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Remove pregenerated files - that should all be tidied up next time this runs

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This commit is contained in:
Hamish Willee
2026-02-10 22:09:19 -08:00
committed by Ramon Roche
parent 3c80be8e48
commit 2ec9937369
18 changed files with 14128 additions and 10514 deletions
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docs/en/advanced_config/parameter_reference.md
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docs/en/modules/modules_controller.md
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@@ -1,13 +1,11 @@
# Modules Reference: Controller
## airship_att_control
Source: [modules/airship_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/airship_att_control)
### Description
This implements the airship attitude and rate controller. Ideally it would
take attitude setpoints (`vehicle_attitude_setpoint`) or rate setpoints (in acro mode
via `manual_control_setpoint` topic) as inputs and outputs actuator control messages.
@@ -15,8 +13,8 @@ via `manual_control_setpoint` topic) as inputs and outputs actuator control mess
Currently it is feeding the `manual_control_setpoint` topic directly to the actuators.
### Implementation
To reduce control latency, the module directly polls on the gyro topic published by the IMU driver.
To reduce control latency, the module directly polls on the gyro topic published by the IMU driver.
### Usage {#airship_att_control_usage}
@@ -34,8 +32,8 @@ airship_att_control <command> [arguments...]
Source: [modules/control_allocator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/control_allocator)
### Description
This implements control allocation. It takes torque and thrust setpoints
as inputs and outputs actuator setpoint messages.
@@ -55,12 +53,11 @@ control_allocator <command> [arguments...]
Source: [modules/flight_mode_manager](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/flight_mode_manager)
### Description
This implements the setpoint generation for all modes. It takes the current mode state of the vehicle as input
and outputs setpoints for controllers.
### Usage {#flight_mode_manager_usage}
```
@@ -77,10 +74,9 @@ flight_mode_manager <command> [arguments...]
Source: [modules/fw_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_att_control)
### Description
fw_att_control is the fixed wing attitude controller.
fw_att_control is the fixed wing attitude controller.
### Usage {#fw_att_control_usage}
@@ -99,10 +95,9 @@ fw_att_control <command> [arguments...]
Source: [modules/fw_lateral_longitudinal_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_lateral_longitudinal_control)
### Description
fw_lat_lon_control computes attitude and throttle setpoints from lateral and longitudinal control setpoints.
fw_lat_lon_control computes attitude and throttle setpoints from lateral and longitudinal control setpoints.
### Usage {#fw_lat_lon_control_usage}
@@ -121,13 +116,12 @@ fw_lat_lon_control <command> [arguments...]
Source: [modules/fw_mode_manager](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_mode_manager)
### Description
This implements the setpoint generation for all PX4-internal fixed-wing modes, height-rate control and higher.
It takes the current mode state of the vehicle as input and outputs setpoints consumed by the fixed-wing
lateral-longitudinal controller and and controllers below that (attitude, rate).
### Usage {#fw_mode_manager_usage}
```
@@ -144,10 +138,9 @@ fw_mode_manager <command> [arguments...]
Source: [modules/fw_rate_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/fw_rate_control)
### Description
fw_rate_control is the fixed-wing rate controller.
fw_rate_control is the fixed-wing rate controller.
### Usage {#fw_rate_control_usage}
@@ -166,8 +159,8 @@ fw_rate_control <command> [arguments...]
Source: [modules/mc_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_att_control)
### Description
This implements the multicopter attitude controller. It takes attitude
setpoints (`vehicle_attitude_setpoint`) as inputs and outputs a rate setpoint.
@@ -180,7 +173,6 @@ Institute for Dynamic Systems and Control (IDSC), ETH Zurich
https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth-7387-01.pdf
### Usage {#mc_att_control_usage}
```
@@ -194,12 +186,36 @@ mc_att_control <command> [arguments...]
status print status info
```
## mc_nn_control
Source: [modules/mc_nn_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_nn_control)
### Description
Multicopter Neural Network Control module.
This module is an end-to-end neural network control system for multicopters.
It takes in 15 input values and outputs 4 control actions.
Inputs: [pos_err(3), att(6), vel(3), ang_vel(3)]
Outputs: [Actuator motors(4)]
### Usage {#mc_nn_control_usage}
```
mc_nn_control <command> [arguments...]
