mirror of
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Remove pregenerated files - that should all be tidied up next time this runs
This commit is contained in:
Hamish Willee
Ramon Roche
parent
3c80be8e48
commit
2ec9937369
File diff suppressed because it is too large
Load Diff
@ -1,13 +1,11 @@
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# Modules Reference: Controller
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## airship_att_control
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Source: [modules/airship_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/airship_att_control)
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### Description
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This implements the airship attitude and rate controller. Ideally it would
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take attitude setpoints (`vehicle_attitude_setpoint`) or rate setpoints (in acro mode
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via `manual_control_setpoint` topic) as inputs and outputs actuator control messages.
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@ -15,8 +13,8 @@ via `manual_control_setpoint` topic) as inputs and outputs actuator control mess
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Currently it is feeding the `manual_control_setpoint` topic directly to the actuators.
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### Implementation
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To reduce control latency, the module directly polls on the gyro topic published by the IMU driver.
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To reduce control latency, the module directly polls on the gyro topic published by the IMU driver.
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### Usage {#airship_att_control_usage}
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@ -34,8 +32,8 @@ airship_att_control <command> [arguments...]
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Source: [modules/control_allocator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/control_allocator)
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### Description
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This implements control allocation. It takes torque and thrust setpoints
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as inputs and outputs actuator setpoint messages.
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@ -55,12 +53,11 @@ control_allocator <command> [arguments...]
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Source: [modules/flight_mode_manager](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/flight_mode_manager)
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### Description
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This implements the setpoint generation for all modes. It takes the current mode state of the vehicle as input
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and outputs setpoints for controllers.
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### Usage {#flight_mode_manager_usage}
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```
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@ -77,10 +74,9 @@ flight_mode_manager <command> [arguments...]
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Source: [modules/fw_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_att_control)
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### Description
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fw_att_control is the fixed wing attitude controller.
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fw_att_control is the fixed wing attitude controller.
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### Usage {#fw_att_control_usage}
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@ -99,10 +95,9 @@ fw_att_control <command> [arguments...]
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Source: [modules/fw_lateral_longitudinal_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_lateral_longitudinal_control)
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### Description
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fw_lat_lon_control computes attitude and throttle setpoints from lateral and longitudinal control setpoints.
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fw_lat_lon_control computes attitude and throttle setpoints from lateral and longitudinal control setpoints.
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### Usage {#fw_lat_lon_control_usage}
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@ -121,13 +116,12 @@ fw_lat_lon_control <command> [arguments...]
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Source: [modules/fw_mode_manager](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_mode_manager)
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### Description
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This implements the setpoint generation for all PX4-internal fixed-wing modes, height-rate control and higher.
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It takes the current mode state of the vehicle as input and outputs setpoints consumed by the fixed-wing
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lateral-longitudinal controller and and controllers below that (attitude, rate).
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### Usage {#fw_mode_manager_usage}
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```
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@ -144,10 +138,9 @@ fw_mode_manager <command> [arguments...]
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Source: [modules/fw_rate_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_rate_control)
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### Description
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fw_rate_control is the fixed-wing rate controller.
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fw_rate_control is the fixed-wing rate controller.
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### Usage {#fw_rate_control_usage}
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@ -166,8 +159,8 @@ fw_rate_control <command> [arguments...]
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Source: [modules/mc_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_att_control)
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### Description
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This implements the multicopter attitude controller. It takes attitude
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setpoints (`vehicle_attitude_setpoint`) as inputs and outputs a rate setpoint.
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@ -180,7 +173,6 @@ Institute for Dynamic Systems and Control (IDSC), ETH Zurich
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https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth-7387-01.pdf
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### Usage {#mc_att_control_usage}
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```
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@ -194,12 +186,36 @@ mc_att_control <command> [arguments...]
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status print status info
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```
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## mc_nn_control
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Source: [modules/mc_nn_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_nn_control)
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### Description
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Multicopter Neural Network Control module.
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This module is an end-to-end neural network control system for multicopters.
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It takes in 15 input values and outputs 4 control actions.
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Inputs: [pos_err(3), att(6), vel(3), ang_vel(3)]
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Outputs: [Actuator motors(4)]
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### Usage {#mc_nn_control_usage}
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```
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mc_nn_control <command> [arguments...]
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Commands:
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start
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stop
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status print status info
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```
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## mc_pos_control
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Source: [modules/mc_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_pos_control)
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### Description
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The controller has two loops: a P loop for position error and a PID loop for velocity error.
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Output of the velocity controller is thrust vector that is split to thrust direction
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(i.e. rotation matrix for multicopter orientation) and thrust scalar (i.e. multicopter thrust itself).
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@ -224,14 +240,13 @@ mc_pos_control <command> [arguments...]
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Source: [modules/mc_rate_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_rate_control)
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### Description
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This implements the multicopter rate controller. It takes rate setpoints (in acro mode
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via `manual_control_setpoint` topic) as inputs and outputs actuator control messages.
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The controller has a PID loop for angular rate error.
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### Usage {#mc_rate_control_usage}
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```
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@ -249,20 +264,20 @@ mc_rate_control <command> [arguments...]
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Source: [modules/navigator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/navigator)
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### Description
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Module that is responsible for autonomous flight modes. This includes missions (read from dataman),
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takeoff and RTL.
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It is also responsible for geofence violation checking.
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### Implementation
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The different internal modes are implemented as separate classes that inherit from a common base class `NavigatorMode`.
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The member `_navigation_mode` contains the current active mode.
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Navigator publishes position setpoint triplets (`position_setpoint_triplet_s`), which are then used by the position
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controller.
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### Usage {#navigator_usage}
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```
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@ -283,8 +298,8 @@ navigator <command> [arguments...]
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Source: [modules/rover_ackermann](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_ackermann)
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### Description
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Rover ackermann module.
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### Usage {#rover_ackermann_usage}
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@ -303,8 +318,8 @@ rover_ackermann <command> [arguments...]
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Source: [modules/rover_differential](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_differential)
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### Description
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Rover differential module.
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### Usage {#rover_differential_usage}
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@ -323,8 +338,8 @@ rover_differential <command> [arguments...]
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Source: [modules/rover_mecanum](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_mecanum)
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### Description
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Rover mecanum module.
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### Usage {#rover_mecanum_usage}
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@ -339,53 +354,14 @@ rover_mecanum <command> [arguments...]
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status print status info
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```
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## rover_pos_control
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Source: [modules/rover_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_pos_control)
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### Description
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Controls the position of a ground rover using an L1 controller.
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Publishes `vehicle_thrust_setpoint (only in x) and vehicle_torque_setpoint (only yaw)` messages at IMU_GYRO_RATEMAX.
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### Implementation
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Currently, this implementation supports only a few modes:
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* Full manual: Throttle and yaw controls are passed directly through to the actuators
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* Auto mission: The rover runs missions
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* Loiter: The rover will navigate to within the loiter radius, then stop the motors
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### Examples
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CLI usage example:
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```
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rover_pos_control start
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rover_pos_control status
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rover_pos_control stop
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```
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### Usage {#rover_pos_control_usage}
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```
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rover_pos_control <command> [arguments...]
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Commands:
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start
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stop
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status print status info
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```
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## spacecraft
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Source: [modules/spacecraft](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/spacecraft)
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### Description
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This implements control allocation for spacecraft vehicles.
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It takes torque and thrust setpoints as inputs and outputs
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actuator setpoint messages.
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### Description
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This implements control allocation for spacecraft vehicles.
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It takes torque and thrust setpoints as inputs and outputs
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actuator setpoint messages.
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### Usage {#spacecraft_usage}
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@ -394,6 +370,8 @@ spacecraft <command> [arguments...]
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Commands:
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start
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status
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stop
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status print status info
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@ -403,27 +381,29 @@ spacecraft <command> [arguments...]
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Source: [modules/uuv_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/uuv_att_control)
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### Description
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Controls the attitude of an unmanned underwater vehicle (UUV).
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Publishes `vehicle_thrust_setpont` and `vehicle_torque_setpoint` messages at a constant 250Hz.
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### Implementation
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Currently, this implementation supports only a few modes:
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* Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
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* Auto mission: The uuv runs missions
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- Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
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- Auto mission: The uuv runs missions
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### Examples
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CLI usage example:
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```
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uuv_att_control start
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uuv_att_control status
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uuv_att_control stop
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```
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### Usage {#uuv_att_control_usage}
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```
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@ -440,16 +420,22 @@ uuv_att_control <command> [arguments...]
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Source: [modules/uuv_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/uuv_pos_control)
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### Description
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Controls the attitude of an unmanned underwater vehicle (UUV).
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Publishes `attitude_setpoint` messages.
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### Implementation
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Currently, this implementation supports only a few modes:
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* Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
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* Auto mission: The uuv runs missions
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- Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
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- Auto mission: The uuv runs missions
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### Examples
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CLI usage example:
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```
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uuv_pos_control start
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uuv_pos_control status
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@ -472,8 +458,8 @@ uuv_pos_control <command> [arguments...]
