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New Crowdin translations - zh-CN (#26553)

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docs/zh/msg_docs/ActionRequest.md
+34 -34
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@@ -25,26 +25,26 @@ Request are published by `manual_control` and subscribed by the `commander` and
### ACTION {#ACTION}
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | ---------------------------------------------------------------------------------------- |
| <a href="#ACTION_DISARM"></a> ACTION_DISARM | `uint8` | 0 | Disarm vehicle |
| <a href="#ACTION_ARM"></a> ACTION_ARM | `uint8` | 1 | Arm vehicle |
| <a href="#ACTION_TOGGLE_ARMING"></a> ACTION_TOGGLE_ARMING | `uint8` | 2 | Toggle arming |
| <a href="#ACTION_UNKILL"></a> ACTION_UNKILL | `uint8` | 3 | Revert a kill action |
| <a href="#ACTION_KILL"></a> ACTION_KILL | `uint8` | 4 | Kill vehicle (instantly stop the motors) |
| <a href="#ACTION_SWITCH_MODE"></a> ACTION_SWITCH_MODE | `uint8` | 5 | Switch mode. The target mode is set in the `mode` field. |
| <a href="#ACTION_VTOL_TRANSITION_TO_MULTICOPTER"></a> ACTION_VTOL_TRANSITION_TO_MULTICOPTER | `uint8` | 6 | Transition to hover flight |
| <a href="#ACTION_VTOL_TRANSITION_TO_FIXEDWING"></a> ACTION_VTOL_TRANSITION_TO_FIXEDWING | `uint8` | 7 | Transition to fast forward flight |
| <a href="#ACTION_TERMINATION"></a> ACTION_TERMINATION | `uint8` | 8 | Irreversibly output failsafe values on all outputs, trigger parachute |
| 参数名 | 类型 | 值 | 描述 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | ---------------------------------------------------------------------------------------- |
| <a id="#ACTION_DISARM"></a> ACTION_DISARM | `uint8` | 0 | Disarm vehicle |
| <a id="#ACTION_ARM"></a> ACTION_ARM | `uint8` | 1 | Arm vehicle |
| <a id="#ACTION_TOGGLE_ARMING"></a> ACTION_TOGGLE_ARMING | `uint8` | 2 | Toggle arming |
| <a id="#ACTION_UNKILL"></a> ACTION_UNKILL | `uint8` | 3 | Revert a kill action |
| <a id="#ACTION_KILL"></a> ACTION_KILL | `uint8` | 4 | Kill vehicle (instantly stop the motors) |
| <a id="#ACTION_SWITCH_MODE"></a> ACTION_SWITCH_MODE | `uint8` | 5 | Switch mode. The target mode is set in the `mode` field. |
| <a id="#ACTION_VTOL_TRANSITION_TO_MULTICOPTER"></a> ACTION_VTOL_TRANSITION_TO_MULTICOPTER | `uint8` | 6 | Transition to hover flight |
| <a id="#ACTION_VTOL_TRANSITION_TO_FIXEDWING"></a> ACTION_VTOL_TRANSITION_TO_FIXEDWING | `uint8` | 7 | Transition to fast forward flight |
| <a id="#ACTION_TERMINATION"></a> ACTION_TERMINATION | `uint8` | 8 | Irreversibly output failsafe values on all outputs, trigger parachute |
### SOURCE {#SOURCE}
| 参数名 | 类型 | 值 | 描述 |
| ---------------------------------------------------------------------------------------------------------------------- | ------- | - | --------------------------------------------------------------- |
| <a href="#SOURCE_STICK_GESTURE"></a> SOURCE_STICK_GESTURE | `uint8` | 0 | Triggered by holding the sticks in a certain position |
| <a href="#SOURCE_RC_SWITCH"></a> SOURCE_RC_SWITCH | `uint8` | 1 | Triggered by an RC switch moving into a certain position |
| <a href="#SOURCE_RC_BUTTON"></a> SOURCE_RC_BUTTON | `uint8` | 2 | Triggered by a momentary button on the RC being pressed or held |
| <a href="#SOURCE_RC_MODE_SLOT"></a> SOURCE_RC_MODE_SLOT | `uint8` | 3 | Mode change through the RC mode selection mechanism |
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------------------------------------------------------- | ------- | - | --------------------------------------------------------------- |
| <a id="#SOURCE_STICK_GESTURE"></a> SOURCE_STICK_GESTURE | `uint8` | 0 | Triggered by holding the sticks in a certain position |
| <a id="#SOURCE_RC_SWITCH"></a> SOURCE_RC_SWITCH | `uint8` | 1 | Triggered by an RC switch moving into a certain position |
| <a id="#SOURCE_RC_BUTTON"></a> SOURCE_RC_BUTTON | `uint8` | 2 | Triggered by a momentary button on the RC being pressed or held |
| <a id="#SOURCE_RC_MODE_SLOT"></a> SOURCE_RC_MODE_SLOT | `uint8` | 3 | Mode change through the RC mode selection mechanism |
## Source Message
@@ -60,26 +60,26 @@ Click here to see original file
# It allows mapping triggers from various external interfaces like RC channels or MAVLink to cause an action.
# Request are published by `manual_control` and subscribed by the `commander` and `vtol_att_control` modules.
uint64 timestamp # [us] Time since system start
uint64 timestamp # [us] Time since system start
uint8 action # [@enum ACTION] Requested action
uint8 ACTION_DISARM = 0 # Disarm vehicle
uint8 ACTION_ARM = 1 # Arm vehicle
uint8 ACTION_TOGGLE_ARMING = 2 # Toggle arming
uint8 ACTION_UNKILL = 3 # Revert a kill action
uint8 ACTION_KILL = 4 # Kill vehicle (instantly stop the motors)
uint8 ACTION_SWITCH_MODE = 5 # Switch mode. The target mode is set in the `mode` field.
uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6 # Transition to hover flight
uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7 # Transition to fast forward flight
uint8 ACTION_TERMINATION = 8 # Irreversibly output failsafe values on all outputs, trigger parachute
uint8 action # [@enum ACTION] Requested action
uint8 ACTION_DISARM = 0 # Disarm vehicle
uint8 ACTION_ARM = 1 # Arm vehicle
uint8 ACTION_TOGGLE_ARMING = 2 # Toggle arming
uint8 ACTION_UNKILL = 3 # Revert a kill action
uint8 ACTION_KILL = 4 # Kill vehicle (instantly stop the motors)
uint8 ACTION_SWITCH_MODE = 5 # Switch mode. The target mode is set in the `mode` field.
uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6 # Transition to hover flight
uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7 # Transition to fast forward flight
uint8 ACTION_TERMINATION = 8 # Irreversibly output failsafe values on all outputs, trigger parachute
uint8 source # [@enum SOURCE] Request trigger type, such as a switch, button or gesture
uint8 SOURCE_STICK_GESTURE = 0 # Triggered by holding the sticks in a certain position
uint8 SOURCE_RC_SWITCH = 1 # Triggered by an RC switch moving into a certain position
uint8 SOURCE_RC_BUTTON = 2 # Triggered by a momentary button on the RC being pressed or held
uint8 SOURCE_RC_MODE_SLOT = 3 # Mode change through the RC mode selection mechanism
uint8 source # [@enum SOURCE] Request trigger type, such as a switch, button or gesture
uint8 SOURCE_STICK_GESTURE = 0 # Triggered by holding the sticks in a certain position
uint8 SOURCE_RC_SWITCH = 1 # Triggered by an RC switch moving into a certain position
uint8 SOURCE_RC_BUTTON = 2 # Triggered by a momentary button on the RC being pressed or held
uint8 SOURCE_RC_MODE_SLOT = 3 # Mode change through the RC mode selection mechanism
uint8 mode # Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration.
uint8 mode # Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration.
```
:::
docs/zh/msg_docs/ActuatorMotors.md
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@@ -18,15 +18,15 @@ Published by the vehicle's allocation and consumed by the ESC protocol drivers e
| timestamp | `uint64` | us | | Time since system start |
| timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on |
| reversible_flags | `uint16` | | | Bitset indicating which motors are configured to be reversible |
| control | `float32[12]` | | [-1 : 1] | Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors) |
| control | `float32[12]` | | [-1 : 1] | Normalized thrust. Where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors) |
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ----------------------------------------------------------------------------------------------------------- | -------- | --- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR1"></a> ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | |
| <a href="#NUM_CONTROLS"></a> NUM_CONTROLS | `uint8` | 12 | |
| 参数名 | 类型 | 值 | 描述 |
| --------------------------------------------------------------------------------------------------------- | -------- | --- | -- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| <a id="#ACTUATOR_FUNCTION_MOTOR1"></a> ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | |
| <a id="#NUM_CONTROLS"></a> NUM_CONTROLS | `uint8` | 12 | |
## Source Message
@@ -43,15 +43,15 @@ Click here to see original file
uint32 MESSAGE_VERSION = 0
uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
uint16 reversible_flags # [-] Bitset indicating which motors are configured to be reversible
uint16 reversible_flags # [-] Bitset indicating which motors are configured to be reversible
uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 #
uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
uint8 NUM_CONTROLS = 12 #
float32[12] control # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)
uint8 NUM_CONTROLS = 12
float32[12] control # [@range -1, 1] Normalized thrust. Where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)
```
:::
docs/zh/msg_docs/ActuatorOutputs.md
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@@ -16,10 +16,10 @@ pageClass: is-wide-page
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------------------------------------------- | ------- | -- | ------------------- |
| <a href="#NUM_ACTUATOR_OUTPUTS"></a> NUM_ACTUATOR_OUTPUTS | `uint8` | 16 | |
| <a href="#NUM_ACTUATOR_OUTPUT_GROUPS "></a> NUM_ACTUATOR_OUTPUT_GROUPS | `uint8` | 4 | for sanity checking |
| 参数名 | 类型 | 值 | 描述 |
| ---------------------------------------------------------------------------------------------------------------------------------- | ------- | -- | ------------------- |
| <a id="#NUM_ACTUATOR_OUTPUTS"></a> NUM_ACTUATOR_OUTPUTS | `uint8` | 16 | |
| <a id="#NUM_ACTUATOR_OUTPUT_GROUPS"></a> NUM_ACTUATOR_OUTPUT_GROUPS | `uint8` | 4 | for sanity checking |
## Source Message
docs/zh/msg_docs/ActuatorServos.md
+8 -8
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@@ -21,10 +21,10 @@ Published by the vehicle's allocation and consumed by the actuator output driver
## Constants
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------- | -------- | - | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| <a href="#NUM_CONTROLS"></a> NUM_CONTROLS | `uint8` | 8 | |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------ | -------- | - | -- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| <a id="#NUM_CONTROLS"></a> NUM_CONTROLS | `uint8` | 8 | |
## Source Message
@@ -41,11 +41,11 @@ Click here to see original file
uint32 MESSAGE_VERSION = 0
uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
uint8 NUM_CONTROLS = 8 #
float32[8] control # [-] [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
uint8 NUM_CONTROLS = 8
float32[8] control # [-] [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
```
:::
docs/zh/msg_docs/ActuatorServosTrim.md
+4 -4
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@@ -6,7 +6,7 @@ pageClass: is-wide-page
Servo trims, added as offset to servo outputs.
