, which validates the data from multiple sensors and passes on a single estimation to the EKF, controllers and telemetry providers.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Airspeed.msg)
**TOPICS:** airspeed
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | --------------------------------------------------------------------------- | -------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| timestamp_sample | `uint64` | us | | Timestamp of the raw data |
| indicated_airspeed_m_s | `float32` | m/s | | Indicated airspeed |
| true_airspeed_m_s | `float32` | m/s | | True airspeed |
| confidence | `float32` | | [0 : 1] | Confidence value for this sensor |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Airspeed.msg)
:::details
Click here to see original file
```c
# Airspeed data from sensors
@@ -18,5 +39,6 @@ uint64 timestamp_sample # [us] Timestamp of the raw data
float32 indicated_airspeed_m_s # [m/s] Indicated airspeed
float32 true_airspeed_m_s # [m/s] True airspeed
float32 confidence # [@range 0,1] Confidence value for this sensor
```
:::
docs/ko/msg_docs/AirspeedValidated.md
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# AirspeedValidated (UORB message)
Validated airspeed
Validated airspeed.
Provides information about airspeed (indicated, true, calibrated) and the source of the data.
Used by controllers, estimators and for airspeed reporting to operator.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/AirspeedValidated.msg)
**TOPICS:** airspeed_validated
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ----------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| indicated_airspeed_m_s | `float32` | m/s | | Indicated airspeed (IAS) (Invalid: NaN) |
| calibrated_airspeed_m_s | `float32` | m/s | | Calibrated airspeed (CAS) (Invalid: NaN) |
| true_airspeed_m_s | `float32` | m/s | | True airspeed (TAS) (Invalid: NaN) |
| airspeed_source | `int8` | | [SOURCE](#SOURCE) | Source of currently published airspeed values |
| calibrated_ground_minus_wind_m_s | `float32` | m/s | | CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption (Invalid: NaN) |
| calibraded_airspeed_synth_m_s | `float32` | m/s | | Synthetic airspeed (Invalid: NaN) |
| airspeed_derivative_filtered | `float32` | m/s^2 | | Filtered indicated airspeed derivative |
| throttle_filtered | `float32` | | | Filtered fixed-wing throttle |
| pitch_filtered | `float32` | rad | | Filtered pitch |
## Enums
### SOURCE {#SOURCE}
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------- | ------ | ----- | ----------------------- |
| <a href="#SOURCE_DISABLED"></a> SOURCE_DISABLED | `int8` | -1 | Disabled |
| <a href="#SOURCE_GROUND_MINUS_WIND"></a> SOURCE_GROUND_MINUS_WIND | `int8` | 0 | Ground speed minus wind |
| <a href="#SOURCE_SENSOR_1"></a> SOURCE_SENSOR_1 | `int8` | 1 | Sensor 1 |
| <a href="#SOURCE_SENSOR_2"></a> SOURCE_SENSOR_2 | `int8` | 2 | Sensor 2 |
| <a href="#SOURCE_SENSOR_3"></a> SOURCE_SENSOR_3 | `int8` | 3 | Sensor 3 |
| <a href="#SOURCE_SYNTHETIC"></a> SOURCE_SYNTHETIC | `int8` | 4 | Synthetic airspeed |
## Constants
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/AirspeedValidated.msg)
:::details
Click here to see original file
```c
# Validated airspeed
@@ -35,5 +80,6 @@ float32 calibraded_airspeed_synth_m_s # [m/s] [@invalid NaN] Synthetic airsp
float32 airspeed_derivative_filtered # [m/s^2] Filtered indicated airspeed derivative
float32 throttle_filtered # [-] Filtered fixed-wing throttle
float32 pitch_filtered # [rad] Filtered pitch
```
:::
docs/ko/msg_docs/AirspeedValidatedV0.md
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# AirspeedValidatedV0 (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/AirspeedValidatedV0.msg)
**TOPICS:** airspeed_validatedv0
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------ |
| timestamp | `uint64` | | | time since system start (microseconds) |
| indicated_airspeed_m_s | `float32` | | | indicated airspeed in m/s (IAS), set to NAN if invalid |
| calibrated_airspeed_m_s | `float32` | | | calibrated airspeed in m/s (CAS, accounts for instrumentation errors), set to NAN if invalid |
| true_airspeed_m_s | `float32` | | | true filtered airspeed in m/s (TAS), set to NAN if invalid |
| calibrated_ground_minus_wind_m_s | `float32` | | | CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid |
| true_ground_minus_wind_m_s | `float32` | | | TAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid |
| airspeed_sensor_measurement_valid | `bool` | | | True if data from at least one airspeed sensor is declared valid. |
| selected_airspeed_index | `int8` | | | 1-3: airspeed sensor index, 0: groundspeed-windspeed, -1: airspeed invalid |
| airspeed_derivative_filtered | `float32` | | | filtered indicated airspeed derivative [m/s/s] |
| throttle_filtered | `float32` | | | filtered fixed-wing throttle [-] |
| pitch_filtered | `float32` | | | filtered pitch [rad] |
## Constants
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/AirspeedValidatedV0.msg)
:::details
Click here to see original file
```c
uint32 MESSAGE_VERSION = 0
@@ -21,5 +54,6 @@ int8 selected_airspeed_index # 1-3: airspeed sensor index, 0: groundspeed-win
float32 airspeed_derivative_filtered # filtered indicated airspeed derivative [m/s/s]
float32 throttle_filtered # filtered fixed-wing throttle [-]
float32 pitch_filtered # filtered pitch [rad]
```
:::
docs/ko/msg_docs/AirspeedWind.md
+43 -3
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@@ -1,6 +1,10 @@
---
pageClass: is-wide-page
---
# AirspeedWind (UORB message)
Wind estimate (from airspeed_selector)
Wind estimate (from airspeed_selector).
Contains wind estimation and airspeed innovation information estimated by the WindEstimator
in the airspeed selector module.
@@ -8,7 +12,42 @@ in the airspeed selector module.
This message is published by the airspeed selector for debugging purposes, and is not
subscribed to by any other modules.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AirspeedWind.msg)
**TOPICS:** airspeed_wind
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| -------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| timestamp_sample | `uint64` | us | | Timestamp of the raw data |
| windspeed_north | `float32` | m/s | | Wind component in north / X direction |
| windspeed_east | `float32` | m/s | | Wind component in east / Y direction |
| variance_north | `float32` | (m/s)^2 | | Wind estimate error variance in north / X direction (Invalid: 0 if not estimated) |
| variance_east | `float32` | (m/s)^2 | | Wind estimate error variance in east / Y direction (Invalid: 0 if not estimated) |
| tas_innov | `float32` | m/s | | True airspeed innovation |
| tas_innov_var | `float32` | m/s | | True airspeed innovation variance |
| tas_scale_raw | `float32` | | | Estimated true airspeed scale factor (not validated) |
| tas_scale_raw_var | `float32` | | | True airspeed scale factor variance |
| tas_scale_validated | `float32` | | | Estimated true airspeed scale factor after validation |
| beta_innov | `float32` | rad | | Sideslip measurement innovation |
| beta_innov_var | `float32` | rad^2 | | Sideslip measurement innovation variance |
| source | `uint8` | | | source of wind estimate |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ---------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ----------------------------------------------------------------------------------------------------- |
| <a href="#SOURCE_AS_BETA_ONLY"></a> SOURCE_AS_BETA_ONLY | `uint8` | 0 | Wind estimate only based on synthetic sideslip fusion |
| <a href="#SOURCE_AS_SENSOR_1"></a> SOURCE_AS_SENSOR_1 | `uint8` | 1 | Combined synthetic sideslip and airspeed fusion (data from first airspeed sensor) |
| <a href="#SOURCE_AS_SENSOR_2"></a> SOURCE_AS_SENSOR_2 | `uint8` | 2 | Combined synthetic sideslip and airspeed fusion (data from second airspeed sensor) |
| <a href="#SOURCE_AS_SENSOR_3"></a> SOURCE_AS_SENSOR_3 | `uint8` | 3 | Combined synthetic sideslip and airspeed fusion (data from third airspeed sensor) |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AirspeedWind.msg)
:::details
Click here to see original file
```c
# Wind estimate (from airspeed_selector)
@@ -45,5 +84,6 @@ uint8 SOURCE_AS_BETA_ONLY = 0 # Wind estimate only based on synthetic sideslip f
uint8 SOURCE_AS_SENSOR_1 = 1 # Combined synthetic sideslip and airspeed fusion (data from first airspeed sensor)
uint8 SOURCE_AS_SENSOR_2 = 2 # Combined synthetic sideslip and airspeed fusion (data from second airspeed sensor)
uint8 SOURCE_AS_SENSOR_3 = 3 # Combined synthetic sideslip and airspeed fusion (data from third airspeed sensor)
```
:::
docs/ko/msg_docs/ArmingCheckReply.md
+56 -3
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@@ -1,6 +1,10 @@
---
pageClass: is-wide-page
---
# 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).
@@ -9,7 +13,55 @@ The request is sent regularly to all registered ROS modes, even while armed, so
Note that the external component is identified by its registration_id, which is allocated to the component during registration (arming_check_id in RegisterExtComponentReply).
The message is not used by internal/FMU components, as their mode requirements are known at compile time.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg)
**TOPICS:** arming_checkreply
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| -------------------------------------------------------------------------------------------------------------------- | ---------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start. |
| request_id | `uint8` | | | Id of ArmingCheckRequest for which this is a response |
| registration_id | `uint8` | | | Id of external component emitting this response |
| health_component_index | `uint8` | | [HEALTH_COMPONENT_INDEX](#HEALTH_COMPONENT_INDEX) | |
| health_component_is_present | `bool` | | | Unused. Intended for use with health events interface (health_component_t in events.json) |
| health_component_warning | `bool` | | | Unused. Intended for use with health events interface (health_component_t in events.json) |
| health_component_error | `bool` | | | Unused. Intended for use with health events interface (health_component_t in events.json) |
| can_arm_and_run | `bool` | | | True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed |
| num_events | `uint8` | | | Number of queued failure messages (Event) in the events field |
| events | `Event[5]` | | | Arming failure reasons (Queue of events to report to GCS) |
| mode_req_angular_velocity | `bool` | | | Requires angular velocity estimate (e.g. from gyroscope) |
| mode_req_attitude | `bool` | | | Requires an attitude estimate |
| mode_req_local_alt | `bool` | | | Requires a local altitude estimate |
| mode_req_local_position | `bool` | | | Requires a local position estimate |
| mode_req_local_position_relaxed | `bool` | | | Requires a more relaxed global position estimate |
| mode_req_global_position | `bool` | | | Requires a global position estimate |
| mode_req_global_position_relaxed | `bool` | | | Requires a relaxed global position estimate |
| mode_req_mission | `bool` | | | Requires an uploaded mission |
| mode_req_home_position | `bool` | | | Requires a home position (such as RTL/Return mode) |
| mode_req_prevent_arming | `bool` | | | Prevent arming (such as in Land mode) |
| mode_req_manual_control | `bool` | | | Requires a manual controller |
## Enums
### HEALTH_COMPONENT_INDEX {#HEALTH_COMPONENT_INDEX}
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------- |
| <a href="#HEALTH_COMPONENT_INDEX_NONE"></a> HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 | Index of health component for which this response applies |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 | |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg)
:::details
Click here to see original file
```c
# Arming check reply
@@ -55,5 +107,6 @@ 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
```
:::
docs/ko/msg_docs/ArmingCheckReplyV0.md
+47 -2
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@@ -1,6 +1,50 @@
---
pageClass: is-wide-page
---
# ArmingCheckReplyV0 (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckReplyV0.msg)
**TOPICS:** arming_checkreplyv0
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------ |
| timestamp | `uint64` | | | time since system start (microseconds) |
| request_id | `uint8` | | | |
| registration_id | `uint8` | | | |
| health_component_index | `uint8` | | | HEALTH_COMPONENT_INDEX_\* |
| health_component_is_present | `bool` | | | |
| health_component_warning | `bool` | | | |
| health_component_error | `bool` | | | |
| can_arm_and_run | `bool` | | | whether arming is possible, and if it's a navigation mode, if it can run |
| num_events | `uint8` | | | |
| events | `EventV0[5]` | | | |
| mode_req_angular_velocity | `bool` | | | |
| mode_req_attitude | `bool` | | | |
| mode_req_local_alt | `bool` | | | |
| mode_req_local_position | `bool` | | | |
| mode_req_local_position_relaxed | `bool` | | | |
| mode_req_global_position | `bool` | | | |
| mode_req_mission | `bool` | | | |
| mode_req_home_position | `bool` | | | |
| mode_req_prevent_arming | `bool` | | | |
| mode_req_manual_control | `bool` | | | |
## Constants
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| <a href="#HEALTH_COMPONENT_INDEX_NONE"></a> HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 | |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckReplyV0.msg)
:::details
Click here to see original file
```c
uint32 MESSAGE_VERSION = 0
@@ -37,5 +81,6 @@ bool mode_req_manual_control
uint8 ORB_QUEUE_LENGTH = 4
```
:::
docs/ko/msg_docs/ArmingCheckRequest.md
+29 -3
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@@ -1,6 +1,10 @@
---
pageClass: is-wide-page
---
# 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.
@@ -9,7 +13,28 @@ The request is sent regularly, even while armed, so that the FMU always knows th
The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg)
**TOPICS:** arming_checkrequest
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| request_id | `uint8` | | | Id of this request. Allows correlation with associated ArmingCheckReply messages. |
| valid_registrations_mask | `uint32` | | | Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive) |
## Constants
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg)
:::details
Click here to see original file
```c
# Arming check request
@@ -28,5 +53,6 @@ uint64 timestamp # [us] Time since system start
uint8 request_id # [-] Id of this request. Allows correlation with associated ArmingCheckReply messages.
uint32 valid_registrations_mask # [-] Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
```
:::
docs/ko/msg_docs/ArmingCheckRequestV0.md
+27 -2
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@@ -1,3 +1,7 @@
---
pageClass: is-wide-page
---
# ArmingCheckRequestV0 (UORB message)
Arming check request.
@@ -9,7 +13,27 @@ The request is sent regularly, even while armed, so that the FMU always knows th
The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckRequestV0.msg)
**TOPICS:** arming_checkrequestv0
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start. |
| request_id | `uint8` | | | Id of this request. Allows correlation with associated ArmingCheckReply messages. |
## Constants
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckRequestV0.msg)
:::details
Click here to see original file
```c
# Arming check request.
@@ -26,5 +50,6 @@ uint32 MESSAGE_VERSION = 0
uint64 timestamp # [us] Time since system start.
uint8 request_id # Id of this request. Allows correlation with associated ArmingCheckReply messages.
```
:::
docs/ko/msg_docs/AutotuneAttitudeControlStatus.md
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@@ -1,13 +1,68 @@
---
pageClass: is-wide-page
---
# AutotuneAttitudeControlStatus (UORB message)
Autotune attitude control status
Autotune attitude control status.
This message is published by the fw_autotune_attitude_control and mc_autotune_attitude_control modules when the user engages autotune,
and is subscribed to by the respective attitude controllers to command rate setpoints.
The rate_sp field is consumed by the controllers, while the remaining fields (model coefficients, gains, filters, and autotune state) are used for logging and debugging.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AutotuneAttitudeControlStatus.msg)
**TOPICS:** autotune_attitudecontrol_status
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------ | ------------ | ---------------------------------------------------------------- | --------------- | -------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| coeff | `float32[5]` | | | Coefficients of the identified discrete-time model |
| coeff_var | `float32[5]` | | | Coefficients' variance of the identified discrete-time model |
| fitness | `float32` | | | Fitness of the parameter estimate |
| innov | `float32` | rad/s | | Innovation (residual error between model and measured output) |
| dt_model | `float32` | s | | Model sample time used for identification |
| kc | `float32` | | | Proportional rate-loop gain (ideal form) |
| ki | `float32` | | | Integral rate-loop gain (ideal form) |
| kd | `float32` | | | Derivative rate-loop gain (ideal form) |
| kff | `float32` | | | Feedforward rate-loop gain |
| att_p | `float32` | | | Proportional attitude gain |
| rate_sp | `float32[3]` | rad/s | | Rate setpoint commanded to the attitude controller. |
| u_filt | `float32` | | | Filtered input signal (normalized torque setpoint) used in system identification. |
| y_filt | `float32` | rad/s | | Filtered output signal (angular velocity) used in system identification. |
| state | `uint8` | | [STATE](#STATE) | Current state of the autotune procedure. |
## Enums
### STATE {#STATE}
| 명칭 | 형식 | Value | 설명 |
| ---------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------------- |
| <a href="#STATE_IDLE"></a> STATE_IDLE | `uint8` | 0 | Idle (not running) |
| <a href="#STATE_INIT"></a> STATE_INIT | `uint8` | 1 | Initialize filters and setup |
| <a href="#STATE_ROLL_AMPLITUDE_DETECTION"></a> STATE_ROLL_AMPLITUDE_DETECTION | `uint8` | 2 | FW only: determine required excitation amplitude (roll) |
| <a href="#STATE_ROLL"></a> STATE_ROLL | `uint8` | 3 | Roll-axis excitation and model identification |
| <a href="#STATE_ROLL_PAUSE"></a> STATE_ROLL_PAUSE | `uint8` | 4 | Pause to return to level flight |
| <a href="#STATE_PITCH_AMPLITUDE_DETECTION"></a> STATE_PITCH_AMPLITUDE_DETECTION | `uint8` | 5 | FW only: determine required excitation amplitude (pitch) |
| <a href="#STATE_PITCH"></a> STATE_PITCH | `uint8` | 6 | Pitch-axis excitation and model identification |
| <a href="#STATE_PITCH_PAUSE"></a> STATE_PITCH_PAUSE | `uint8` | 7 | Pause to return to level flight |
| <a href="#STATE_YAW_AMPLITUDE_DETECTION"></a> STATE_YAW_AMPLITUDE_DETECTION | `uint8` | 8 | FW only: determine required excitation amplitude (yaw) |
| <a href="#STATE_YAW"></a> STATE_YAW | `uint8` | 9 | Yaw-axis excitation and model identification |
| <a href="#STATE_YAW_PAUSE"></a> STATE_YAW_PAUSE | `uint8` | 10 | Pause to return to level flight |
| <a href="#STATE_VERIFICATION"></a> STATE_VERIFICATION | `uint8` | 11 | Verify model and candidate gains |
| <a href="#STATE_APPLY"></a> STATE_APPLY | `uint8` | 12 | Apply gains |
| <a href="#STATE_TEST"></a> STATE_TEST | `uint8` | 13 | Test gains in closed-loop |
| <a href="#STATE_COMPLETE"></a> STATE_COMPLETE | `uint8` | 14 | Tuning completed successfully |
| <a href="#STATE_FAIL"></a> STATE_FAIL | `uint8` | 15 | Tuning failed (model invalid or controller unstable) |
| <a href="#STATE_WAIT_FOR_DISARM"></a> STATE_WAIT_FOR_DISARM | `uint8` | 16 | Waiting for disarm before finalizing |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AutotuneAttitudeControlStatus.msg)
:::details
Click here to see original file
```c
# Autotune attitude control status
@@ -55,5 +110,6 @@ uint8 STATE_TEST = 13 # Test gains in closed-loop
uint8 STATE_COMPLETE = 14 # Tuning completed successfully
uint8 STATE_FAIL = 15 # Tuning failed (model invalid or controller unstable)
uint8 STATE_WAIT_FOR_DISARM = 16 # Waiting for disarm before finalizing
```
:::
docs/ko/msg_docs/BatteryInfo.md
+23 -3
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@@ -1,11 +1,30 @@
---
pageClass: is-wide-page
---
# BatteryInfo (UORB message)
Battery information
Battery information.
Static or near-invariant battery information.
Should be streamed at low rate.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/BatteryInfo.msg)
**TOPICS:** battery_info
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ---------------------------------- | ---------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| id | `uint8` | | | Must match the id in the battery_status message for the same battery |
| serial_number | `char[32]` | | | Serial number of the battery pack in ASCII characters, 0 terminated (Invalid: 0 All bytes) |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/BatteryInfo.msg)
:::details
Click here to see original file
```c
# Battery information
@@ -17,5 +36,6 @@ uint64 timestamp # [us] Time since system start
uint8 id # Must match the id in the battery_status message for the same battery
char[32] serial_number # [@invalid 0 All bytes] Serial number of the battery pack in ASCII characters, 0 terminated
```
:::
docs/ko/msg_docs/BatteryStatus.md
+109 -3
View File
@@ -1,12 +1,117 @@
---
pageClass: is-wide-page
---
# BatteryStatus (UORB message)
Battery status
Battery status.
Battery status information for up to 3 battery instances.
These are populated from power module and smart battery device drivers, and one battery updated from MAVLink.