Commands:
start
stop
status print status info
```
## mc_pos_control
Source: [modules/mc_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_pos_control)
### Description
The controller has two loops: a P loop for position error and a PID loop for velocity error.
Output of the velocity controller is thrust vector that is split to thrust direction
(i.e. rotation matrix for multicopter orientation) and thrust scalar (i.e. multicopter thrust itself).
@@ -224,14 +240,13 @@ mc_pos_control <command> [arguments...]
Source: [modules/mc_rate_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_rate_control)
### Description
This implements the multicopter rate controller. It takes rate setpoints (in acro mode
via `manual_control_setpoint` topic) as inputs and outputs actuator control messages.
The controller has a PID loop for angular rate error.
### Usage {#mc_rate_control_usage}
```
@@ -249,20 +264,20 @@ mc_rate_control <command> [arguments...]
Source: [modules/navigator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/navigator)
### Description
Module that is responsible for autonomous flight modes. This includes missions (read from dataman),
takeoff and RTL.
It is also responsible for geofence violation checking.
### Implementation
The different internal modes are implemented as separate classes that inherit from a common base class `NavigatorMode`.
The member `_navigation_mode` contains the current active mode.
Navigator publishes position setpoint triplets (`position_setpoint_triplet_s`), which are then used by the position
controller.
### Usage {#navigator_usage}
```
@@ -283,8 +298,8 @@ navigator <command> [arguments...]
Source: [modules/rover_ackermann](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_ackermann)
### Description
Rover ackermann module.
### Usage {#rover_ackermann_usage}
@@ -303,8 +318,8 @@ rover_ackermann <command> [arguments...]
Source: [modules/rover_differential](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_differential)
### Description
Rover differential module.
### Usage {#rover_differential_usage}
@@ -323,8 +338,8 @@ rover_differential <command> [arguments...]
Source: [modules/rover_mecanum](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_mecanum)
### Description
Rover mecanum module.
### Usage {#rover_mecanum_usage}
@@ -339,53 +354,14 @@ rover_mecanum <command> [arguments...]
status print status info
```
## rover_pos_control
Source: [modules/rover_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/rover_pos_control)
### Description
Controls the position of a ground rover using an L1 controller.
Publishes `vehicle_thrust_setpoint (only in x) and vehicle_torque_setpoint (only yaw)` messages at IMU_GYRO_RATEMAX.
### Implementation
Currently, this implementation supports only a few modes:
* Full manual: Throttle and yaw controls are passed directly through to the actuators
* Auto mission: The rover runs missions
* Loiter: The rover will navigate to within the loiter radius, then stop the motors
### Examples
CLI usage example:
```
rover_pos_control start
rover_pos_control status
rover_pos_control stop
```
### Usage {#rover_pos_control_usage}
```
rover_pos_control <command> [arguments...]
Commands:
start
stop
status print status info
```
## spacecraft
Source: [modules/spacecraft](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/spacecraft)
### Description
This implements control allocation for spacecraft vehicles.
It takes torque and thrust setpoints as inputs and outputs
actuator setpoint messages.
### Description
This implements control allocation for spacecraft vehicles.
It takes torque and thrust setpoints as inputs and outputs
actuator setpoint messages.
### Usage {#spacecraft_usage}
@@ -394,6 +370,8 @@ spacecraft <command> [arguments...]
Commands:
start
status
stop
status print status info
@@ -403,27 +381,29 @@ spacecraft <command> [arguments...]
Source: [modules/uuv_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/uuv_att_control)
### Description
Controls the attitude of an unmanned underwater vehicle (UUV).
Publishes `vehicle_thrust_setpont` and `vehicle_torque_setpoint` messages at a constant 250Hz.
### Implementation
Currently, this implementation supports only a few modes:
* Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
* Auto mission: The uuv runs missions
- Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
- Auto mission: The uuv runs missions
### Examples
CLI usage example:
```
uuv_att_control start
uuv_att_control status
uuv_att_control stop
```
### Usage {#uuv_att_control_usage}
```
@@ -440,16 +420,22 @@ uuv_att_control <command> [arguments...]
Source: [modules/uuv_pos_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/uuv_pos_control)
### Description
Controls the attitude of an unmanned underwater vehicle (UUV).
Publishes `attitude_setpoint` messages.