**TOPICS:** actuator_servostrim
**TOPICS:** actuator_servos_trim
## Fields
@@ -17,9 +17,9 @@ Servo trims, added as offset to servo outputs.
## Constants
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------- | ------- | - | -- |
| <a href="#NUM_CONTROLS"></a> NUM_CONTROLS | `uint8` | 8 | |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------ | ------- | - | -- |
| <a id="#NUM_CONTROLS"></a> NUM_CONTROLS | `uint8` | 8 | |
## Source Message
docs/zh/msg_docs/ActuatorTest.md
+9 -9
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@@ -18,15 +18,15 @@ pageClass: is-wide-page
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------------- | ------- | --- | -------------------------------------------------------------------------------------------------------------------- |
| <a href="#ACTION_RELEASE_CONTROL"></a> ACTION_RELEASE_CONTROL | `uint8` | 0 | exit test mode for the given function |
| <a href="#ACTION_DO_CONTROL"></a> ACTION_DO_CONTROL | `uint8` | 1 | enable actuator test mode |
| <a href="#FUNCTION_MOTOR1"></a> FUNCTION_MOTOR1 | `uint8` | 101 | |
| <a href="#MAX_NUM_MOTORS"></a> MAX_NUM_MOTORS | `uint8` | 12 | |
| <a href="#FUNCTION_SERVO1"></a> FUNCTION_SERVO1 | `uint8` | 201 | |
| <a href="#MAX_NUM_SERVOS"></a> MAX_NUM_SERVOS | `uint8` | 8 | |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 16 | > = MAX_NUM_MOTORS to support code in esc_calibration |
| 参数名 | 类型 | 值 | 描述 |
| ----------------------------------------------------------------------------------------------------- | ------- | --- | -------------------------------------------------------------------------------------------------------------------- |
| <a id="#ACTION_RELEASE_CONTROL"></a> ACTION_RELEASE_CONTROL | `uint8` | 0 | exit test mode for the given function |
| <a id="#ACTION_DO_CONTROL"></a> ACTION_DO_CONTROL | `uint8` | 1 | enable actuator test mode |
| <a id="#FUNCTION_MOTOR1"></a> FUNCTION_MOTOR1 | `uint8` | 101 | |
| <a id="#MAX_NUM_MOTORS"></a> MAX_NUM_MOTORS | `uint8` | 12 | |
| <a id="#FUNCTION_SERVO1"></a> FUNCTION_SERVO1 | `uint8` | 201 | |
| <a id="#MAX_NUM_SERVOS"></a> MAX_NUM_SERVOS | `uint8` | 8 | |
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 16 | > = MAX_NUM_MOTORS to support code in esc_calibration |
## Source Message
docs/zh/msg_docs/AirspeedValidated.md
+27 -28
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@@ -30,20 +30,20 @@ Used by controllers, estimators and for airspeed reporting to operator.
### SOURCE {#SOURCE}
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------- | ------ | -- | ----------------------- |
| <a href="#SOURCE_DISABLED"></a> SOURCE_DISABLED | `int8` | -1 | Disabled |
| <a href="#SOURCE_GROUND_MINUS_WIND"></a> SOURCE_GROUND_MINUS_WIND | `int8` | 0 | Ground speed minus wind |
| <a href="#SOURCE_SENSOR_1"></a> SOURCE_SENSOR_1 | `int8` | 1 | Sensor 1 |
| <a href="#SOURCE_SENSOR_2"></a> SOURCE_SENSOR_2 | `int8` | 2 | Sensor 2 |
| <a href="#SOURCE_SENSOR_3"></a> SOURCE_SENSOR_3 | `int8` | 3 | Sensor 3 |
| <a href="#SOURCE_SYNTHETIC"></a> SOURCE_SYNTHETIC | `int8` | 4 | Synthetic airspeed |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------------------------------------ | ------ | -- | ----------------------- |
| <a id="#SOURCE_DISABLED"></a> SOURCE_DISABLED | `int8` | -1 | Disabled |
| <a id="#SOURCE_GROUND_MINUS_WIND"></a> SOURCE_GROUND_MINUS_WIND | `int8` | 0 | Ground speed minus wind |
| <a id="#SOURCE_SENSOR_1"></a> SOURCE_SENSOR_1 | `int8` | 1 | Sensor 1 |
| <a id="#SOURCE_SENSOR_2"></a> SOURCE_SENSOR_2 | `int8` | 2 | Sensor 2 |
| <a id="#SOURCE_SENSOR_3"></a> SOURCE_SENSOR_3 | `int8` | 3 | Sensor 3 |
| <a id="#SOURCE_SYNTHETIC"></a> SOURCE_SYNTHETIC | `int8` | 4 | Synthetic airspeed |
## Constants
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------- | -------- | - | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 | |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------ | -------- | - | -- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 | |
## Source Message
@@ -58,28 +58,27 @@ Click here to see original file
# Provides information about airspeed (indicated, true, calibrated) and the source of the data.
# Used by controllers, estimators and for airspeed reporting to operator.
uint32 MESSAGE_VERSION = 1
uint64 timestamp # [us] Time since system start
uint64 timestamp # [us] Time since system start
float32 indicated_airspeed_m_s # [m/s] [@invalid NaN] Indicated airspeed (IAS)
float32 calibrated_airspeed_m_s # [m/s] [@invalid NaN] Calibrated airspeed (CAS)
float32 true_airspeed_m_s # [m/s] [@invalid NaN] True airspeed (TAS)
float32 indicated_airspeed_m_s # [m/s] [@invalid NaN] Indicated airspeed (IAS)
float32 calibrated_airspeed_m_s # [m/s] [@invalid NaN] Calibrated airspeed (CAS)
float32 true_airspeed_m_s # [m/s] [@invalid NaN] True airspeed (TAS)
int8 airspeed_source # [@enum SOURCE] Source of currently published airspeed values
int8 SOURCE_DISABLED = -1 # Disabled
int8 SOURCE_GROUND_MINUS_WIND = 0 # Ground speed minus wind
int8 SOURCE_SENSOR_1 = 1 # Sensor 1
int8 SOURCE_SENSOR_2 = 2 # Sensor 2
int8 SOURCE_SENSOR_3 = 3 # Sensor 3
int8 SOURCE_SYNTHETIC = 4 # Synthetic airspeed
int8 airspeed_source # [@enum SOURCE] Source of currently published airspeed values
int8 SOURCE_DISABLED = -1 # Disabled
int8 SOURCE_GROUND_MINUS_WIND = 0 # Ground speed minus wind
int8 SOURCE_SENSOR_1 = 1 # Sensor 1
int8 SOURCE_SENSOR_2 = 2 # Sensor 2
int8 SOURCE_SENSOR_3 = 3 # Sensor 3
int8 SOURCE_SYNTHETIC = 4 # Synthetic airspeed
float32 calibrated_ground_minus_wind_m_s # [m/s] [@invalid NaN] CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption
float32 calibraded_airspeed_synth_m_s # [m/s] [@invalid NaN] Synthetic airspeed
float32 airspeed_derivative_filtered # [m/s^2] Filtered indicated airspeed derivative
float32 throttle_filtered # [-] Filtered fixed-wing throttle
float32 pitch_filtered # [rad] Filtered pitch
float32 calibrated_ground_minus_wind_m_s # [m/s] [@invalid NaN] CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption
float32 calibraded_airspeed_synth_m_s # [m/s] [@invalid NaN] Synthetic airspeed
float32 airspeed_derivative_filtered # [m/s^2] Filtered indicated airspeed derivative
float32 throttle_filtered # [-] Filtered fixed-wing throttle
float32 pitch_filtered # [rad] Filtered pitch
```
:::
docs/zh/msg_docs/AirspeedValidatedV0.md
+4 -4
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@@ -4,7 +4,7 @@ pageClass: is-wide-page
# AirspeedValidatedV0 (UORB message)
**TOPICS:** airspeed_validatedv0
**TOPICS:** airspeed_validated_v0
## Fields
@@ -24,9 +24,9 @@ pageClass: is-wide-page
## Constants
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------- | -------- | - | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------ | -------- | - | -- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
docs/zh/msg_docs/AirspeedWind.md
+6 -6
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@@ -35,12 +35,12 @@ subscribed to by any other modules.
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ---------------------------------------------------------------------------------------------------------------------- | ------- | - | ----------------------------------------------------------------------------------------------------- |
| <a href="#SOURCE_AS_BETA_ONLY"></a> SOURCE_AS_BETA_ONLY | `uint8` | 0 | Wind estimate only based on synthetic sideslip fusion |
| <a href="#SOURCE_AS_SENSOR_1"></a> SOURCE_AS_SENSOR_1 | `uint8` | 1 | Combined synthetic sideslip and airspeed fusion (data from first airspeed sensor) |
| <a href="#SOURCE_AS_SENSOR_2"></a> SOURCE_AS_SENSOR_2 | `uint8` | 2 | Combined synthetic sideslip and airspeed fusion (data from second airspeed sensor) |
| <a href="#SOURCE_AS_SENSOR_3"></a> SOURCE_AS_SENSOR_3 | `uint8` | 3 | Combined synthetic sideslip and airspeed fusion (data from third airspeed sensor) |
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------------------------------------------------------- | ------- | - | ----------------------------------------------------------------------------------------------------- |
| <a id="#SOURCE_AS_BETA_ONLY"></a> SOURCE_AS_BETA_ONLY | `uint8` | 0 | Wind estimate only based on synthetic sideslip fusion |
| <a id="#SOURCE_AS_SENSOR_1"></a> SOURCE_AS_SENSOR_1 | `uint8` | 1 | Combined synthetic sideslip and airspeed fusion (data from first airspeed sensor) |
| <a id="#SOURCE_AS_SENSOR_2"></a> SOURCE_AS_SENSOR_2 | `uint8` | 2 | Combined synthetic sideslip and airspeed fusion (data from second airspeed sensor) |
| <a id="#SOURCE_AS_SENSOR_3"></a> SOURCE_AS_SENSOR_3 | `uint8` | 3 | Combined synthetic sideslip and airspeed fusion (data from third airspeed sensor) |
## Source Message
docs/zh/msg_docs/ArmingCheckReply.md
+31 -31
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@@ -13,7 +13,7 @@ The request is sent regularly to all registered ROS modes, even while armed, so
Note that the external component is identified by its registration_id, which is allocated to the component during registration (arming_check_id in RegisterExtComponentReply).