Battery instance information is also logged and streamed in MAVLink telemetry.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/BatteryStatus.msg)
**TOPICS:** battery_status
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| -------------------------------------------------------------------------------------- | ------------- | ---------------------------------------------------------------- | ----------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| connected | `bool` | | | Whether or not a battery is connected. For power modules this is based on a voltage threshold. |
| voltage_v | `float32` | V | | Battery voltage (Invalid: 0) |
| current_a | `float32` | A | | Battery current (Invalid: -1) |
| current_average_a | `float32` | A | | Battery current average (for FW average in level flight) (Invalid: -1) |
| discharged_mah | `float32` | mAh | | Discharged amount (Invalid: -1) |
| remaining | `float32` | | [0 : 1] | Remaining capacity (Invalid: -1) |
| scale | `float32` | | [1 : -] | Scaling factor to compensate for lower actuation power caused by voltage sag (Invalid: -1) |
| time_remaining_s | `float32` | s | | Predicted time remaining until battery is empty under previous averaged load (Invalid: NaN) |
| temperature | `float32` | °C | | Temperature of the battery (Invalid: NaN) |
| cell_count | `uint8` | | | Number of cells (Invalid: 0) |
| source | `uint8` | | [SOURCE](#SOURCE) | Battery source |
| priority | `uint8` | | | Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 |
| capacity | `uint16` | mAh | | Capacity of the battery when fully charged |
| cycle_count | `uint16` | | | Number of discharge cycles the battery has experienced |
| average_time_to_empty | `uint16` | minutes | | Predicted remaining battery capacity based on the average rate of discharge |
| manufacture_date | `uint16` | | | Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512 |
| state_of_health | `uint16` | % | [0 : 100] | State of health. FullChargeCapacity/DesignCapacity |
| max_error | `uint16` | % | [1 : 100] | Max error, expected margin of error in the state-of-charge calculation |
| id | `uint8` | | | ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed |
| interface_error | `uint16` | | | Interface error counter |
| voltage_cell_v | `float32[14]` | V | | Battery individual cell voltages (Invalid: 0) |
| max_cell_voltage_delta | `float32` | V | | Max difference between individual cell voltages |
| is_powering_off | `bool` | | | Power off event imminent indication, false if unknown |
| is_required | `bool` | | | Set if the battery is explicitly required before arming |
| warning | `uint8` | | [WARNING](#WARNING)[STATE](#STATE) | Current battery warning |
| faults | `uint16` | | [FAULT](#FAULT) | Smart battery supply status/fault flags (bitmask) for health indication |
| full_charge_capacity_wh | `float32` | Wh | | Compensated battery capacity |
| remaining_capacity_wh | `float32` | Wh | | Compensated battery capacity remaining |
| over_discharge_count | `uint16` | | | Number of battery overdischarge |
| nominal_voltage | `float32` | V | | Nominal voltage of the battery pack |
| internal_resistance_estimate | `float32` | Ohm | | Internal resistance per cell estimate |
| ocv_estimate | `float32` | V | | Open circuit voltage estimate |
| ocv_estimate_filtered | `float32` | V | | Filtered open circuit voltage estimate |
| volt_based_soc_estimate | `float32` | | [0 : 1] | Normalized volt based state of charge estimate |
| voltage_prediction | `float32` | V | | Predicted voltage |
| prediction_error | `float32` | V | | Prediction error |
| estimation_covariance_norm | `float32` | | | Norm of the covariance matrix |
## Enums
### SOURCE {#SOURCE}
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------------- | ------- | ----- | ----------------------------------------------------------------- |
| <a href="#SOURCE_POWER_MODULE"></a> SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) |
| <a href="#SOURCE_EXTERNAL"></a> SOURCE_EXTERNAL | `uint8` | 1 | External (MAVLink, CAN, or external driver) |
| <a href="#SOURCE_ESCS"></a> SOURCE_ESCS | `uint8` | 2 | ESCs (via ESC telemetry) |
### WARNING {#WARNING}
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------ | ------- | ----- | -------------------------------------------- |
| <a href="#WARNING_NONE"></a> WARNING_NONE | `uint8` | 0 | No battery low voltage warning active |
| <a href="#WARNING_LOW"></a> WARNING_LOW | `uint8` | 1 | Low voltage warning |
| <a href="#WARNING_CRITICAL"></a> WARNING_CRITICAL | `uint8` | 2 | Critical voltage, return / abort immediately |
| <a href="#WARNING_EMERGENCY"></a> WARNING_EMERGENCY | `uint8` | 3 | Immediate landing required |
| <a href="#WARNING_FAILED"></a> WARNING_FAILED | `uint8` | 4 | Battery has failed completely |
### STATE {#STATE}
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a href="#STATE_UNHEALTHY"></a> STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field |
| <a href="#STATE_CHARGING"></a> STATE_CHARGING | `uint8` | 7 | Battery is charging |
### FAULT {#FAULT}
| 명칭 | 형식 | Value | 설명 |
| ---------------------------------------------------------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------------------------------------------------------------------------------- |
| <a href="#FAULT_DEEP_DISCHARGE"></a> FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged |
| <a href="#FAULT_SPIKES"></a> FAULT_SPIKES | `uint8` | 1 | Voltage spikes |
| <a href="#FAULT_CELL_FAIL"></a> FAULT_CELL_FAIL | `uint8` | 2 | One or more cells have failed |
| <a href="#FAULT_OVER_CURRENT"></a> FAULT_OVER_CURRENT | `uint8` | 3 | Over-current |
| <a href="#FAULT_OVER_TEMPERATURE"></a> FAULT_OVER_TEMPERATURE | `uint8` | 4 | Over-temperature |
| <a href="#FAULT_UNDER_TEMPERATURE"></a> FAULT_UNDER_TEMPERATURE | `uint8` | 5 | Under-temperature fault |
| <a href="#FAULT_INCOMPATIBLE_VOLTAGE"></a> FAULT_INCOMPATIBLE_VOLTAGE | `uint8` | 6 | Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) |
| <a href="#FAULT_INCOMPATIBLE_FIRMWARE"></a> FAULT_INCOMPATIBLE_FIRMWARE | `uint8` | 7 | Battery firmware is not compatible with current autopilot firmware |
| <a href="#FAULT_INCOMPATIBLE_MODEL"></a> FAULT_INCOMPATIBLE_MODEL | `uint8` | 8 | Battery model is not supported by the system |
| <a href="#FAULT_HARDWARE_FAILURE"></a> FAULT_HARDWARE_FAILURE | `uint8` | 9 | Hardware problem |
| <a href="#FAULT_FAILED_TO_ARM"></a> FAULT_FAILED_TO_ARM | `uint8` | 10 | Battery had a problem while arming |
| <a href="#FAULT_COUNT"></a> FAULT_COUNT | `uint8` | 11 | Counter. Keep this as last element |
## Constants
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 | |
| <a href="#MAX_INSTANCES"></a> MAX_INSTANCES | `uint8` | 3 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/BatteryStatus.msg)
:::details
Click here to see original file
```c
# Battery status
@@ -88,5 +193,6 @@ float32 volt_based_soc_estimate # [-] [@range 0, 1] Normalized volt based
float32 voltage_prediction # [V] Predicted voltage
float32 prediction_error # [V] Prediction error
float32 estimation_covariance_norm # [-] Norm of the covariance matrix
```
:::
docs/ko/msg_docs/BatteryStatusV0.md
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pageClass: is-wide-page
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# BatteryStatusV0 (UORB message)
Battery status
Battery status.
Battery status information for up to 4 battery instances.
These are populated from power module and smart battery device drivers, and one battery updated from MAVLink.
Battery instance information is also logged and streamed in MAVLink telemetry.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/BatteryStatusV0.msg)
**TOPICS:** battery_statusv0
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| -------------------------------------------------------------------------------------- | ------------- | ---------------------------------------------------------------- | ----------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| connected | `bool` | | | Whether or not a battery is connected. For power modules this is based on a voltage threshold. |
| voltage_v | `float32` | V | | Battery voltage (Invalid: 0) |
| current_a | `float32` | A | | Battery current (Invalid: -1) |
| current_average_a | `float32` | A | | Battery current average (for FW average in level flight) (Invalid: -1) |
| discharged_mah | `float32` | mAh | | Discharged amount (Invalid: -1) |
| remaining | `float32` | | [0 : 1] | Remaining capacity (Invalid: -1) |
| scale | `float32` | | [1 : -] | Scaling factor to compensate for lower actuation power caused by voltage sag (Invalid: -1) |
| time_remaining_s | `float32` | s | | Predicted time remaining until battery is empty under previous averaged load (Invalid: NaN) |
| temperature | `float32` | °C | | Temperature of the battery (Invalid: NaN) |
| cell_count | `uint8` | | | Number of cells (Invalid: 0) |
| source | `uint8` | | [SOURCE](#SOURCE) | Battery source |
| priority | `uint8` | | | Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 |
| capacity | `uint16` | mAh | | Capacity of the battery when fully charged |
| cycle_count | `uint16` | | | Number of discharge cycles the battery has experienced |
| average_time_to_empty | `uint16` | minutes | | Predicted remaining battery capacity based on the average rate of discharge |
| serial_number | `uint16` | | | Serial number of the battery pack |
| manufacture_date | `uint16` | | | Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512 |
| state_of_health | `uint16` | % | [0 : 100] | State of health. FullChargeCapacity/DesignCapacity |
| max_error | `uint16` | % | [1 : 100] | Max error, expected margin of error in the state-of-charge calculation |
| id | `uint8` | | | ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed |
| interface_error | `uint16` | | | Interface error counter |
| voltage_cell_v | `float32[14]` | V | | Battery individual cell voltages (Invalid: 0) |
| max_cell_voltage_delta | `float32` | | | Max difference between individual cell voltages |
| is_powering_off | `bool` | | | Power off event imminent indication, false if unknown |
| is_required | `bool` | | | Set if the battery is explicitly required before arming |
| warning | `uint8` | | [WARNING](#WARNING)[STATE](#STATE) | Current battery warning |
| faults | `uint16` | | [FAULT](#FAULT) | Smart battery supply status/fault flags (bitmask) for health indication |
| full_charge_capacity_wh | `float32` | Wh | | Compensated battery capacity |
| remaining_capacity_wh | `float32` | Wh | | Compensated battery capacity remaining |
| over_discharge_count | `uint16` | | | Number of battery overdischarge |
| nominal_voltage | `float32` | V | | Nominal voltage of the battery pack |
| internal_resistance_estimate | `float32` | Ohm | | Internal resistance per cell estimate |
| ocv_estimate | `float32` | V | | Open circuit voltage estimate |
| ocv_estimate_filtered | `float32` | V | | Filtered open circuit voltage estimate |
| volt_based_soc_estimate | `float32` | | [0 : 1] | Normalized volt based state of charge estimate |
| voltage_prediction | `float32` | V | | Predicted voltage |
| prediction_error | `float32` | V | | Prediction error |
| estimation_covariance_norm | `float32` | | | Norm of the covariance matrix |
## Enums
### SOURCE {#SOURCE}
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------------- | ------- | ----- | ----------------------------------------------------------------- |
| <a href="#SOURCE_POWER_MODULE"></a> SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) |
| <a href="#SOURCE_EXTERNAL"></a> SOURCE_EXTERNAL | `uint8` | 1 | External (MAVLink, CAN, or external driver) |
| <a href="#SOURCE_ESCS"></a> SOURCE_ESCS | `uint8` | 2 | ESCs (via ESC telemetry) |
### WARNING {#WARNING}
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------ | ------- | ----- | -------------------------------------------- |
| <a href="#WARNING_NONE"></a> WARNING_NONE | `uint8` | 0 | No battery low voltage warning active |
| <a href="#WARNING_LOW"></a> WARNING_LOW | `uint8` | 1 | Low voltage warning |
| <a href="#WARNING_CRITICAL"></a> WARNING_CRITICAL | `uint8` | 2 | Critical voltage, return / abort immediately |
| <a href="#WARNING_EMERGENCY"></a> WARNING_EMERGENCY | `uint8` | 3 | Immediate landing required |
| <a href="#WARNING_FAILED"></a> WARNING_FAILED | `uint8` | 4 | Battery has failed completely |
### STATE {#STATE}
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a href="#STATE_UNHEALTHY"></a> STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field |
| <a href="#STATE_CHARGING"></a> STATE_CHARGING | `uint8` | 7 | Battery is charging |
### FAULT {#FAULT}
| 명칭 | 형식 | Value | 설명 |
| ---------------------------------------------------------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------------------------------------------------------------------------------- |
| <a href="#FAULT_DEEP_DISCHARGE"></a> FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged |
| <a href="#FAULT_SPIKES"></a> FAULT_SPIKES | `uint8` | 1 | Voltage spikes |
| <a href="#FAULT_CELL_FAIL"></a> FAULT_CELL_FAIL | `uint8` | 2 | One or more cells have failed |
| <a href="#FAULT_OVER_CURRENT"></a> FAULT_OVER_CURRENT | `uint8` | 3 | Over-current |
| <a href="#FAULT_OVER_TEMPERATURE"></a> FAULT_OVER_TEMPERATURE | `uint8` | 4 | Over-temperature |
| <a href="#FAULT_UNDER_TEMPERATURE"></a> FAULT_UNDER_TEMPERATURE | `uint8` | 5 | Under-temperature fault |
| <a href="#FAULT_INCOMPATIBLE_VOLTAGE"></a> FAULT_INCOMPATIBLE_VOLTAGE | `uint8` | 6 | Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) |
| <a href="#FAULT_INCOMPATIBLE_FIRMWARE"></a> FAULT_INCOMPATIBLE_FIRMWARE | `uint8` | 7 | Battery firmware is not compatible with current autopilot firmware |
| <a href="#FAULT_INCOMPATIBLE_MODEL"></a> FAULT_INCOMPATIBLE_MODEL | `uint8` | 8 | Battery model is not supported by the system |
| <a href="#FAULT_HARDWARE_FAILURE"></a> FAULT_HARDWARE_FAILURE | `uint8` | 9 | Hardware problem |
| <a href="#FAULT_FAILED_TO_ARM"></a> FAULT_FAILED_TO_ARM | `uint8` | 10 | Battery had a problem while arming |
| <a href="#FAULT_COUNT"></a> FAULT_COUNT | `uint8` | 11 | Counter. Keep this as last element |
## Constants
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| <a href="#MAX_INSTANCES"></a> MAX_INSTANCES | `uint8` | 4 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/BatteryStatusV0.msg)
:::details
Click here to see original file
```c
# Battery status
@@ -88,5 +194,6 @@ float32 volt_based_soc_estimate # [@range 0, 1] Normalized volt based state of c
float32 voltage_prediction # [V] Predicted voltage
float32 prediction_error # [V] Prediction error
float32 estimation_covariance_norm # Norm of the covariance matrix
```
:::
docs/ko/msg_docs/ButtonEvent.md
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pageClass: is-wide-page
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# ButtonEvent (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ButtonEvent.msg)
**TOPICS:** button_event safety_button
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| --------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| triggered | `bool` | | | Set to true if the event is triggered |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------- | ------- | ----- | -- |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 2 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ButtonEvent.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -9,5 +33,6 @@ bool triggered # Set to true if the event is triggered
# TOPICS button_event safety_button
uint8 ORB_QUEUE_LENGTH = 2
```
:::
docs/ko/msg_docs/CameraCapture.md
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# CameraCapture (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CameraCapture.msg)
**TOPICS:** camera_capture
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------ | ------------ | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_utc | `uint64` | | | Capture time in UTC / GPS time |
| seq | `uint32` | | | Image sequence number |
| lat | `float64` | | | Latitude in degrees (WGS84) |
| lon | `float64` | | | Longitude in degrees (WGS84) |
| alt | `float32` | | | Altitude (AMSL) |
| ground_distance | `float32` | | | Altitude above ground (meters) |
| q | `float32[4]` | | | Attitude of the camera relative to NED earth-fixed frame when using a gimbal, otherwise vehicle attitude |
| result | `int8` | | | 1 for success, 0 for failure, -1 if camera does not provide feedback |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CameraCapture.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -12,5 +37,6 @@ float32 alt # Altitude (AMSL)
float32 ground_distance # Altitude above ground (meters)
float32[4] q # Attitude of the camera relative to NED earth-fixed frame when using a gimbal, otherwise vehicle attitude
int8 result # 1 for success, 0 for failure, -1 if camera does not provide feedback
```
:::
docs/ko/msg_docs/CameraStatus.md
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# CameraStatus (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CameraStatus.msg)
**TOPICS:** camera_status
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| -------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| active_sys_id | `uint8` | | | mavlink system id of the currently active camera |
| active_comp_id | `uint8` | | | mavlink component id of currently active camera |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CameraStatus.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
uint8 active_sys_id # mavlink system id of the currently active camera
uint8 active_comp_id # mavlink component id of currently active camera
```
:::
docs/ko/msg_docs/CameraTrigger.md
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pageClass: is-wide-page
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# CameraTrigger (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CameraTrigger.msg)
**TOPICS:** camera_trigger
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ---------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_utc | `uint64` | | | UTC timestamp |
| seq | `uint32` | | | Image sequence number |
| feedback | `bool` | | | Trigger feedback from camera |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint32` | 2 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CameraTrigger.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -10,5 +36,6 @@ uint32 seq # Image sequence number
bool feedback # Trigger feedback from camera
uint32 ORB_QUEUE_LENGTH = 2
```
:::
docs/ko/msg_docs/CanInterfaceStatus.md
+24 -2
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# CanInterfaceStatus (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CanInterfaceStatus.msg)
**TOPICS:** can_interfacestatus
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| interface | `uint8` | | | |
| io_errors | `uint64` | | | |
| frames_tx | `uint64` | | | |
| frames_rx | `uint64` | | | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CanInterfaceStatus.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -9,5 +30,6 @@ uint8 interface
uint64 io_errors
uint64 frames_tx
uint64 frames_rx
```
:::
docs/ko/msg_docs/CellularStatus.md
+67 -3
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# CellularStatus (UORB message)
Cellular status
Cellular status.
This is currently used only for logging cell status from MAVLink.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CellularStatus.msg)
**TOPICS:** cellular_status
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ----------------------------------- | -------- | ---------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| status | `uint16` | | [STATUS_FLAG](#STATUS_FLAG) | Status bitmap |
| failure_reason | `uint8` | | [FAILURE_REASON](#FAILURE_REASON) | Failure reason |
| type | `uint8` | | [CELLULAR_NETWORK_RADIO_TYPE](#CELLULAR_NETWORK_RADIO_TYPE) | Cellular network radio type |
| quality | `uint8` | dBm | | Cellular network RSSI/RSRP, absolute value |
| mcc | `uint16` | | | Mobile country code (Invalid: UINT16_MAX) |
| mnc | `uint16` | | | Mobile network code (Invalid: UINT16_MAX) |
| lac | `uint16` | | | Location area code (Invalid: 0) |
## Enums
### STATUS_FLAG {#STATUS_FLAG}
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------------------------- | -------- | ----- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a href="#STATUS_FLAG_UNKNOWN"></a> STATUS_FLAG_UNKNOWN | `uint16` | 1 | State unknown or not reportable |
| <a href="#STATUS_FLAG_FAILED"></a> STATUS_FLAG_FAILED | `uint16` | 2 | Modem is unusable |
| <a href="#STATUS_FLAG_INITIALIZING"></a> STATUS_FLAG_INITIALIZING | `uint16` | 4 | Modem is being initialized |
| <a href="#STATUS_FLAG_LOCKED"></a> STATUS_FLAG_LOCKED | `uint16` | 8 | Modem is locked |
| <a href="#STATUS_FLAG_DISABLED"></a> STATUS_FLAG_DISABLED | `uint16` | 16 | Modem is not enabled and is powered down |
| <a href="#STATUS_FLAG_DISABLING"></a> STATUS_FLAG_DISABLING | `uint16` | 32 | Modem is currently transitioning to the STATUS_FLAG_DISABLED state |
| <a href="#STATUS_FLAG_ENABLING"></a> STATUS_FLAG_ENABLING | `uint16` | 64 | Modem is currently transitioning to the STATUS_FLAG_ENABLED state |
| <a href="#STATUS_FLAG_ENABLED"></a> STATUS_FLAG_ENABLED | `uint16` | 128 | Modem is enabled and powered on but not registered with a network provider and not available for data connections |
| <a href="#STATUS_FLAG_SEARCHING"></a> STATUS_FLAG_SEARCHING | `uint16` | 256 | Modem is searching for a network provider to register |
| <a href="#STATUS_FLAG_REGISTERED"></a> STATUS_FLAG_REGISTERED | `uint16` | 512 | Modem is registered with a network provider, and data connections and messaging may be available for use |
| <a href="#STATUS_FLAG_DISCONNECTING"></a> STATUS_FLAG_DISCONNECTING | `uint16` | 1024 | Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated |
| <a href="#STATUS_FLAG_CONNECTING"></a> STATUS_FLAG_CONNECTING | `uint16` | 2048 | Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered |
| <a href="#STATUS_FLAG_CONNECTED"></a> STATUS_FLAG_CONNECTED | `uint16` | 4096 | One or more packet data bearers is active and connected |
### FAILURE_REASON {#FAILURE_REASON}
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | ----- | ----------------------------------------------- |
| <a href="#FAILURE_REASON_NONE"></a> FAILURE_REASON_NONE | `uint8` | 0 | No error |
| <a href="#FAILURE_REASON_UNKNOWN"></a> FAILURE_REASON_UNKNOWN | `uint8` | 1 | Error state is unknown |
| <a href="#FAILURE_REASON_SIM_MISSING"></a> FAILURE_REASON_SIM_MISSING | `uint8` | 2 | SIM is required for the modem but missing |
| <a href="#FAILURE_REASON_SIM_ERROR"></a> FAILURE_REASON_SIM_ERROR | `uint8` | 3 | SIM is available, but not usable for connection |
### CELLULAR_NETWORK_RADIO_TYPE {#CELLULAR_NETWORK_RADIO_TYPE}
| 명칭 | 형식 | Value | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ----- |
| <a href="#CELLULAR_NETWORK_RADIO_TYPE_NONE"></a> CELLULAR_NETWORK_RADIO_TYPE_NONE | `uint8` | 0 | None |
| <a href="#CELLULAR_NETWORK_RADIO_TYPE_GSM"></a> CELLULAR_NETWORK_RADIO_TYPE_GSM | `uint8` | 1 | GSM |
| <a href="#CELLULAR_NETWORK_RADIO_TYPE_CDMA"></a> CELLULAR_NETWORK_RADIO_TYPE_CDMA | `uint8` | 2 | CDMA |
| <a href="#CELLULAR_NETWORK_RADIO_TYPE_WCDMA"></a> CELLULAR_NETWORK_RADIO_TYPE_WCDMA | `uint8` | 3 | WCDMA |
| <a href="#CELLULAR_NETWORK_RADIO_TYPE_LTE"></a> CELLULAR_NETWORK_RADIO_TYPE_LTE | `uint8` | 4 | LTE |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CellularStatus.msg)
:::details
Click here to see original file
```c
# Cellular status
@@ -45,5 +108,6 @@ uint8 quality # [dBm] Cellular network RSSI/RSRP, absolute value
uint16 mcc # [@invalid UINT16_MAX] Mobile country code
uint16 mnc # [@invalid UINT16_MAX] Mobile network code
uint16 lac # [@invalid 0] Location area code
```
:::
docs/ko/msg_docs/CollisionConstraints.md
+23 -4
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pageClass: is-wide-page
---
# CollisionConstraints (UORB message)
Local setpoint constraints in NED frame
setting something to NaN means that no limit is provided
Local setpoint constraints in NED frame. setting something to NaN means that no limit is provided.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CollisionConstraints.msg)
**TOPICS:** collision_constraints
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| -------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| original_setpoint | `float32[2]` | | | velocities demanded |
| adapted_setpoint | `float32[2]` | | | velocities allowed |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CollisionConstraints.msg)
:::details
Click here to see original file
```c
# Local setpoint constraints in NED frame
@@ -13,5 +31,6 @@ uint64 timestamp # time since system start (microseconds)
float32[2] original_setpoint # velocities demanded
float32[2] adapted_setpoint # velocities allowed
```
:::
docs/ko/msg_docs/ConfigOverrides.md
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# ConfigOverrides (UORB message)
Configurable overrides by (external) modes or mode executors
Configurable overrides by (external) modes or mode executors.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ConfigOverrides.msg)
**TOPICS:** config_overrides config_overrides_request
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ---------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| disable_auto_disarm | `bool` | | | Prevent the drone from automatically disarming after landing (if configured) |
| defer_failsafes | `bool` | | | Defer all failsafes that can be deferred (until the flag is cleared) |
| defer_failsafes_timeout_s | `int16` | | | Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout |
| disable_auto_set_home | `bool` | | | Prevent the drone from automatically setting the home position on arm or takeoff |
| source_type | `int8` | | | |
| source_id | `uint8` | | | ID depending on source_type |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ---------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 | |
| <a href="#SOURCE_TYPE_MODE"></a> SOURCE_TYPE_MODE | `int8` | 0 | |
| <a href="#SOURCE_TYPE_MODE_EXECUTOR"></a> SOURCE_TYPE_MODE_EXECUTOR | `int8` | 1 | |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ConfigOverrides.msg)
:::details
Click here to see original file
```c
# Configurable overrides by (external) modes or mode executors
@@ -26,5 +58,6 @@ uint8 source_id # ID depending on source_type
uint8 ORB_QUEUE_LENGTH = 4
# TOPICS config_overrides config_overrides_request
```
:::
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# ConfigOverridesV0 (UORB message)
Configurable overrides by (external) modes or mode executors
Configurable overrides by (external) modes or mode executors.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ConfigOverridesV0.msg)
**TOPICS:** config_overrides config_overrides_request
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ---------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| disable_auto_disarm | `bool` | | | Prevent the drone from automatically disarming after landing (if configured) |
| defer_failsafes | `bool` | | | Defer all failsafes that can be deferred (until the flag is cleared) |
| defer_failsafes_timeout_s | `int16` | | | Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout |
| source_type | `int8` | | | |
| source_id | `uint8` | | | ID depending on source_type |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ---------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| <a href="#SOURCE_TYPE_MODE"></a> SOURCE_TYPE_MODE | `int8` | 0 | |
| <a href="#SOURCE_TYPE_MODE_EXECUTOR"></a> SOURCE_TYPE_MODE_EXECUTOR | `int8` | 1 | |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ConfigOverridesV0.msg)
:::details
Click here to see original file
```c
# Configurable overrides by (external) modes or mode executors
@@ -26,5 +57,6 @@ uint8 source_id # ID depending on source_type
uint8 ORB_QUEUE_LENGTH = 4
# TOPICS config_overrides config_overrides_request
```
:::
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# ControlAllocatorStatus (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ControlAllocatorStatus.msg)
**TOPICS:** control_allocatorstatus
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ----------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| torque_setpoint_achieved | `bool` | | | Boolean indicating whether the 3D torque setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved. |
| unallocated_torque | `float32[3]` | | | Unallocated torque. Equal to 0 if the setpoint was achieved. |
| thrust_setpoint_achieved | `bool` | | | Boolean indicating whether the 3D thrust setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved. |
| unallocated_thrust | `float32[3]` | | | Unallocated thrust. Equal to 0 if the setpoint was achieved. |
| actuator_saturation | `int8[16]` | | | Indicates actuator saturation status. |
| handled_motor_failure_mask | `uint16` | | | Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector |
| motor_stop_mask | `uint16` | | | Bitmaks of motors stopped by failure injection |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------------------------------------------------------ | ------ | ----- | ----------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a href="#ACTUATOR_SATURATION_OK"></a> ACTUATOR_SATURATION_OK | `int8` | 0 | The actuator is not saturated |
| <a href="#ACTUATOR_SATURATION_UPPER_DYN"></a> ACTUATOR_SATURATION_UPPER_DYN | `int8` | 1 | The actuator is saturated (with a value <= the desired value) because it cannot increase its value faster |
| <a href="#ACTUATOR_SATURATION_UPPER"></a> ACTUATOR_SATURATION_UPPER | `int8` | 2 | The actuator is saturated (with a value <= the desired value) because it has reached its maximum value |
| <a href="#ACTUATOR_SATURATION_LOWER_DYN"></a> ACTUATOR_SATURATION_LOWER_DYN | `int8` | -1 | The actuator is saturated (with a value >= the desired value) because it cannot decrease its value faster |
| <a href="#ACTUATOR_SATURATION_LOWER"></a> ACTUATOR_SATURATION_LOWER | `int8` | -2 | The actuator is saturated (with a value >= the desired value) because it has reached its minimum value |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ControlAllocatorStatus.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -25,5 +59,6 @@ int8[16] actuator_saturation # Indicates actuator saturation status.