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Source: [modules/vtol_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/vtol_att_control)
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### Description
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fw_att_control is the fixed wing attitude controller.
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### Usage {#vtol_att_control_usage}
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@ -1109,7 +1109,7 @@ px4io <command> [arguments...]
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## rgbled
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Source: [drivers/lights/rgbled](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled)
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Source: [drivers/lights/rgbled_ncp5623c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled_ncp5623c)
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### Usage {#rgbled_usage}
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@ -1124,7 +1124,9 @@ rgbled <command> [arguments...]
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[-f <val>] bus frequency in kHz
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[-q] quiet startup (no message if no device found)
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[-a <val>] I2C address
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default: 85
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default: 57
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[-o <val>] RGB PWM Assignment
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default: 123
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stop
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@ -4,7 +4,6 @@
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Source: [drivers/distance_sensor/broadcom/afbrs50](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/broadcom/afbrs50)
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### Description
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Driver for the Broadcom AFBRS50.
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@ -12,10 +11,13 @@ Driver for the Broadcom AFBRS50.
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### Examples
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Attempt to start driver on a specified serial device.
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```
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afbrs50 start
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```
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Stop driver
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```
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afbrs50 stop
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```
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@ -30,8 +32,6 @@ afbrs50 <command> [arguments...]
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[-r <val>] Sensor rotation - downward facing by default
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default: 25
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test Test driver
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stop Stop driver
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```
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@ -63,7 +63,6 @@ gy_us42 <command> [arguments...]
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Source: [drivers/distance_sensor/leddar_one](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/leddar_one)
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### Description
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Serial bus driver for the LeddarOne LiDAR.
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@ -75,10 +74,13 @@ Setup/usage information: https://docs.px4.io/main/en/sensor/leddar_one.html
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### Examples
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Attempt to start driver on a specified serial device.
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```
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leddar_one start -d /dev/ttyS1
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```
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Stop driver
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```
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leddar_one stop
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```
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@ -100,10 +102,9 @@ leddar_one <command> [arguments...]
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Source: [drivers/distance_sensor/lightware_laser_i2c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_laser_i2c)
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### Description
|
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I2C bus driver for Lightware SFxx series LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20.
|
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I2C bus driver for Lightware SFxx series LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20, SF30/d.
|
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Setup/usage information: https://docs.px4.io/main/en/sensor/sfxx_lidar.html
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@ -133,7 +134,6 @@ lightware_laser_i2c <command> [arguments...]
|
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Source: [drivers/distance_sensor/lightware_laser_serial](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_laser_serial)
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||||
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||||
### Description
|
||||
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Serial bus driver for the LightWare SF02/F, SF10/a, SF10/b, SF10/c, SF11/c Laser rangefinders.
|
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@ -145,10 +145,13 @@ Setup/usage information: https://docs.px4.io/main/en/sensor/sfxx_lidar.html
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### Examples
|
||||
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||||
Attempt to start driver on a specified serial device.
|
||||
|
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```
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lightware_laser_serial start -d /dev/ttyS1
|
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```
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Stop driver
|
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```
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lightware_laser_serial stop
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```
|
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@ -170,19 +173,20 @@ lightware_laser_serial <command> [arguments...]
|
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|
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Source: [drivers/distance_sensor/lightware_sf45_serial](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_sf45_serial)
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||||
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||||
### Description
|
||||
|
||||
Serial bus driver for the Lightware SF45/b Laser rangefinder.
|
||||
|
||||
|
||||
### Examples
|
||||
|
||||
Attempt to start driver on a specified serial device.
|
||||
|
||||
```
|
||||
lightware_sf45_serial start -d /dev/ttyS1
|
||||
```
|
||||
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||||
Stop driver
|
||||
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||||
```
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||||
lightware_sf45_serial stop
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||||
```
|
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@ -202,7 +206,6 @@ lightware_sf45_serial <command> [arguments...]
|
||||
|
||||
Source: [drivers/distance_sensor/ll40ls](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ll40ls)
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||||
|
||||
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||||
### Description
|
||||
|
||||
I2C bus driver for LidarLite rangefinders.
|
||||
@ -235,6 +238,32 @@ ll40ls <command> [arguments...]
|
||||
status print status info
|
||||
```
|
||||
|
||||
## ll40ls_pwm
|
||||
|
||||
Source: [drivers/distance_sensor/ll40ls_pwm](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ll40ls_pwm)
|
||||
|
||||
### Description
|
||||
|
||||
PWM driver for LidarLite rangefinders.
|
||||
|
||||
The sensor/driver must be enabled using the parameter SENS_EN_LL40LS.
|
||||
|
||||
Setup/usage information: https://docs.px4.io/main/en/sensor/lidar_lite.html
|
||||
|
||||
### Usage {#ll40ls_pwm_usage}
|
||||
|
||||
```
|
||||
ll40ls_pwm <command> [arguments...]
|
||||
Commands:
|
||||
start Start driver
|
||||
[-R <val>] Sensor rotation - downward facing by default
|
||||
default: 25
|
||||
|
||||
status Print driver status information
|
||||
|
||||
stop Stop driver
|
||||
```
|
||||
|
||||
## mappydot
|
||||
|
||||
Source: [drivers/distance_sensor/mappydot](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/mappydot)
|
||||
@ -287,7 +316,6 @@ mb12xx <command> [arguments...]
|
||||
|
||||
Source: [drivers/distance_sensor/pga460](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/pga460)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Ultrasonic range finder driver that handles the communication with the device and publishes the distance via uORB.
|
||||
@ -345,13 +373,11 @@ srf02 <command> [arguments...]
|
||||
|
||||
Source: [drivers/distance_sensor/srf05](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/srf05)
|
||||
|
||||
### Description
|
||||
|
||||
### Description
|
||||
|
||||
Driver for HY-SRF05 / HC-SR05 and HC-SR04 rangefinders.
|
||||
|
||||
The sensor/driver must be enabled using the parameter SENS_EN_HXSRX0X.
|
||||
Driver for HY-SRF05 / HC-SR05 and HC-SR04 rangefinders.
|
||||
|
||||
The sensor/driver must be enabled using the parameter SENS_EN_HXSRX0X.
|
||||
|
||||
### Usage {#srf05_usage}
|
||||
|
||||
@ -375,7 +401,6 @@ srf05 <command> [arguments...]
|
||||
|
||||
Source: [drivers/distance_sensor/teraranger](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/teraranger)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
I2C bus driver for TeraRanger rangefinders.
|
||||
@ -436,7 +461,6 @@ tf02pro <command> [arguments...]
|
||||
|
||||
Source: [drivers/distance_sensor/tfmini](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/tfmini)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Serial bus driver for the Benewake TFmini LiDAR.
|
||||
@ -448,10 +472,13 @@ Setup/usage information: https://docs.px4.io/main/en/sensor/tfmini.html
|
||||
### Examples
|
||||
|
||||
Attempt to start driver on a specified serial device.
|
||||
|
||||
```
|
||||
tfmini start -d /dev/ttyS1
|
||||
```
|
||||
|
||||
Stop driver
|
||||
|
||||
```
|
||||
tfmini stop
|
||||
```
|
||||
@ -477,7 +504,6 @@ tfmini <command> [arguments...]
|
||||
|
||||
Source: [drivers/distance_sensor/ulanding_radar](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/ulanding_radar)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Serial bus driver for the Aerotenna uLanding radar.
|
||||
@ -487,10 +513,13 @@ Setup/usage information: https://docs.px4.io/main/en/sensor/ulanding_radar.html
|
||||
### Examples
|
||||
|
||||
Attempt to start driver on a specified serial device.
|
||||
|
||||
```
|
||||
ulanding_radar start -d /dev/ttyS1
|
||||
```
|
||||
|
||||
Stop driver
|
||||
|
||||
```
|
||||
ulanding_radar stop
|
||||
```
|
||||
|
||||
@ -4,24 +4,23 @@
|
||||
|
||||
Source: [drivers/transponder/sagetech_mxs](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/transponder/sagetech_mxs)
|
||||
|
||||
### Description
|
||||
|
||||
### Description
|
||||
This driver integrates the Sagetech MXS Certified Transponder to send and receive ADSB messages and traffic.
|
||||
|
||||
This driver integrates the Sagetech MXS Certified Transponder to send and receive ADSB messages and traffic.
|
||||
### Examples
|
||||
|
||||
### Examples
|
||||
|
||||
Attempt to start driver on a specified serial device.
|
||||
$ sagetech_mxs start -d /dev/ttyS1
|
||||
Stop driver
|
||||
$ sagetech_mxs stop
|
||||
Set Flight ID (8 char max)
|
||||
$ sagetech_mxs flight_id MXS12345
|
||||
Set MXS Operating Mode
|
||||
$ sagetech_mxs opmode off/on/stby/alt
|
||||
$ sagetech_mxs opmode 0/1/2/3
|
||||
Set the Squawk Code
|
||||
$ sagetech_mxs squawk 1200
|
||||
Attempt to start driver on a specified serial device.