The message is not used by internal/FMU components, as their mode requirements are known at compile time.
**TOPICS:** arming_checkreply
**TOPICS:** arming_check_reply
## Fields
@@ -45,16 +45,16 @@ The message is not used by internal/FMU components, as their mode requirements a
### HEALTH_COMPONENT_INDEX {#HEALTH_COMPONENT_INDEX}
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | --------------------------------------------------------- |
| <a href="#HEALTH_COMPONENT_INDEX_NONE"></a> HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 | Index of health component for which this response applies |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | - | --------------------------------------------------------- |
| <a id="#HEALTH_COMPONENT_INDEX_NONE"></a> HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 | Index of health component for which this response applies |
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------- | -------- | - | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 | |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 4 | |
| 参数名 | 类型 | 值 | 描述 |
| ----------------------------------------------------------------------------------------- | -------- | - | -- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 | |
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
@@ -73,40 +73,40 @@ Click here to see original file
# 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/zh/msg_docs/ArmingCheckReplyV0.md
+6 -6
View File
@@ -4,7 +4,7 @@ pageClass: is-wide-page
# ArmingCheckReplyV0 (UORB message)
**TOPICS:** arming_checkreplyv0
**TOPICS:** arming_check_reply_v0
## Fields
@@ -33,11 +33,11 @@ pageClass: is-wide-page
## Constants
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------- | -------- | - | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| <a href="#HEALTH_COMPONENT_INDEX_NONE"></a> HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 | |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 4 | |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------------------------------------------ | -------- | - | -- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| <a id="#HEALTH_COMPONENT_INDEX_NONE"></a> HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 | |
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
docs/zh/msg_docs/ArmingCheckRequest.md
+6 -6
View File
@@ -13,7 +13,7 @@ The request is sent regularly, even while armed, so that the FMU always knows th
The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
**TOPICS:** arming_checkrequest
**TOPICS:** arming_check_request
## Fields
@@ -25,9 +25,9 @@ The reply will also include the registration_id for each external component, pro
## Constants
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------- | -------- | - | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 | |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------ | -------- | - | -- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 | |
## Source Message
@@ -48,9 +48,9 @@ Click here to see original file
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/zh/msg_docs/ArmingCheckRequestV0.md
+4 -4
View File
@@ -13,7 +13,7 @@ The request is sent regularly, even while armed, so that the FMU always knows th
The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
**TOPICS:** arming_checkrequestv0
**TOPICS:** arming_check_request_v0
## Fields
@@ -24,9 +24,9 @@ The reply will also include the registration_id for each external component, pro
## Constants
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------- | -------- | - | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------ | -------- | - | -- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
docs/zh/msg_docs/AutotuneAttitudeControlStatus.md
+20 -20
View File
@@ -11,7 +11,7 @@ and is subscribed to by the respective attitude controllers to command rate setp
The rate_sp field is consumed by the controllers, while the remaining fields (model coefficients, gains, filters, and autotune state) are used for logging and debugging.
**TOPICS:** autotune_attitudecontrol_status
**TOPICS:** autotune_attitude_control_status
## Fields
@@ -37,25 +37,25 @@ The rate_sp field is consumed by the controllers, while the remaining fields (mo
### STATE {#STATE}
| 参数名 | 类型 | 值 | 描述 |
| ---------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -- | ------------------------------------------------------------------------------------------- |
| <a href="#STATE_IDLE"></a> STATE_IDLE | `uint8` | 0 | Idle (not running) |
| <a href="#STATE_INIT"></a> STATE_INIT | `uint8` | 1 | Initialize filters and setup |
| <a href="#STATE_ROLL_AMPLITUDE_DETECTION"></a> STATE_ROLL_AMPLITUDE_DETECTION | `uint8` | 2 | FW only: determine required excitation amplitude (roll) |
| <a href="#STATE_ROLL"></a> STATE_ROLL | `uint8` | 3 | Roll-axis excitation and model identification |
| <a href="#STATE_ROLL_PAUSE"></a> STATE_ROLL_PAUSE | `uint8` | 4 | Pause to return to level flight |
| <a href="#STATE_PITCH_AMPLITUDE_DETECTION"></a> STATE_PITCH_AMPLITUDE_DETECTION | `uint8` | 5 | FW only: determine required excitation amplitude (pitch) |
| <a href="#STATE_PITCH"></a> STATE_PITCH | `uint8` | 6 | Pitch-axis excitation and model identification |
| <a href="#STATE_PITCH_PAUSE"></a> STATE_PITCH_PAUSE | `uint8` | 7 | Pause to return to level flight |
| <a href="#STATE_YAW_AMPLITUDE_DETECTION"></a> STATE_YAW_AMPLITUDE_DETECTION | `uint8` | 8 | FW only: determine required excitation amplitude (yaw) |
| <a href="#STATE_YAW"></a> STATE_YAW | `uint8` | 9 | Yaw-axis excitation and model identification |
| <a href="#STATE_YAW_PAUSE"></a> STATE_YAW_PAUSE | `uint8` | 10 | Pause to return to level flight |
| <a href="#STATE_VERIFICATION"></a> STATE_VERIFICATION | `uint8` | 11 | Verify model and candidate gains |
| <a href="#STATE_APPLY"></a> STATE_APPLY | `uint8` | 12 | Apply gains |
| <a href="#STATE_TEST"></a> STATE_TEST | `uint8` | 13 | Test gains in closed-loop |
| <a href="#STATE_COMPLETE"></a> STATE_COMPLETE | `uint8` | 14 | Tuning completed successfully |
| <a href="#STATE_FAIL"></a> STATE_FAIL | `uint8` | 15 | Tuning failed (model invalid or controller unstable) |
| <a href="#STATE_WAIT_FOR_DISARM"></a> STATE_WAIT_FOR_DISARM | `uint8` | 16 | Waiting for disarm before finalizing |
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -- | ------------------------------------------------------------------------------------------- |
| <a id="#STATE_IDLE"></a> STATE_IDLE | `uint8` | 0 | Idle (not running) |
| <a id="#STATE_INIT"></a> STATE_INIT | `uint8` | 1 | Initialize filters and setup |
| <a id="#STATE_ROLL_AMPLITUDE_DETECTION"></a> STATE_ROLL_AMPLITUDE_DETECTION | `uint8` | 2 | FW only: determine required excitation amplitude (roll) |
| <a id="#STATE_ROLL"></a> STATE_ROLL | `uint8` | 3 | Roll-axis excitation and model identification |
| <a id="#STATE_ROLL_PAUSE"></a> STATE_ROLL_PAUSE | `uint8` | 4 | Pause to return to level flight |
| <a id="#STATE_PITCH_AMPLITUDE_DETECTION"></a> STATE_PITCH_AMPLITUDE_DETECTION | `uint8` | 5 | FW only: determine required excitation amplitude (pitch) |
| <a id="#STATE_PITCH"></a> STATE_PITCH | `uint8` | 6 | Pitch-axis excitation and model identification |
| <a id="#STATE_PITCH_PAUSE"></a> STATE_PITCH_PAUSE | `uint8` | 7 | Pause to return to level flight |
| <a id="#STATE_YAW_AMPLITUDE_DETECTION"></a> STATE_YAW_AMPLITUDE_DETECTION | `uint8` | 8 | FW only: determine required excitation amplitude (yaw) |
| <a id="#STATE_YAW"></a> STATE_YAW | `uint8` | 9 | Yaw-axis excitation and model identification |
| <a id="#STATE_YAW_PAUSE"></a> STATE_YAW_PAUSE | `uint8` | 10 | Pause to return to level flight |
| <a id="#STATE_VERIFICATION"></a> STATE_VERIFICATION | `uint8` | 11 | Verify model and candidate gains |
| <a id="#STATE_APPLY"></a> STATE_APPLY | `uint8` | 12 | Apply gains |
| <a id="#STATE_TEST"></a> STATE_TEST | `uint8` | 13 | Test gains in closed-loop |
| <a id="#STATE_COMPLETE"></a> STATE_COMPLETE | `uint8` | 14 | Tuning completed successfully |
| <a id="#STATE_FAIL"></a> STATE_FAIL | `uint8` | 15 | Tuning failed (model invalid or controller unstable) |
| <a id="#STATE_WAIT_FOR_DISARM"></a> STATE_WAIT_FOR_DISARM | `uint8` | 16 | Waiting for disarm before finalizing |
## Source Message
docs/zh/msg_docs/AuxGlobalPosition.md
+90
View File
@@ -0,0 +1,90 @@
---
pageClass: is-wide-page
---
# AuxGlobalPosition (UORB message)
Auxiliary global position.
This message provides global position data from an external source such as
pseudolites, visual navigation, or other positioning system.