uint16 handled_motor_failure_mask # Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector
uint16 motor_stop_mask # Bitmaks of motors stopped by failure injection
```
:::
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# Cpuload (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Cpuload.msg)
**TOPICS:** cpuload
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------ | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| load | `float32` | | | processor load from 0 to 1 |
| ram_usage | `float32` | | | RAM usage from 0 to 1 |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Cpuload.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
float32 load # processor load from 0 to 1
float32 ram_usage # RAM usage from 0 to 1
```
:::
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# DatamanRequest (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DatamanRequest.msg)
**TOPICS:** dataman_request
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| --------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| client_id | `uint8` | | | |
| request_type | `uint8` | | | id/read/write/clear |
| item | `uint8` | | | dm_item_t |
| index | `uint32` | | | |
| data | `uint8[56]` | | | |
| data_length | `uint32` | | | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DatamanRequest.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -11,5 +34,6 @@ uint8 item # dm_item_t
uint32 index
uint8[56] data
uint32 data_length
```
:::
docs/ko/msg_docs/DatamanResponse.md
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# DatamanResponse (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DatamanResponse.msg)
**TOPICS:** dataman_response
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| --------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| client_id | `uint8` | | | |
| request_type | `uint8` | | | id/read/write/clear |
| item | `uint8` | | | dm_item_t |
| index | `uint32` | | | |
| data | `uint8[56]` | | | |
| status | `uint8` | | | |
## Constants
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | -- |
| <a href="#STATUS_SUCCESS"></a> STATUS_SUCCESS | `uint8` | 0 | |
| <a href="#STATUS_FAILURE_ID_ERR"></a> STATUS_FAILURE_ID_ERR | `uint8` | 1 | |
| <a href="#STATUS_FAILURE_NO_DATA"></a> STATUS_FAILURE_NO_DATA | `uint8` | 2 | |
| <a href="#STATUS_FAILURE_READ_FAILED"></a> STATUS_FAILURE_READ_FAILED | `uint8` | 3 | |
| <a href="#STATUS_FAILURE_WRITE_FAILED"></a> STATUS_FAILURE_WRITE_FAILED | `uint8` | 4 | |
| <a href="#STATUS_FAILURE_CLEAR_FAILED"></a> STATUS_FAILURE_CLEAR_FAILED | `uint8` | 5 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DatamanResponse.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -18,5 +52,6 @@ uint8 STATUS_FAILURE_READ_FAILED = 3
uint8 STATUS_FAILURE_WRITE_FAILED = 4
uint8 STATUS_FAILURE_CLEAR_FAILED = 5
uint8 status
```
:::
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# DebugArray (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugArray.msg)
**TOPICS:** debug_array
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| --------- | ------------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| id | `uint16` | | | unique ID of debug array, used to discriminate between arrays |
| name | `char[10]` | | | name of the debug array (max. 10 characters) |
| data | `float32[58]` | | | data |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ---------------------------------------------------------- | ------- | ----- | -- |
| <a href="#ARRAY_SIZE"></a> ARRAY_SIZE | `uint8` | 58 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugArray.msg)
:::details
Click here to see original file
```c
uint8 ARRAY_SIZE = 58
@@ -8,5 +34,6 @@ uint64 timestamp # time since system start (microseconds)
uint16 id # unique ID of debug array, used to discriminate between arrays
char[10] name # name of the debug array (max. 10 characters)
float32[58] data # data
```
:::
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# DebugKeyValue (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugKeyValue.msg)
**TOPICS:** debug_keyvalue
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| --------- | ---------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| 키 | `char[10]` | | | max. 10 characters as key / name |
| value | `float32` | | | the value to send as debug output |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugKeyValue.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
char[10] key # max. 10 characters as key / name
float32 value # the value to send as debug output
```
:::
docs/ko/msg_docs/DebugValue.md
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# DebugValue (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugValue.msg)
**TOPICS:** debug_value
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| --------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| ind | `int8` | | | index of debug variable |
| value | `float32` | | | the value to send as debug output |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugValue.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
int8 ind # index of debug variable
float32 value # the value to send as debug output
```
:::
docs/ko/msg_docs/DebugVect.md
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# DebugVect (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugVect.msg)
**TOPICS:** debug_vect
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| --------- | ---------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| name | `char[10]` | | | max. 10 characters as key / name |
| x | `float32` | | | x value |
| y | `float32` | | | y value |
| z | `float32` | | | z value |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugVect.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -8,5 +29,6 @@ char[10] name # max. 10 characters as key / name
float32 x # x value
float32 y # y value
float32 z # z value
```
:::
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# DeviceInformation (UORB message)
Device information
Device information.
Can be used to uniquely associate a device_id from a sensor topic with a physical device using serial number.
as well as tracking of the used firmware versions on the devices.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DeviceInformation.msg)
**TOPICS:** device_information
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------- | ---------- | ---------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| device_type | `uint8` | | [DEVICE_TYPE](#DEVICE_TYPE) | Type of the device. Matches MAVLink DEVICE_TYPE enum |
| vendor_name | `char[32]` | | | Name of the device vendor |
| model_name | `char[32]` | | | Name of the device model |
| `uint32` | | | Unique device ID for the sensor. Does not change between power cycles. (Invalid: 0 if not available) | |
| firmware_version | `char[24]` | | | Firmware version. (Invalid: empty if not available) |
| hardware_version | `char[24]` | | | Hardware version. (Invalid: empty if not available) |
| serial_number | `char[33]` | | | Device serial number or unique identifier. (Invalid: empty if not available) |
## Enums
### DEVICE_TYPE {#DEVICE_TYPE}
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ---------------------- |
| <a href="#DEVICE_TYPE_GENERIC"></a> DEVICE_TYPE_GENERIC | `uint8` | 0 | Generic/unknown sensor |
| <a href="#DEVICE_TYPE_AIRSPEED"></a> DEVICE_TYPE_AIRSPEED | `uint8` | 1 | 풍속 센서 |
| <a href="#DEVICE_TYPE_ESC"></a> DEVICE_TYPE_ESC | `uint8` | 2 | ESC |
| <a href="#DEVICE_TYPE_SERVO"></a> DEVICE_TYPE_SERVO | `uint8` | 3 | Servo |
| <a href="#DEVICE_TYPE_GPS"></a> DEVICE_TYPE_GPS | `uint8` | 4 | GPS |
| <a href="#DEVICE_TYPE_MAGNETOMETER"></a> DEVICE_TYPE_MAGNETOMETER | `uint8` | 5 | 자기 센서 |
| <a href="#DEVICE_TYPE_PARACHUTE"></a> DEVICE_TYPE_PARACHUTE | `uint8` | 6 | 낙하산 |
| <a href="#DEVICE_TYPE_RANGEFINDER"></a> DEVICE_TYPE_RANGEFINDER | `uint8` | 7 | Rangefinder |
| <a href="#DEVICE_TYPE_WINCH"></a> DEVICE_TYPE_WINCH | `uint8` | 8 | Winch |
| <a href="#DEVICE_TYPE_BAROMETER"></a> DEVICE_TYPE_BAROMETER | `uint8` | 9 | 기압계 |
| <a href="#DEVICE_TYPE_OPTICAL_FLOW"></a> DEVICE_TYPE_OPTICAL_FLOW | `uint8` | 10 | Optical flow |
| <a href="#DEVICE_TYPE_ACCELEROMETER"></a> DEVICE_TYPE_ACCELEROMETER | `uint8` | 11 | Accelerometer |
| <a href="#DEVICE_TYPE_GYROSCOPE"></a> DEVICE_TYPE_GYROSCOPE | `uint8` | 12 | Gyroscope |
| <a href="#DEVICE_TYPE_DIFFERENTIAL_PRESSURE"></a> DEVICE_TYPE_DIFFERENTIAL_PRESSURE | `uint8` | 13 | Differential pressure |
| <a href="#DEVICE_TYPE_BATTERY"></a> DEVICE_TYPE_BATTERY | `uint8` | 14 | Battery |
| <a href="#DEVICE_TYPE_HYGROMETER"></a> DEVICE_TYPE_HYGROMETER | `uint8` | 15 | Hygrometer |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DeviceInformation.msg)
:::details
Click here to see original file
```c
# Device information
@@ -41,5 +88,6 @@ uint32 device_id # [-] [@invalid 0 if not available] Unique device ID
char[24] firmware_version # [-] [@invalid empty if not available] Firmware version.
char[24] hardware_version # [-] [@invalid empty if not available] Hardware version.
char[33] serial_number # [-] [@invalid empty if not available] Device serial number or unique identifier.
```
:::
docs/ko/msg_docs/DifferentialPressure.md
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# DifferentialPressure (UORB message)
Differential-pressure (airspeed) sensor
Differential-pressure (airspeed) sensor.
This is populated by airspeed sensor drivers and used by the sensor module to calculate airspeed.
The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding `SensorBaro` instance).
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DifferentialPressure.msg)
**TOPICS:** differential_pressure
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------------------------------------ | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time of publication (since system start) |
| timestamp_sample | `uint64` | us | | Time of raw data capture |
| device_id | `uint32` | | | Unique device ID for the sensor that does not change between power cycles |
| differential_pressure_pa | `float32` | Pa | | Differential pressure reading (may be negative) |
| temperature | `float32` | degC | | Temperature (Invalid: NaN if unknown) |
| error_count | `uint32` | | | Number of errors detected by driver |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DifferentialPressure.msg)
:::details
Click here to see original file
```c
# Differential-pressure (airspeed) sensor
@@ -20,5 +42,6 @@ uint32 device_id # [-] Unique device ID for the sensor that doe
float32 differential_pressure_pa # [Pa] Differential pressure reading (may be negative)
float32 temperature # [degC] [@invalid NaN if unknown] Temperature
uint32 error_count # [-] Number of errors detected by driver
```
:::
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# DistanceSensor (UORB message)
DISTANCE_SENSOR message data
DISTANCE_SENSOR message data.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DistanceSensor.msg)
**TOPICS:** distance_sensor
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| min_distance | `float32` | | | Minimum distance the sensor can measure (in m) |
| max_distance | `float32` | | | Maximum distance the sensor can measure (in m) |
| current_distance | `float32` | | | Current distance reading (in m) |
| variance | `float32` | | | Measurement variance (in m^2), 0 for unknown / invalid readings |
| signal_quality | `int8` | | | Signal quality in percent (0...100%), where 0 = invalid signal, 100 = perfect signal, and -1 = unknown signal quality. |
| type | `uint8` | | | Type from MAV_DISTANCE_SENSOR enum |
| h_fov | `float32` | | | Sensor horizontal field of view (rad) |
| v_fov | `float32` | | | Sensor vertical field of view (rad) |
| q | `float32[4]` | | | Quaterion sensor orientation with respect to the vehicle body frame to specify the orientation ROTATION_CUSTOM |
| orientation | `uint8` | | | Direction the sensor faces from MAV_SENSOR_ORIENTATION enum |
| mode | `uint8` | | | |
## Constants
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ----------------------------------------------------------------------------------------------------------------- |
| <a href="#MAV_DISTANCE_SENSOR_LASER"></a> MAV_DISTANCE_SENSOR_LASER | `uint8` | 0 | |
| <a href="#MAV_DISTANCE_SENSOR_ULTRASOUND"></a> MAV_DISTANCE_SENSOR_ULTRASOUND | `uint8` | 1 | |
| <a href="#MAV_DISTANCE_SENSOR_INFRARED"></a> MAV_DISTANCE_SENSOR_INFRARED | `uint8` | 2 | |
| <a href="#MAV_DISTANCE_SENSOR_RADAR"></a> MAV_DISTANCE_SENSOR_RADAR | `uint8` | 3 | |
| <a href="#ROTATION_YAW_0 "></a> ROTATION_YAW_0 | `uint8` | 0 | MAV_SENSOR_ROTATION_NONE |
| <a href="#ROTATION_YAW_45 "></a> ROTATION_YAW_45 | `uint8` | 1 | MAV_SENSOR_ROTATION_YAW_45 |
| <a href="#ROTATION_YAW_90 "></a> ROTATION_YAW_90 | `uint8` | 2 | MAV_SENSOR_ROTATION_YAW_90 |
| <a href="#ROTATION_YAW_135 "></a> ROTATION_YAW_135 | `uint8` | 3 | MAV_SENSOR_ROTATION_YAW_135 |
| <a href="#ROTATION_YAW_180 "></a> ROTATION_YAW_180 | `uint8` | 4 | MAV_SENSOR_ROTATION_YAW_180 |
| <a href="#ROTATION_YAW_225 "></a> ROTATION_YAW_225 | `uint8` | 5 | MAV_SENSOR_ROTATION_YAW_225 |
| <a href="#ROTATION_YAW_270 "></a> ROTATION_YAW_270 | `uint8` | 6 | MAV_SENSOR_ROTATION_YAW_270 |
| <a href="#ROTATION_YAW_315 "></a> ROTATION_YAW_315 | `uint8` | 7 | MAV_SENSOR_ROTATION_YAW_315 |
| <a href="#ROTATION_FORWARD_FACING "></a> ROTATION_FORWARD_FACING | `uint8` | 0 | MAV_SENSOR_ROTATION_NONE |
| <a href="#ROTATION_RIGHT_FACING "></a> ROTATION_RIGHT_FACING | `uint8` | 2 | MAV_SENSOR_ROTATION_YAW_90 |
| <a href="#ROTATION_BACKWARD_FACING "></a> ROTATION_BACKWARD_FACING | `uint8` | 4 | MAV_SENSOR_ROTATION_YAW_180 |
| <a href="#ROTATION_LEFT_FACING "></a> ROTATION_LEFT_FACING | `uint8` | 6 | MAV_SENSOR_ROTATION_YAW_270 |
| <a href="#ROTATION_UPWARD_FACING"></a> ROTATION_UPWARD_FACING | `uint8` | 24 | MAV_SENSOR_ROTATION_PITCH_90 |
| <a href="#ROTATION_DOWNWARD_FACING"></a> ROTATION_DOWNWARD_FACING | `uint8` | 25 | MAV_SENSOR_ROTATION_PITCH_270 |
| <a href="#ROTATION_CUSTOM"></a> ROTATION_CUSTOM | `uint8` | 100 | MAV_SENSOR_ROTATION_CUSTOM |
| <a href="#MODE_UNKNOWN"></a> MODE_UNKNOWN | `uint8` | 0 | |
| <a href="#MODE_ENABLED"></a> MODE_ENABLED | `uint8` | 1 | |
| <a href="#MODE_DISABLED"></a> MODE_DISABLED | `uint8` | 2 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DistanceSensor.msg)
:::details
Click here to see original file
```c
# DISTANCE_SENSOR message data
@@ -52,5 +108,6 @@ uint8 mode
uint8 MODE_UNKNOWN = 0
uint8 MODE_ENABLED = 1
uint8 MODE_DISABLED = 2
```
:::
docs/ko/msg_docs/DistanceSensorModeChangeRequest.md
+28 -2
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@@ -1,6 +1,31 @@
---
pageClass: is-wide-page
---
# DistanceSensorModeChangeRequest (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DistanceSensorModeChangeRequest.msg)
**TOPICS:** distance_sensormode_changerequest
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| -------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| request_on_off | `uint8` | | | request to disable/enable the distance sensor |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------ | ------- | ----- | -- |
| <a href="#REQUEST_OFF"></a> REQUEST_OFF | `uint8` | 0 | |
| <a href="#REQUEST_ON"></a> REQUEST_ON | `uint8` | 1 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DistanceSensorModeChangeRequest.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -8,5 +33,6 @@ uint64 timestamp # time since system start (microseconds)
uint8 request_on_off # request to disable/enable the distance sensor
uint8 REQUEST_OFF = 0
uint8 REQUEST_ON = 1
```
:::
docs/ko/msg_docs/DronecanNodeStatus.md
+40 -2
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@@ -1,6 +1,43 @@
---
pageClass: is-wide-page
---
# DronecanNodeStatus (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DronecanNodeStatus.msg)
**TOPICS:** dronecan_nodestatus
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------------------------------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| node_id | `uint16` | | | The node ID which this data comes from |
| uptime_sec | `uint32` | | | Node uptime |
| health | `uint8` | | | |
| mode | `uint8` | | | |
| sub_mode | `uint8` | | | |
| vendor_specific_status_code | `uint16` | | | |
## Constants
| 명칭 | 형식 | Value | 설명 |
| --------------------------------------------------------------------------------------------------- | ------- | ----- | ----------------------------------------------------------------------------------------------- |
| <a href="#HEALTH_OK"></a> HEALTH_OK | `uint8` | 0 | The node is functioning properly. |
| <a href="#HEALTH_WARNING"></a> HEALTH_WARNING | `uint8` | 1 | A critical parameter went out of range or the node encountered a minor failure. |
| <a href="#HEALTH_ERROR"></a> HEALTH_ERROR | `uint8` | 2 | The node encountered a major failure. |
| <a href="#HEALTH_CRITICAL"></a> HEALTH_CRITICAL | `uint8` | 3 | The node suffered a fatal malfunction. |
| <a href="#MODE_OPERATIONAL"></a> MODE_OPERATIONAL | `uint8` | 0 | Normal operating mode. |
| <a href="#MODE_INITIALIZATION"></a> MODE_INITIALIZATION | `uint8` | 1 | Initialization is in progress; this mode is entered immediately after startup. |
| <a href="#MODE_MAINTENANCE"></a> MODE_MAINTENANCE | `uint8` | 2 | 예: calibration, the bootloader is running, etc. |
| <a href="#MODE_SOFTWARE_UPDATE"></a> MODE_SOFTWARE_UPDATE | `uint8` | 3 | New software/firmware is being loaded. |
| <a href="#MODE_OFFLINE"></a> MODE_OFFLINE | `uint8` | 7 | The node is no longer available. |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DronecanNodeStatus.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -44,5 +81,6 @@ uint8 sub_mode
# Optional, vendor-specific node status code, e.g. a fault code or a status bitmask.
#
uint16 vendor_specific_status_code
```
:::
docs/ko/msg_docs/Ekf2Timestamps.md
+33 -6
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@@ -1,12 +1,38 @@
---
pageClass: is-wide-page
---
# Ekf2Timestamps (UORB message)
this message contains the (relative) timestamps of the sensor inputs used by EKF2.