|
||||
$ sagetech_mxs start -d /dev/ttyS1
|
||||
Stop driver
|
||||
$ sagetech_mxs stop
|
||||
Set Flight ID (8 char max)
|
||||
$ sagetech_mxs flight_id MXS12345
|
||||
Set MXS Operating Mode
|
||||
$ sagetech_mxs opmode off/on/stby/alt
|
||||
$ sagetech_mxs opmode 0/1/2/3
|
||||
Set the Squawk Code
|
||||
$ sagetech_mxs squawk 1200
|
||||
|
||||
### Usage {#sagetech_mxs_usage}
|
||||
|
||||
|
||||
@ -1,16 +1,11 @@
|
||||
# Modules Reference: System
|
||||
|
||||
|
||||
|
||||
## battery_simulator
|
||||
|
||||
Source: [modules/simulation/battery_simulator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/battery_simulator)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
|
||||
|
||||
### Usage {#battery_simulator_usage}
|
||||
|
||||
```
|
||||
@ -27,16 +22,15 @@ battery_simulator <command> [arguments...]
|
||||
|
||||
Source: [modules/battery_status](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/battery_status)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
The provided functionality includes:
|
||||
|
||||
- Read the output from the ADC driver (via ioctl interface) and publish `battery_status`.
|
||||
|
||||
|
||||
### Implementation
|
||||
It runs in its own thread and polls on the currently selected gyro topic.
|
||||
|
||||
It runs in its own thread and polls on the currently selected gyro topic.
|
||||
|
||||
### Usage {#battery_status_usage}
|
||||
|
||||
@ -54,7 +48,6 @@ battery_status <command> [arguments...]
|
||||
|
||||
Source: [modules/camera_feedback](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/camera_feedback)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
The camera_feedback module publishes `CameraCapture` UORB topics when image capture has been triggered.
|
||||
@ -69,7 +62,7 @@ The `CAMERA_IMAGE_CAPTURED` message is then emitted (by streaming code) followin
|
||||
### Implementation
|
||||
|
||||
`CameraTrigger` topics are published by the `camera_trigger` module (`feedback` field set `false`)
|
||||
when image capture is triggered, and may also be published by the `camera_capture` driver
|
||||
when image capture is triggered, and may also be published by the `camera_capture` driver
|
||||
(with `feedback` field set `true`) if the camera capture pin is activated.
|
||||
|
||||
The `camera_feedback` module subscribes to `CameraTrigger`.
|
||||
@ -77,7 +70,6 @@ It discards topics from the `camera_trigger` module if camera capture is enabled
|
||||
For the topics that are not discarded it creates a `CameraCapture` topic with the timestamp information
|
||||
from the `CameraTrigger` and position information from the vehicle.
|
||||
|
||||
|
||||
### Usage {#camera_feedback_usage}
|
||||
|
||||
```
|
||||
@ -94,8 +86,8 @@ camera_feedback <command> [arguments...]
|
||||
|
||||
Source: [drivers/cdcacm_autostart](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/cdcacm_autostart)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
This module listens on USB and auto-configures the protocol depending on the bytes received.
|
||||
The supported protocols are: MAVLink, nsh, and ublox serial passthrough. If the parameter SYS_USB_AUTO=2
|
||||
the module will only try to start mavlink as long as the USB VBUS is detected. Otherwise it will spin
|
||||
@ -117,8 +109,8 @@ cdcacm_autostart <command> [arguments...]
|
||||
|
||||
Source: [modules/commander](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/commander)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
The commander module contains the state machine for mode switching and failsafe behavior.
|
||||
|
||||
### Usage {#commander_usage}
|
||||
@ -135,6 +127,10 @@ commander <command> [arguments...]
|
||||
|
||||
check Run preflight checks
|
||||
|
||||
safety Change prearm safety state
|
||||
on|off [on] to activate safety, [off] to deactivate safety and allow
|
||||
control surface movements
|
||||
|
||||
arm
|
||||
[-f] Force arming (do not run preflight checks)
|
||||
|
||||
@ -148,13 +144,13 @@ commander <command> [arguments...]
|
||||
transition VTOL transition
|
||||
|
||||
mode Change flight mode
|
||||
manual|acro|offboard|stabilized|altctl|posctl|position:slow|auto:mission|au
|
||||
to:loiter|auto:rtl|auto:takeoff|auto:land|auto:precland|ext1
|
||||
Flight mode
|
||||
manual|acro|offboard|stabilized|altctl|posctl|altitude_cruise|position:slow
|
||||
|auto:mission|auto:loiter|auto:rtl|auto:takeoff|auto:land|auto:
|
||||
precland|ext1 Flight mode
|
||||
|
||||
pair
|
||||
|
||||
lockdown
|
||||
termination
|
||||
on|off Turn lockdown on or off
|
||||
|
||||
set_ekf_origin
|
||||
@ -162,6 +158,9 @@ commander <command> [arguments...]
|
||||
|
||||
lat|lon|alt Origin latitude longitude altitude
|
||||
|
||||
set_heading Set current heading
|
||||
heading degrees from True North [0 360]
|
||||
|
||||
poweroff Power off board (if supported)
|
||||
|
||||
stop
|
||||
@ -173,10 +172,11 @@ commander <command> [arguments...]
|
||||
|
||||
Source: [modules/dataman](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/dataman)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Module to provide persistent storage for the rest of the system in form of a simple database through a C API.
|
||||
Multiple backends are supported depending on the board:
|
||||
|
||||
- a file (eg. on the SD card)
|
||||
- RAM (this is obviously not persistent)
|
||||
|
||||
@ -184,8 +184,8 @@ It is used to store structured data of different types: mission waypoints, missi
|
||||
Each type has a specific type and a fixed maximum amount of storage items, so that fast random access is possible.
|
||||
|
||||
### Implementation
|
||||
Reading and writing a single item is always atomic.
|
||||
|
||||
Reading and writing a single item is always atomic.
|
||||
|
||||
### Usage {#dataman_usage}
|
||||
|
||||
@ -209,7 +209,6 @@ dataman <command> [arguments...]
|
||||
|
||||
Source: [systemcmds/dmesg](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/dmesg)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Command-line tool to show bootup console messages.
|
||||
@ -218,6 +217,7 @@ Note that output from NuttX's work queues and syslog are not captured.
|
||||
### Examples
|
||||
|
||||
Keep printing all messages in the background:
|
||||
|
||||
```
|
||||
dmesg -f &
|
||||
```
|
||||
@ -234,10 +234,9 @@ dmesg <command> [arguments...]
|
||||
|
||||
Source: [modules/esc_battery](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/esc_battery)
|
||||
|
||||
|
||||
### Description
|
||||
This implements using information from the ESC status and publish it as battery status.
|
||||
|
||||
This implements using information from the ESC status and publish it as battery status.
|
||||
|
||||
### Usage {#esc_battery_usage}
|
||||
|
||||
@ -255,10 +254,9 @@ esc_battery <command> [arguments...]
|
||||
|
||||
Source: [modules/gyro_calibration](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/gyro_calibration)
|
||||
|
||||
|
||||
### Description
|
||||
Simple online gyroscope calibration.
|
||||
|
||||
Simple online gyroscope calibration.
|
||||
|
||||
### Usage {#gyro_calibration_usage}
|
||||
|
||||
@ -276,10 +274,8 @@ gyro_calibration <command> [arguments...]
|
||||
|
||||
Source: [modules/gyro_fft](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/gyro_fft)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
|
||||
### Usage {#gyro_fft_usage}
|
||||
|
||||
```
|
||||
@ -292,12 +288,39 @@ gyro_fft <command> [arguments...]
|
||||
status print status info
|
||||
```
|
||||
|
||||
## hardfault_stream
|
||||
|
||||
Source: [modules/hardfault_stream](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/hardfault_stream)
|
||||
|
||||
### Description
|
||||
|
||||
Background process that streams the latest hardfault via MAVLink.
|
||||
|
||||
The module is especially useful when it is necessary to quickly push a hard fault to the ground station.
|
||||
This is useful in cases where the drone experiences a hard fault during flight.
|
||||
It ensures that some data is retained in case the permanent storage is destroyed during a crash.
|
||||
|
||||
To reliably stream, it is necessary to send the STATUSTEXT message via MAVLink at a
|
||||
high enough frequency. The recommended frequency is 10 Hz or higher.
|
||||
|
||||
### Usage {#hardfault_stream_usage}
|
||||
|
||||
```
|
||||
hardfault_stream <command> [arguments...]
|
||||
Commands:
|
||||
start Start the background task
|
||||
|
||||
stop
|
||||
|
||||
status print status info
|
||||
```
|
||||
|
||||
## heater
|
||||
|
||||
Source: [drivers/heater](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/heater)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Background process running periodically on the LP work queue to regulate IMU temperature at a setpoint.
|
||||
|
||||
This task can be started at boot from the startup scripts by setting SENS_EN_THERMAL or via CLI.
|
||||
@ -318,10 +341,9 @@ heater <command> [arguments...]