**TOPICS:** aux_global_position
## Fields
| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
| ------------------------------------------------------------------------------------ | --------- | ---------------------------------------------------------------- | ----------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| timestamp_sample | `uint64` | us | | Timestamp of the raw data |
| id | `uint8` | | | Unique identifier for the AGP source |
| source | `uint8` | | [SOURCE](#SOURCE) | Source type of the position data (based on mavlink::GLOBAL_POSITION_SRC) |
| lat | `float64` | deg | | Latitude in WGS84 |
| lon | `float64` | deg | | Longitude in WGS84 |
| alt | `float32` | 米 | | Altitude above mean sea level (AMSL) (Invalid: NaN) |
| eph | `float32` | 米 | | Std dev of horizontal position, lower bounded by NOISE param (Invalid: NaN) |
| epv | `float32` | 米 | | Std dev of vertical position, lower bounded by NOISE param (Invalid: NaN) |
| lat_lon_reset_counter | `uint8` | | | Counter for reset events on horizontal position coordinates |
## Enums
### SOURCE {#SOURCE}
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------ | ------- | - | -------------- |
| <a id="#SOURCE_UNKNOWN"></a> SOURCE_UNKNOWN | `uint8` | 0 | Unknown source |
| <a id="#SOURCE_GNSS"></a> SOURCE_GNSS | `uint8` | 1 | GNSS |
| <a id="#SOURCE_VISION"></a> SOURCE_VISION | `uint8` | 2 | Vision |
| <a id="#SOURCE_PSEUDOLITES"></a> SOURCE_PSEUDOLITES | `uint8` | 3 | Pseudolites |
| <a id="#SOURCE_TERRAIN"></a> SOURCE_TERRAIN | `uint8` | 4 | Terrain |
| <a id="#SOURCE_MAGNETIC"></a> SOURCE_MAGNETIC | `uint8` | 5 | Magnetic |
| <a id="#SOURCE_ESTIMATOR"></a> SOURCE_ESTIMATOR | `uint8` | 6 | 估计器 |
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------ | -------- | - | -- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/AuxGlobalPosition.msg)
:::details
Click here to see original file
```c
# Auxiliary global position
#
# This message provides global position data from an external source such as
# pseudolites, visual navigation, or other positioning system.
uint32 MESSAGE_VERSION = 1
uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Timestamp of the raw data
uint8 id # [-] Unique identifier for the AGP source
uint8 source # [@enum SOURCE] Source type of the position data (based on mavlink::GLOBAL_POSITION_SRC)
uint8 SOURCE_UNKNOWN = 0 # Unknown source
uint8 SOURCE_GNSS = 1 # GNSS
uint8 SOURCE_VISION = 2 # Vision
uint8 SOURCE_PSEUDOLITES = 3 # Pseudolites
uint8 SOURCE_TERRAIN = 4 # Terrain
uint8 SOURCE_MAGNETIC = 5 # Magnetic
uint8 SOURCE_ESTIMATOR = 6 # Estimator
# lat, lon: required for horizontal position fusion, alt: required for vertical position fusion
float64 lat # [deg] Latitude in WGS84
float64 lon # [deg] Longitude in WGS84
float32 alt # [m] [@invalid NaN] Altitude above mean sea level (AMSL)
float32 eph # [m] [@invalid NaN] Std dev of horizontal position, lower bounded by NOISE param
float32 epv # [m] [@invalid NaN] Std dev of vertical position, lower bounded by NOISE param
uint8 lat_lon_reset_counter # [-] Counter for reset events on horizontal position coordinates
# TOPICS aux_global_position
```
:::
docs/zh/msg_docs/BatteryStatus.md
+95 -96
View File
@@ -25,7 +25,7 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
| remaining | `float32` | | [0 : 1] | Remaining capacity (Invalid: -1) |
| scale | `float32` | | [1 : -] | Scaling factor to compensate for lower actuation power caused by voltage sag (Invalid: -1) |
| time_remaining_s | `float32` | s | | Predicted time remaining until battery is empty under previous averaged load (Invalid: NaN) |
| temperature | `float32` | °C | | Temperature of the battery (Invalid: NaN) |
| temperature | `float32` | degC | | Temperature of the battery (Invalid: NaN) |
| cell_count | `uint8` | | | Number of cells (Invalid: 0) |
| source | `uint8` | | [SOURCE](#SOURCE) | Battery source |
| priority | `uint8` | | | Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 |
@@ -59,52 +59,52 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
### SOURCE {#SOURCE}
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------- | ------- | - | ----------------------------------------------------------------- |
| <a href="#SOURCE_POWER_MODULE"></a> SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) |
| <a href="#SOURCE_EXTERNAL"></a> SOURCE_EXTERNAL | `uint8` | 1 | External (MAVLink, CAN, or external driver) |
| <a href="#SOURCE_ESCS"></a> SOURCE_ESCS | `uint8` | 2 | ESCs (via ESC telemetry) |
| 参数名 | 类型 | 值 | 描述 |
| ----------------------------------------------------------------------------------------------- | ------- | - | ----------------------------------------------------------------- |
| <a id="#SOURCE_POWER_MODULE"></a> SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) |
| <a id="#SOURCE_EXTERNAL"></a> SOURCE_EXTERNAL | `uint8` | 1 | External (MAVLink, CAN, or external driver) |
| <a id="#SOURCE_ESCS"></a> SOURCE_ESCS | `uint8` | 2 | ESCs (via ESC telemetry) |
### WARNING {#WARNING}
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------ | ------- | - | -------------------------------------------- |
| <a href="#WARNING_NONE"></a> WARNING_NONE | `uint8` | 0 | No battery low voltage warning active |
| <a href="#WARNING_LOW"></a> WARNING_LOW | `uint8` | 1 | Low voltage warning |
| <a href="#WARNING_CRITICAL"></a> WARNING_CRITICAL | `uint8` | 2 | Critical voltage, return / abort immediately |
| <a href="#WARNING_EMERGENCY"></a> WARNING_EMERGENCY | `uint8` | 3 | Immediate landing required |
| <a href="#WARNING_FAILED"></a> WARNING_FAILED | `uint8` | 4 | Battery has failed completely |
| 参数名 | 类型 | 值 | 描述 |
| ---------------------------------------------------------------------- | ------- | - | -------------------------------------------- |
| <a id="#WARNING_NONE"></a> WARNING_NONE | `uint8` | 0 | No battery low voltage warning active |
| <a id="#WARNING_LOW"></a> WARNING_LOW | `uint8` | 1 | Low voltage warning |
| <a id="#WARNING_CRITICAL"></a> WARNING_CRITICAL | `uint8` | 2 | Critical voltage, return / abort immediately |
| <a id="#WARNING_EMERGENCY"></a> WARNING_EMERGENCY | `uint8` | 3 | Immediate landing required |
| <a id="#WARNING_FAILED"></a> WARNING_FAILED | `uint8` | 4 | Battery has failed completely |
### STATE {#STATE}
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------- | ------- | - | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a href="#STATE_UNHEALTHY"></a> STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field |
| <a href="#STATE_CHARGING"></a> STATE_CHARGING | `uint8` | 7 | Battery is charging |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------ | ------- | - | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a id="#STATE_UNHEALTHY"></a> STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field |
| <a id="#STATE_CHARGING"></a> STATE_CHARGING | `uint8` | 7 | Battery is charging |
### FAULT {#FAULT}
| 参数名 | 类型 | 值 | 描述 |
| ---------------------------------------------------------------------------------------------------------------------- | ------- | -- | --------------------------------------------------------------------------------------------------------------------------------- |
| <a href="#FAULT_DEEP_DISCHARGE"></a> FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged |
| <a href="#FAULT_SPIKES"></a> FAULT_SPIKES | `uint8` | 1 | Voltage spikes |
| <a href="#FAULT_CELL_FAIL"></a> FAULT_CELL_FAIL | `uint8` | 2 | One or more cells have failed |
| <a href="#FAULT_OVER_CURRENT"></a> FAULT_OVER_CURRENT | `uint8` | 3 | Over-current |
| <a href="#FAULT_OVER_TEMPERATURE"></a> FAULT_OVER_TEMPERATURE | `uint8` | 4 | Over-temperature |
| <a href="#FAULT_UNDER_TEMPERATURE"></a> FAULT_UNDER_TEMPERATURE | `uint8` | 5 | Under-temperature fault |
| <a href="#FAULT_INCOMPATIBLE_VOLTAGE"></a> FAULT_INCOMPATIBLE_VOLTAGE | `uint8` | 6 | Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) |
| <a href="#FAULT_INCOMPATIBLE_FIRMWARE"></a> FAULT_INCOMPATIBLE_FIRMWARE | `uint8` | 7 | Battery firmware is not compatible with current autopilot firmware |
| <a href="#FAULT_INCOMPATIBLE_MODEL"></a> FAULT_INCOMPATIBLE_MODEL | `uint8` | 8 | Battery model is not supported by the system |
| <a href="#FAULT_HARDWARE_FAILURE"></a> FAULT_HARDWARE_FAILURE | `uint8` | 9 | Hardware problem |
| <a href="#FAULT_FAILED_TO_ARM"></a> FAULT_FAILED_TO_ARM | `uint8` | 10 | Battery had a problem while arming |
| <a href="#FAULT_COUNT"></a> FAULT_COUNT | `uint8` | 11 | Counter. Keep this as last element |
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------------------------------------------------------- | ------- | -- | --------------------------------------------------------------------------------------------------------------------------------- |
| <a id="#FAULT_DEEP_DISCHARGE"></a> FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged |
| <a id="#FAULT_SPIKES"></a> FAULT_SPIKES | `uint8` | 1 | Voltage spikes |
| <a id="#FAULT_CELL_FAIL"></a> FAULT_CELL_FAIL | `uint8` | 2 | One or more cells have failed |
| <a id="#FAULT_OVER_CURRENT"></a> FAULT_OVER_CURRENT | `uint8` | 3 | Over-current |
| <a id="#FAULT_OVER_TEMPERATURE"></a> FAULT_OVER_TEMPERATURE | `uint8` | 4 | Over-temperature |
| <a id="#FAULT_UNDER_TEMPERATURE"></a> FAULT_UNDER_TEMPERATURE | `uint8` | 5 | Under-temperature fault |
| <a id="#FAULT_INCOMPATIBLE_VOLTAGE"></a> FAULT_INCOMPATIBLE_VOLTAGE | `uint8` | 6 | Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) |
| <a id="#FAULT_INCOMPATIBLE_FIRMWARE"></a> FAULT_INCOMPATIBLE_FIRMWARE | `uint8` | 7 | Battery firmware is not compatible with current autopilot firmware |
| <a id="#FAULT_INCOMPATIBLE_MODEL"></a> FAULT_INCOMPATIBLE_MODEL | `uint8` | 8 | Battery model is not supported by the system |
| <a id="#FAULT_HARDWARE_FAILURE"></a> FAULT_HARDWARE_FAILURE | `uint8` | 9 | Hardware problem |
| <a id="#FAULT_FAILED_TO_ARM"></a> FAULT_FAILED_TO_ARM | `uint8` | 10 | Battery had a problem while arming |
| <a id="#FAULT_COUNT"></a> FAULT_COUNT | `uint8` | 11 | Counter. Keep this as last element |
## Constants
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------- | -------- | - | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 | |
| <a href="#MAX_INSTANCES"></a> MAX_INSTANCES | `uint8` | 3 | |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------ | -------- | - | -- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 | |
| <a id="#MAX_INSTANCES"></a> MAX_INSTANCES | `uint8` | 3 | |
## Source Message
@@ -123,76 +123,75 @@ Click here to see original file
uint32 MESSAGE_VERSION = 1
uint8 MAX_INSTANCES = 3
uint64 timestamp # [us] Time since system start
uint64 timestamp # [us] Time since system start
bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