It can be used for reproducible replay.
this message contains the (relative) timestamps of the sensor inputs used by EKF2. It can be used for reproducible replay.
the timestamp field is the ekf2 reference time and matches the timestamp of
the sensor_combined topic.
**TOPICS:** ekf2_timestamps
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Ekf2Timestamps.msg)
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------------------------------------------------------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| airspeed_timestamp_rel | `int16` | | | |
| airspeed_validated_timestamp_rel | `int16` | | | |
| distance_sensor_timestamp_rel | `int16` | | | |
| optical_flow_timestamp_rel | `int16` | | | |
| vehicle_air_data_timestamp_rel | `int16` | | | |
| vehicle_magnetometer_timestamp_rel | `int16` | | | |
| visual_odometry_timestamp_rel | `int16` | | | |
## Constants
| 명칭 | 형식 | Value | 설명 |
| --------------------------------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------- |
| <a href="#RELATIVE_TIMESTAMP_INVALID"></a> RELATIVE_TIMESTAMP_INVALID | `int16` | 32767 | (0x7fff) If one of the relative timestamps |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Ekf2Timestamps.msg)
:::details
Click here to see original file
```c
# this message contains the (relative) timestamps of the sensor inputs used by EKF2.
@@ -33,5 +59,6 @@ int16 vehicle_magnetometer_timestamp_rel
int16 visual_odometry_timestamp_rel
# Note: this is a high-rate logged topic, so it needs to be as small as possible
```
:::
docs/ko/msg_docs/EscReport.md
+59 -2
View File
@@ -1,6 +1,62 @@
---
pageClass: is-wide-page
---
# EscReport (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscReport.msg)
**TOPICS:** esc_report
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| -------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| esc_errorcount | `uint32` | | | Number of reported errors by ESC - if supported |
| esc_rpm | `int32` | | | Motor RPM, negative for reverse rotation [RPM] - if supported |
| esc_voltage | `float32` | | | Voltage measured from current ESC [V] - if supported |
| esc_current | `float32` | | | Current measured from current ESC [A] - if supported |
| esc_temperature | `float32` | | | Temperature measured from current ESC [degC] - if supported |
| esc_address | `uint8` | | | Address of current ESC (in most cases 1-8 / must be set by driver) |
| esc_cmdcount | `uint8` | | | Counter of number of commands |
| esc_state | `uint8` | | | State of ESC - depend on Vendor |
| actuator_function | `uint8` | | | actuator output function (one of Motor1...MotorN) |
| failures | `uint16` | | | Bitmask to indicate the internal ESC faults |
| esc_power | `int8` | | | Applied power 0-100 in % (negative values reserved) |
## Constants
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a href="#ACTUATOR_FUNCTION_MOTOR1"></a> ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR2"></a> ACTUATOR_FUNCTION_MOTOR2 | `uint8` | 102 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR3"></a> ACTUATOR_FUNCTION_MOTOR3 | `uint8` | 103 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR4"></a> ACTUATOR_FUNCTION_MOTOR4 | `uint8` | 104 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR5"></a> ACTUATOR_FUNCTION_MOTOR5 | `uint8` | 105 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR6"></a> ACTUATOR_FUNCTION_MOTOR6 | `uint8` | 106 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR7"></a> ACTUATOR_FUNCTION_MOTOR7 | `uint8` | 107 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR8"></a> ACTUATOR_FUNCTION_MOTOR8 | `uint8` | 108 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR9"></a> ACTUATOR_FUNCTION_MOTOR9 | `uint8` | 109 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR10"></a> ACTUATOR_FUNCTION_MOTOR10 | `uint8` | 110 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR11"></a> ACTUATOR_FUNCTION_MOTOR11 | `uint8` | 111 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR12"></a> ACTUATOR_FUNCTION_MOTOR12 | `uint8` | 112 | |
| <a href="#FAILURE_OVER_CURRENT"></a> FAILURE_OVER_CURRENT | `uint8` | 0 | (1 << 0) |
| <a href="#FAILURE_OVER_VOLTAGE"></a> FAILURE_OVER_VOLTAGE | `uint8` | 1 | (1 << 1) |
| <a href="#FAILURE_MOTOR_OVER_TEMPERATURE"></a> FAILURE_MOTOR_OVER_TEMPERATURE | `uint8` | 2 | (1 << 2) |
| <a href="#FAILURE_OVER_RPM"></a> FAILURE_OVER_RPM | `uint8` | 3 | (1 << 3) |
| <a href="#FAILURE_INCONSISTENT_CMD"></a> FAILURE_INCONSISTENT_CMD | `uint8` | 4 | (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries) |
| <a href="#FAILURE_MOTOR_STUCK"></a> FAILURE_MOTOR_STUCK | `uint8` | 5 | (1 << 5) |
| <a href="#FAILURE_GENERIC"></a> FAILURE_GENERIC | `uint8` | 6 | (1 << 6) |
| <a href="#FAILURE_MOTOR_WARN_TEMPERATURE"></a> FAILURE_MOTOR_WARN_TEMPERATURE | `uint8` | 7 | (1 << 7) |
| <a href="#FAILURE_WARN_ESC_TEMPERATURE"></a> FAILURE_WARN_ESC_TEMPERATURE | `uint8` | 8 | (1 << 8) |
| <a href="#FAILURE_OVER_ESC_TEMPERATURE"></a> FAILURE_OVER_ESC_TEMPERATURE | `uint8` | 9 | (1 << 9) |
| <a href="#ESC_FAILURE_COUNT"></a> ESC_FAILURE_COUNT | `uint8` | 10 | Counter - keep it as last element! |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscReport.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -43,5 +99,6 @@ uint8 FAILURE_MOTOR_WARN_TEMPERATURE = 7 # (1 << 7)
uint8 FAILURE_WARN_ESC_TEMPERATURE = 8 # (1 << 8)
uint8 FAILURE_OVER_ESC_TEMPERATURE = 9 # (1 << 9)
uint8 ESC_FAILURE_COUNT = 10 # Counter - keep it as last element!
```
:::
docs/ko/msg_docs/EscStatus.md
+38 -2
View File
@@ -1,6 +1,41 @@
---
pageClass: is-wide-page
---
# EscStatus (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscStatus.msg)
**TOPICS:** esc_status
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ---------------------------------------------------------- | -------------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| counter | `uint16` | | | incremented by the writing thread everytime new data is stored |
| esc_count | `uint8` | | | number of connected ESCs |
| esc_connectiontype | `uint8` | | | how ESCs connected to the system |
| esc_online_flags | `uint8` | | | Bitmask indicating which ESC is online/offline |
| esc_armed_flags | `uint8` | | | Bitmask indicating which ESC is armed. For ESC's where the arming state is not known (returned by the ESC), the arming bits should always be set. |
| esc | `EscReport[8]` | | | |
## Constants
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ---------------------------------------------------------------------------------------------------- |
| <a href="#CONNECTED_ESC_MAX"></a> CONNECTED_ESC_MAX | `uint8` | 8 | The number of ESCs supported. Current (Q2/2013) we support 8 ESCs |
| <a href="#ESC_CONNECTION_TYPE_PPM"></a> ESC_CONNECTION_TYPE_PPM | `uint8` | 0 | Traditional PPM ESC |
| <a href="#ESC_CONNECTION_TYPE_SERIAL"></a> ESC_CONNECTION_TYPE_SERIAL | `uint8` | 1 | Serial Bus connected ESC |
| <a href="#ESC_CONNECTION_TYPE_ONESHOT"></a> ESC_CONNECTION_TYPE_ONESHOT | `uint8` | 2 | One Shot PPM |
| <a href="#ESC_CONNECTION_TYPE_I2C"></a> ESC_CONNECTION_TYPE_I2C | `uint8` | 3 | I2C |
| <a href="#ESC_CONNECTION_TYPE_CAN"></a> ESC_CONNECTION_TYPE_CAN | `uint8` | 4 | CAN-Bus |
| <a href="#ESC_CONNECTION_TYPE_DSHOT"></a> ESC_CONNECTION_TYPE_DSHOT | `uint8` | 5 | DShot |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscStatus.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -31,5 +66,6 @@ uint8 esc_online_flags # Bitmask indicating which ESC is online/offline
uint8 esc_armed_flags # Bitmask indicating which ESC is armed. For ESC's where the arming state is not known (returned by the ESC), the arming bits should always be set.
EscReport[8] esc
```
:::
docs/ko/msg_docs/EstimatorAidSource1d.md
+33 -2
View File
@@ -1,6 +1,36 @@
---
pageClass: is-wide-page
---
# EstimatorAidSource1d (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource1d.msg)
**TOPICS:** estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt estimator_aid_src_airspeed estimator_aid_src_sideslip estimator_aid_src_fake_hgt estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| estimator_instance | `uint8` | | | |
| device_id | `uint32` | | | |
| time_last_fuse | `uint64` | | | |
| observation | `float32` | | | |
| observation_variance | `float32` | | | |
| innovation | `float32` | | | |
| innovation_filtered | `float32` | | | |
| innovation_variance | `float32` | | | |
| test_ratio | `float32` | | | normalized innovation squared |
| test_ratio_filtered | `float32` | | | signed filtered test ratio |
| innovation_rejected | `bool` | | | true if the observation has been rejected |
| fused | `bool` | | | true if the sample was successfully fused |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource1d.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -30,5 +60,6 @@ bool fused # true if the sample was successfully fused
# TOPICS estimator_aid_src_airspeed estimator_aid_src_sideslip
# TOPICS estimator_aid_src_fake_hgt
# TOPICS estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw
```
:::
docs/ko/msg_docs/EstimatorAidSource2d.md
+33 -2
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@@ -1,6 +1,36 @@
---
pageClass: is-wide-page
---
# EstimatorAidSource2d (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource2d.msg)
**TOPICS:** estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos estimator_aid_src_aux_global_position estimator_aid_src_aux_vel estimator_aid_src_optical_flow estimator_aid_src_drag
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| estimator_instance | `uint8` | | | |
| device_id | `uint32` | | | |
| time_last_fuse | `uint64` | | | |
| observation | `float64[2]` | | | |
| observation_variance | `float32[2]` | | | |
| innovation | `float32[2]` | | | |
| innovation_filtered | `float32[2]` | | | |
| innovation_variance | `float32[2]` | | | |
| test_ratio | `float32[2]` | | | normalized innovation squared |
| test_ratio_filtered | `float32[2]` | | | signed filtered test ratio |
| innovation_rejected | `bool` | | | true if the observation has been rejected |
| fused | `bool` | | | true if the sample was successfully fused |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource2d.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -29,5 +59,6 @@ bool fused # true if the sample was successfully fused
# TOPICS estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos estimator_aid_src_aux_global_position
# TOPICS estimator_aid_src_aux_vel estimator_aid_src_optical_flow
# TOPICS estimator_aid_src_drag
```
:::
docs/ko/msg_docs/EstimatorAidSource3d.md
+33 -2
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@@ -1,6 +1,36 @@
---
pageClass: is-wide-page
---
# EstimatorAidSource3d (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource3d.msg)
**TOPICS:** estimator_aid_src_ev_vel estimator_aid_src_gnss_vel estimator_aid_src_gravity estimator_aid_src_mag
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| estimator_instance | `uint8` | | | |
| device_id | `uint32` | | | |
| time_last_fuse | `uint64` | | | |
| observation | `float32[3]` | | | |
| observation_variance | `float32[3]` | | | |
| innovation | `float32[3]` | | | |
| innovation_filtered | `float32[3]` | | | |
| innovation_variance | `float32[3]` | | | |
| test_ratio | `float32[3]` | | | normalized innovation squared |
| test_ratio_filtered | `float32[3]` | | | signed filtered test ratio |
| innovation_rejected | `bool` | | | true if the observation has been rejected |
| fused | `bool` | | | true if the sample was successfully fused |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource3d.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -27,5 +57,6 @@ bool innovation_rejected # true if the observation has been rejected
bool fused # true if the sample was successfully fused
# TOPICS estimator_aid_src_ev_vel estimator_aid_src_gnss_vel estimator_aid_src_gravity estimator_aid_src_mag
```
:::
docs/ko/msg_docs/EstimatorBias.md
+27 -2
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@@ -1,6 +1,30 @@
---
pageClass: is-wide-page
---
# EstimatorBias (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorBias.msg)
**TOPICS:** estimator_baro_bias estimator_gnss_hgt_bias
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ---------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| bias | `float32` | | | estimated barometric altitude bias (m) |
| bias_var | `float32` | | | estimated barometric altitude bias variance (m^2) |
| innov | `float32` | | | innovation of the last measurement fusion (m) |
| innov_var | `float32` | | | innovation variance of the last measurement fusion (m^2) |
| innov_test_ratio | `float32` | | | normalized innovation squared test ratio |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorBias.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -15,5 +39,6 @@ float32 innov_var # innovation variance of the last measurement fusion (m^2)
float32 innov_test_ratio # normalized innovation squared test ratio
# TOPICS estimator_baro_bias estimator_gnss_hgt_bias
```
:::
docs/ko/msg_docs/EstimatorBias3d.md
+27 -2
View File
@@ -1,6 +1,30 @@
---
pageClass: is-wide-page
---
# EstimatorBias3d (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorBias3d.msg)
**TOPICS:** estimator_bias3d estimator_ev_pos_bias
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ---------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| bias | `float32[3]` | | | estimated barometric altitude bias (m) |
| bias_var | `float32[3]` | | | estimated barometric altitude bias variance (m^2) |
| innov | `float32[3]` | | | innovation of the last measurement fusion (m) |
| innov_var | `float32[3]` | | | innovation variance of the last measurement fusion (m^2) |
| innov_test_ratio | `float32[3]` | | | normalized innovation squared test ratio |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorBias3d.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -17,5 +41,6 @@ float32[3] innov_test_ratio # normalized innovation squared test ratio
# TOPICS estimator_bias3d
# TOPICS estimator_ev_pos_bias
```
:::
docs/ko/msg_docs/EstimatorEventFlags.md
+39 -2
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@@ -1,6 +1,42 @@
---
pageClass: is-wide-page
---
# EstimatorEventFlags (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorEventFlags.msg)
**TOPICS:** estimator_eventflags
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ----------------------------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| information_event_changes | `uint32` | | | number of information event changes |
| gps_checks_passed | `bool` | | | 0 - true when gps quality checks are passing passed |
| reset_vel_to_gps | `bool` | | | 1 - true when the velocity states are reset to the gps measurement |
| reset_vel_to_flow | `bool` | | | 2 - true when the velocity states are reset using the optical flow measurement |
| reset_vel_to_vision | `bool` | | | 3 - true when the velocity states are reset to the vision system measurement |
| reset_vel_to_zero | `bool` | | | 4 - true when the velocity states are reset to zero |
| reset_pos_to_last_known | `bool` | | | 5 - true when the position states are reset to the last known position |
| reset_pos_to_gps | `bool` | | | 6 - true when the position states are reset to the gps measurement |
| reset_pos_to_vision | `bool` | | | 7 - true when the position states are reset to the vision system measurement |
| starting_gps_fusion | `bool` | | | 8 - true when the filter starts using gps measurements to correct the state estimates |
| starting_vision_pos_fusion | `bool` | | | 9 - true when the filter starts using vision system position measurements to correct the state estimates |
| starting_vision_vel_fusion | `bool` | | | 10 - true when the filter starts using vision system velocity measurements to correct the state estimates |
| starting_vision_yaw_fusion | `bool` | | | 11 - true when the filter starts using vision system yaw measurements to correct the state estimates |
| yaw_aligned_to_imu_gps | `bool` | | | 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data |
| reset_hgt_to_baro | `bool` | | | 13 - true when the vertical position state is reset to the baro measurement |
| reset_hgt_to_gps | `bool` | | | 14 - true when the vertical position state is reset to the gps measurement |
| reset_hgt_to_rng | `bool` | | | 15 - true when the vertical position state is reset to the rng measurement |
| reset_hgt_to_ev | `bool` | | | 16 - true when the vertical position state is reset to the ev measurement |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorEventFlags.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -25,5 +61,6 @@ bool reset_hgt_to_baro # 13 - true when the vertical position s
bool reset_hgt_to_gps # 14 - true when the vertical position state is reset to the gps measurement
bool reset_hgt_to_rng # 15 - true when the vertical position state is reset to the rng measurement
bool reset_hgt_to_ev # 16 - true when the vertical position state is reset to the ev measurement
```
:::
docs/ko/msg_docs/EstimatorGpsStatus.md
+36 -2
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@@ -1,6 +1,39 @@
---
pageClass: is-wide-page
---
# EstimatorGpsStatus (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorGpsStatus.msg)
**TOPICS:** estimator_gpsstatus
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------------------------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------ |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| checks_passed | `bool` | | | |
| check_fail_gps_fix | `bool` | | | 0 : insufficient fix type (no 3D solution) |
| check_fail_min_sat_count | `bool` | | | 1 : minimum required sat count fail |
| check_fail_max_pdop | `bool` | | | 2 : maximum allowed PDOP fail |
| check_fail_max_horz_err | `bool` | | | 3 : maximum allowed horizontal position error fail |
| check_fail_max_vert_err | `bool` | | | 4 : maximum allowed vertical position error fail |
| check_fail_max_spd_err | `bool` | | | 5 : maximum allowed speed error fail |
| check_fail_max_horz_drift | `bool` | | | 6 : maximum allowed horizontal position drift fail - requires stationary vehicle |
| check_fail_max_vert_drift | `bool` | | | 7 : maximum allowed vertical position drift fail - requires stationary vehicle |
| check_fail_max_horz_spd_err | `bool` | | | 8 : maximum allowed horizontal speed fail - requires stationary vehicle |
| check_fail_max_vert_spd_err | `bool` | | | 9 : maximum allowed vertical velocity discrepancy fail |
| check_fail_spoofed_gps | `bool` | | | 10 : GPS signal is spoofed |
| position_drift_rate_horizontal_m_s | `float32` | | | Horizontal position rate magnitude (m/s) |
| position_drift_rate_vertical_m_s | `float32` | | | Vertical position rate magnitude (m/s) |
| filtered_horizontal_speed_m_s | `float32` | | | Filtered horizontal velocity magnitude (m/s) |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorGpsStatus.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -23,5 +56,6 @@ bool check_fail_spoofed_gps # 10 : GPS signal is spoofed
float32 position_drift_rate_horizontal_m_s # Horizontal position rate magnitude (m/s)
float32 position_drift_rate_vertical_m_s # Vertical position rate magnitude (m/s)
float32 filtered_horizontal_speed_m_s # Filtered horizontal velocity magnitude (m/s)
```
:::
docs/ko/msg_docs/EstimatorInnovations.md
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@@ -1,6 +1,44 @@
---
pageClass: is-wide-page
---
# EstimatorInnovations (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorInnovations.msg)
**TOPICS:** estimator_innovations estimator_innovation_variances estimator_innovation_test_ratios
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| gps_hvel | `float32[2]` | | | horizontal GPS velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) |
| `float32` | | | vertical GPS velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) | |
| gps_hpos | `float32[2]` | | | horizontal GPS position innovation (m) and innovation variance (m\*\*2) |
| `float32` | | | vertical GPS position innovation (m) and innovation variance (m\*\*2) | |
| ev_hvel | `float32[2]` | | | horizontal external vision velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) |
| `float32` | | | vertical external vision velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) | |
| ev_hpos | `float32[2]` | | | horizontal external vision position innovation (m) and innovation variance (m\*\*2) |
| `float32` | | | vertical external vision position innovation (m) and innovation variance (m\*\*2) | |
| rng_vpos | `float32` | | | range sensor height innovation (m) and innovation variance (m\*\*2) |
| baro_vpos | `float32` | | | barometer height innovation (m) and innovation variance (m\*\*2) |
| aux_hvel | `float32[2]` | | | horizontal auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)\*\*2) |
| flow | `float32[2]` | | | flow innvoation (rad/sec) and innovation variance ((rad/sec)\*\*2) |
| heading | `float32` | | | heading innovation (rad) and innovation variance (rad\*\*2) |
| mag_field | `float32[3]` | | | earth magnetic field innovation (Gauss) and innovation variance (Gauss\*\*2) |
| gravity | `float32[3]` | | | gravity innovation from accelerometerr vector (m/s\*\*2) |
| drag | `float32[2]` | | | drag specific force innovation (m/sec\*\*2) and innovation variance ((m/sec)\*\*2) |
| airspeed | `float32` | | | airspeed innovation (m/sec) and innovation variance ((m/sec)\*\*2) |
| beta | `float32` | | | synthetic sideslip innovation (rad) and innovation variance (rad\*\*2) |
| hagl | `float32` | | | height of ground innovation (m) and innovation variance (m\*\*2) |
| hagl_rate | `float32` | | | height of ground rate innovation (m/s) and innovation variance ((m/s)\*\*2) |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorInnovations.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -42,5 +80,6 @@ float32 hagl_rate # height of ground rate innovation (m/s) and innovation varian
# the test ratio will be put in the first component of the vector.
# TOPICS estimator_innovations estimator_innovation_variances estimator_innovation_test_ratios
```
:::
docs/ko/msg_docs/EstimatorSelectorStatus.md
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@@ -1,6 +1,38 @@
---
pageClass: is-wide-page
---
# EstimatorSelectorStatus (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorSelectorStatus.msg)
**TOPICS:** estimator_selectorstatus
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ----------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| primary_instance | `uint8` | | | |
| instances_available | `uint8` | | | |
| instance_changed_count | `uint32` | | | |
| last_instance_change | `uint64` | | | |
| accel_device_id | `uint32` | | | |
| baro_device_id | `uint32` | | | |
| gyro_device_id | `uint32` | | | |
| mag_device_id | `uint32` | | | |
| combined_test_ratio | `float32[9]` | | | |
| relative_test_ratio | `float32[9]` | | | |
| healthy | `bool[9]` | | | |
| accumulated_gyro_error | `float32[4]` | | | |
| accumulated_accel_error | `float32[4]` | | | |
| gyro_fault_detected | `bool` | | | |
| accel_fault_detected | `bool` | | | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorSelectorStatus.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -25,5 +57,6 @@ float32[4] accumulated_gyro_error
float32[4] accumulated_accel_error
bool gyro_fault_detected
bool accel_fault_detected
```
:::
docs/ko/msg_docs/EstimatorSensorBias.md
+40 -4
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@@ -1,9 +1,44 @@
---
pageClass: is-wide-page
---
# EstimatorSensorBias (UORB message)
Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets,
scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).
Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets,. scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorSensorBias.msg)
**TOPICS:** estimator_sensorbias
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| gyro_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| gyro_bias | `float32[3]` | | | gyroscope in-run bias in body frame (rad/s) |
| gyro_bias_limit | `float32` | | | magnitude of maximum gyroscope in-run bias in body frame (rad/s) |
| gyro_bias_variance | `float32[3]` | | | |
| gyro_bias_valid | `bool` | | | |
| gyro_bias_stable | `bool` | | | true when the gyro bias estimate is stable enough to use for calibration |
| accel_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| accel_bias | `float32[3]` | | | accelerometer in-run bias in body frame (m/s^2) |
| accel_bias_limit | `float32` | | | magnitude of maximum accelerometer in-run bias in body frame (m/s^2) |
| accel_bias_variance | `float32[3]` | | | |
| accel_bias_valid | `bool` | | | |
| accel_bias_stable | `bool` | | | true when the accel bias estimate is stable enough to use for calibration |
| mag_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| mag_bias | `float32[3]` | | | magnetometer in-run bias in body frame (Gauss) |
| mag_bias_limit | `float32` | | | magnitude of maximum magnetometer in-run bias in body frame (Gauss) |
| mag_bias_variance | `float32[3]` | | | |
| mag_bias_valid | `bool` | | | |
| mag_bias_stable | `bool` | | | true when the mag bias estimate is stable enough to use for calibration |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorSensorBias.msg)
:::details
Click here to see original file
```c
#
@@ -36,5 +71,6 @@ float32 mag_bias_limit # magnitude of maximum magnetometer in-run bias
float32[3] mag_bias_variance
bool mag_bias_valid
bool mag_bias_stable # true when the mag bias estimate is stable enough to use for calibration
```
:::
docs/ko/msg_docs/EstimatorStates.md
+24 -2
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@@ -1,6 +1,27 @@
---
pageClass: is-wide-page
---
# EstimatorStates (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStates.msg)
**TOPICS:** estimator_states
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------- | ------------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| states | `float32[25]` | | | Internal filter states |
| n_states | `uint8` | | | Number of states effectively used |
| covariances | `float32[24]` | | | Diagonal Elements of Covariance Matrix |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStates.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -10,5 +31,6 @@ float32[25] states # Internal filter states
uint8 n_states # Number of states effectively used
float32[24] covariances # Diagonal Elements of Covariance Matrix
```
:::
docs/ko/msg_docs/EstimatorStatus.md
+106 -2
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@@ -1,6 +1,109 @@
---
pageClass: is-wide-page
---
# EstimatorStatus (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg)
**TOPICS:** estimator_status
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| output_tracking_error | `float32[3]` | | | return a vector containing the output predictor angular, velocity and position tracking error magnitudes (rad), (m/s), (m) |
| gps_check_fail_flags | `uint16` | | | Bitmask to indicate status of GPS checks - see definition below |
| control_mode_flags | `uint64` | | | Bitmask to indicate EKF logic state |
| filter_fault_flags | `uint32` | | | Bitmask to indicate EKF internal faults |
| pos_horiz_accuracy | `float32` | | | 1-Sigma estimated horizontal position accuracy relative to the estimators origin (m) |
| pos_vert_accuracy | `float32` | | | 1-Sigma estimated vertical position accuracy relative to the estimators origin (m) |
| hdg_test_ratio | `float32` | | | low-pass filtered ratio of the largest heading innovation component to the innovation test limit |
| vel_test_ratio | `float32` | | | low-pass filtered ratio of the largest velocity innovation component to the innovation test limit |
| pos_test_ratio | `float32` | | | low-pass filtered ratio of the largest horizontal position innovation component to the innovation test limit |
| hgt_test_ratio | `float32` | | | low-pass filtered ratio of the vertical position innovation to the innovation test limit |
| tas_test_ratio | `float32` | | | low-pass filtered ratio of the true airspeed innovation to the innovation test limit |
| hagl_test_ratio | `float32` | | | low-pass filtered ratio of the height above ground innovation to the innovation test limit |
| beta_test_ratio | `float32` | | | low-pass filtered ratio of the synthetic sideslip innovation to the innovation test limit |
| solution_status_flags | `uint16` | | | Bitmask indicating which filter kinematic state outputs are valid for flight control use. |
| reset_count_vel_ne | `uint8` | | | number of horizontal position reset events (allow to wrap if count exceeds 255) |
| reset_count_vel_d | `uint8` | | | number of vertical velocity reset events (allow to wrap if count exceeds 255) |
| reset_count_pos_ne | `uint8` | | | number of horizontal position reset events (allow to wrap if count exceeds 255) |
| reset_count_pod_d | `uint8` | | | number of vertical position reset events (allow to wrap if count exceeds 255) |
| reset_count_quat | `uint8` | | | number of quaternion reset events (allow to wrap if count exceeds 255) |
| time_slip | `float32` | | | cumulative amount of time in seconds that the EKF inertial calculation has slipped relative to system time |
| pre_flt_fail_innov_heading | `bool` | | | |
| pre_flt_fail_innov_height | `bool` | | | |
| pre_flt_fail_innov_pos_horiz | `bool` | | | |
| pre_flt_fail_innov_vel_horiz | `bool` | | | |
| pre_flt_fail_innov_vel_vert | `bool` | | | |
| pre_flt_fail_mag_field_disturbed | `bool` | | | |
| accel_device_id | `uint32` | | | |
| gyro_device_id | `uint32` | | | |
| baro_device_id | `uint32` | | | |
| mag_device_id | `uint32` | | | |
| health_flags | `uint8` | | | Bitmask to indicate sensor health states (vel, pos, hgt) |
| timeout_flags | `uint8` | | | Bitmask to indicate timeout flags (vel, pos, hgt) |
| mag_inclination_deg | `float32` | | | |
| mag_inclination_ref_deg | `float32` | | | |
| mag_strength_gs | `float32` | | | |
| mag_strength_ref_gs | `float32` | | | |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------------------- |
| <a href="#GPS_CHECK_FAIL_GPS_FIX"></a> GPS_CHECK_FAIL_GPS_FIX | `uint8` | 0 | 0 : insufficient fix type (no 3D solution) |
| <a href="#GPS_CHECK_FAIL_MIN_SAT_COUNT"></a> GPS_CHECK_FAIL_MIN_SAT_COUNT | `uint8` | 1 | 1 : minimum required sat count fail |
| <a href="#GPS_CHECK_FAIL_MAX_PDOP"></a> GPS_CHECK_FAIL_MAX_PDOP | `uint8` | 2 | 2 : maximum allowed PDOP fail |
| <a href="#GPS_CHECK_FAIL_MAX_HORZ_ERR"></a> GPS_CHECK_FAIL_MAX_HORZ_ERR | `uint8` | 3 | 3 : maximum allowed horizontal position error fail |
| <a href="#GPS_CHECK_FAIL_MAX_VERT_ERR"></a> GPS_CHECK_FAIL_MAX_VERT_ERR | `uint8` | 4 | 4 : maximum allowed vertical position error fail |
| <a href="#GPS_CHECK_FAIL_MAX_SPD_ERR"></a> GPS_CHECK_FAIL_MAX_SPD_ERR | `uint8` | 5 | 5 : maximum allowed speed error fail |
| <a href="#GPS_CHECK_FAIL_MAX_HORZ_DRIFT"></a> GPS_CHECK_FAIL_MAX_HORZ_DRIFT | `uint8` | 6 | 6 : maximum allowed horizontal position drift fail - requires stationary vehicle |
| <a href="#GPS_CHECK_FAIL_MAX_VERT_DRIFT"></a> GPS_CHECK_FAIL_MAX_VERT_DRIFT | `uint8` | 7 | 7 : maximum allowed vertical position drift fail - requires stationary vehicle |
| <a href="#GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR"></a> GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR | `uint8` | 8 | 8 : maximum allowed horizontal speed fail - requires stationary vehicle |
| <a href="#GPS_CHECK_FAIL_MAX_VERT_SPD_ERR"></a> GPS_CHECK_FAIL_MAX_VERT_SPD_ERR | `uint8` | 9 | 9 : maximum allowed vertical velocity discrepancy fail |
| <a href="#GPS_CHECK_FAIL_SPOOFED"></a> GPS_CHECK_FAIL_SPOOFED | `uint8` | 10 | 10 : GPS signal is spoofed |
| <a href="#GPS_CHECK_FAIL_JAMMED"></a> GPS_CHECK_FAIL_JAMMED | `uint8` | 11 | 11 : GPS signal is jammed |
| <a href="#CS_TILT_ALIGN"></a> CS_TILT_ALIGN | `uint8` | 0 | 0 - true if the filter tilt alignment is complete |
| <a href="#CS_YAW_ALIGN"></a> CS_YAW_ALIGN | `uint8` | 1 | 1 - true if the filter yaw alignment is complete |
| <a href="#CS_GNSS_POS"></a> CS_GNSS_POS | `uint8` | 2 | 2 - true if GNSS position measurements are being fused |
| <a href="#CS_OPT_FLOW"></a> CS_OPT_FLOW | `uint8` | 3 | 3 - true if optical flow measurements are being fused |
| <a href="#CS_MAG_HDG"></a> CS_MAG_HDG | `uint8` | 4 | 4 - true if a simple magnetic yaw heading is being fused |
| <a href="#CS_MAG_3D"></a> CS_MAG_3D | `uint8` | 5 | 5 - true if 3-axis magnetometer measurement are being fused |
| <a href="#CS_MAG_DEC"></a> CS_MAG_DEC | `uint8` | 6 | 6 - true if synthetic magnetic declination measurements are being fused |
| <a href="#CS_IN_AIR"></a> CS_IN_AIR | `uint8` | 7 | 7 - true when thought to be airborne |
| <a href="#CS_WIND"></a> CS_WIND | `uint8` | 8 | 8 - true when wind velocity is being estimated |
| <a href="#CS_BARO_HGT"></a> CS_BARO_HGT | `uint8` | 9 | 9 - true when baro data is being fused |
| <a href="#CS_RNG_HGT"></a> CS_RNG_HGT | `uint8` | 10 | 10 - true when range finder data is being fused for height aiding |
| <a href="#CS_GPS_HGT"></a> CS_GPS_HGT | `uint8` | 11 | 11 - true when GPS altitude is being fused |
| <a href="#CS_EV_POS"></a> CS_EV_POS | `uint8` | 12 | 12 - true when local position data from external vision is being fused |
| <a href="#CS_EV_YAW"></a> CS_EV_YAW | `uint8` | 13 | 13 - true when yaw data from external vision measurements is being fused |
| <a href="#CS_EV_HGT"></a> CS_EV_HGT | `uint8` | 14 | 14 - true when height data from external vision measurements is being fused |
| <a href="#CS_BETA"></a> CS_BETA | `uint8` | 15 | 15 - true when synthetic sideslip measurements are being fused |
| <a href="#CS_MAG_FIELD"></a> CS_MAG_FIELD | `uint8` | 16 | 16 - true when only the magnetic field states are updated by the magnetometer |
| <a href="#CS_FIXED_WING"></a> CS_FIXED_WING | `uint8` | 17 | 17 - true when thought to be operating as a fixed wing vehicle with constrained sideslip |
| <a href="#CS_MAG_FAULT"></a> CS_MAG_FAULT | `uint8` | 18 | 18 - true when the magnetometer has been declared faulty and is no longer being used |
| <a href="#CS_ASPD"></a> CS_ASPD | `uint8` | 19 | 19 - true when airspeed measurements are being fused |
| <a href="#CS_GND_EFFECT"></a> CS_GND_EFFECT | `uint8` | 20 | 20 - true when when protection from ground effect induced static pressure rise is active |
| <a href="#CS_RNG_STUCK"></a> CS_RNG_STUCK | `uint8` | 21 | 21 - true when a stuck range finder sensor has been detected |
| <a href="#CS_GPS_YAW"></a> CS_GPS_YAW | `uint8` | 22 | 22 - true when yaw (not ground course) data from a GPS receiver is being fused |
| <a href="#CS_MAG_ALIGNED"></a> CS_MAG_ALIGNED | `uint8` | 23 | 23 - true when the in-flight mag field alignment has been completed |
| <a href="#CS_EV_VEL"></a> CS_EV_VEL | `uint8` | 24 | 24 - true when local frame velocity data fusion from external vision measurements is intended |
| <a href="#CS_SYNTHETIC_MAG_Z"></a> CS_SYNTHETIC_MAG_Z | `uint8` | 25 | 25 - true when we are using a synthesized measurement for the magnetometer Z component |
| <a href="#CS_VEHICLE_AT_REST"></a> CS_VEHICLE_AT_REST | `uint8` | 26 | 26 - true when the vehicle is at rest |
| <a href="#CS_GPS_YAW_FAULT"></a> CS_GPS_YAW_FAULT | `uint8` | 27 | 27 - true when the GNSS heading has been declared faulty and is no longer being used |
| <a href="#CS_RNG_FAULT"></a> CS_RNG_FAULT | `uint8` | 28 | 28 - true when the range finder has been declared faulty and is no longer being used |
| <a href="#CS_GNSS_VEL"></a> CS_GNSS_VEL | `uint8` | 44 | 44 - true if GNSS velocity measurement fusion is intended |
| <a href="#CS_GNSS_FAULT"></a> CS_GNSS_FAULT | `uint8` | 45 | 45 - true if GNSS measurements have been declared faulty and are no longer used |
| <a href="#CS_YAW_MANUAL"></a> CS_YAW_MANUAL | `uint8` | 46 | 46 - true if yaw has been set manually |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -130,5 +233,6 @@ float32 mag_inclination_deg
float32 mag_inclination_ref_deg
float32 mag_strength_gs
float32 mag_strength_ref_gs
```
:::
docs/ko/msg_docs/EstimatorStatusFlags.md
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@@ -1,6 +1,85 @@
---
pageClass: is-wide-page
---
# EstimatorStatusFlags (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatusFlags.msg)
**TOPICS:** estimator_statusflags
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------------------------------------------------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| control_status_changes | `uint32` | | | number of filter control status (cs) changes |
| cs_tilt_align | `bool` | | | 0 - true if the filter tilt alignment is complete |
| cs_yaw_align | `bool` | | | 1 - true if the filter yaw alignment is complete |
| cs_gnss_pos | `bool` | | | 2 - true if GNSS position measurement fusion is intended |
| cs_opt_flow | `bool` | | | 3 - true if optical flow measurements fusion is intended |
| cs_mag_hdg | `bool` | | | 4 - true if a simple magnetic yaw heading fusion is intended |
| cs_mag_3d | `bool` | | | 5 - true if 3-axis magnetometer measurement fusion is intended |
| cs_mag_dec | `bool` | | | 6 - true if synthetic magnetic declination measurements fusion is intended |
| cs_in_air | `bool` | | | 7 - true when the vehicle is airborne |
| cs_wind | `bool` | | | 8 - true when wind velocity is being estimated |
| cs_baro_hgt | `bool` | | | 9 - true when baro data is being fused |
| cs_rng_hgt | `bool` | | | 10 - true when range finder data is being fused for height aiding |
| cs_gps_hgt | `bool` | | | 11 - true when GPS altitude is being fused |
| cs_ev_pos | `bool` | | | 12 - true when local position data fusion from external vision is intended |
| cs_ev_yaw | `bool` | | | 13 - true when yaw data from external vision measurements fusion is intended |
| cs_ev_hgt | `bool` | | | 14 - true when height data from external vision measurements is being fused |
| cs_fuse_beta | `bool` | | | 15 - true when synthetic sideslip measurements are being fused |
| cs_mag_field_disturbed | `bool` | | | 16 - true when the mag field does not match the expected strength |
| cs_fixed_wing | `bool` | | | 17 - true when the vehicle is operating as a fixed wing vehicle |
| cs_mag_fault | `bool` | | | 18 - true when the magnetometer has been declared faulty and is no longer being used |
| cs_fuse_aspd | `bool` | | | 19 - true when airspeed measurements are being fused |
| cs_gnd_effect | `bool` | | | 20 - true when protection from ground effect induced static pressure rise is active |
| cs_rng_stuck | `bool` | | | 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough |
| cs_gnss_yaw | `bool` | | | 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended |
| cs_mag_aligned_in_flight | `bool` | | | 23 - true when the in-flight mag field alignment has been completed |
| cs_ev_vel | `bool` | | | 24 - true when local frame velocity data fusion from external vision measurements is intended |
| cs_synthetic_mag_z | `bool` | | | 25 - true when we are using a synthesized measurement for the magnetometer Z component |
| cs_vehicle_at_rest | `bool` | | | 26 - true when the vehicle is at rest |
| cs_gnss_yaw_fault | `bool` | | | 27 - true when the GNSS heading has been declared faulty and is no longer being used |
| cs_rng_fault | `bool` | | | 28 - true when the range finder has been declared faulty and is no longer being used |
| cs_inertial_dead_reckoning | `bool` | | | 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift |
| cs_wind_dead_reckoning | `bool` | | | 30 - true if we are navigationg reliant on wind relative measurements |
| cs_rng_kin_consistent | `bool` | | | 31 - true when the range finder kinematic consistency check is passing |
| cs_fake_pos | `bool` | | | 32 - true when fake position measurements are being fused |
| cs_fake_hgt | `bool` | | | 33 - true when fake height measurements are being fused |
| cs_gravity_vector | `bool` | | | 34 - true when gravity vector measurements are being fused |
| cs_mag | `bool` | | | 35 - true if 3-axis magnetometer measurement fusion (mag states only) is intended |
| cs_ev_yaw_fault | `bool` | | | 36 - true when the EV heading has been declared faulty and is no longer being used |
| cs_mag_heading_consistent | `bool` | | | 37 - true when the heading obtained from mag data is declared consistent with the filter |
| cs_aux_gpos | `bool` | | | 38 - true if auxiliary global position measurement fusion is intended |
| cs_rng_terrain | `bool` | | | 39 - true if we are fusing range finder data for terrain |
| cs_opt_flow_terrain | `bool` | | | 40 - true if we are fusing flow data for terrain |
| cs_valid_fake_pos | `bool` | | | 41 - true if a valid constant position is being fused |
| cs_constant_pos | `bool` | | | 42 - true if the vehicle is at a constant position |
| cs_baro_fault | `bool` | | | 43 - true when the current baro has been declared faulty and is no longer being used |
| cs_gnss_vel | `bool` | | | 44 - true if GNSS velocity measurement fusion is intended |
| cs_gnss_fault | `bool` | | | 45 - true if GNSS true if GNSS measurements (lat, lon, vel) have been declared faulty |
| cs_yaw_manual | `bool` | | | 46 - true if yaw has been set manually |
| cs_gnss_hgt_fault | `bool` | | | 47 - true if GNSS true if GNSS measurements (alt) have been declared faulty |
| fault_status_changes | `uint32` | | | number of filter fault status (fs) changes |
| fs_bad_mag_x | `bool` | | | 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error |
| fs_bad_mag_y | `bool` | | | 1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error |
| fs_bad_mag_z | `bool` | | | 2 - true if the fusion of the magnetometer Z-axis has encountered a numerical error |
| fs_bad_hdg | `bool` | | | 3 - true if the fusion of the heading angle has encountered a numerical error |
| fs_bad_mag_decl | `bool` | | | 4 - true if the fusion of the magnetic declination has encountered a numerical error |
| fs_bad_airspeed | `bool` | | | 5 - true if fusion of the airspeed has encountered a numerical error |
| fs_bad_sideslip | `bool` | | | 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error |
| fs_bad_optflow_x | `bool` | | | 7 - true if fusion of the optical flow X axis has encountered a numerical error |
| fs_bad_optflow_y | `bool` | | | 8 - true if fusion of the optical flow Y axis has encountered a numerical error |
| fs_bad_acc_vertical | `bool` | | | 10 - true if bad vertical accelerometer data has been detected |
| fs_bad_acc_clipping | `bool` | | | 11 - true if delta velocity data contains clipping (asymmetric railing) |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatusFlags.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -71,19 +150,6 @@ bool fs_bad_optflow_x # 7 - true if fusion of the optical flow X axis h
bool fs_bad_optflow_y # 8 - true if fusion of the optical flow Y axis has encountered a numerical error
bool fs_bad_acc_vertical # 10 - true if bad vertical accelerometer data has been detected
bool fs_bad_acc_clipping # 11 - true if delta velocity data contains clipping (asymmetric railing)
# innovation test failures
uint32 innovation_fault_status_changes # number of innovation fault status (reject) changes
bool reject_hor_vel # 0 - true if horizontal velocity observations have been rejected
bool reject_ver_vel # 1 - true if vertical velocity observations have been rejected
bool reject_hor_pos # 2 - true if horizontal position observations have been rejected
bool reject_ver_pos # 3 - true if vertical position observations have been rejected
bool reject_yaw # 7 - true if the yaw observation has been rejected
bool reject_airspeed # 8 - true if the airspeed observation has been rejected
bool reject_sideslip # 9 - true if the synthetic sideslip observation has been rejected
bool reject_hagl # 10 - true if the height above ground observation has been rejected
bool reject_optflow_x # 11 - true if the X optical flow observation has been rejected
bool reject_optflow_y # 12 - true if the Y optical flow observation has been rejected
```
:::
docs/ko/msg_docs/Event.md
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@@ -1,8 +1,36 @@
---
pageClass: is-wide-page
---
# Event (UORB message)
Events interface
Events interface.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/Event.msg)
**TOPICS:** event
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ----------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------ |
| timestamp | `uint64` | | | time since system start (microseconds) |
| id | `uint32` | | | Event ID |
| event_sequence | `uint16` | | | Event sequence number |
| arguments | `uint8[25]` | | | (optional) arguments, depend on event id |
| log_levels | `uint8` | | | Log levels: 4 bits MSB: internal, 4 bits LSB: external |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 | |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 16 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/Event.msg)
:::details
Click here to see original file
```c
# Events interface
@@ -17,5 +45,6 @@ uint8[25] arguments # (optional) arguments, depend on event id
uint8 log_levels # Log levels: 4 bits MSB: internal, 4 bits LSB: external
uint8 ORB_QUEUE_LENGTH = 16
```
:::
docs/ko/msg_docs/EventV0.md
+32 -4
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@@ -1,9 +1,36 @@
---
pageClass: is-wide-page
---
# EventV0 (UORB message)
this message is required here in the msg_old folder because other msg are depending on it
Events interface
this message is required here in the msg_old folder because other msg are depending on it. Events interface.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/EventV0.msg)
**TOPICS:** eventv0
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ----------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------ |
| timestamp | `uint64` | | | time since system start (microseconds) |
| id | `uint32` | | | Event ID |
| event_sequence | `uint16` | | | Event sequence number |
| arguments | `uint8[25]` | | | (optional) arguments, depend on event id |
| log_levels | `uint8` | | | Log levels: 4 bits MSB: internal, 4 bits LSB: external |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 16 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/EventV0.msg)
:::details
Click here to see original file
```c
# this message is required here in the msg_old folder because other msg are depending on it
@@ -20,5 +47,6 @@ uint8[25] arguments # (optional) arguments, depend on event id
uint8 log_levels # Log levels: 4 bits MSB: internal, 4 bits LSB: external
uint8 ORB_QUEUE_LENGTH = 16
```
:::
docs/ko/msg_docs/FailsafeFlags.md
+61 -2
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@@ -1,3 +1,7 @@
---
pageClass: is-wide-page
---
# FailsafeFlags (UORB message)
Input flags for the failsafe state machine set by the arming & health checks.