|
||||
|
||||
Source: [systemcmds/i2c_launcher](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/i2c_launcher)
|
||||
|
||||
|
||||
### Description
|
||||
Daemon that starts drivers based on found I2C devices.
|
||||
|
||||
Daemon that starts drivers based on found I2C devices.
|
||||
|
||||
### Usage {#i2c_launcher_usage}
|
||||
|
||||
@ -341,7 +363,6 @@ i2c_launcher <command> [arguments...]
|
||||
|
||||
Source: [modules/internal_combustion_engine_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/internal_combustion_engine_control)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
The module controls internal combustion engine (ICE) features including:
|
||||
@ -360,7 +381,7 @@ CONFIG_DRIVERS_RPM_CAPTURE=y
|
||||
Additionally, to enable the module:
|
||||
|
||||
- Set [ICE_EN](../advanced_config/parameter_reference.md#ICE_EN)
|
||||
to true and adjust the other `ICE_` module parameters according to your needs.
|
||||
to true and adjust the other `ICE_` module parameters according to your needs.
|
||||
- Set [RPM_CAP_ENABLE](../advanced_config/parameter_reference.md#RPM_CAP_ENABLE) to true.
|
||||
|
||||
The module outputs control signals for ignition, throttle, and choke,
|
||||
@ -385,7 +406,6 @@ The state machine:
|
||||
- In the state "Stopped" the throttle is set to NAN, which by definition will set the
|
||||
throttle output to the disarmed value configured for the specific output.
|
||||
|
||||
|
||||
The module publishes [InternalCombustionEngineControl.msg](../msg_docs/InternalCombustionEngineControl.md).
|
||||
|
||||
The architecture is as shown below:
|
||||
@ -410,18 +430,20 @@ internal_combustion_engine_control <command> [arguments...]
|
||||
|
||||
Source: [modules/land_detector](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/land_detector)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Module to detect the freefall and landed state of the vehicle, and publishing the `vehicle_land_detected` topic.
|
||||
Each vehicle type (multirotor, fixedwing, vtol, ...) provides its own algorithm, taking into account various
|
||||
states, such as commanded thrust, arming state and vehicle motion.
|
||||
|
||||
### Implementation
|
||||
|
||||
Every type is implemented in its own class with a common base class. The base class maintains a state (landed,
|
||||
maybe_landed, ground_contact). Each possible state is implemented in the derived classes. A hysteresis and a fixed
|
||||
priority of each internal state determines the actual land_detector state.
|
||||
|
||||
#### Multicopter Land Detector
|
||||
|
||||
**ground_contact**: thrust setpoint and velocity in z-direction must be below a defined threshold for time
|
||||
GROUND_CONTACT_TRIGGER_TIME_US. When ground_contact is detected, the position controller turns off the thrust setpoint
|
||||
in body x and y.
|
||||
@ -451,8 +473,8 @@ land_detector <command> [arguments...]
|
||||
|
||||
Source: [modules/load_mon](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/load_mon)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Background process running periodically on the low priority work queue to calculate the CPU load and RAM
|
||||
usage and publish the `cpuload` topic.
|
||||
|
||||
@ -475,13 +497,14 @@ load_mon <command> [arguments...]
|
||||
|
||||
Source: [modules/logger](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/logger)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
System logger which logs a configurable set of uORB topics and system printf messages
|
||||
(`PX4_WARN` and `PX4_ERR`) to ULog files. These can be used for system and flight performance evaluation,
|
||||
tuning, replay and crash analysis.
|
||||
|
||||
It supports 2 backends:
|
||||
|
||||
- Files: write ULog files to the file system (SD card)
|
||||
- MAVLink: stream ULog data via MAVLink to a client (the client must support this)
|
||||
|
||||
@ -493,7 +516,9 @@ vehicle management. It can be enabled and configured via SDLOG_MISSION parameter
|
||||
The normal log is always a superset of the mission log.
|
||||
|
||||
### Implementation
|
||||
|
||||
The implementation uses two threads:
|
||||
|
||||
- The main thread, running at a fixed rate (or polling on a topic if started with -p) and checking for
|
||||
data updates
|
||||
- The writer thread, writing data to the file
|
||||
@ -502,12 +527,15 @@ In between there is a write buffer with configurable size (and another fixed-siz
|
||||
the mission log). It should be large to avoid dropouts.
|
||||
|
||||
### Examples
|
||||
|
||||
Typical usage to start logging immediately:
|
||||
|
||||
```
|
||||
logger start -e -t
|
||||
```
|
||||
|
||||
Or if already running:
|
||||
|
||||
```
|
||||
logger on
|
||||
```
|
||||
@ -551,8 +579,8 @@ logger <command> [arguments...]
|
||||
|
||||
Source: [modules/mag_bias_estimator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mag_bias_estimator)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Online magnetometer bias estimator.
|
||||
|
||||
### Usage {#mag_bias_estimator_usage}
|
||||
@ -571,10 +599,9 @@ mag_bias_estimator <command> [arguments...]
|
||||
|
||||
Source: [modules/manual_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/manual_control)
|
||||
|
||||
|
||||
### Description
|
||||
Module consuming manual_control_inputs publishing one manual_control_setpoint.
|
||||
|
||||
Module consuming manual_control_inputs publishing one manual_control_setpoint.
|
||||
|
||||
### Usage {#manual_control_usage}
|
||||
|
||||
@ -592,36 +619,37 @@ manual_control <command> [arguments...]
|
||||
|
||||
Source: [systemcmds/netman](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/netman)
|
||||
|
||||
### Description
|
||||
|
||||
### Description
|
||||
Network configuration manager saves the network settings in non-volatile
|
||||
memory. On boot the `update` option will be run. If a network configuration
|
||||
does not exist. The default setting will be saved in non-volatile and the
|
||||
system rebooted.
|
||||
Network configuration manager saves the network settings in non-volatile
|
||||
memory. On boot the `update` option will be run. If a network configuration
|
||||
does not exist. The default setting will be saved in non-volatile and the
|
||||
system rebooted.
|
||||
|
||||
#### update
|
||||
#### update
|
||||
|
||||
`netman update` is run automatically by [a startup script](../concept/system_startup.md#system-startup).
|
||||
When run, the `update` option will check for the existence of `net.cfg` in the root of the SD Card.
|
||||
It then saves the network settings from `net.cfg` in non-volatile memory,
|
||||
deletes the file and reboots the system.
|
||||
`netman update` is run automatically by [a startup script](../concept/system_startup.md#system-startup).
|
||||
When run, the `update` option will check for the existence of `net.cfg` in the root of the SD Card.
|
||||
It then saves the network settings from `net.cfg` in non-volatile memory,
|
||||
deletes the file and reboots the system.
|
||||
|
||||
#### save
|
||||
#### save
|
||||
|
||||
The `save` option will save settings from non-volatile memory to a file named
|
||||
`net.cfg` on the SD Card filesystem for editing. Use this to edit the settings.
|
||||
Save does not immediately apply the network settings; the user must reboot the flight stack.
|
||||
By contrast, the `update` command is run by the start-up script, commits the settings to non-volatile memory,
|
||||
and reboots the flight controller (which will then use the new settings).
|
||||
The `save` option will save settings from non-volatile memory to a file named
|
||||
`net.cfg` on the SD Card filesystem for editing. Use this to edit the settings.
|
||||
Save does not immediately apply the network settings; the user must reboot the flight stack.
|
||||
By contrast, the `update` command is run by the start-up script, commits the settings to non-volatile memory,
|
||||
and reboots the flight controller (which will then use the new settings).
|
||||
|
||||
#### show
|
||||
#### show
|
||||
|
||||
The `show` option will display the network settings in `net.cfg` to the console.
|
||||
The `show` option will display the network settings in `net.cfg` to the console.
|
||||
|
||||
### Examples
|
||||
$ netman save # Save the parameters to the SD card.
|
||||
$ netman show # display current settings.
|
||||
$ netman update -i eth0 # do an update
|
||||
### Examples
|
||||
|
||||
$ netman save # Save the parameters to the SD card.
|
||||
$ netman show # display current settings.
|
||||
$ netman update -i eth0 # do an update
|
||||
|
||||
### Usage {#netman_usage}
|
||||
|
||||
@ -642,10 +670,9 @@ netman <command> [arguments...]
|
||||
|
||||
Source: [drivers/pwm_input](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/pwm_input)
|
||||
|
||||
|
||||
### Description
|
||||
Measures the PWM input on AUX5 (or MAIN5) via a timer capture ISR and publishes via the uORB 'pwm_input` message.
|
||||
|
||||
Measures the PWM input on AUX5 (or MAIN5) via a timer capture ISR and publishes via the uORB 'pwm_input` message.
|
||||
|
||||
### Usage {#pwm_input_usage}
|
||||
|
||||
@ -663,15 +690,15 @@ pwm_input <command> [arguments...]
|
||||
|
||||
Source: [modules/rc_update](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rc_update)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
The rc_update module handles RC channel mapping: read the raw input channels (`input_rc`),
|
||||
then apply the calibration, map the RC channels to the configured channels & mode switches
|
||||
and then publish as `rc_channels` and `manual_control_input`.