float32 voltage_v # [V] [@invalid 0] Battery voltage
float32 current_a # [A] [@invalid -1] Battery current
float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight)
float32 discharged_mah # [mAh] [@invalid -1] Discharged amount
float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity
float32 scale # [-] [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
float32 temperature # [°C] [@invalid NaN] Temperature of the battery
uint8 cell_count # [-] [@invalid 0] Number of cells
bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
float32 voltage_v # [V] [@invalid 0] Battery voltage
float32 current_a # [A] [@invalid -1] Battery current
float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight)
float32 discharged_mah # [mAh] [@invalid -1] Discharged amount
float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity
float32 scale # [-] [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
float32 temperature # [degC] [@invalid NaN] Temperature of the battery
uint8 cell_count # [-] [@invalid 0] Number of cells
uint8 source # [@enum SOURCE] Battery source
uint8 SOURCE_POWER_MODULE = 0 # Power module (analog ADC or I2C power monitor)
uint8 SOURCE_EXTERNAL = 1 # External (MAVLink, CAN, or external driver)
uint8 SOURCE_ESCS = 2 # ESCs (via ESC telemetry)
uint8 source # [@enum SOURCE] Battery source
uint8 SOURCE_POWER_MODULE = 0 # Power module (analog ADC or I2C power monitor)
uint8 SOURCE_EXTERNAL = 1 # External (MAVLink, CAN, or external driver)
uint8 SOURCE_ESCS = 2 # ESCs (via ESC telemetry)
uint8 priority # [-] Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
uint16 capacity # [mAh] Capacity of the battery when fully charged
uint16 cycle_count # [-] Number of discharge cycles the battery has experienced
uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
uint16 manufacture_date # [-] Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
uint8 id # [-] ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
uint16 interface_error # [-] Interface error counter
uint8 priority # [-] Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
uint16 capacity # [mAh] Capacity of the battery when fully charged
uint16 cycle_count # [-] Number of discharge cycles the battery has experienced
uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
uint16 manufacture_date # [-] Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
uint8 id # [-] ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
uint16 interface_error # [-] Interface error counter
float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages
float32 max_cell_voltage_delta # [V] Max difference between individual cell voltages
float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages
float32 max_cell_voltage_delta # [V] Max difference between individual cell voltages
bool is_powering_off # Power off event imminent indication, false if unknown
bool is_required # Set if the battery is explicitly required before arming
bool is_powering_off # Power off event imminent indication, false if unknown
bool is_required # Set if the battery is explicitly required before arming
uint8 warning # [@enum WARNING STATE] Current battery warning
uint8 WARNING_NONE = 0 # No battery low voltage warning active
uint8 WARNING_LOW = 1 # Low voltage warning
uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
uint8 WARNING_EMERGENCY = 3 # Immediate landing required
uint8 WARNING_FAILED = 4 # Battery has failed completely
uint8 STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field
uint8 STATE_CHARGING = 7 # Battery is charging
uint8 warning # [@enum WARNING STATE] Current battery warning
uint8 WARNING_NONE = 0 # No battery low voltage warning active
uint8 WARNING_LOW = 1 # Low voltage warning
uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
uint8 WARNING_EMERGENCY = 3 # Immediate landing required
uint8 WARNING_FAILED = 4 # Battery has failed completely
uint8 STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field
uint8 STATE_CHARGING = 7 # Battery is charging
uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication
uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
uint8 FAULT_SPIKES = 1 # Voltage spikes
uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed
uint8 FAULT_OVER_CURRENT = 3 # Over-current
uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature
uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
uint8 FAULT_HARDWARE_FAILURE = 9 # Hardware problem
uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
uint8 FAULT_COUNT = 11 # Counter. Keep this as last element
uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication
uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
uint8 FAULT_SPIKES = 1 # Voltage spikes
uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed
uint8 FAULT_OVER_CURRENT = 3 # Over-current
uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature
uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
uint8 FAULT_HARDWARE_FAILURE = 9 # Hardware problem
uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
uint8 FAULT_COUNT = 11 # Counter. Keep this as last element
float32 full_charge_capacity_wh # [Wh] Compensated battery capacity
float32 remaining_capacity_wh # [Wh] Compensated battery capacity remaining
uint16 over_discharge_count # [-] Number of battery overdischarge
float32 nominal_voltage # [V] Nominal voltage of the battery pack
float32 full_charge_capacity_wh # [Wh] Compensated battery capacity
float32 remaining_capacity_wh # [Wh] Compensated battery capacity remaining
uint16 over_discharge_count # [-] Number of battery overdischarge
float32 nominal_voltage # [V] Nominal voltage of the battery pack
float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
float32 ocv_estimate # [V] Open circuit voltage estimate
float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate
float32 volt_based_soc_estimate # [-] [@range 0, 1] Normalized volt based state of charge estimate
float32 voltage_prediction # [V] Predicted voltage
float32 prediction_error # [V] Prediction error
float32 estimation_covariance_norm # [-] Norm of the covariance matrix
float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
float32 ocv_estimate # [V] Open circuit voltage estimate
float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate
float32 volt_based_soc_estimate # [-] [@range 0, 1] Normalized volt based state of charge estimate
float32 voltage_prediction # [V] Predicted voltage
float32 prediction_error # [V] Prediction error
float32 estimation_covariance_norm # [-] Norm of the covariance matrix
```
:::
docs/zh/msg_docs/BatteryStatusV0.md
+35 -35
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@@ -10,7 +10,7 @@ Battery status information for up to 4 battery instances.
These are populated from power module and smart battery device drivers, and one battery updated from MAVLink.
Battery instance information is also logged and streamed in MAVLink telemetry.
**TOPICS:** battery_statusv0
**TOPICS:** battery_status_v0
## Fields
@@ -60,52 +60,52 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
### SOURCE {#SOURCE}
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------- | ------- | - | ----------------------------------------------------------------- |
| <a href="#SOURCE_POWER_MODULE"></a> SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) |
| <a href="#SOURCE_EXTERNAL"></a> SOURCE_EXTERNAL | `uint8` | 1 | External (MAVLink, CAN, or external driver) |
| <a href="#SOURCE_ESCS"></a> SOURCE_ESCS | `uint8` | 2 | ESCs (via ESC telemetry) |
| 参数名 | 类型 | 值 | 描述 |
| ----------------------------------------------------------------------------------------------- | ------- | - | ----------------------------------------------------------------- |
| <a id="#SOURCE_POWER_MODULE"></a> SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) |
| <a id="#SOURCE_EXTERNAL"></a> SOURCE_EXTERNAL | `uint8` | 1 | External (MAVLink, CAN, or external driver) |
| <a id="#SOURCE_ESCS"></a> SOURCE_ESCS | `uint8` | 2 | ESCs (via ESC telemetry) |
### WARNING {#WARNING}
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------ | ------- | - | -------------------------------------------- |
| <a href="#WARNING_NONE"></a> WARNING_NONE | `uint8` | 0 | No battery low voltage warning active |
| <a href="#WARNING_LOW"></a> WARNING_LOW | `uint8` | 1 | Low voltage warning |
| <a href="#WARNING_CRITICAL"></a> WARNING_CRITICAL | `uint8` | 2 | Critical voltage, return / abort immediately |
| <a href="#WARNING_EMERGENCY"></a> WARNING_EMERGENCY | `uint8` | 3 | Immediate landing required |
| <a href="#WARNING_FAILED"></a> WARNING_FAILED | `uint8` | 4 | Battery has failed completely |
| 参数名 | 类型 | 值 | 描述 |
| ---------------------------------------------------------------------- | ------- | - | -------------------------------------------- |
| <a id="#WARNING_NONE"></a> WARNING_NONE | `uint8` | 0 | No battery low voltage warning active |
| <a id="#WARNING_LOW"></a> WARNING_LOW | `uint8` | 1 | Low voltage warning |
| <a id="#WARNING_CRITICAL"></a> WARNING_CRITICAL | `uint8` | 2 | Critical voltage, return / abort immediately |
| <a id="#WARNING_EMERGENCY"></a> WARNING_EMERGENCY | `uint8` | 3 | Immediate landing required |
| <a id="#WARNING_FAILED"></a> WARNING_FAILED | `uint8` | 4 | Battery has failed completely |
### STATE {#STATE}
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------- | ------- | - | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a href="#STATE_UNHEALTHY"></a> STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field |
| <a href="#STATE_CHARGING"></a> STATE_CHARGING | `uint8` | 7 | Battery is charging |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------ | ------- | - | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a id="#STATE_UNHEALTHY"></a> STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field |
| <a id="#STATE_CHARGING"></a> STATE_CHARGING | `uint8` | 7 | Battery is charging |
### FAULT {#FAULT}
| 参数名 | 类型 | 值 | 描述 |
| ---------------------------------------------------------------------------------------------------------------------- | ------- | -- | --------------------------------------------------------------------------------------------------------------------------------- |
| <a href="#FAULT_DEEP_DISCHARGE"></a> FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged |
| <a href="#FAULT_SPIKES"></a> FAULT_SPIKES | `uint8` | 1 | Voltage spikes |
| <a href="#FAULT_CELL_FAIL"></a> FAULT_CELL_FAIL | `uint8` | 2 | One or more cells have failed |
| <a href="#FAULT_OVER_CURRENT"></a> FAULT_OVER_CURRENT | `uint8` | 3 | Over-current |
| <a href="#FAULT_OVER_TEMPERATURE"></a> FAULT_OVER_TEMPERATURE | `uint8` | 4 | Over-temperature |
| <a href="#FAULT_UNDER_TEMPERATURE"></a> FAULT_UNDER_TEMPERATURE | `uint8` | 5 | Under-temperature fault |