@@ -5,7 +9,61 @@ Input flags for the failsafe state machine set by the arming & health checks.
Flags must be named such that false == no failure (e.g. \_invalid, \_unhealthy, \_lost)
The flag comments are used as label for the failsafe state machine simulation
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FailsafeFlags.msg)
**TOPICS:** failsafe_flags
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ---------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| mode_req_angular_velocity | `uint32` | | | |
| mode_req_attitude | `uint32` | | | |
| mode_req_local_alt | `uint32` | | | |
| mode_req_local_position | `uint32` | | | |
| mode_req_local_position_relaxed | `uint32` | | | |
| mode_req_global_position | `uint32` | | | |
| mode_req_global_position_relaxed | `uint32` | | | |
| mode_req_mission | `uint32` | | | |
| mode_req_offboard_signal | `uint32` | | | |
| mode_req_home_position | `uint32` | | | |
| mode_req_wind_and_flight_time_compliance | `uint32` | | | if set, mode cannot be entered if wind or flight time limit exceeded |
| mode_req_prevent_arming | `uint32` | | | if set, cannot arm while in this mode |
| mode_req_manual_control | `uint32` | | | |
| mode_req_other | `uint32` | | | other requirements, not covered above (for external modes) |
| angular_velocity_invalid | `bool` | | | Angular velocity invalid |
| attitude_invalid | `bool` | | | Attitude invalid |
| local_altitude_invalid | `bool` | | | Local altitude invalid |
| local_position_invalid | `bool` | | | Local position estimate invalid |
| local_position_invalid_relaxed | `bool` | | | Local position with reduced accuracy requirements invalid (e.g. flying with optical flow) |
| local_velocity_invalid | `bool` | | | Local velocity estimate invalid |
| global_position_invalid | `bool` | | | Global position estimate invalid |
| global_position_invalid_relaxed | `bool` | | | Global position estimate invalid with relaxed accuracy requirements |
| auto_mission_missing | `bool` | | | No mission available |
| offboard_control_signal_lost | `bool` | | | Offboard signal lost |
| home_position_invalid | `bool` | | | No home position available |
| manual_control_signal_lost | `bool` | | | Manual control (RC) signal lost |
| gcs_connection_lost | `bool` | | | GCS connection lost |
| battery_warning | `uint8` | | | Battery warning level (see BatteryStatus.msg) |
| battery_low_remaining_time | `bool` | | | Low battery based on remaining flight time |
| battery_unhealthy | `bool` | | | Battery unhealthy |
| geofence_breached | `bool` | | | Geofence breached (one or multiple) |
| mission_failure | `bool` | | | Mission failure |
| vtol_fixed_wing_system_failure | `bool` | | | vehicle in fixed-wing system failure failsafe mode (after quad-chute) |
| wind_limit_exceeded | `bool` | | | Wind limit exceeded |
| flight_time_limit_exceeded | `bool` | | | Maximum flight time exceeded |
| position_accuracy_low | `bool` | | | Position estimate has dropped below threshold, but is currently still declared valid |
| navigator_failure | `bool` | | | Navigator failed to execute a mode |
| fd_critical_failure | `bool` | | | Critical failure (attitude/altitude limit exceeded, or external ATS) |
| fd_esc_arming_failure | `bool` | | | ESC failed to arm |
| fd_imbalanced_prop | `bool` | | | Imbalanced propeller detected |
| fd_motor_failure | `bool` | | | Motor failure |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FailsafeFlags.msg)
:::details
Click here to see original file
```c
# Input flags for the failsafe state machine set by the arming & health checks.
@@ -68,5 +126,6 @@ bool fd_critical_failure # Critical failure (attitude/altitude limi
bool fd_esc_arming_failure # ESC failed to arm
bool fd_imbalanced_prop # Imbalanced propeller detected
bool fd_motor_failure # Motor failure
```
:::
docs/ko/msg_docs/FailureDetectorStatus.md
+31 -2
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@@ -1,6 +1,34 @@
---
pageClass: is-wide-page
---
# FailureDetectorStatus (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FailureDetectorStatus.msg)
**TOPICS:** failure_detectorstatus
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ---------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------ |
| timestamp | `uint64` | | | time since system start (microseconds) |
| fd_roll | `bool` | | | |
| fd_pitch | `bool` | | | |
| fd_alt | `bool` | | | |
| fd_ext | `bool` | | | |
| fd_arm_escs | `bool` | | | |
| fd_battery | `bool` | | | |
| fd_imbalanced_prop | `bool` | | | |
| fd_motor | `bool` | | | |
| imbalanced_prop_metric | `float32` | | | Metric of the imbalanced propeller check (low-passed) |
| motor_failure_mask | `uint16` | | | Bit-mask with motor indices, indicating critical motor failures |
| motor_stop_mask | `uint16` | | | Bitmaks of motors stopped by failure injection |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FailureDetectorStatus.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -18,5 +46,6 @@ bool fd_motor
float32 imbalanced_prop_metric # Metric of the imbalanced propeller check (low-passed)
uint16 motor_failure_mask # Bit-mask with motor indices, indicating critical motor failures
uint16 motor_stop_mask # Bitmaks of motors stopped by failure injection
```
:::
docs/ko/msg_docs/FigureEightStatus.md
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@@ -1,6 +1,30 @@
---
pageClass: is-wide-page
---
# FigureEightStatus (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FigureEightStatus.msg)
**TOPICS:** figure_eightstatus
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| --------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| major_radius | `float32` | | | Major axis radius of the figure eight [m]. Positive values orbit clockwise, negative values orbit counter-clockwise. |
| minor_radius | `float32` | | | Minor axis radius of the figure eight [m]. |
| orientation | `float32` | | | Orientation of the major axis of the figure eight [rad]. |
| frame | `uint8` | | | The coordinate system of the fields: x, y, z. |
| x | `int32` | | | X coordinate of center point. Coordinate system depends on frame field: local = x position in meters _ 1e4, global = latitude in degrees _ 1e7. |
| y | `int32` | | | Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters _ 1e4, global = latitude in degrees _ 1e7. |
| z | `float32` | | | Altitude of center point. Coordinate system depends on frame field. |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FigureEightStatus.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -11,5 +35,6 @@ uint8 frame # The coordinate system of the fields: x, y, z.
int32 x # X coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.
int32 y # Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters * 1e4, global = latitude in degrees * 1e7.
float32 z # Altitude of center point. Coordinate system depends on frame field.
```
:::
docs/ko/msg_docs/FixedWingLateralGuidanceStatus.md
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@@ -1,9 +1,33 @@
---
pageClass: is-wide-page
---
# FixedWingLateralGuidanceStatus (UORB message)
Fixed Wing Lateral Guidance Status message
Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs
Fixed Wing Lateral Guidance Status message. Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FixedWingLateralGuidanceStatus.msg)
**TOPICS:** fixed_winglateral_guidancestatus
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------------------------------------------------------ | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| course_setpoint | `float32` | rad | [-pi : pi] | Desired direction of travel over ground w.r.t (true) North. Set by guidance law |
| lateral_acceleration_ff | `float32` | FRD | | lateral acceleration demand only for maintaining curvature |
| bearing_feas | `float32` | | [0 : 1] | bearing feasibility |
| bearing_feas_on_track | `float32` | | [0 : 1] | on-track bearing feasibility |
| signed_track_error | `float32` | m | | signed track error |
| track_error_bound | `float32` | m | | track error bound |
| adapted_period | `float32` | s | | adapted period (if auto-tuning enabled) |
| wind_est_valid | `uint8` | boolean | | true = wind estimate is valid and/or being used by controller (also indicates if wind estimate usage is disabled despite being valid) |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FixedWingLateralGuidanceStatus.msg)
:::details
Click here to see original file
```c
# Fixed Wing Lateral Guidance Status message
@@ -19,5 +43,6 @@ float32 signed_track_error # [m] signed track error
float32 track_error_bound # [m] track error bound
float32 adapted_period # [s] adapted period (if auto-tuning enabled)
uint8 wind_est_valid # [boolean] true = wind estimate is valid and/or being used by controller (also indicates if wind estimate usage is disabled despite being valid)
```
:::
docs/ko/msg_docs/FixedWingLateralSetpoint.md
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@@ -1,10 +1,34 @@
---
pageClass: is-wide-page
---
# FixedWingLateralSetpoint (UORB message)
Fixed Wing Lateral Setpoint message
Used by the fw_lateral_longitudinal_control module
At least one of course, airspeed_direction, or lateral_acceleration must be finite.
Fixed Wing Lateral Setpoint message. Used by the fw_lateral_longitudinal_control module. At least one of course, airspeed_direction, or lateral_acceleration must be finite.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/FixedWingLateralSetpoint.msg)
**TOPICS:** fixed_winglateral_setpoint
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ----------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| timestamp | `uint64` | | | time since system start (microseconds) |
| course | `float32` | rad | [-pi : pi] | Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly. |
| airspeed_direction | `float32` | rad | [-pi : pi] | Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite. |
| lateral_acceleration | `float32` | FRD | | Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite. |
## Constants
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/FixedWingLateralSetpoint.msg)
:::details
Click here to see original file
```c
# Fixed Wing Lateral Setpoint message
@@ -18,5 +42,6 @@ uint64 timestamp # time since system start (microseconds)
float32 course # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly.
float32 airspeed_direction # [rad] [@range -pi, pi] Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite.
float32 lateral_acceleration # [m/s^2] [FRD] Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite.
```
:::
docs/ko/msg_docs/FixedWingLateralStatus.md
+23 -4
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@@ -1,9 +1,27 @@
---
pageClass: is-wide-page
---
# FixedWingLateralStatus (UORB message)
Fixed Wing Lateral Status message
Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint
Fixed Wing Lateral Status message. Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FixedWingLateralStatus.msg)
**TOPICS:** fixed_winglateral_status
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ----------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | --------------------------------------------------------------------------- | ---------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| lateral_acceleration_setpoint | `float32` | FRD | | resultant lateral acceleration setpoint |
| can_run_factor | `float32` | norm | [0 : 1] | estimate of certainty of the correct functionality of the npfg roll setpoint |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FixedWingLateralStatus.msg)
:::details
Click here to see original file
```c
# Fixed Wing Lateral Status message
@@ -13,5 +31,6 @@ uint64 timestamp # time since system start (microseconds
float32 lateral_acceleration_setpoint # [m/s^2] [FRD] resultant lateral acceleration setpoint
float32 can_run_factor # [norm] [@range 0, 1] estimate of certainty of the correct functionality of the npfg roll setpoint
```
:::
docs/ko/msg_docs/FixedWingLongitudinalSetpoint.md
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# FixedWingLongitudinalSetpoint (UORB message)
Fixed Wing Longitudinal Setpoint message
Used by the fw_lateral_longitudinal_control module
If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion.
If both altitude and height_rate are NAN, the controller maintains the current altitude.
Fixed Wing Longitudinal Setpoint message. Used by the fw_lateral_longitudinal_control module. If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion. If both altitude and height_rate are NAN, the controller maintains the current altitude.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/FixedWingLongitudinalSetpoint.msg)
**TOPICS:** fixed_winglongitudinal_setpoint
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ---------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| altitude | `float32` | m | | Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite |
| height_rate | `float32` | ENU | | Scalar height rate setpoint. NAN if not controlled directly |
| equivalent_airspeed | `float32` | m/s | [0 : inf] | Scalar equivalent airspeed setpoint. NAN if system default should be used |
| pitch_direct | `float32` | FRD | [-pi : pi] | NAN if not controlled, overrides total energy controller |
| throttle_direct | `float32` | norm | [0 : 1] | NAN if not controlled, overrides total energy controller |
## Constants
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/FixedWingLongitudinalSetpoint.msg)
:::details
Click here to see original file
```c
# Fixed Wing Longitudinal Setpoint message
@@ -22,5 +47,6 @@ float32 height_rate # [m/s] [ENU] Scalar height rate setpoint. NAN if not con
float32 equivalent_airspeed # [m/s] [@range 0, inf] Scalar equivalent airspeed setpoint. NAN if system default should be used
float32 pitch_direct # [rad] [@range -pi, pi] [FRD] NAN if not controlled, overrides total energy controller
float32 throttle_direct # [norm] [@range 0,1] NAN if not controlled, overrides total energy controller
```
:::
docs/ko/msg_docs/FixedWingRunwayControl.md
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# FixedWingRunwayControl (UORB message)
Auxiliary control fields for fixed-wing runway takeoff/landing
Auxiliary control fields for fixed-wing runway takeoff/landing.
Passes information from the FixedWingModeManager to the FixedWingAttitudeController
**TOPICS:** fixed_wingrunway_control
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FixedWingRunwayControl.msg)
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------------------------------------------------------------ | --------- | ---------------------------------------------------------------- | ---------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | time since system start |
| runway_takeoff_state | `uint8` | | | Current state of runway takeoff state machine |
| wheel_steering_enabled | `bool` | | | Flag that enables the wheel steering. |
| wheel_steering_nudging_rate | `float32` | FRD | [-1 : 1] | Manual wheel nudging, added to controller output. NAN is interpreted as 0. |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------------------------------------------ | ------- | ----- | -------------------------------------------------------------------------------- |
| <a href="#STATE_THROTTLE_RAMP"></a> STATE_THROTTLE_RAMP | `uint8` | 0 | ramping up throttle |
| <a href="#STATE_CLAMPED_TO_RUNWAY"></a> STATE_CLAMPED_TO_RUNWAY | `uint8` | 1 | clamped to runway, controlling yaw directly (wheel or rudder) |
| <a href="#STATE_CLIMBOUT"></a> STATE_CLIMBOUT | `uint8` | 2 | climbout to safe height before navigation |
| <a href="#STATE_FLYING"></a> STATE_FLYING | `uint8` | 3 | navigate freely |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FixedWingRunwayControl.msg)
:::details
Click here to see original file
```c
# Auxiliary control fields for fixed-wing runway takeoff/landing
# Passes information from the FixedWingModeManager to the FixedWingAttitudeController
# Passes information from the FixedWingModeManager to the FixedWingAttitudeController (wheel control) and FixedWingLandDetector (takeoff state)
uint64 timestamp # [us] time since system start
uint8 STATE_THROTTLE_RAMP = 0 # ramping up throttle
uint8 STATE_CLAMPED_TO_RUNWAY = 1 # clamped to runway, controlling yaw directly (wheel or rudder)
uint8 STATE_CLIMBOUT = 2 # climbout to safe height before navigation
uint8 STATE_FLYING = 3 # navigate freely
uint8 runway_takeoff_state # Current state of runway takeoff state machine
bool wheel_steering_enabled # Flag that enables the wheel steering.
float32 wheel_steering_nudging_rate # [norm] [@range -1, 1] [FRD] Manual wheel nudging, added to controller output. NAN is interpreted as 0.
```
:::
docs/ko/msg_docs/FlightPhaseEstimation.md
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# FlightPhaseEstimation (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FlightPhaseEstimation.msg)
**TOPICS:** flight_phaseestimation
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| --------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| flight_phase | `uint8` | | | Estimate of current flight phase |
## Constants
| 명칭 | 형식 | Value | 설명 |
| --------------------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------- |
| <a href="#FLIGHT_PHASE_UNKNOWN"></a> FLIGHT_PHASE_UNKNOWN | `uint8` | 0 | vehicle flight phase is unknown |
| <a href="#FLIGHT_PHASE_LEVEL"></a> FLIGHT_PHASE_LEVEL | `uint8` | 1 | Vehicle is in level flight |
| <a href="#FLIGHT_PHASE_DESCEND"></a> FLIGHT_PHASE_DESCEND | `uint8` | 2 | vehicle is in descend |
| <a href="#FLIGHT_PHASE_CLIMB"></a> FLIGHT_PHASE_CLIMB | `uint8` | 3 | vehicle is climbing |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FlightPhaseEstimation.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -11,5 +38,6 @@ uint8 FLIGHT_PHASE_UNKNOWN = 0 # vehicle flight phase is unknown
uint8 FLIGHT_PHASE_LEVEL = 1 # Vehicle is in level flight
uint8 FLIGHT_PHASE_DESCEND = 2 # vehicle is in descend
uint8 FLIGHT_PHASE_CLIMB = 3 # vehicle is climbing
```
:::
docs/ko/msg_docs/FollowTarget.md
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# FollowTarget (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FollowTarget.msg)
**TOPICS:** follow_target
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ---------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| lat | `float64` | | | target position (deg \* 1e7) |
| lon | `float64` | | | target position (deg \* 1e7) |
| alt | `float32` | | | target position |
| vy | `float32` | | | target vel in y |
| vx | `float32` | | | target vel in x |
| vz | `float32` | | | target vel in z |
| est_cap | `uint8` | | | target reporting capabilities |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FollowTarget.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -14,5 +38,6 @@ float32 vx # target vel in x
float32 vz # target vel in z
uint8 est_cap # target reporting capabilities
```
:::
docs/ko/msg_docs/FollowTargetEstimator.md
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# FollowTargetEstimator (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FollowTargetEstimator.msg)
**TOPICS:** follow_targetestimator
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------------------------------------------------------------ | ------------ | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| last_filter_reset_timestamp | `uint64` | | | time of last filter reset (microseconds) |
| valid | `bool` | | | True if estimator states are okay to be used |
| stale | `bool` | | | True if estimator stopped receiving follow_target messages for some time. The estimate can still be valid, though it might be inaccurate. |
| lat_est | `float64` | | | Estimated target latitude |
| lon_est | `float64` | | | Estimated target longitude |
| alt_est | `float32` | | | Estimated target altitude |
| pos_est | `float32[3]` | | | Estimated target NED position (m) |
| vel_est | `float32[3]` | | | Estimated target NED velocity (m/s) |
| acc_est | `float32[3]` | | | Estimated target NED acceleration (m^2/s) |
| prediction_count | `uint64` | | | |
| fusion_count | `uint64` | | | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FollowTargetEstimator.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -19,5 +47,6 @@ float32[3] acc_est # Estimated target NED acceleration (m^2/s)
uint64 prediction_count
uint64 fusion_count
```
:::
docs/ko/msg_docs/FollowTargetStatus.md
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# FollowTargetStatus (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FollowTargetStatus.msg)
**TOPICS:** follow_targetstatus
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| --------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------ |
| timestamp | `uint64` | microseconds | | time since system start |
| tracked_target_course | `float32` | rad | | Tracked target course in NED local frame (North is course zero) |
| follow_angle | `float32` | rad | | Current follow angle setting |
| orbit_angle_setpoint | `float32` | rad | | Current orbit angle setpoint from the smooth trajectory generator |
| angular_rate_setpoint | `float32` | rad/s | | Angular rate commanded from Jerk-limited Orbit Angle trajectory for Orbit Angle |
| desired_position_raw | `float32[3]` | m | | Raw 'idealistic' desired drone position if a drone could teleport from place to places |
| in_emergency_ascent | `bool` | bool | | True when doing emergency ascent (when distance to ground is below safety altitude) |
| gimbal_pitch | `float32` | rad | | Gimbal pitch commanded to track target in the center of the frame |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FollowTargetStatus.msg)
:::details
Click here to see original file
```c
uint64 timestamp # [microseconds] time since system start
@@ -15,5 +39,6 @@ float32[3] desired_position_raw # [m] Raw 'idealistic' desired drone position
bool in_emergency_ascent # [bool] True when doing emergency ascent (when distance to ground is below safety altitude)
float32 gimbal_pitch # [rad] Gimbal pitch commanded to track target in the center of the frame
```
:::
docs/ko/msg_docs/FuelTankStatus.md
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# FuelTankStatus (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FuelTankStatus.msg)
**TOPICS:** fuel_tankstatus
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| --------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| timestamp | `uint64` | | | time since system start (microseconds) |
| maximum_fuel_capacity | `float32` | | | maximum fuel capacity. Must always be provided, either from the driver or a parameter |
| consumed_fuel | `float32` | | | consumed fuel, NaN if not measured. Should not be inferred from the max fuel capacity |
| fuel_consumption_rate | `float32` | | | fuel consumption rate, NaN if not measured |
| percent_remaining | `uint8` | | | percentage of remaining fuel, UINT8_MAX if not provided |
| remaining_fuel | `float32` | | | remaining fuel, NaN if not measured. Should not be inferred from the max fuel capacity |
| fuel_tank_id | `uint8` | | | identifier for the fuel tank. Must match ID of other messages for same fuel system. 0 by default when only a single tank exists |
| fuel_type | `uint32` | | | type of fuel based on MAV_FUEL_TYPE enum. Set to MAV_FUEL_TYPE_UNKNOWN if unknown or it does not fit the provided types |
| temperature | `float32` | | | fuel temperature in Kelvin, NaN if not measured |
## Constants
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a href="#MAV_FUEL_TYPE_UNKNOWN"></a> MAV_FUEL_TYPE_UNKNOWN | `uint8` | 0 | fuel type not specified. Fuel levels are normalized (i.e., maximum is 1, and other levels are relative to 1). |
| <a href="#MAV_FUEL_TYPE_LIQUID"></a> MAV_FUEL_TYPE_LIQUID | `uint8` | 1 | represents generic liquid fuels, such as gasoline or diesel. Fuel levels are measured in millilitres (ml), and flow rates in millilitres per second (ml/s). |
| <a href="#MAV_FUEL_TYPE_GAS"></a> MAV_FUEL_TYPE_GAS | `uint8` | 2 | represents a gas fuel, such as hydrogen, methane, or propane. Fuel levels are in kilo-Pascal (kPa), and flow rates are in milliliters per second (ml/s). |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FuelTankStatus.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -20,5 +53,6 @@ uint8 MAV_FUEL_TYPE_LIQUID = 1 # represents generic liquid fuels, such as gasol
uint8 MAV_FUEL_TYPE_GAS = 2 # represents a gas fuel, such as hydrogen, methane, or propane. Fuel levels are in kilo-Pascal (kPa), and flow rates are in milliliters per second (ml/s).