|
||||
|
||||
### Implementation
|
||||
To reduce control latency, the module is scheduled on input_rc publications.
|
||||
|
||||
To reduce control latency, the module is scheduled on input_rc publications.
|
||||
|
||||
### Usage {#rc_update_usage}
|
||||
|
||||
@ -689,12 +716,13 @@ rc_update <command> [arguments...]
|
||||
|
||||
Source: [modules/replay](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/replay)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
This module is used to replay ULog files.
|
||||
|
||||
There are 2 environment variables used for configuration: `replay`, which must be set to an ULog file name - it's
|
||||
the log file to be replayed. The second is the mode, specified via `replay_mode`:
|
||||
|
||||
- `replay_mode=ekf2`: specific EKF2 replay mode. It can only be used with the ekf2 module, but allows the replay
|
||||
to run as fast as possible.
|
||||
- Generic otherwise: this can be used to replay any module(s), but the replay will be done with the same speed as the
|
||||
@ -727,8 +755,8 @@ replay <command> [arguments...]
|
||||
|
||||
Source: [modules/events](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/events)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Background process running periodically on the LP work queue to perform housekeeping tasks.
|
||||
It is currently only responsible for tone alarm on RC Loss.
|
||||
|
||||
@ -750,10 +778,9 @@ send_event <command> [arguments...]
|
||||
|
||||
Source: [modules/simulation/sensor_agp_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_agp_sim)
|
||||
|
||||
|
||||
### Description
|
||||
Module to simulate auxiliary global position measurements with optional failure modes for SIH simulation.
|
||||
|
||||
Module to simulate auxiliary global position measurements with optional failure modes for SIH simulation.
|
||||
|
||||
### Usage {#sensor_agp_sim_usage}
|
||||
|
||||
@ -771,11 +798,8 @@ sensor_agp_sim <command> [arguments...]
|
||||
|
||||
Source: [modules/simulation/sensor_airspeed_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_airspeed_sim)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
|
||||
|
||||
### Usage {#sensor_arispeed_sim_usage}
|
||||
|
||||
```
|
||||
@ -792,11 +816,8 @@ sensor_arispeed_sim <command> [arguments...]
|
||||
|
||||
Source: [modules/simulation/sensor_baro_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_baro_sim)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
|
||||
|
||||
### Usage {#sensor_baro_sim_usage}
|
||||
|
||||
```
|
||||
@ -813,11 +834,8 @@ sensor_baro_sim <command> [arguments...]
|
||||
|
||||
Source: [modules/simulation/sensor_gps_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_gps_sim)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
|
||||
|
||||
### Usage {#sensor_gps_sim_usage}
|
||||
|
||||
```
|
||||
@ -834,11 +852,8 @@ sensor_gps_sim <command> [arguments...]
|
||||
|
||||
Source: [modules/simulation/sensor_mag_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_mag_sim)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
|
||||
|
||||
### Usage {#sensor_mag_sim_usage}
|
||||
|
||||
```
|
||||
@ -855,12 +870,13 @@ sensor_mag_sim <command> [arguments...]
|
||||
|
||||
Source: [modules/sensors](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/sensors)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
The sensors module is central to the whole system. It takes low-level output from drivers, turns
|
||||
it into a more usable form, and publishes it for the rest of the system.
|
||||
|
||||
The provided functionality includes:
|
||||
|
||||
- Read the output from the sensor drivers (`SensorGyro`, etc.).
|
||||
If there are multiple of the same type, do voting and failover handling.
|
||||
Then apply the board rotation and temperature calibration (if enabled). And finally publish the data; one of the
|
||||
@ -871,8 +887,8 @@ The provided functionality includes:
|
||||
- Do sensor consistency checks and publish the `SensorsStatusImu` topic.
|
||||
|
||||
### Implementation
|
||||
It runs in its own thread and polls on the currently selected gyro topic.
|
||||
|
||||
It runs in its own thread and polls on the currently selected gyro topic.
|
||||
|
||||
### Usage {#sensors_usage}
|
||||
|
||||
@ -891,11 +907,8 @@ sensors <command> [arguments...]
|
||||
|
||||
Source: [modules/simulation/system_power_simulator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/system_power_simulator)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
|
||||
|
||||
### Usage {#system_power_simulation_usage}
|
||||
|
||||
```
|
||||
@ -912,10 +925,9 @@ system_power_simulation <command> [arguments...]
|
||||
|
||||
Source: [drivers/tattu_can](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/tattu_can)
|
||||
|
||||
|
||||
### Description
|
||||
Driver for reading data from the Tattu 12S 16000mAh smart battery.
|
||||
|
||||
Driver for reading data from the Tattu 12S 16000mAh smart battery.
|
||||
|
||||
### Usage {#tattu_can_usage}
|
||||
|
||||
@ -933,15 +945,14 @@ tattu_can <command> [arguments...]
|
||||
|
||||
Source: [modules/temperature_compensation](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/temperature_compensation)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
The temperature compensation module allows all of the gyro(s), accel(s), and baro(s) in the system to be temperature
|
||||
compensated. The module monitors the data coming from the sensors and updates the associated sensor_correction topic
|
||||
whenever a change in temperature is detected. The module can also be configured to perform the coeffecient calculation
|
||||
routine at next boot, which allows the thermal calibration coeffecients to be calculated while the vehicle undergoes
|
||||
a temperature cycle.
|
||||
|
||||
|
||||
### Usage {#temperature_compensation_usage}
|
||||
|
||||
```
|
||||
@ -966,13 +977,12 @@ temperature_compensation <command> [arguments...]
|
||||
|
||||
Source: [modules/time_persistor](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/time_persistor)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Writes the RTC time cyclically to a file and reloads this value on startup.
|
||||
This allows monotonic time on systems that only have a software RTC (that is not battery powered).
|
||||
Explicitly setting the time backwards (e.g. via system_time) is still possible.
|
||||
|
||||
|
||||
### Usage {#time_persistor_usage}
|
||||
|
||||
```
|
||||
@ -989,7 +999,6 @@ time_persistor <command> [arguments...]
|
||||
|
||||
Source: [systemcmds/tune_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/tune_control)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Command-line tool to control & test the (external) tunes.
|
||||
@ -1003,6 +1012,7 @@ https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/tunes/tune_definition.des
|
||||
### Examples
|
||||
|
||||
Play system tune #2:
|
||||
|
||||
```
|
||||
tune_control play -t 2
|
||||
```
|
||||
@ -1032,11 +1042,12 @@ tune_control <command> [arguments...]
|
||||
|
||||
Source: [modules/uxrce_dds_client](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/uxrce_dds_client)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
UXRCE-DDS Client used to communicate uORB topics with an Agent over serial or UDP.
|
||||
|
||||
### Examples
|
||||
|
||||
```
|
||||
uxrce_dds_client start -t serial -d /dev/ttyS3 -b 921600
|
||||
uxrce_dds_client start -t udp -h 127.0.0.1 -p 15555
|
||||
@ -1058,7 +1069,9 @@ uxrce_dds_client <command> [arguments...]
|
||||
values: <IP>
|
||||
[-p <val>] Agent listening port. If not provided, defaults to
|
||||
UXRCE_DDS_PRT
|
||||
[-n <val>] Client DDS namespace
|
||||
[-n <val>] Client DDS namespace. If not provided but UXRCE_DDS_NS_IDX is
|
||||
between 0 and 9999 inclusive, then uav_ + UXRCE_DDS_NS_IDX will
|
||||
be used
|
||||
|
||||
stop
|
||||
|
||||
@ -1069,12 +1082,10 @@ uxrce_dds_client <command> [arguments...]
|
||||
|
||||
Source: [systemcmds/work_queue](https://github.com/PX4/PX4-Autopilot/tree/main/src/systemcmds/work_queue)
|
||||
|
||||
|
||||
### Description
|
||||
|
||||
Command-line tool to show work queue status.
|
||||
|
||||
|
||||
### Usage {#work_queue_usage}
|
||||
|
||||
```
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
# ArmingCheckReply (UORB message)
|
||||
|
||||
Arming check reply.
|
||||
Arming check reply
|
||||
|
||||
This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
|
||||
The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station).
|
||||
@ -12,7 +12,7 @@ The message is not used by internal/FMU components, as their mode requirements a
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg)
|
||||
|
||||
```c
|
||||
# Arming check reply.
|
||||
# Arming check reply
|
||||
#
|
||||
# This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
|
||||
# The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station).
|
||||
@ -21,39 +21,39 @@ The message is not used by internal/FMU components, as their mode requirements a
|
||||
# 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.
|
||||
|
||||
uint32 MESSAGE_VERSION = 1
|
||||
uint32 MESSAGE_VERSION = 1
|
||||
|
||||
uint64 timestamp # [us] Time since system start.
|
||||
|
||||
uint8 request_id # Id of ArmingCheckRequest for which this is a response.
|
||||
uint8 registration_id # Id of external component emitting this response.