| <a href="#FAULT_INCOMPATIBLE_VOLTAGE"></a> FAULT_INCOMPATIBLE_VOLTAGE | `uint8` | 6 | Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) |
| <a href="#FAULT_INCOMPATIBLE_FIRMWARE"></a> FAULT_INCOMPATIBLE_FIRMWARE | `uint8` | 7 | Battery firmware is not compatible with current autopilot firmware |
| <a href="#FAULT_INCOMPATIBLE_MODEL"></a> FAULT_INCOMPATIBLE_MODEL | `uint8` | 8 | Battery model is not supported by the system |
| <a href="#FAULT_HARDWARE_FAILURE"></a> FAULT_HARDWARE_FAILURE | `uint8` | 9 | Hardware problem |
| <a href="#FAULT_FAILED_TO_ARM"></a> FAULT_FAILED_TO_ARM | `uint8` | 10 | Battery had a problem while arming |
| <a href="#FAULT_COUNT"></a> FAULT_COUNT | `uint8` | 11 | Counter. Keep this as last element |
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------------------------------------------------------- | ------- | -- | --------------------------------------------------------------------------------------------------------------------------------- |
| <a id="#FAULT_DEEP_DISCHARGE"></a> FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged |
| <a id="#FAULT_SPIKES"></a> FAULT_SPIKES | `uint8` | 1 | Voltage spikes |
| <a id="#FAULT_CELL_FAIL"></a> FAULT_CELL_FAIL | `uint8` | 2 | One or more cells have failed |
| <a id="#FAULT_OVER_CURRENT"></a> FAULT_OVER_CURRENT | `uint8` | 3 | Over-current |
| <a id="#FAULT_OVER_TEMPERATURE"></a> FAULT_OVER_TEMPERATURE | `uint8` | 4 | Over-temperature |
| <a id="#FAULT_UNDER_TEMPERATURE"></a> FAULT_UNDER_TEMPERATURE | `uint8` | 5 | Under-temperature fault |
| <a id="#FAULT_INCOMPATIBLE_VOLTAGE"></a> FAULT_INCOMPATIBLE_VOLTAGE | `uint8` | 6 | Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage) |
| <a id="#FAULT_INCOMPATIBLE_FIRMWARE"></a> FAULT_INCOMPATIBLE_FIRMWARE | `uint8` | 7 | Battery firmware is not compatible with current autopilot firmware |
| <a id="#FAULT_INCOMPATIBLE_MODEL"></a> FAULT_INCOMPATIBLE_MODEL | `uint8` | 8 | Battery model is not supported by the system |
| <a id="#FAULT_HARDWARE_FAILURE"></a> FAULT_HARDWARE_FAILURE | `uint8` | 9 | Hardware problem |
| <a id="#FAULT_FAILED_TO_ARM"></a> FAULT_FAILED_TO_ARM | `uint8` | 10 | Battery had a problem while arming |
| <a id="#FAULT_COUNT"></a> FAULT_COUNT | `uint8` | 11 | Counter. Keep this as last element |
## Constants
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------- | -------- | - | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| <a href="#MAX_INSTANCES"></a> MAX_INSTANCES | `uint8` | 4 | |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------ | -------- | - | -- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| <a id="#MAX_INSTANCES"></a> MAX_INSTANCES | `uint8` | 4 | |
## Source Message
docs/zh/msg_docs/ButtonEvent.md
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@@ -15,9 +15,9 @@ pageClass: is-wide-page
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------- | ------- | - | -- |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 2 | |
| 参数名 | 类型 | 值 | 描述 |
| ----------------------------------------------------------------------------------------- | ------- | - | -- |
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 2 | |
## Source Message
docs/zh/msg_docs/CameraTrigger.md
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@@ -17,9 +17,9 @@ pageClass: is-wide-page
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------- | -------- | - | -- |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint32` | 2 | |
| 参数名 | 类型 | 值 | 描述 |
| ----------------------------------------------------------------------------------------- | -------- | - | -- |
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint32` | 2 | |
## Source Message
docs/zh/msg_docs/CanInterfaceStatus.md
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@@ -4,7 +4,7 @@ pageClass: is-wide-page
# CanInterfaceStatus (UORB message)
**TOPICS:** can_interfacestatus
**TOPICS:** can_interface_status
## Fields
docs/zh/msg_docs/CellularStatus.md
+28 -28
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@@ -27,40 +27,40 @@ This is currently used only for logging cell status from MAVLink.
### STATUS_FLAG {#STATUS_FLAG}
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------------------- | -------- | ---- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a href="#STATUS_FLAG_UNKNOWN"></a> STATUS_FLAG_UNKNOWN | `uint16` | 1 | State unknown or not reportable |
| <a href="#STATUS_FLAG_FAILED"></a> STATUS_FLAG_FAILED | `uint16` | 2 | Modem is unusable |
| <a href="#STATUS_FLAG_INITIALIZING"></a> STATUS_FLAG_INITIALIZING | `uint16` | 4 | Modem is being initialized |
| <a href="#STATUS_FLAG_LOCKED"></a> STATUS_FLAG_LOCKED | `uint16` | 8 | Modem is locked |
| <a href="#STATUS_FLAG_DISABLED"></a> STATUS_FLAG_DISABLED | `uint16` | 16 | Modem is not enabled and is powered down |
| <a href="#STATUS_FLAG_DISABLING"></a> STATUS_FLAG_DISABLING | `uint16` | 32 | Modem is currently transitioning to the STATUS_FLAG_DISABLED state |
| <a href="#STATUS_FLAG_ENABLING"></a> STATUS_FLAG_ENABLING | `uint16` | 64 | Modem is currently transitioning to the STATUS_FLAG_ENABLED state |
| <a href="#STATUS_FLAG_ENABLED"></a> STATUS_FLAG_ENABLED | `uint16` | 128 | Modem is enabled and powered on but not registered with a network provider and not available for data connections |
| <a href="#STATUS_FLAG_SEARCHING"></a> STATUS_FLAG_SEARCHING | `uint16` | 256 | Modem is searching for a network provider to register |
| <a href="#STATUS_FLAG_REGISTERED"></a> STATUS_FLAG_REGISTERED | `uint16` | 512 | Modem is registered with a network provider, and data connections and messaging may be available for use |
| <a href="#STATUS_FLAG_DISCONNECTING"></a> STATUS_FLAG_DISCONNECTING | `uint16` | 1024 | Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated |
| <a href="#STATUS_FLAG_CONNECTING"></a> STATUS_FLAG_CONNECTING | `uint16` | 2048 | Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered |
| <a href="#STATUS_FLAG_CONNECTED"></a> STATUS_FLAG_CONNECTED | `uint16` | 4096 | One or more packet data bearers is active and connected |
| 参数名 | 类型 | 值 | 描述 |
| ----------------------------------------------------------------------------------------------------------- | -------- | ---- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="#STATUS_FLAG_UNKNOWN"></a> STATUS_FLAG_UNKNOWN | `uint16` | 1 | State unknown or not reportable |
| <a id="#STATUS_FLAG_FAILED"></a> STATUS_FLAG_FAILED | `uint16` | 2 | Modem is unusable |
| <a id="#STATUS_FLAG_INITIALIZING"></a> STATUS_FLAG_INITIALIZING | `uint16` | 4 | Modem is being initialized |
| <a id="#STATUS_FLAG_LOCKED"></a> STATUS_FLAG_LOCKED | `uint16` | 8 | Modem is locked |
| <a id="#STATUS_FLAG_DISABLED"></a> STATUS_FLAG_DISABLED | `uint16` | 16 | Modem is not enabled and is powered down |
| <a id="#STATUS_FLAG_DISABLING"></a> STATUS_FLAG_DISABLING | `uint16` | 32 | Modem is currently transitioning to the STATUS_FLAG_DISABLED state |
| <a id="#STATUS_FLAG_ENABLING"></a> STATUS_FLAG_ENABLING | `uint16` | 64 | Modem is currently transitioning to the STATUS_FLAG_ENABLED state |
| <a id="#STATUS_FLAG_ENABLED"></a> STATUS_FLAG_ENABLED | `uint16` | 128 | Modem is enabled and powered on but not registered with a network provider and not available for data connections |
| <a id="#STATUS_FLAG_SEARCHING"></a> STATUS_FLAG_SEARCHING | `uint16` | 256 | Modem is searching for a network provider to register |
| <a id="#STATUS_FLAG_REGISTERED"></a> STATUS_FLAG_REGISTERED | `uint16` | 512 | Modem is registered with a network provider, and data connections and messaging may be available for use |
| <a id="#STATUS_FLAG_DISCONNECTING"></a> STATUS_FLAG_DISCONNECTING | `uint16` | 1024 | Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated |
| <a id="#STATUS_FLAG_CONNECTING"></a> STATUS_FLAG_CONNECTING | `uint16` | 2048 | Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered |
| <a id="#STATUS_FLAG_CONNECTED"></a> STATUS_FLAG_CONNECTED | `uint16` | 4096 | One or more packet data bearers is active and connected |
### FAILURE_REASON {#FAILURE_REASON}
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | - | ----------------------------------------------- |
| <a href="#FAILURE_REASON_NONE"></a> FAILURE_REASON_NONE | `uint8` | 0 | No error |
| <a href="#FAILURE_REASON_UNKNOWN"></a> FAILURE_REASON_UNKNOWN | `uint8` | 1 | Error state is unknown |
| <a href="#FAILURE_REASON_SIM_MISSING"></a> FAILURE_REASON_SIM_MISSING | `uint8` | 2 | SIM is required for the modem but missing |
| <a href="#FAILURE_REASON_SIM_ERROR"></a> FAILURE_REASON_SIM_ERROR | `uint8` | 3 | SIM is available, but not usable for connection |
| 参数名 | 类型 | 值 | 描述 |
| ---------------------------------------------------------------------------------------------------------------------------------- | ------- | - | ----------------------------------------------- |
| <a id="#FAILURE_REASON_NONE"></a> FAILURE_REASON_NONE | `uint8` | 0 | No error |
| <a id="#FAILURE_REASON_UNKNOWN"></a> FAILURE_REASON_UNKNOWN | `uint8` | 1 | Error state is unknown |
| <a id="#FAILURE_REASON_SIM_MISSING"></a> FAILURE_REASON_SIM_MISSING | `uint8` | 2 | SIM is required for the modem but missing |
| <a id="#FAILURE_REASON_SIM_ERROR"></a> FAILURE_REASON_SIM_ERROR | `uint8` | 3 | SIM is available, but not usable for connection |
### CELLULAR_NETWORK_RADIO_TYPE {#CELLULAR_NETWORK_RADIO_TYPE}
| 参数名 | 类型 | 值 | 描述 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | ----- |
| <a href="#CELLULAR_NETWORK_RADIO_TYPE_NONE"></a> CELLULAR_NETWORK_RADIO_TYPE_NONE | `uint8` | 0 | None |
| <a href="#CELLULAR_NETWORK_RADIO_TYPE_GSM"></a> CELLULAR_NETWORK_RADIO_TYPE_GSM | `uint8` | 1 | GSM |
| <a href="#CELLULAR_NETWORK_RADIO_TYPE_CDMA"></a> CELLULAR_NETWORK_RADIO_TYPE_CDMA | `uint8` | 2 | CDMA |
| <a href="#CELLULAR_NETWORK_RADIO_TYPE_WCDMA"></a> CELLULAR_NETWORK_RADIO_TYPE_WCDMA | `uint8` | 3 | WCDMA |
| <a href="#CELLULAR_NETWORK_RADIO_TYPE_LTE"></a> CELLULAR_NETWORK_RADIO_TYPE_LTE | `uint8` | 4 | LTE |
| 参数名 | 类型 | 值 | 描述 |
| --------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | ----- |
| <a id="#CELLULAR_NETWORK_RADIO_TYPE_NONE"></a> CELLULAR_NETWORK_RADIO_TYPE_NONE | `uint8` | 0 | None |
| <a id="#CELLULAR_NETWORK_RADIO_TYPE_GSM"></a> CELLULAR_NETWORK_RADIO_TYPE_GSM | `uint8` | 1 | GSM |
| <a id="#CELLULAR_NETWORK_RADIO_TYPE_CDMA"></a> CELLULAR_NETWORK_RADIO_TYPE_CDMA | `uint8` | 2 | CDMA |
| <a id="#CELLULAR_NETWORK_RADIO_TYPE_WCDMA"></a> CELLULAR_NETWORK_RADIO_TYPE_WCDMA | `uint8` | 3 | WCDMA |
| <a id="#CELLULAR_NETWORK_RADIO_TYPE_LTE"></a> CELLULAR_NETWORK_RADIO_TYPE_LTE | `uint8` | 4 | LTE |
## Source Message
docs/zh/msg_docs/ConfigOverrides.md
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@@ -22,12 +22,12 @@ Configurable overrides by (external) modes or mode executors.