### Implementation
Currently, this implementation supports only a few modes:
* Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
* Auto mission: The uuv runs missions
- Full manual: Roll, pitch, yaw, and throttle controls are passed directly through to the actuators
- Auto mission: The uuv runs missions
### Examples
CLI usage example:
```
uuv_pos_control start
uuv_pos_control status
@@ -472,8 +458,8 @@ uuv_pos_control <command> [arguments...]
Source: [modules/vtol_att_control](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/vtol_att_control)
### Description
fw_att_control is the fixed wing attitude controller.
### Usage {#vtol_att_control_usage}
docs/en/modules/modules_driver.md
+4 -2
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@@ -1109,7 +1109,7 @@ px4io <command> [arguments...]
## rgbled
Source: [drivers/lights/rgbled](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled)
Source: [drivers/lights/rgbled_ncp5623c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/lights/rgbled_ncp5623c)
### Usage {#rgbled_usage}
@@ -1124,7 +1124,9 @@ rgbled <command> [arguments...]
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 85
default: 57
[-o <val>] RGB PWM Assignment
default: 123
stop
docs/en/modules/modules_driver_distance_sensor.md
+48 -19
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@@ -4,7 +4,6 @@
Source: [drivers/distance_sensor/broadcom/afbrs50](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/broadcom/afbrs50)
### Description
Driver for the Broadcom AFBRS50.
@@ -12,10 +11,13 @@ Driver for the Broadcom AFBRS50.
### Examples
Attempt to start driver on a specified serial device.
```
afbrs50 start
```
Stop driver
```
afbrs50 stop
```
@@ -30,8 +32,6 @@ afbrs50 <command> [arguments...]
[-r <val>] Sensor rotation - downward facing by default
default: 25
test Test driver
stop Stop driver
```
@@ -63,7 +63,6 @@ gy_us42 <command> [arguments...]
Source: [drivers/distance_sensor/leddar_one](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/leddar_one)
### Description
Serial bus driver for the LeddarOne LiDAR.
@@ -75,10 +74,13 @@ Setup/usage information: https://docs.px4.io/main/en/sensor/leddar_one.html
### Examples
Attempt to start driver on a specified serial device.
```
leddar_one start -d /dev/ttyS1
```
Stop driver
```
leddar_one stop
```
@@ -100,10 +102,9 @@ leddar_one <command> [arguments...]
Source: [drivers/distance_sensor/lightware_laser_i2c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_laser_i2c)
### Description
I2C bus driver for Lightware SFxx series LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20.
I2C bus driver for Lightware SFxx series LIDAR rangefinders: SF10/a, SF10/b, SF10/c, SF11/c, SF/LW20, SF30/d.
Setup/usage information: https://docs.px4.io/main/en/sensor/sfxx_lidar.html
@@ -133,7 +134,6 @@ lightware_laser_i2c <command> [arguments...]
Source: [drivers/distance_sensor/lightware_laser_serial](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_laser_serial)
### Description
Serial bus driver for the LightWare SF02/F, SF10/a, SF10/b, SF10/c, SF11/c Laser rangefinders.
@@ -145,10 +145,13 @@ Setup/usage information: https://docs.px4.io/main/en/sensor/sfxx_lidar.html
### Examples
Attempt to start driver on a specified serial device.
```
lightware_laser_serial start -d /dev/ttyS1
```
Stop driver
```
lightware_laser_serial stop
```
@@ -170,19 +173,20 @@ lightware_laser_serial <command> [arguments...]
Source: [drivers/distance_sensor/lightware_sf45_serial](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_sf45_serial)
### 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
```
Stop driver
```
lightware_sf45_serial stop
```
@@ -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)
### 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
```
docs/en/modules/modules_driver_transponder.md
+14 -15
View File
@@ -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}
docs/en/modules/modules_system.md
+107 -96
View File
@@ -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}
```
docs/en/msg_docs/ArmingCheckReply.md
+25 -25
View File
@@ -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
```
docs/en/msg_docs/ArmingCheckReplyV0.md
-2
View File
@@ -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
docs/en/msg_docs/ArmingCheckRequest.md
+7 -5
View File
@@ -1,6 +1,6 @@
# ArmingCheckRequest (UORB message)
Arming check request.
Arming check request
Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
@@ -12,7 +12,7 @@ The reply will also include the registration_id for each external component, pro
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg)
```c
# Arming check request.
# Arming check request
#
# Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
# All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
@@ -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)
```
docs/en/msg_docs/index.md
+89 -77
View File
@@ -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