|
||||
uint8 request_id # [-] Id of ArmingCheckRequest for which this is a response
|
||||
uint8 registration_id # [-] Id of external component emitting this response
|
||||
|
||||
uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies.
|
||||
uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies
|
||||
|
||||
uint8 health_component_index # [@enum HEALTH_COMPONENT_INDEX]
|
||||
bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json).
|
||||
bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json).
|
||||
bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json).
|
||||
uint8 health_component_index # [@enum HEALTH_COMPONENT_INDEX]
|
||||
bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json)
|
||||
bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json)
|
||||
bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json)
|
||||
|
||||
bool can_arm_and_run # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed.
|
||||
bool can_arm_and_run # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed
|
||||
|
||||
uint8 num_events # Number of queued failure messages (Event) in the events field.
|
||||
uint8 num_events # Number of queued failure messages (Event) in the events field
|
||||
|
||||
Event[5] events # Arming failure reasons (Queue of events to report to GCS).
|
||||
Event[5] events # Arming failure reasons (Queue of events to report to GCS)
|
||||
|
||||
# Mode requirements
|
||||
bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope).
|
||||
bool mode_req_attitude # Requires an attitude estimate.
|
||||
bool mode_req_local_alt # Requires a local altitude estimate.
|
||||
bool mode_req_local_position # Requires a local position estimate.
|
||||
bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate.
|
||||
bool mode_req_global_position # Requires a global position estimate.
|
||||
bool mode_req_global_position_relaxed # Requires a relaxed global position estimate.
|
||||
bool mode_req_mission # Requires an uploaded mission.
|
||||
bool mode_req_home_position # Requires a home position (such as RTL/Return mode).
|
||||
bool mode_req_prevent_arming # Prevent arming (such as in Land mode).
|
||||
bool mode_req_manual_control # Requires a manual controller
|
||||
bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope)
|
||||
bool mode_req_attitude # Requires an attitude estimate
|
||||
bool mode_req_local_alt # Requires a local altitude estimate
|
||||
bool mode_req_local_position # Requires a local position estimate
|
||||
bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate
|
||||
bool mode_req_global_position # Requires a global position estimate
|
||||
bool mode_req_global_position_relaxed # Requires a relaxed global position estimate
|
||||
bool mode_req_mission # Requires an uploaded mission
|
||||
bool mode_req_home_position # Requires a home position (such as RTL/Return mode)
|
||||
bool mode_req_prevent_arming # Prevent arming (such as in Land mode)
|
||||
bool mode_req_manual_control # Requires a manual controller
|
||||
|
||||
uint8 ORB_QUEUE_LENGTH = 4 #
|
||||
uint8 ORB_QUEUE_LENGTH = 4
|
||||
|
||||
```
|
||||
|
||||
@ -1,7 +1,5 @@
|
||||
# ArmingCheckReplyV0 (UORB message)
|
||||
|
||||
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckReplyV0.msg)
|
||||
|
||||
```c
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
# ArmingCheckRequest (UORB message)
|
||||
|
||||
Arming check request.
|
||||
Arming check request
|
||||
|
||||
Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
|
||||
All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
|
||||
@ -12,7 +12,7 @@ The reply will also include the registration_id for each external component, pro
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg)
|
||||
|
||||
```c
|
||||
# Arming check request.
|
||||
# Arming check request
|
||||
#
|
||||
# Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
|
||||
# All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
|
||||
@ -21,10 +21,12 @@ The reply will also include the registration_id for each external component, pro
|
||||
# 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).
|
||||
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
uint32 MESSAGE_VERSION = 1
|
||||
|
||||
uint64 timestamp # [us] Time since system start.
|
||||
uint64 timestamp # [us] Time since system start
|
||||
|
||||
uint8 request_id # Id of this request. Allows correlation with associated ArmingCheckReply messages.
|
||||
uint8 request_id # [-] Id of this request. Allows correlation with associated ArmingCheckReply messages.
|
||||
|
||||
uint32 valid_registrations_mask # [-] Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
|
||||
|
||||
```
|
||||
|
||||
@ -15,79 +15,80 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
|
||||
|
||||
- [ActuatorMotors](ActuatorMotors.md) — Motor control message
|
||||
- [ActuatorServos](ActuatorServos.md) — Servo control message
|
||||
- [AirspeedValidated](AirspeedValidated.md)
|
||||
- [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply.
|
||||
- [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request.
|
||||
- [BatteryStatus](BatteryStatus.md)
|
||||
- [AirspeedValidated](AirspeedValidated.md) — Validated airspeed
|
||||
- [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply
|
||||
- [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request
|
||||
- [BatteryStatus](BatteryStatus.md) — Battery status
|
||||
- [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors
|
||||
- [Event](Event.md) — Events interface
|
||||
- [FixedWingLateralSetpoint](FixedWingLateralSetpoint.md) — 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.
|
||||
Used by the fw_lateral_longitudinal_control module
|
||||
At least one of course, airspeed_direction, or lateral_acceleration must be finite.
|
||||
- [FixedWingLongitudinalSetpoint](FixedWingLongitudinalSetpoint.md) — 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.
|
||||
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.
|
||||
- [GotoSetpoint](GotoSetpoint.md) — 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
|
||||
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
|
||||
- [HomePosition](HomePosition.md) — GPS home position in WGS84 coordinates.
|
||||
- [LateralControlConfiguration](LateralControlConfiguration.md) — Fixed Wing Lateral Control Configuration message
|
||||
Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
|
||||
Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
|
||||
- [LongitudinalControlConfiguration](LongitudinalControlConfiguration.md) — Fixed Wing Longitudinal Control Configuration message
|
||||
Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages
|
||||
and configure the resultant setpoints.
|
||||
Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages
|
||||
and configure the resultant setpoints.
|
||||
- [ManualControlSetpoint](ManualControlSetpoint.md)
|
||||
- [ModeCompleted](ModeCompleted.md) — Mode completion result, published by an active mode.
|
||||
The possible values of nav_state are defined in the VehicleStatus msg.
|
||||
Note that this is not always published (e.g. when a user switches modes or on
|
||||
failsafe activation)
|
||||
The possible values of nav_state are defined in the VehicleStatus msg.
|
||||
Note that this is not always published (e.g. when a user switches modes or on
|
||||
failsafe activation)
|
||||
- [RegisterExtComponentReply](RegisterExtComponentReply.md)
|
||||
- [RegisterExtComponentRequest](RegisterExtComponentRequest.md) — Request to register an external component
|
||||
- [TrajectorySetpoint](TrajectorySetpoint.md) — Trajectory setpoint in NED frame
|
||||
Input to PID position controller.
|
||||
Needs to be kinematically consistent and feasible for smooth flight.
|
||||
setting a value to NaN means the state should not be controlled
|
||||
Input to PID position controller.
|
||||
Needs to be kinematically consistent and feasible for smooth flight.
|
||||
setting a value to NaN means the state should not be controlled
|
||||
- [UnregisterExtComponent](UnregisterExtComponent.md)
|
||||
- [VehicleAngularVelocity](VehicleAngularVelocity.md)
|
||||
- [VehicleAttitude](VehicleAttitude.md) — This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use
|
||||
The quaternion uses the Hamilton convention, and the order is q(w, x, y, z)
|
||||
The quaternion uses the Hamilton convention, and the order is q(w, x, y, z)
|
||||
- [VehicleAttitudeSetpoint](VehicleAttitudeSetpoint.md)
|
||||
- [VehicleCommand](VehicleCommand.md) — Vehicle Command uORB message. Used for commanding a mission / action / etc.
|
||||
Follows the MAVLink COMMAND_INT / COMMAND_LONG definition
|
||||
Follows the MAVLink COMMAND_INT / COMMAND_LONG definition
|
||||
- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Ackonwledgement uORB message.
|
||||
Used for acknowledging the vehicle command being received.
|
||||
Follows the MAVLink COMMAND_ACK message definition
|
||||
Used for acknowledging the vehicle command being received.
|
||||
Follows the MAVLink COMMAND_ACK message definition
|
||||
- [VehicleControlMode](VehicleControlMode.md)
|
||||
- [VehicleGlobalPosition](VehicleGlobalPosition.md) — Fused global position in WGS84.
|
||||
This struct contains global position estimation. It is not the raw GPS
|
||||
measurement (@see vehicle_gps_position). This topic is usually published by the position
|
||||
estimator, which will take more sources of information into account than just GPS,
|
||||
e.g. control inputs of the vehicle in a Kalman-filter implementation.
|
||||
This struct contains global position estimation. It is not the raw GPS
|
||||
measurement (@see vehicle_gps_position). This topic is usually published by the position
|
||||
estimator, which will take more sources of information into account than just GPS,
|
||||
e.g. control inputs of the vehicle in a Kalman-filter implementation.
|
||||
- [VehicleLandDetected](VehicleLandDetected.md)
|
||||
- [VehicleLocalPosition](VehicleLocalPosition.md) — Fused local position in NED.