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ---------------------------------------------------------------------------------------------------------------------------------- | -------- | - | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 | |
| <a href="#SOURCE_TYPE_MODE"></a> SOURCE_TYPE_MODE | `int8` | 0 | |
| <a href="#SOURCE_TYPE_MODE_EXECUTOR"></a> SOURCE_TYPE_MODE_EXECUTOR | `int8` | 1 | |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 4 | |
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------- | -------- | - | -- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 | |
| <a id="#SOURCE_TYPE_MODE"></a> SOURCE_TYPE_MODE | `int8` | 0 | |
| <a id="#SOURCE_TYPE_MODE_EXECUTOR"></a> SOURCE_TYPE_MODE_EXECUTOR | `int8` | 1 | |
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
docs/zh/msg_docs/ConfigOverridesV0.md
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@@ -21,12 +21,12 @@ Configurable overrides by (external) modes or mode executors.
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ---------------------------------------------------------------------------------------------------------------------------------- | -------- | - | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| <a href="#SOURCE_TYPE_MODE"></a> SOURCE_TYPE_MODE | `int8` | 0 | |
| <a href="#SOURCE_TYPE_MODE_EXECUTOR"></a> SOURCE_TYPE_MODE_EXECUTOR | `int8` | 1 | |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 4 | |
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------- | -------- | - | -- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| <a id="#SOURCE_TYPE_MODE"></a> SOURCE_TYPE_MODE | `int8` | 0 | |
| <a id="#SOURCE_TYPE_MODE_EXECUTOR"></a> SOURCE_TYPE_MODE_EXECUTOR | `int8` | 1 | |
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
docs/zh/msg_docs/ControlAllocatorStatus.md
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# ControlAllocatorStatus (UORB message)
**TOPICS:** control_allocatorstatus
**TOPICS:** control_allocator_status
## Fields
@@ -21,13 +21,13 @@ pageClass: is-wide-page
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------------------------------------------------ | ------ | -- | ----------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a href="#ACTUATOR_SATURATION_OK"></a> ACTUATOR_SATURATION_OK | `int8` | 0 | The actuator is not saturated |
| <a href="#ACTUATOR_SATURATION_UPPER_DYN"></a> ACTUATOR_SATURATION_UPPER_DYN | `int8` | 1 | The actuator is saturated (with a value <= the desired value) because it cannot increase its value faster |
| <a href="#ACTUATOR_SATURATION_UPPER"></a> ACTUATOR_SATURATION_UPPER | `int8` | 2 | The actuator is saturated (with a value <= the desired value) because it has reached its maximum value |
| <a href="#ACTUATOR_SATURATION_LOWER_DYN"></a> ACTUATOR_SATURATION_LOWER_DYN | `int8` | -1 | The actuator is saturated (with a value >= the desired value) because it cannot decrease its value faster |
| <a href="#ACTUATOR_SATURATION_LOWER"></a> ACTUATOR_SATURATION_LOWER | `int8` | -2 | The actuator is saturated (with a value >= the desired value) because it has reached its minimum value |
| 参数名 | 类型 | 值 | 描述 |
| ---------------------------------------------------------------------------------------------------------------------------------------- | ------ | -- | ----------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="#ACTUATOR_SATURATION_OK"></a> ACTUATOR_SATURATION_OK | `int8` | 0 | The actuator is not saturated |
| <a id="#ACTUATOR_SATURATION_UPPER_DYN"></a> ACTUATOR_SATURATION_UPPER_DYN | `int8` | 1 | The actuator is saturated (with a value <= the desired value) because it cannot increase its value faster |
| <a id="#ACTUATOR_SATURATION_UPPER"></a> ACTUATOR_SATURATION_UPPER | `int8` | 2 | The actuator is saturated (with a value <= the desired value) because it has reached its maximum value |
| <a id="#ACTUATOR_SATURATION_LOWER_DYN"></a> ACTUATOR_SATURATION_LOWER_DYN | `int8` | -1 | The actuator is saturated (with a value >= the desired value) because it cannot decrease its value faster |
| <a id="#ACTUATOR_SATURATION_LOWER"></a> ACTUATOR_SATURATION_LOWER | `int8` | -2 | The actuator is saturated (with a value >= the desired value) because it has reached its minimum value |
## Source Message
docs/zh/msg_docs/DatamanResponse.md
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@@ -20,14 +20,14 @@ pageClass: is-wide-page
## Constants
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | -- |
| <a href="#STATUS_SUCCESS"></a> STATUS_SUCCESS | `uint8` | 0 | |
| <a href="#STATUS_FAILURE_ID_ERR"></a> STATUS_FAILURE_ID_ERR | `uint8` | 1 | |
| <a href="#STATUS_FAILURE_NO_DATA"></a> STATUS_FAILURE_NO_DATA | `uint8` | 2 | |
| <a href="#STATUS_FAILURE_READ_FAILED"></a> STATUS_FAILURE_READ_FAILED | `uint8` | 3 | |
| <a href="#STATUS_FAILURE_WRITE_FAILED"></a> STATUS_FAILURE_WRITE_FAILED | `uint8` | 4 | |
| <a href="#STATUS_FAILURE_CLEAR_FAILED"></a> STATUS_FAILURE_CLEAR_FAILED | `uint8` | 5 | |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | - | -- |
| <a id="#STATUS_SUCCESS"></a> STATUS_SUCCESS | `uint8` | 0 | |
| <a id="#STATUS_FAILURE_ID_ERR"></a> STATUS_FAILURE_ID_ERR | `uint8` | 1 | |
| <a id="#STATUS_FAILURE_NO_DATA"></a> STATUS_FAILURE_NO_DATA | `uint8` | 2 | |
| <a id="#STATUS_FAILURE_READ_FAILED"></a> STATUS_FAILURE_READ_FAILED | `uint8` | 3 | |
| <a id="#STATUS_FAILURE_WRITE_FAILED"></a> STATUS_FAILURE_WRITE_FAILED | `uint8` | 4 | |
| <a id="#STATUS_FAILURE_CLEAR_FAILED"></a> STATUS_FAILURE_CLEAR_FAILED | `uint8` | 5 | |
## Source Message
docs/zh/msg_docs/DebugArray.md
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@@ -17,9 +17,9 @@ pageClass: is-wide-page
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ---------------------------------------------------------- | ------- | -- | -- |
| <a href="#ARRAY_SIZE"></a> ARRAY_SIZE | `uint8` | 58 | |
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------- | ------- | -- | -- |
| <a id="#ARRAY_SIZE"></a> ARRAY_SIZE | `uint8` | 58 | |
## Source Message
docs/zh/msg_docs/DebugKeyValue.md
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@@ -4,7 +4,7 @@ pageClass: is-wide-page
# DebugKeyValue (UORB message)
**TOPICS:** debug_keyvalue
**TOPICS:** debug_key_value
## Fields
docs/zh/msg_docs/DeviceInformation.md
+20 -23
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@@ -17,8 +17,7 @@ as well as tracking of the used firmware versions on the devices.
| ------------------------------------- | ---------- | ---------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| device_type | `uint8` | | [DEVICE_TYPE](#DEVICE_TYPE) | Type of the device. Matches MAVLink DEVICE_TYPE enum |
| vendor_name | `char[32]` | | | Name of the device vendor |
| model_name | `char[32]` | | | Name of the device model |
| name | `char[80]` | | | Name of device e.g. DroneCAN node name |
| `uint32` | | | Unique device ID for the sensor. Does not change between power cycles. (Invalid: 0 if not available) | |
| firmware_version | `char[24]` | | | Firmware version. (Invalid: empty if not available) |
| hardware_version | `char[24]` | | | Hardware version. (Invalid: empty if not available) |
@@ -28,24 +27,24 @@ as well as tracking of the used firmware versions on the devices.