float32 temperature # fuel temperature in Kelvin, NaN if not measured
```
:::
docs/ko/msg_docs/GainCompression.md
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# GainCompression (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GainCompression.msg)
**TOPICS:** gain_compression
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | --------------------------------------------------------------------------- | ------------------------------------------------------------------- |
| timestamp | `uint64` | | | Time since system start (microseconds) |
| compression_gains | `float32[3]` | [FRD] | [0 : 1] | Multiplicative gain to modify the output of the controller per axis |
| spectral_damper_hpf | `float32[3]` | [FRD] | | Squared output of spectral damper high-pass filter |
| spectral_damper_out | `float32[3]` | [FRD] | | Spectral damper output squared |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GainCompression.msg)
:::details
Click here to see original file
```c
uint64 timestamp # Time since system start (microseconds)
@@ -8,5 +28,6 @@ uint64 timestamp # Time since system start (microseconds)
float32[3] compression_gains # [-] [@frame FRD] [@range 0, 1] Multiplicative gain to modify the output of the controller per axis
float32[3] spectral_damper_hpf # [-] [@frame FRD] Squared output of spectral damper high-pass filter
float32[3] spectral_damper_out # [-] [@frame FRD] Spectral damper output squared
```
:::
docs/ko/msg_docs/GeneratorStatus.md
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# GeneratorStatus (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GeneratorStatus.msg)
**TOPICS:** generator_status
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ---------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| timestamp | `uint64` | | | time since system start (microseconds) |
| status | `uint64` | | | Status flags |
| battery_current | `float32` | A | | Current into/out of battery. Positive for out. Negative for in. NaN: field not provided. |
| load_current | `float32` | A | | Current going to the UAV. If battery current not available this is the DC current from the generator. Positive for out. Negative for in. NaN: field not provided |
| power_generated | `float32` | W | | The power being generated. NaN: field not provided |
| bus_voltage | `float32` | V | | Voltage of the bus seen at the generator, or battery bus if battery bus is controlled by generator and at a different voltage to main bus. |
| bat_current_setpoint | `float32` | A | | The target battery current. Positive for out. Negative for in. NaN: field not provided |
| runtime | `uint32` | s | | Seconds this generator has run since it was rebooted. UINT32_MAX: field not provided. |
| time_until_maintenance | `int32` | s | | Seconds until this generator requires maintenance. A negative value indicates maintenance is past-due. INT32_MAX: field not provided. |
| generator_speed | `uint16` | rpm | | Speed of electrical generator or alternator. UINT16_MAX: field not provided. |
| rectifier_temperature | `int16` | degC | | The temperature of the rectifier or power converter. INT16_MAX: field not provided. |
| generator_temperature | `int16` | degC | | The temperature of the mechanical motor, fuel cell core or generator. INT16_MAX: field not provided. |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | ------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a href="#STATUS_FLAG_OFF"></a> STATUS_FLAG_OFF | `uint64` | 1 | Generator is off. |
| <a href="#STATUS_FLAG_READY"></a> STATUS_FLAG_READY | `uint64` | 2 | Generator is ready to start generating power. |
| <a href="#STATUS_FLAG_GENERATING"></a> STATUS_FLAG_GENERATING | `uint64` | 4 | Generator is generating power. |
| <a href="#STATUS_FLAG_CHARGING"></a> STATUS_FLAG_CHARGING | `uint64` | 8 | Generator is charging the batteries (generating enough power to charge and provide the load). |
| <a href="#STATUS_FLAG_REDUCED_POWER"></a> STATUS_FLAG_REDUCED_POWER | `uint64` | 16 | Generator is operating at a reduced maximum power. |
| <a href="#STATUS_FLAG_MAXPOWER"></a> STATUS_FLAG_MAXPOWER | `uint64` | 32 | Generator is providing the maximum output. |
| <a href="#STATUS_FLAG_OVERTEMP_WARNING"></a> STATUS_FLAG_OVERTEMP_WARNING | `uint64` | 64 | Generator is near the maximum operating temperature, cooling is insufficient. |
| <a href="#STATUS_FLAG_OVERTEMP_FAULT"></a> STATUS_FLAG_OVERTEMP_FAULT | `uint64` | 128 | Generator hit the maximum operating temperature and shutdown. |
| <a href="#STATUS_FLAG_ELECTRONICS_OVERTEMP_WARNING"></a> STATUS_FLAG_ELECTRONICS_OVERTEMP_WARNING | `uint64` | 256 | Power electronics are near the maximum operating temperature, cooling is insufficient. |
| <a href="#STATUS_FLAG_ELECTRONICS_OVERTEMP_FAULT"></a> STATUS_FLAG_ELECTRONICS_OVERTEMP_FAULT | `uint64` | 512 | Power electronics hit the maximum operating temperature and shutdown. |
| <a href="#STATUS_FLAG_ELECTRONICS_FAULT"></a> STATUS_FLAG_ELECTRONICS_FAULT | `uint64` | 1024 | Power electronics experienced a fault and shutdown. |
| <a href="#STATUS_FLAG_POWERSOURCE_FAULT"></a> STATUS_FLAG_POWERSOURCE_FAULT | `uint64` | 2048 | The power source supplying the generator failed e.g. mechanical generator stopped, tether is no longer providing power, solar cell is in shade, hydrogen reaction no longer happening. |
| <a href="#STATUS_FLAG_COMMUNICATION_WARNING"></a> STATUS_FLAG_COMMUNICATION_WARNING | `uint64` | 4096 | Generator controller having communication problems. |
| <a href="#STATUS_FLAG_COOLING_WARNING"></a> STATUS_FLAG_COOLING_WARNING | `uint64` | 8192 | Power electronic or generator cooling system error. |
| <a href="#STATUS_FLAG_POWER_RAIL_FAULT"></a> STATUS_FLAG_POWER_RAIL_FAULT | `uint64` | 16384 | Generator controller power rail experienced a fault. |
| <a href="#STATUS_FLAG_OVERCURRENT_FAULT"></a> STATUS_FLAG_OVERCURRENT_FAULT | `uint64` | 32768 | Generator controller exceeded the overcurrent threshold and shutdown to prevent damage. |
| <a href="#STATUS_FLAG_BATTERY_OVERCHARGE_CURRENT_FAULT"></a> STATUS_FLAG_BATTERY_OVERCHARGE_CURRENT_FAULT | `uint64` | 65536 | Generator controller detected a high current going into the batteries and shutdown to prevent battery damage. |
| <a href="#STATUS_FLAG_OVERVOLTAGE_FAULT"></a> STATUS_FLAG_OVERVOLTAGE_FAULT | `uint64` | 131072 | Generator controller exceeded it's overvoltage threshold and shutdown to prevent it exceeding the voltage rating. |
| <a href="#STATUS_FLAG_BATTERY_UNDERVOLT_FAULT"></a> STATUS_FLAG_BATTERY_UNDERVOLT_FAULT | `uint64` | 262144 | Batteries are under voltage (generator will not start). |
| <a href="#STATUS_FLAG_START_INHIBITED"></a> STATUS_FLAG_START_INHIBITED | `uint64` | 524288 | Generator start is inhibited by e.g. a safety switch. |
| <a href="#STATUS_FLAG_MAINTENANCE_REQUIRED"></a> STATUS_FLAG_MAINTENANCE_REQUIRED | `uint64` | 1048576 | Generator requires maintenance. |
| <a href="#STATUS_FLAG_WARMING_UP"></a> STATUS_FLAG_WARMING_UP | `uint64` | 2097152 | Generator is not ready to generate yet. |
| <a href="#STATUS_FLAG_IDLE"></a> STATUS_FLAG_IDLE | `uint64` | 4194304 | Generator is idle. |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GeneratorStatus.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -47,5 +103,6 @@ uint16 generator_speed # [rpm] Speed of electrical generator or alte
int16 rectifier_temperature # [degC] The temperature of the rectifier or power converter. INT16_MAX: field not provided.
int16 generator_temperature # [degC] The temperature of the mechanical motor, fuel cell core or generator. INT16_MAX: field not provided.
```
:::
docs/ko/msg_docs/GeofenceResult.md
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# GeofenceResult (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GeofenceResult.msg)
**TOPICS:** geofence_result
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ---------------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| geofence_max_dist_triggered | `bool` | | | true the check for max distance from Home is triggered |
| geofence_max_alt_triggered | `bool` | | | true the check for max altitude above Home is triggered |
| geofence_custom_fence_triggered | `bool` | | | true the check for custom inclusion/exclusion geofence(s) is triggered |
| geofence_action | `uint8` | | | action to take when the geofence is breached |
## Constants
\| Name | Type | Value | Description |
\| ------------------------------------------------------- | ------- | ----- | ------------------------------- | ------ |
\| <a href="#GF_ACTION_NONE"></a> GF_ACTION_NONE | `uint8` | 0 | no action on geofence violation |
\| <a href="#GF_ACTION_WARN"></a> GF_ACTION_WARN | `uint8` | 1 | critical mavlink message |
\| <a href="#GF_ACTION_LOITER"></a> GF_ACTION_LOITER | `uint8` | 2 | switch to AUTO | LOITER |
\| <a href="#GF_ACTION_RTL"></a> GF_ACTION_RTL | `uint8` | 3 | switch to AUTO | RTL |
\| <a href="#GF_ACTION_TERMINATE"></a> GF_ACTION_TERMINATE | `uint8` | 4 | flight termination |
\| <a href="#GF_ACTION_LAND"></a> GF_ACTION_LAND | `uint8` | 5 | switch to AUTO | LAND |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GeofenceResult.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -16,5 +48,6 @@ bool geofence_max_alt_triggered # true the check for max altitude above Home is
bool geofence_custom_fence_triggered # true the check for custom inclusion/exclusion geofence(s) is triggered
uint8 geofence_action # action to take when the geofence is breached
```
:::
docs/ko/msg_docs/GeofenceStatus.md
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---
# GeofenceStatus (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GeofenceStatus.msg)
**TOPICS:** geofence_status
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| -------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| geofence_id | `uint32` | | | loaded geofence id |
| status | `uint8` | | | Current geofence status |
## Constants
| 명칭 | 형식 | Value | 설명 |
| --------------------------------------------------------------------------------------------- | ------- | ----- | -- |
| <a href="#GF_STATUS_LOADING"></a> GF_STATUS_LOADING | `uint8` | 0 | |
| <a href="#GF_STATUS_READY"></a> GF_STATUS_READY | `uint8` | 1 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GeofenceStatus.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -10,5 +36,6 @@ uint8 status # Current geofence status
uint8 GF_STATUS_LOADING = 0
uint8 GF_STATUS_READY = 1
```
:::
docs/ko/msg_docs/GimbalControls.md
+31 -3
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@@ -1,6 +1,33 @@
---
pageClass: is-wide-page
---
# GimbalControls (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalControls.msg)
**TOPICS:** gimbal_controls
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_sample | `uint64` | | | the timestamp the data this control response is based on was sampled |
| control | `float32[3]` | | | Normalized output. 1 means maximum positive position. -1 maximum negative position. 0 means no deflection. NaN maps to disarmed. |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------ | ------- | ----- | -- |
| <a href="#INDEX_ROLL"></a> INDEX_ROLL | `uint8` | 0 | |
| <a href="#INDEX_PITCH"></a> INDEX_PITCH | `uint8` | 1 | |
| <a href="#INDEX_YAW"></a> INDEX_YAW | `uint8` | 2 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalControls.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -9,6 +36,7 @@ uint8 INDEX_PITCH = 1
uint8 INDEX_YAW = 2
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[3] control
float32[3] control # Normalized output. 1 means maximum positive position. -1 maximum negative position. 0 means no deflection. NaN maps to disarmed.
```
:::
docs/ko/msg_docs/GimbalDeviceAttitudeStatus.md
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@@ -1,6 +1,47 @@
---
pageClass: is-wide-page
---
# GimbalDeviceAttitudeStatus (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalDeviceAttitudeStatus.msg)
**TOPICS:** gimbal_deviceattitude_status
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| --------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| target_system | `uint8` | | | |
| target_component | `uint8` | | | |
| device_flags | `uint16` | | | |
| q | `float32[4]` | | | |
| angular_velocity_x | `float32` | | | |
| angular_velocity_y | `float32` | | | |
| angular_velocity_z | `float32` | | | |
| failure_flags | `uint32` | | | |
| delta_yaw | `float32` | | | |
| delta_yaw_velocity | `float32` | | | |
| gimbal_device_id | `uint8` | | | |
| received_from_mavlink | `bool` | | | |
## Constants
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#DEVICE_FLAGS_RETRACT"></a> DEVICE_FLAGS_RETRACT | `uint16` | 1 | |
| <a href="#DEVICE_FLAGS_NEUTRAL"></a> DEVICE_FLAGS_NEUTRAL | `uint16` | 2 | |
| <a href="#DEVICE_FLAGS_ROLL_LOCK"></a> DEVICE_FLAGS_ROLL_LOCK | `uint16` | 4 | |
| <a href="#DEVICE_FLAGS_PITCH_LOCK"></a> DEVICE_FLAGS_PITCH_LOCK | `uint16` | 8 | |
| <a href="#DEVICE_FLAGS_YAW_LOCK"></a> DEVICE_FLAGS_YAW_LOCK | `uint16` | 16 | |
| <a href="#DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME"></a> DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME | `uint16` | 32 | |
| <a href="#DEVICE_FLAGS_YAW_IN_EARTH_FRAME"></a> DEVICE_FLAGS_YAW_IN_EARTH_FRAME | `uint16` | 64 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalDeviceAttitudeStatus.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -29,5 +70,6 @@ float32 delta_yaw_velocity
uint8 gimbal_device_id
bool received_from_mavlink
```
:::
docs/ko/msg_docs/GimbalDeviceInformation.md
+52 -2
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@@ -1,6 +1,55 @@
---
pageClass: is-wide-page
---
# GimbalDeviceInformation (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalDeviceInformation.msg)
**TOPICS:** gimbal_deviceinformation
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ---------------------------------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| vendor_name | `uint8[32]` | | | |
| model_name | `uint8[32]` | | | |
| custom_name | `uint8[32]` | | | |
| firmware_version | `uint32` | | | |
| hardware_version | `uint32` | | | |
| uid | `uint64` | | | |
| cap_flags | `uint16` | | | |
| custom_cap_flags | `uint16` | | | |
| roll_min | `float32` | rad | | |
| roll_max | `float32` | rad | | |
| pitch_min | `float32` | rad | | |
| pitch_max | `float32` | rad | | |
| yaw_min | `float32` | rad | | |
| yaw_max | `float32` | rad | | |
| gimbal_device_id | `uint8` | | | |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT | `uint32` | 1 | |
| <a href="#GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL | `uint32` | 2 | |
| <a href="#GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS | `uint32` | 4 | |
| <a href="#GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW | `uint32` | 8 | |
| <a href="#GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK | `uint32` | 16 | |
| <a href="#GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS | `uint32` | 32 | |
| <a href="#GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW | `uint32` | 64 | |
| <a href="#GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK | `uint32` | 128 | |
| <a href="#GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS | `uint32` | 256 | |
| <a href="#GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW | `uint32` | 512 | |
| <a href="#GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK | `uint32` | 1024 | |
| <a href="#GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW"></a> GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW | `uint32` | 2048 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalDeviceInformation.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -39,5 +88,6 @@ float32 yaw_min # [rad]
float32 yaw_max # [rad]
uint8 gimbal_device_id
```
:::
docs/ko/msg_docs/GimbalDeviceSetAttitude.md
+37 -2
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@@ -1,6 +1,40 @@
---
pageClass: is-wide-page
---
# GimbalDeviceSetAttitude (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalDeviceSetAttitude.msg)
**TOPICS:** gimbal_deviceset_attitude
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------------------------------ | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| target_system | `uint8` | | | |
| target_component | `uint8` | | | |
| flags | `uint16` | | | |
| q | `float32[4]` | | | |
| angular_velocity_x | `float32` | | | |
| angular_velocity_y | `float32` | | | |
| angular_velocity_z | `float32` | | | |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#GIMBAL_DEVICE_FLAGS_RETRACT"></a> GIMBAL_DEVICE_FLAGS_RETRACT | `uint32` | 1 | |
| <a href="#GIMBAL_DEVICE_FLAGS_NEUTRAL"></a> GIMBAL_DEVICE_FLAGS_NEUTRAL | `uint32` | 2 | |
| <a href="#GIMBAL_DEVICE_FLAGS_ROLL_LOCK"></a> GIMBAL_DEVICE_FLAGS_ROLL_LOCK | `uint32` | 4 | |
| <a href="#GIMBAL_DEVICE_FLAGS_PITCH_LOCK"></a> GIMBAL_DEVICE_FLAGS_PITCH_LOCK | `uint32` | 8 | |
| <a href="#GIMBAL_DEVICE_FLAGS_YAW_LOCK"></a> GIMBAL_DEVICE_FLAGS_YAW_LOCK | `uint32` | 16 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalDeviceSetAttitude.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -20,5 +54,6 @@ float32[4] q
float32 angular_velocity_x
float32 angular_velocity_y
float32 angular_velocity_z
```
:::
docs/ko/msg_docs/GimbalManagerInformation.md
+47 -2
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@@ -1,6 +1,50 @@
---
pageClass: is-wide-page
---
# GimbalManagerInformation (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerInformation.msg)
**TOPICS:** gimbal_managerinformation
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ---------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| cap_flags | `uint32` | | | |
| gimbal_device_id | `uint8` | | | |
| roll_min | `float32` | rad | | |
| roll_max | `float32` | rad | | |
| pitch_min | `float32` | rad | | |
| pitch_max | `float32` | rad | | |
| yaw_min | `float32` | rad | | |
| yaw_max | `float32` | rad | | |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | ------ | -- |
| <a href="#GIMBAL_MANAGER_CAP_FLAGS_HAS_RETRACT"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_RETRACT | `uint32` | 1 | |
| <a href="#GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRAL"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRAL | `uint32` | 2 | |
| <a href="#GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_AXIS"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_AXIS | `uint32` | 4 | |
| <a href="#GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_FOLLOW"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_FOLLOW | `uint32` | 8 | |
| <a href="#GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCK"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCK | `uint32` | 16 | |
| <a href="#GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXIS"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXIS | `uint32` | 32 | |
| <a href="#GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_FOLLOW"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_FOLLOW | `uint32` | 64 | |
| <a href="#GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCK"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCK | `uint32` | 128 | |
| <a href="#GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXIS"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXIS | `uint32` | 256 | |
| <a href="#GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_FOLLOW"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_FOLLOW | `uint32` | 512 | |
| <a href="#GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCK"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCK | `uint32` | 1024 | |
| <a href="#GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_INFINITE_YAW"></a> GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_INFINITE_YAW | `uint32` | 2048 | |
| <a href="#GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_LOCAL"></a> GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_LOCAL | `uint32` | 65536 | |
| <a href="#GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBAL"></a> GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBAL | `uint32` | 131072 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerInformation.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -32,5 +76,6 @@ float32 pitch_max # [rad]
float32 yaw_min # [rad]
float32 yaw_max # [rad]
```
:::
docs/ko/msg_docs/GimbalManagerSetAttitude.md
+41 -2
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@@ -1,6 +1,44 @@
---
pageClass: is-wide-page
---
# GimbalManagerSetAttitude (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerSetAttitude.msg)
**TOPICS:** gimbal_managerset_attitude
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------------------------------ | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| origin_sysid | `uint8` | | | |
| origin_compid | `uint8` | | | |
| target_system | `uint8` | | | |
| target_component | `uint8` | | | |
| flags | `uint32` | | | |
| gimbal_device_id | `uint8` | | | |
| q | `float32[4]` | | | |
| angular_velocity_x | `float32` | | | |
| angular_velocity_y | `float32` | | | |
| angular_velocity_z | `float32` | | | |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#GIMBAL_MANAGER_FLAGS_RETRACT"></a> GIMBAL_MANAGER_FLAGS_RETRACT | `uint32` | 1 | |
| <a href="#GIMBAL_MANAGER_FLAGS_NEUTRAL"></a> GIMBAL_MANAGER_FLAGS_NEUTRAL | `uint32` | 2 | |
| <a href="#GIMBAL_MANAGER_FLAGS_ROLL_LOCK"></a> GIMBAL_MANAGER_FLAGS_ROLL_LOCK | `uint32` | 4 | |
| <a href="#GIMBAL_MANAGER_FLAGS_PITCH_LOCK"></a> GIMBAL_MANAGER_FLAGS_PITCH_LOCK | `uint32` | 8 | |
| <a href="#GIMBAL_MANAGER_FLAGS_YAW_LOCK"></a> GIMBAL_MANAGER_FLAGS_YAW_LOCK | `uint32` | 16 | |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 2 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerSetAttitude.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -27,5 +65,6 @@ float32 angular_velocity_y
float32 angular_velocity_z
uint8 ORB_QUEUE_LENGTH = 2
```
:::
docs/ko/msg_docs/GimbalManagerSetManualControl.md
+40 -2
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@@ -1,6 +1,43 @@
---
pageClass: is-wide-page
---
# GimbalManagerSetManualControl (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerSetManualControl.msg)
**TOPICS:** gimbal_managerset_manualcontrol
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ---------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| origin_sysid | `uint8` | | | |
| origin_compid | `uint8` | | | |
| target_system | `uint8` | | | |
| target_component | `uint8` | | | |
| flags | `uint32` | | | |
| gimbal_device_id | `uint8` | | | |
| pitch | `float32` | | | unitless -1..1, can be NAN |
| yaw | `float32` | | | unitless -1..1, can be NAN |
| pitch_rate | `float32` | | | unitless -1..1, can be NAN |