|
||||
The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
|
||||
- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
|
||||
The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
|
||||
- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data
|
||||
- [VehicleRatesSetpoint](VehicleRatesSetpoint.md)
|
||||
- [VehicleStatus](VehicleStatus.md) — Encodes the system state of the vehicle published by commander
|
||||
- [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE
|
||||
|
||||
- [Wind](Wind.md) — Wind estimate (from EKF2)
|
||||
|
||||
## Unversioned Messages
|
||||
|
||||
- [ActionRequest](ActionRequest.md)
|
||||
- [ActionRequest](ActionRequest.md) — Action request for the vehicle's main state
|
||||
- [ActuatorArmed](ActuatorArmed.md)
|
||||
- [ActuatorControlsStatus](ActuatorControlsStatus.md)
|
||||
- [ActuatorOutputs](ActuatorOutputs.md)
|
||||
- [ActuatorServosTrim](ActuatorServosTrim.md) — Servo trims, added as offset to servo outputs
|
||||
- [ActuatorTest](ActuatorTest.md)
|
||||
- [AdcReport](AdcReport.md)
|
||||
- [Airspeed](Airspeed.md)
|
||||
- [AirspeedWind](AirspeedWind.md)
|
||||
- [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md)
|
||||
- [AdcReport](AdcReport.md) — ADC raw data.
|
||||
- [Airspeed](Airspeed.md) — Airspeed data from sensors
|
||||
- [AirspeedWind](AirspeedWind.md) — Wind estimate (from airspeed_selector)
|
||||
- [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md) — Autotune attitude control status
|
||||
- [BatteryInfo](BatteryInfo.md) — Battery information
|
||||
- [ButtonEvent](ButtonEvent.md)
|
||||
- [CameraCapture](CameraCapture.md)
|
||||
- [CameraStatus](CameraStatus.md)
|
||||
@ -95,7 +96,7 @@ The coordinate system origin is the vehicle position at the time when the EKF2-m
|
||||
- [CanInterfaceStatus](CanInterfaceStatus.md)
|
||||
- [CellularStatus](CellularStatus.md) — Cellular status
|
||||
- [CollisionConstraints](CollisionConstraints.md) — Local setpoint constraints in NED frame
|
||||
setting something to NaN means that no limit is provided
|
||||
setting something to NaN means that no limit is provided
|
||||
- [ControlAllocatorStatus](ControlAllocatorStatus.md)
|
||||
- [Cpuload](Cpuload.md)
|
||||
- [DatamanRequest](DatamanRequest.md)
|
||||
@ -104,11 +105,13 @@ setting something to NaN means that no limit is provided
|
||||
- [DebugKeyValue](DebugKeyValue.md)
|
||||
- [DebugValue](DebugValue.md)
|
||||
- [DebugVect](DebugVect.md)
|
||||
- [DifferentialPressure](DifferentialPressure.md)
|
||||
- [DeviceInformation](DeviceInformation.md) — Device information
|
||||
- [DifferentialPressure](DifferentialPressure.md) — Differential-pressure (airspeed) sensor
|
||||
- [DistanceSensor](DistanceSensor.md) — DISTANCE_SENSOR message data
|
||||
- [DistanceSensorModeChangeRequest](DistanceSensorModeChangeRequest.md)
|
||||
- [DronecanNodeStatus](DronecanNodeStatus.md)
|
||||
- [Ekf2Timestamps](Ekf2Timestamps.md) — this message contains the (relative) timestamps of the sensor inputs used by EKF2.
|
||||
It can be used for reproducible replay.
|
||||
It can be used for reproducible replay.
|
||||
- [EscReport](EscReport.md)
|
||||
- [EscStatus](EscStatus.md)
|
||||
- [EstimatorAidSource1d](EstimatorAidSource1d.md)
|
||||
@ -121,7 +124,7 @@ It can be used for reproducible replay.
|
||||
- [EstimatorInnovations](EstimatorInnovations.md)
|
||||
- [EstimatorSelectorStatus](EstimatorSelectorStatus.md)
|
||||
- [EstimatorSensorBias](EstimatorSensorBias.md) — 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).
|
||||
scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).
|
||||
- [EstimatorStates](EstimatorStates.md)
|
||||
- [EstimatorStatus](EstimatorStatus.md)
|
||||
- [EstimatorStatusFlags](EstimatorStatusFlags.md)
|
||||
@ -129,15 +132,16 @@ scale errors, in-run bias and thermal drift (if thermal compensation is enabled
|
||||
- [FailureDetectorStatus](FailureDetectorStatus.md)
|
||||
- [FigureEightStatus](FigureEightStatus.md)
|
||||
- [FixedWingLateralGuidanceStatus](FixedWingLateralGuidanceStatus.md) — Fixed Wing Lateral Guidance Status message
|
||||
Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs
|
||||
Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs
|
||||
- [FixedWingLateralStatus](FixedWingLateralStatus.md) — Fixed Wing Lateral Status message
|
||||
Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint
|
||||
Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint
|
||||
- [FixedWingRunwayControl](FixedWingRunwayControl.md) — Auxiliary control fields for fixed-wing runway takeoff/landing
|
||||
- [FlightPhaseEstimation](FlightPhaseEstimation.md)
|
||||
- [FollowTarget](FollowTarget.md)
|
||||
- [FollowTargetEstimator](FollowTargetEstimator.md)
|
||||
- [FollowTargetStatus](FollowTargetStatus.md)
|
||||
- [FuelTankStatus](FuelTankStatus.md)
|
||||
- [GainCompression](GainCompression.md)
|
||||
- [GeneratorStatus](GeneratorStatus.md)
|
||||
- [GeofenceResult](GeofenceResult.md)
|
||||
- [GeofenceStatus](GeofenceStatus.md)
|
||||
@ -170,7 +174,7 @@ Published by the fw_lateral_longitudinal_control module to report the resultant
|
||||
- [LandingTargetPose](LandingTargetPose.md) — Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames
|
||||
- [LaunchDetectionStatus](LaunchDetectionStatus.md) — Status of the launch detection state machine (fixed-wing only)
|
||||
- [LedControl](LedControl.md) — LED control: control a single or multiple LED's.
|
||||
These are the externally visible LED's, not the board LED's
|
||||
These are the externally visible LED's, not the board LED's
|
||||
- [LogMessage](LogMessage.md) — A logging message, output with PX4_WARN, PX4_ERR, PX4_INFO
|
||||
- [LoggerStatus](LoggerStatus.md)
|
||||
- [MagWorkerData](MagWorkerData.md)
|
||||
@ -185,7 +189,8 @@ These are the externally visible LED's, not the board LED's
|
||||
- [MountOrientation](MountOrientation.md)
|
||||
- [NavigatorMissionItem](NavigatorMissionItem.md)
|
||||
- [NavigatorStatus](NavigatorStatus.md) — Current status of a Navigator mode
|
||||
The possible values of nav_state are defined in the VehicleStatus msg.
|
||||
The possible values of nav_state are defined in the VehicleStatus msg.
|
||||
- [NeuralControl](NeuralControl.md) — Neural control
|
||||
- [NormalizedUnsignedSetpoint](NormalizedUnsignedSetpoint.md)
|
||||
- [ObstacleDistance](ObstacleDistance.md) — Obstacle distances in front of the sensor.
|
||||
- [OffboardControlMode](OffboardControlMode.md) — Off-board control mode
|
||||
@ -208,11 +213,11 @@ The possible values of nav_state are defined in the VehicleStatus msg.
|
||||
- [PositionControllerStatus](PositionControllerStatus.md)
|
||||
- [PositionSetpoint](PositionSetpoint.md) — this file is only used in the position_setpoint triple as a dependency
|
||||
- [PositionSetpointTriplet](PositionSetpointTriplet.md) — Global position setpoint triplet in WGS84 coordinates.
|
||||
This are the three next waypoints (or just the next two or one).
|
||||
This are the three next waypoints (or just the next two or one).
|
||||
- [PowerButtonState](PowerButtonState.md) — power button state notification message
|
||||
- [PowerMonitor](PowerMonitor.md) — power monitor message
|
||||
- [PpsCapture](PpsCapture.md)
|
||||
- [PurePursuitStatus](PurePursuitStatus.md)
|
||||
- [PurePursuitStatus](PurePursuitStatus.md) — Pure pursuit status
|
||||
- [PwmInput](PwmInput.md)
|
||||
- [Px4ioStatus](Px4ioStatus.md)
|
||||
- [QshellReq](QshellReq.md)
|
||||
@ -221,15 +226,15 @@ This are the three next waypoints (or just the next two or one).
|
||||
- [RateCtrlStatus](RateCtrlStatus.md)
|
||||
- [RcChannels](RcChannels.md)
|
||||
- [RcParameterMap](RcParameterMap.md)
|
||||
- [RoverAttitudeSetpoint](RoverAttitudeSetpoint.md)
|
||||
- [RoverAttitudeStatus](RoverAttitudeStatus.md)
|
||||
- [RoverPositionSetpoint](RoverPositionSetpoint.md)
|
||||
- [RoverRateSetpoint](RoverRateSetpoint.md)
|
||||
- [RoverRateStatus](RoverRateStatus.md)
|
||||
- [RoverSteeringSetpoint](RoverSteeringSetpoint.md)
|
||||
- [RoverThrottleSetpoint](RoverThrottleSetpoint.md)
|
||||
- [RoverVelocitySetpoint](RoverVelocitySetpoint.md)
|
||||
- [RoverVelocityStatus](RoverVelocityStatus.md)
|
||||
- [RoverAttitudeSetpoint](RoverAttitudeSetpoint.md) — Rover Attitude Setpoint
|
||||
- [RoverAttitudeStatus](RoverAttitudeStatus.md) — Rover Attitude Status
|
||||
- [RoverPositionSetpoint](RoverPositionSetpoint.md) — Rover Position Setpoint
|
||||
- [RoverRateSetpoint](RoverRateSetpoint.md) — Rover Rate setpoint
|
||||
- [RoverRateStatus](RoverRateStatus.md) — Rover Rate Status
|
||||
- [RoverSpeedSetpoint](RoverSpeedSetpoint.md) — Rover Speed Setpoint
|
||||
- [RoverSpeedStatus](RoverSpeedStatus.md) — Rover Velocity Status
|
||||
- [RoverSteeringSetpoint](RoverSteeringSetpoint.md) — Rover Steering setpoint
|
||||
- [RoverThrottleSetpoint](RoverThrottleSetpoint.md) — Rover Throttle setpoint
|
||||
- [Rpm](Rpm.md)
|
||||
- [RtlStatus](RtlStatus.md)
|
||||
- [RtlTimeEstimate](RtlTimeEstimate.md)
|
||||
@ -237,14 +242,15 @@ This are the three next waypoints (or just the next two or one).
|
||||
- [SensorAccel](SensorAccel.md)
|
||||
- [SensorAccelFifo](SensorAccelFifo.md)
|
||||
- [SensorAirflow](SensorAirflow.md)
|
||||
- [SensorBaro](SensorBaro.md)
|
||||
- [SensorBaro](SensorBaro.md) — Barometer sensor
|
||||
- [SensorCombined](SensorCombined.md) — Sensor readings in SI-unit form.
|
||||
These fields are scaled and offset-compensated where possible and do not
|
||||
change with board revisions and sensor updates.
|
||||
These fields are scaled and offset-compensated where possible and do not
|
||||
change with board revisions and sensor updates.
|
||||
- [SensorCorrection](SensorCorrection.md) — Sensor corrections in SI-unit form for the voted sensor
|
||||
- [SensorGnssRelative](SensorGnssRelative.md) — GNSS relative positioning information in NED frame. The NED frame is defined as the local topological system at the reference station.
|
||||
- [SensorGnssStatus](SensorGnssStatus.md) — Gnss quality indicators
|
||||
- [SensorGps](SensorGps.md) — GPS position in WGS84 coordinates.
|
||||
the field 'timestamp' is for the position & velocity (microseconds)
|
||||
the field 'timestamp' is for the position & velocity (microseconds)
|
||||
- [SensorGyro](SensorGyro.md)
|
||||
- [SensorGyroFft](SensorGyroFft.md)
|
||||
- [SensorGyroFifo](SensorGyroFifo.md)
|
||||
@ -252,11 +258,12 @@ the field 'timestamp' is for the position & velocity (microseconds)
|
||||
- [SensorMag](SensorMag.md)
|
||||
- [SensorOpticalFlow](SensorOpticalFlow.md)
|
||||
- [SensorPreflightMag](SensorPreflightMag.md) — Pre-flight sensor check metrics.
|
||||
The topic will not be updated when the vehicle is armed
|
||||
The topic will not be updated when the vehicle is armed
|
||||
- [SensorSelection](SensorSelection.md) — Sensor ID's for the voted sensors output on the sensor_combined topic.
|
||||
Will be updated on startup of the sensor module and when sensor selection changes
|
||||
Will be updated on startup of the sensor module and when sensor selection changes
|
||||
- [SensorTemp](SensorTemp.md)
|
||||
- [SensorUwb](SensorUwb.md) — UWB distance contains the distance information measured by an ultra-wideband positioning system,
|
||||
such as Pozyx or NXP Rddrone.
|
||||
such as Pozyx or NXP Rddrone.
|
||||
- [SensorsStatus](SensorsStatus.md) — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
|
||||
- [SensorsStatusImu](SensorsStatusImu.md) — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
|
||||
- [SystemPower](SystemPower.md)
|
||||
@ -267,26 +274,26 @@ such as Pozyx or NXP Rddrone.
|
||||
- [TiltrotorExtraControls](TiltrotorExtraControls.md)
|
||||
- [TimesyncStatus](TimesyncStatus.md)
|
||||
- [TrajectorySetpoint6dof](TrajectorySetpoint6dof.md) — Trajectory setpoint in NED frame
|
||||
Input to position controller.
|
||||
Input to position controller.
|
||||
- [TransponderReport](TransponderReport.md)
|
||||
- [TuneControl](TuneControl.md) — This message is used to control the tunes, when the tune_id is set to CUSTOM
|
||||
then the frequency, duration are used otherwise those values are ignored.
|
||||
then the frequency, duration are used otherwise those values are ignored.
|
||||
- [UavcanParameterRequest](UavcanParameterRequest.md) — UAVCAN-MAVLink parameter bridge request type
|
||||
- [UavcanParameterValue](UavcanParameterValue.md) — UAVCAN-MAVLink parameter bridge response type
|
||||
- [UlogStream](UlogStream.md) — Message to stream ULog data from the logger. Corresponds to the LOGGING_DATA
|
||||
mavlink message
|
||||
mavlink message
|
||||
- [UlogStreamAck](UlogStreamAck.md) — Ack a previously sent ulog_stream message that had
|
||||
the NEED_ACK flag set
|
||||
the NEED_ACK flag set
|
||||
- [VehicleAcceleration](VehicleAcceleration.md)
|
||||
- [VehicleAirData](VehicleAirData.md)
|
||||
- [VehicleAirData](VehicleAirData.md) — Vehicle air data
|
||||
- [VehicleAngularAccelerationSetpoint](VehicleAngularAccelerationSetpoint.md)
|
||||
- [VehicleConstraints](VehicleConstraints.md) — Local setpoint constraints in NED frame
|
||||
setting something to NaN means that no limit is provided
|
||||
setting something to NaN means that no limit is provided
|
||||
- [VehicleImu](VehicleImu.md) — IMU readings in SI-unit form.
|
||||
- [VehicleImuStatus](VehicleImuStatus.md)
|
||||
- [VehicleLocalPositionSetpoint](VehicleLocalPositionSetpoint.md) — Local position setpoint in NED frame
|
||||
Telemetry of PID position controller to monitor tracking.
|
||||
NaN means the state was not controlled
|
||||
Telemetry of PID position controller to monitor tracking.
|
||||
NaN means the state was not controlled
|
||||
- [VehicleMagnetometer](VehicleMagnetometer.md)
|
||||
- [VehicleOpticalFlow](VehicleOpticalFlow.md) — Optical flow in XYZ body frame in SI units.
|
||||
- [VehicleOpticalFlowVel](VehicleOpticalFlowVel.md)
|
||||
@ -295,13 +302,18 @@ NaN means the state was not controlled
|
||||
- [VehicleTorqueSetpoint](VehicleTorqueSetpoint.md)
|
||||
- [VelocityLimits](VelocityLimits.md) — Velocity and yaw rate limits for a multicopter position slow mode only
|
||||
- [WheelEncoders](WheelEncoders.md)
|
||||
- [Wind](Wind.md)
|
||||
- [YawEstimatorStatus](YawEstimatorStatus.md)
|
||||
- [AirspeedValidatedV0](AirspeedValidatedV0.md)
|
||||
- [ArmingCheckReplyV0](ArmingCheckReplyV0.md)
|
||||
- [ArmingCheckRequestV0](ArmingCheckRequestV0.md) — Arming check request.
|
||||
- [BatteryStatusV0](BatteryStatusV0.md) — Battery status
|
||||
- [ConfigOverridesV0](ConfigOverridesV0.md) — Configurable overrides by (external) modes or mode executors
|
||||
- [EventV0](EventV0.md) — this message is required here in the msg_old folder because other msg are depending on it
|
||||
Events interface
|
||||
Events interface
|
||||
- [HomePositionV0](HomePositionV0.md) — GPS home position in WGS84 coordinates.
|
||||
- [RegisterExtComponentReplyV0](RegisterExtComponentReplyV0.md)
|
||||
- [RegisterExtComponentRequestV0](RegisterExtComponentRequestV0.md) — Request to register an external component
|
||||
- [VehicleAttitudeSetpointV0](VehicleAttitudeSetpointV0.md)
|
||||
- [VehicleLocalPositionV0](VehicleLocalPositionV0.md) — Fused local position in NED.
|
||||
The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
|
||||
- [VehicleStatusV0](VehicleStatusV0.md) — Encodes the system state of the vehicle published by commander
|
||||
|
||||
|
||||
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Reference in New Issue
Block a user