| yaw_rate | `float32` | | | unitless -1..1, can be NAN |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#GIMBAL_MANAGER_FLAGS_RETRACT"></a> GIMBAL_MANAGER_FLAGS_RETRACT | `uint32` | 1 | |
| <a href="#GIMBAL_MANAGER_FLAGS_NEUTRAL"></a> GIMBAL_MANAGER_FLAGS_NEUTRAL | `uint32` | 2 | |
| <a href="#GIMBAL_MANAGER_FLAGS_ROLL_LOCK"></a> GIMBAL_MANAGER_FLAGS_ROLL_LOCK | `uint32` | 4 | |
| <a href="#GIMBAL_MANAGER_FLAGS_PITCH_LOCK"></a> GIMBAL_MANAGER_FLAGS_PITCH_LOCK | `uint32` | 8 | |
| <a href="#GIMBAL_MANAGER_FLAGS_YAW_LOCK"></a> GIMBAL_MANAGER_FLAGS_YAW_LOCK | `uint32` | 16 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerSetManualControl.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -24,5 +61,6 @@ float32 pitch # unitless -1..1, can be NAN
float32 yaw # unitless -1..1, can be NAN
float32 pitch_rate # unitless -1..1, can be NAN
float32 yaw_rate # unitless -1..1, can be NAN
```
:::
docs/ko/msg_docs/GimbalManagerStatus.md
+26 -2
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@@ -1,6 +1,29 @@
---
pageClass: is-wide-page
---
# GimbalManagerStatus (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerStatus.msg)
**TOPICS:** gimbal_managerstatus
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| flags | `uint32` | | | |
| gimbal_device_id | `uint8` | | | |
| primary_control_sysid | `uint8` | | | |
| primary_control_compid | `uint8` | | | |
| secondary_control_sysid | `uint8` | | | |
| secondary_control_compid | `uint8` | | | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerStatus.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -11,5 +34,6 @@ uint8 primary_control_sysid
uint8 primary_control_compid
uint8 secondary_control_sysid
uint8 secondary_control_compid
```
:::
docs/ko/msg_docs/GotoSetpoint.md
+36 -8
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@@ -1,13 +1,40 @@
---
pageClass: is-wide-page
---
# GotoSetpoint (UORB message)
Position and (optional) heading setpoints with corresponding speed constraints
Setpoints are intended as inputs to position and heading smoothers, respectively
Setpoints do not need to be kinematically consistent
Optional heading setpoints may be specified as controlled by the respective flag
Unset optional setpoints are not controlled
Unset optional constraints default to vehicle specifications
Position and (optional) heading setpoints with corresponding speed constraints. Setpoints are intended as inputs to position and heading smoothers, respectively. Setpoints do not need to be kinematically consistent. Optional heading setpoints may be specified as controlled by the respective flag. Unset optional setpoints are not controlled. Unset optional constraints default to vehicle specifications.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/GotoSetpoint.msg)
**TOPICS:** goto_setpoint
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ----------------------------------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| position | `float32[3]` | m | | NED local world frame |
| flag_control_heading | `bool` | | | true if heading is to be controlled |
| heading | `float32` | | | (optional) [rad] [-pi,pi] from North |
| flag_set_max_horizontal_speed | `bool` | | | true if setting a non-default horizontal speed limit |
| max_horizontal_speed | `float32` | | | (optional) [m/s] maximum speed (absolute) in the NE-plane |
| flag_set_max_vertical_speed | `bool` | | | true if setting a non-default vertical speed limit |
| max_vertical_speed | `float32` | | | (optional) [m/s] maximum speed (absolute) in the D-axis |
| flag_set_max_heading_rate | `bool` | | | true if setting a non-default heading rate limit |
| max_heading_rate | `float32` | | | (optional) [rad/s] maximum heading rate (absolute) |
## Constants
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/GotoSetpoint.msg)
:::details
Click here to see original file
```c
# Position and (optional) heading setpoints with corresponding speed constraints
@@ -36,5 +63,6 @@ float32 max_vertical_speed # (optional) [m/s] maximum speed (absolute) in the D-
bool flag_set_max_heading_rate # true if setting a non-default heading rate limit
float32 max_heading_rate # (optional) [rad/s] maximum heading rate (absolute)
```
:::
docs/ko/msg_docs/GpioConfig.md
+41 -3
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@@ -1,8 +1,45 @@
---
pageClass: is-wide-page
---
# GpioConfig (UORB message)
GPIO configuration
GPIO configuration.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioConfig.msg)
**TOPICS:** gpio_config
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| device_id | `uint32` | | | Device id |
| mask | `uint32` | | | Pin mask |
| state | `uint32` | | | Initial pin output state |
| config | `uint32` | | | |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ---------------------------------------------------------------------------------------------------------- | -------- | ----- | ------ |
| <a href="#INPUT "></a> INPUT | `uint32` | 0 | 0x0000 |
| <a href="#OUTPUT "></a> OUTPUT | `uint32` | 1 | 0x0001 |
| <a href="#PULLUP "></a> PULLUP | `uint32` | 16 | 0x0010 |
| <a href="#PULLDOWN "></a> PULLDOWN | `uint32` | 32 | 0x0020 |
| <a href="#OPENDRAIN "></a> OPENDRAIN | `uint32` | 256 | 0x0100 |
| <a href="#INPUT_FLOATING "></a> INPUT_FLOATING | `uint32` | 0 | 0x0000 |
| <a href="#INPUT_PULLUP "></a> INPUT_PULLUP | `uint32` | 16 | 0x0010 |
| <a href="#INPUT_PULLDOWN "></a> INPUT_PULLDOWN | `uint32` | 32 | 0x0020 |
| <a href="#OUTPUT_PUSHPULL "></a> OUTPUT_PUSHPULL | `uint32` | 0 | 0x0000 |
| <a href="#OUTPUT_OPENDRAIN "></a> OUTPUT_OPENDRAIN | `uint32` | 256 | 0x0100 |
| <a href="#OUTPUT_OPENDRAIN_PULLUP "></a> OUTPUT_OPENDRAIN_PULLUP | `uint32` | 272 | 0x0110 |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioConfig.msg)
:::details
Click here to see original file
```c
# GPIO configuration
@@ -33,5 +70,6 @@ uint32 OUTPUT_OPENDRAIN = 256 # 0x0100
uint32 OUTPUT_OPENDRAIN_PULLUP = 272 # 0x0110
uint32 config
```
:::
docs/ko/msg_docs/GpioIn.md
+29 -3
View File
@@ -1,8 +1,33 @@
---
pageClass: is-wide-page
---
# GpioIn (UORB message)
GPIO mask and state
GPIO mask and state.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioIn.msg)
**TOPICS:** gpio_in
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| device_id | `uint32` | | | Device id |
| state | `uint32` | | | pin state mask |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ---------------------------------------------------------------- | ------- | ----- | -- |
| <a href="#MAX_INSTANCES"></a> MAX_INSTANCES | `uint8` | 8 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioIn.msg)
:::details
Click here to see original file
```c
# GPIO mask and state
@@ -12,5 +37,6 @@ uint64 timestamp # time since system start (microseconds)
uint32 device_id # Device id
uint32 state # pin state mask
```
:::
docs/ko/msg_docs/GpioOut.md
+24 -3
View File
@@ -1,8 +1,28 @@
---
pageClass: is-wide-page
---
# GpioOut (UORB message)
GPIO mask and state
GPIO mask and state.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioOut.msg)
**TOPICS:** gpio_out
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| device_id | `uint32` | | | Device id |
| mask | `uint32` | | | pin mask |
| state | `uint32` | | | pin state mask |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioOut.msg)
:::details
Click here to see original file
```c
# GPIO mask and state
@@ -12,5 +32,6 @@ uint32 device_id # Device id
uint32 mask # pin mask
uint32 state # pin state mask
```
:::
docs/ko/msg_docs/GpioRequest.md
+22 -3
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@@ -1,13 +1,32 @@
---
pageClass: is-wide-page
---
# GpioRequest (UORB message)
Request GPIO mask to be read
Request GPIO mask to be read.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioRequest.msg)
**TOPICS:** gpio_request
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| device_id | `uint32` | | | Device id |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioRequest.msg)
:::details
Click here to see original file
```c
# Request GPIO mask to be read
uint64 timestamp # time since system start (microseconds)
uint32 device_id # Device id
```
:::
docs/ko/msg_docs/GpsDump.md
+32 -2
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@@ -1,8 +1,37 @@
---
pageClass: is-wide-page
---
# GpsDump (UORB message)
This message is used to dump the raw gps communication to the log.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpsDump.msg)
**TOPICS:** gps_dump
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------ | ----------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| instance | `uint8` | | | Instance of GNSS receiver |
| device_id | `uint32` | | | |
| len | `uint8` | | | length of data, MSB bit set = message to the gps device, |
| data | `uint8[79]` | | | data to write to the log |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------- | ------- | ----- | -- |
| <a href="#INSTANCE_MAIN"></a> INSTANCE_MAIN | `uint8` | 0 | |
| <a href="#INSTANCE_SECONDARY"></a> INSTANCE_SECONDARY | `uint8` | 1 | |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 16 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpsDump.msg)
:::details
Click here to see original file
```c
# This message is used to dump the raw gps communication to the log.
@@ -19,5 +48,6 @@ uint8 len # length of data, MSB bit set = message to the gps device,
uint8[79] data # data to write to the log
uint8 ORB_QUEUE_LENGTH = 16
```
:::
docs/ko/msg_docs/GpsInjectData.md
+31 -2
View File
@@ -1,6 +1,34 @@
---
pageClass: is-wide-page
---
# GpsInjectData (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpsInjectData.msg)
**TOPICS:** gps_injectdata
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------ | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| len | `uint16` | | | length of data |
| flags | `uint8` | | | LSB: 1=fragmented |
| data | `uint8[300]` | | | data to write to GPS device (RTCM message) |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------- | ------- | ----- | -- |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 8 | |
| <a href="#MAX_INSTANCES"></a> MAX_INSTANCES | `uint8` | 2 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpsInjectData.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -14,5 +42,6 @@ uint8[300] data # data to write to GPS device (RTCM message)
uint8 ORB_QUEUE_LENGTH = 8
uint8 MAX_INSTANCES = 2
```
:::
docs/ko/msg_docs/Gripper.md
+29 -3
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@@ -1,8 +1,33 @@
---
pageClass: is-wide-page
---
# Gripper (UORB message)
# Used to command an actuation in the gripper, which is mapped to a specific output in the control allocation module
# Used to command an actuation in the gripper, which is mapped to a specific output in the control allocation module.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Gripper.msg)
**TOPICS:** gripper
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| --------- | -------- | ---------------------------------------------------------------- | ---------- | ------------------------------- |
| timestamp | `uint64` | | | |
| command | `int8` | | | Commanded state for the gripper |
## Constants
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------- | ------ | ----- | -- |
| <a href="#COMMAND_GRAB"></a> COMMAND_GRAB | `int8` | 0 | |
| <a href="#COMMAND_RELEASE"></a> COMMAND_RELEASE | `int8` | 1 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Gripper.msg)
:::details
Click here to see original file
```c
## Used to command an actuation in the gripper, which is mapped to a specific output in the control allocation module
@@ -12,5 +37,6 @@ uint64 timestamp
int8 command # Commanded state for the gripper
int8 COMMAND_GRAB = 0
int8 COMMAND_RELEASE = 1
```
:::
docs/ko/msg_docs/HealthReport.md
+27 -2
View File
@@ -1,6 +1,30 @@
---
pageClass: is-wide-page
---
# HealthReport (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/HealthReport.msg)
**TOPICS:** health_report
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ----------------------------------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| can_arm_mode_flags | `uint64` | | | bitfield for each flight mode (NAVIGATION_STATE_\*) if arming is possible |
| can_run_mode_flags | `uint64` | | | bitfield for each flight mode if it can run |
| health_is_present_flags | `uint64` | | | flags for each health_component_t |
| health_warning_flags | `uint64` | | | |
| health_error_flags | `uint64` | | | |
| arming_check_warning_flags | `uint64` | | | |
| arming_check_error_flags | `uint64` | | | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/HealthReport.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -15,5 +39,6 @@ uint64 health_error_flags
uint64 arming_check_warning_flags
uint64 arming_check_error_flags
```
:::
docs/ko/msg_docs/HeaterStatus.md
+38 -2
View File
@@ -1,6 +1,41 @@
---
pageClass: is-wide-page
---
# HeaterStatus (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/HeaterStatus.msg)
**TOPICS:** heater_status
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| -------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| device_id | `uint32` | | | |
| heater_on | `bool` | | | |
| temperature_target_met | `bool` | | | |
| temperature_sensor | `float32` | | | |
| temperature_target | `float32` | | | |
| controller_period_usec | `uint32` | | | |
| controller_time_on_usec | `uint32` | | | |
| proportional_value | `float32` | | | |
| integrator_value | `float32` | | | |
| feed_forward_value | `float32` | | | |
| mode | `uint8` | | | |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ---------------------------------------------------------- | ------- | ----- | -- |
| <a href="#MODE_GPIO"></a> MODE_GPIO | `uint8` | 1 | |
| <a href="#MODE_PX4IO"></a> MODE_PX4IO | `uint8` | 2 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/HeaterStatus.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -23,5 +58,6 @@ float32 feed_forward_value
uint8 MODE_GPIO = 1
uint8 MODE_PX4IO = 2
uint8 mode
```
:::
docs/ko/msg_docs/HomePosition.md
+40 -2
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@@ -1,8 +1,45 @@
---
pageClass: is-wide-page
---
# HomePosition (UORB message)
GPS home position in WGS84 coordinates.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/HomePosition.msg)
**TOPICS:** home_position
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| --------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------ |
| timestamp | `uint64` | | | time since system start (microseconds) |
| lat | `float64` | | | Latitude in degrees |
| lon | `float64` | | | Longitude in degrees |
| alt | `float32` | | | Altitude in meters (AMSL) |
| x | `float32` | | | X coordinate in meters |
| y | `float32` | | | Y coordinate in meters |
| z | `float32` | | | Z coordinate in meters |
| roll | `float32` | | | Pitch angle in radians |
| pitch | `float32` | | | Roll angle in radians |
| yaw | `float32` | | | Yaw angle in radians |
| valid_alt | `bool` | | | true when the altitude has been set |
| valid_hpos | `bool` | | | true when the latitude and longitude have been set |
| valid_lpos | `bool` | | | true when the local position (xyz) has been set |
| manual_home | `bool` | | | true when home position was set manually |
| update_count | `uint32` | | | update counter of the home position |
## Constants
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/HomePosition.msg)
:::details
Click here to see original file
```c
# GPS home position in WGS84 coordinates.
@@ -30,5 +67,6 @@ bool valid_lpos # true when the local position (xyz) has been set
bool manual_home # true when home position was set manually
uint32 update_count # update counter of the home position
```
:::
docs/ko/msg_docs/HomePositionV0.md
+38 -2
View File
@@ -1,8 +1,43 @@
---
pageClass: is-wide-page
---
# HomePositionV0 (UORB message)
GPS home position in WGS84 coordinates.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/HomePositionV0.msg)
**TOPICS:** home_positionv0
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| --------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------ |
| timestamp | `uint64` | | | time since system start (microseconds) |
| lat | `float64` | | | Latitude in degrees |
| lon | `float64` | | | Longitude in degrees |
| alt | `float32` | | | Altitude in meters (AMSL) |
| x | `float32` | | | X coordinate in meters |
| y | `float32` | | | Y coordinate in meters |
| z | `float32` | | | Z coordinate in meters |
| yaw | `float32` | | | Yaw angle in radians |
| valid_alt | `bool` | | | true when the altitude has been set |
| valid_hpos | `bool` | | | true when the latitude and longitude have been set |
| valid_lpos | `bool` | | | true when the local position (xyz) has been set |
| manual_home | `bool` | | | true when home position was set manually |
| update_count | `uint32` | | | update counter of the home position |
## Constants
| 명칭 | 형식 | Value | 설명 |
| -------------------------------------------------------------------- | -------- | ----- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/HomePositionV0.msg)
:::details
Click here to see original file
```c
# GPS home position in WGS84 coordinates.
@@ -28,5 +63,6 @@ bool valid_lpos # true when the local position (xyz) has been set
bool manual_home # true when home position was set manually
uint32 update_count # update counter of the home position
```
:::
docs/ko/msg_docs/HoverThrustEstimate.md
+28 -2
View File
@@ -1,6 +1,31 @@
---
pageClass: is-wide-page
---
# HoverThrustEstimate (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/HoverThrustEstimate.msg)
**TOPICS:** hover_thrustestimate
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_sample | `uint64` | | | time of corresponding sensor data last used for this estimate |
| hover_thrust | `float32` | | | estimated hover thrust [0.1, 0.9] |
| hover_thrust_var | `float32` | | | estimated hover thrust variance |
| accel_innov | `float32` | | | innovation of the last acceleration fusion |
| accel_innov_var | `float32` | | | innovation variance of the last acceleration fusion |
| accel_innov_test_ratio | `float32` | | | normalized innovation squared test ratio |
| accel_noise_var | `float32` | | | vertical acceleration noise variance estimated form innovation residual |
| valid | `bool` | | | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/HoverThrustEstimate.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -16,5 +41,6 @@ float32 accel_innov_test_ratio # normalized innovation squared test ratio
float32 accel_noise_var # vertical acceleration noise variance estimated form innovation residual
bool valid
```
:::
docs/ko/msg_docs/InputRc.md
+57 -2
View File
@@ -1,6 +1,60 @@
---
pageClass: is-wide-page
---
# InputRc (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/InputRc.msg)
**TOPICS:** input_rc
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ----------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_last_signal | `uint64` | | | last valid reception time |
| channel_count | `uint8` | | | number of channels actually being seen |
| rssi | `int32` | | | receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 100: full reception |
| rc_failsafe | `bool` | | | explicit failsafe flag: true on TX failure or TX out of range , false otherwise. Only the true state is reliable, as there are some (PPM) receivers on the market going into failsafe without telling us explicitly. |
| rc_lost | `bool` | | | RC receiver connection status: True,if no frame has arrived in the expected time, false otherwise. True usually means that the receiver has been disconnected, but can also indicate a radio link loss on "stupid" systems. Will remain false, if a RX with failsafe option continues to transmit frames after a link loss. |
| rc_lost_frame_count | `uint16` | | | Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality. |
| rc_total_frame_count | `uint16` | | | Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality. |
| rc_ppm_frame_length | `uint16` | | | Length of a single PPM frame. Zero for non-PPM systems |
| rc_frame_rate | `uint16` | | | RC frame rate in msg/second. 0 = invalid |
| input_source | `uint8` | | | Input source |
| values | `uint16[18]` | | | measured pulse widths for each of the supported channels |
| link_quality | `int8` | | | link quality. Percentage 0-100%. -1 = invalid |
| rssi_dbm | `float32` | | | Actual rssi in units of dBm. NaN = invalid |
| link_snr | `int8` | | | link signal to noise ratio in units of dB. -1 = invalid |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ----- | -------------------------------------------------------------------------------------------------------------------------------- |
| <a href="#RC_INPUT_SOURCE_UNKNOWN"></a> RC_INPUT_SOURCE_UNKNOWN | `uint8` | 0 | |
| <a href="#RC_INPUT_SOURCE_PX4FMU_PPM"></a> RC_INPUT_SOURCE_PX4FMU_PPM | `uint8` | 1 | |
| <a href="#RC_INPUT_SOURCE_PX4IO_PPM"></a> RC_INPUT_SOURCE_PX4IO_PPM | `uint8` | 2 | |
| <a href="#RC_INPUT_SOURCE_PX4IO_SPEKTRUM"></a> RC_INPUT_SOURCE_PX4IO_SPEKTRUM | `uint8` | 3 | |
| <a href="#RC_INPUT_SOURCE_PX4IO_SBUS"></a> RC_INPUT_SOURCE_PX4IO_SBUS | `uint8` | 4 | |
| <a href="#RC_INPUT_SOURCE_PX4IO_ST24"></a> RC_INPUT_SOURCE_PX4IO_ST24 | `uint8` | 5 | |
| <a href="#RC_INPUT_SOURCE_MAVLINK"></a> RC_INPUT_SOURCE_MAVLINK | `uint8` | 6 | |
| <a href="#RC_INPUT_SOURCE_QURT"></a> RC_INPUT_SOURCE_QURT | `uint8` | 7 | |
| <a href="#RC_INPUT_SOURCE_PX4FMU_SPEKTRUM"></a> RC_INPUT_SOURCE_PX4FMU_SPEKTRUM | `uint8` | 8 | |
| <a href="#RC_INPUT_SOURCE_PX4FMU_SBUS"></a> RC_INPUT_SOURCE_PX4FMU_SBUS | `uint8` | 9 | |
| <a href="#RC_INPUT_SOURCE_PX4FMU_ST24"></a> RC_INPUT_SOURCE_PX4FMU_ST24 | `uint8` | 10 | |
| <a href="#RC_INPUT_SOURCE_PX4FMU_SUMD"></a> RC_INPUT_SOURCE_PX4FMU_SUMD | `uint8` | 11 | |
| <a href="#RC_INPUT_SOURCE_PX4FMU_DSM"></a> RC_INPUT_SOURCE_PX4FMU_DSM | `uint8` | 12 | |
| <a href="#RC_INPUT_SOURCE_PX4IO_SUMD"></a> RC_INPUT_SOURCE_PX4IO_SUMD | `uint8` | 13 | |
| <a href="#RC_INPUT_SOURCE_PX4FMU_CRSF"></a> RC_INPUT_SOURCE_PX4FMU_CRSF | `uint8` | 14 | |
| <a href="#RC_INPUT_SOURCE_PX4FMU_GHST"></a> RC_INPUT_SOURCE_PX4FMU_GHST | `uint8` | 15 | |
| <a href="#RC_INPUT_MAX_CHANNELS"></a> RC_INPUT_MAX_CHANNELS | `uint8` | 18 | Maximum number of R/C input channels in the system. S.Bus has up to 18 channels. |
| <a href="#RSSI_MAX"></a> RSSI_MAX | `int8` | 100 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/InputRc.msg)
:::details
Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -45,5 +99,6 @@ uint16[18] values # measured pulse widths for each of the supported channels
int8 link_quality # link quality. Percentage 0-100%. -1 = invalid
float32 rssi_dbm # Actual rssi in units of dBm. NaN = invalid
int8 link_snr # link signal to noise ratio in units of dB. -1 = invalid
```
:::

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