### DEVICE_TYPE {#DEVICE_TYPE}
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -- | ---------------------- |
| <a href="#DEVICE_TYPE_GENERIC"></a> DEVICE_TYPE_GENERIC | `uint8` | 0 | Generic/unknown sensor |
| <a href="#DEVICE_TYPE_AIRSPEED"></a> DEVICE_TYPE_AIRSPEED | `uint8` | 1 | 空速传感器 |
| <a href="#DEVICE_TYPE_ESC"></a> DEVICE_TYPE_ESC | `uint8` | 2 | ESC |
| <a href="#DEVICE_TYPE_SERVO"></a> DEVICE_TYPE_SERVO | `uint8` | 3 | Servo |
| <a href="#DEVICE_TYPE_GPS"></a> DEVICE_TYPE_GPS | `uint8` | 4 | GPS |
| <a href="#DEVICE_TYPE_MAGNETOMETER"></a> DEVICE_TYPE_MAGNETOMETER | `uint8` | 5 | 磁力计 |
| <a href="#DEVICE_TYPE_PARACHUTE"></a> DEVICE_TYPE_PARACHUTE | `uint8` | 6 | 降落伞 |
| <a href="#DEVICE_TYPE_RANGEFINDER"></a> DEVICE_TYPE_RANGEFINDER | `uint8` | 7 | Rangefinder |
| <a href="#DEVICE_TYPE_WINCH"></a> DEVICE_TYPE_WINCH | `uint8` | 8 | Winch |
| <a href="#DEVICE_TYPE_BAROMETER"></a> DEVICE_TYPE_BAROMETER | `uint8` | 9 | Barometer |
| <a href="#DEVICE_TYPE_OPTICAL_FLOW"></a> DEVICE_TYPE_OPTICAL_FLOW | `uint8` | 10 | Optical flow |
| <a href="#DEVICE_TYPE_ACCELEROMETER"></a> DEVICE_TYPE_ACCELEROMETER | `uint8` | 11 | Accelerometer |
| <a href="#DEVICE_TYPE_GYROSCOPE"></a> DEVICE_TYPE_GYROSCOPE | `uint8` | 12 | Gyroscope |
| <a href="#DEVICE_TYPE_DIFFERENTIAL_PRESSURE"></a> DEVICE_TYPE_DIFFERENTIAL_PRESSURE | `uint8` | 13 | Differential pressure |
| <a href="#DEVICE_TYPE_BATTERY"></a> DEVICE_TYPE_BATTERY | `uint8` | 14 | Battery |
| <a href="#DEVICE_TYPE_HYGROMETER"></a> DEVICE_TYPE_HYGROMETER | `uint8` | 15 | Hygrometer |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------------------------------------------------------ | ------- | -- | ---------------------- |
| <a id="#DEVICE_TYPE_GENERIC"></a> DEVICE_TYPE_GENERIC | `uint8` | 0 | Generic/unknown sensor |
| <a id="#DEVICE_TYPE_AIRSPEED"></a> DEVICE_TYPE_AIRSPEED | `uint8` | 1 | 空速传感器 |
| <a id="#DEVICE_TYPE_ESC"></a> DEVICE_TYPE_ESC | `uint8` | 2 | ESC |
| <a id="#DEVICE_TYPE_SERVO"></a> DEVICE_TYPE_SERVO | `uint8` | 3 | Servo |
| <a id="#DEVICE_TYPE_GPS"></a> DEVICE_TYPE_GPS | `uint8` | 4 | GPS |
| <a id="#DEVICE_TYPE_MAGNETOMETER"></a> DEVICE_TYPE_MAGNETOMETER | `uint8` | 5 | 磁力计 |
| <a id="#DEVICE_TYPE_PARACHUTE"></a> DEVICE_TYPE_PARACHUTE | `uint8` | 6 | 降落伞 |
| <a id="#DEVICE_TYPE_RANGEFINDER"></a> DEVICE_TYPE_RANGEFINDER | `uint8` | 7 | Rangefinder |
| <a id="#DEVICE_TYPE_WINCH"></a> DEVICE_TYPE_WINCH | `uint8` | 8 | Winch |
| <a id="#DEVICE_TYPE_BAROMETER"></a> DEVICE_TYPE_BAROMETER | `uint8` | 9 | Barometer |
| <a id="#DEVICE_TYPE_OPTICAL_FLOW"></a> DEVICE_TYPE_OPTICAL_FLOW | `uint8` | 10 | Optical flow |
| <a id="#DEVICE_TYPE_ACCELEROMETER"></a> DEVICE_TYPE_ACCELEROMETER | `uint8` | 11 | Accelerometer |
| <a id="#DEVICE_TYPE_GYROSCOPE"></a> DEVICE_TYPE_GYROSCOPE | `uint8` | 12 | Gyroscope |
| <a id="#DEVICE_TYPE_DIFFERENTIAL_PRESSURE"></a> DEVICE_TYPE_DIFFERENTIAL_PRESSURE | `uint8` | 13 | Differential pressure |
| <a id="#DEVICE_TYPE_BATTERY"></a> DEVICE_TYPE_BATTERY | `uint8` | 14 | Battery |
| <a id="#DEVICE_TYPE_HYGROMETER"></a> DEVICE_TYPE_HYGROMETER | `uint8` | 15 | Hygrometer |
## Source Message
@@ -63,7 +62,6 @@ Click here to see original file
uint64 timestamp # time since system start (microseconds)
uint8 device_type # [@enum DEVICE_TYPE] Type of the device. Matches MAVLink DEVICE_TYPE enum
uint8 DEVICE_TYPE_GENERIC = 0 # Generic/unknown sensor
uint8 DEVICE_TYPE_AIRSPEED = 1 # Airspeed sensor
uint8 DEVICE_TYPE_ESC = 2 # ESC
@@ -81,8 +79,7 @@ uint8 DEVICE_TYPE_DIFFERENTIAL_PRESSURE = 13 # Differential pressure
uint8 DEVICE_TYPE_BATTERY = 14 # Battery
uint8 DEVICE_TYPE_HYGROMETER = 15 # Hygrometer
char[32] vendor_name # Name of the device vendor
char[32] model_name # Name of the device model
char[80] name # Name of device e.g. DroneCAN node name
uint32 device_id # [-] [@invalid 0 if not available] Unique device ID for the sensor. Does not change between power cycles.
char[24] firmware_version # [-] [@invalid empty if not available] Firmware version.
docs/zh/msg_docs/DistanceSensor.md
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@@ -28,30 +28,30 @@ DISTANCE_SENSOR message data.
## Constants
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------- | ------- | --- | ----------------------------------------------------------------------------------------------------------------- |
| <a href="#MAV_DISTANCE_SENSOR_LASER"></a> MAV_DISTANCE_SENSOR_LASER | `uint8` | 0 | |
| <a href="#MAV_DISTANCE_SENSOR_ULTRASOUND"></a> MAV_DISTANCE_SENSOR_ULTRASOUND | `uint8` | 1 | |
| <a href="#MAV_DISTANCE_SENSOR_INFRARED"></a> MAV_DISTANCE_SENSOR_INFRARED | `uint8` | 2 | |
| <a href="#MAV_DISTANCE_SENSOR_RADAR"></a> MAV_DISTANCE_SENSOR_RADAR | `uint8` | 3 | |
| <a href="#ROTATION_YAW_0 "></a> ROTATION_YAW_0 | `uint8` | 0 | MAV_SENSOR_ROTATION_NONE |
| <a href="#ROTATION_YAW_45 "></a> ROTATION_YAW_45 | `uint8` | 1 | MAV_SENSOR_ROTATION_YAW_45 |
| <a href="#ROTATION_YAW_90 "></a> ROTATION_YAW_90 | `uint8` | 2 | MAV_SENSOR_ROTATION_YAW_90 |
| <a href="#ROTATION_YAW_135 "></a> ROTATION_YAW_135 | `uint8` | 3 | MAV_SENSOR_ROTATION_YAW_135 |
| <a href="#ROTATION_YAW_180 "></a> ROTATION_YAW_180 | `uint8` | 4 | MAV_SENSOR_ROTATION_YAW_180 |
| <a href="#ROTATION_YAW_225 "></a> ROTATION_YAW_225 | `uint8` | 5 | MAV_SENSOR_ROTATION_YAW_225 |
| <a href="#ROTATION_YAW_270 "></a> ROTATION_YAW_270 | `uint8` | 6 | MAV_SENSOR_ROTATION_YAW_270 |
| <a href="#ROTATION_YAW_315 "></a> ROTATION_YAW_315 | `uint8` | 7 | MAV_SENSOR_ROTATION_YAW_315 |
| <a href="#ROTATION_FORWARD_FACING "></a> ROTATION_FORWARD_FACING | `uint8` | 0 | MAV_SENSOR_ROTATION_NONE |
| <a href="#ROTATION_RIGHT_FACING "></a> ROTATION_RIGHT_FACING | `uint8` | 2 | MAV_SENSOR_ROTATION_YAW_90 |
| <a href="#ROTATION_BACKWARD_FACING "></a> ROTATION_BACKWARD_FACING | `uint8` | 4 | MAV_SENSOR_ROTATION_YAW_180 |
| <a href="#ROTATION_LEFT_FACING "></a> ROTATION_LEFT_FACING | `uint8` | 6 | MAV_SENSOR_ROTATION_YAW_270 |
| <a href="#ROTATION_UPWARD_FACING"></a> ROTATION_UPWARD_FACING | `uint8` | 24 | MAV_SENSOR_ROTATION_PITCH_90 |
| <a href="#ROTATION_DOWNWARD_FACING"></a> ROTATION_DOWNWARD_FACING | `uint8` | 25 | MAV_SENSOR_ROTATION_PITCH_270 |
| <a href="#ROTATION_CUSTOM"></a> ROTATION_CUSTOM | `uint8` | 100 | MAV_SENSOR_ROTATION_CUSTOM |
| <a href="#MODE_UNKNOWN"></a> MODE_UNKNOWN | `uint8` | 0 | |
| <a href="#MODE_ENABLED"></a> MODE_ENABLED | `uint8` | 1 | |
| <a href="#MODE_DISABLED"></a> MODE_DISABLED | `uint8` | 2 | |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------------------------------------------------ | ------- | --- | ----------------------------------------------------------------------------------------------------------------- |
| <a id="#MAV_DISTANCE_SENSOR_LASER"></a> MAV_DISTANCE_SENSOR_LASER | `uint8` | 0 | |
| <a id="#MAV_DISTANCE_SENSOR_ULTRASOUND"></a> MAV_DISTANCE_SENSOR_ULTRASOUND | `uint8` | 1 | |
| <a id="#MAV_DISTANCE_SENSOR_INFRARED"></a> MAV_DISTANCE_SENSOR_INFRARED | `uint8` | 2 | |
| <a id="#MAV_DISTANCE_SENSOR_RADAR"></a> MAV_DISTANCE_SENSOR_RADAR | `uint8` | 3 | |
| <a id="#ROTATION_YAW_0"></a> ROTATION_YAW_0 | `uint8` | 0 | MAV_SENSOR_ROTATION_NONE |
| <a id="#ROTATION_YAW_45"></a> ROTATION_YAW_45 | `uint8` | 1 | MAV_SENSOR_ROTATION_YAW_45 |
| <a id="#ROTATION_YAW_90"></a> ROTATION_YAW_90 | `uint8` | 2 | MAV_SENSOR_ROTATION_YAW_90 |
| <a id="#ROTATION_YAW_135"></a> ROTATION_YAW_135 | `uint8` | 3 | MAV_SENSOR_ROTATION_YAW_135 |
| <a id="#ROTATION_YAW_180"></a> ROTATION_YAW_180 | `uint8` | 4 | MAV_SENSOR_ROTATION_YAW_180 |
| <a id="#ROTATION_YAW_225"></a> ROTATION_YAW_225 | `uint8` | 5 | MAV_SENSOR_ROTATION_YAW_225 |
| <a id="#ROTATION_YAW_270"></a> ROTATION_YAW_270 | `uint8` | 6 | MAV_SENSOR_ROTATION_YAW_270 |
| <a id="#ROTATION_YAW_315"></a> ROTATION_YAW_315 | `uint8` | 7 | MAV_SENSOR_ROTATION_YAW_315 |
| <a id="#ROTATION_FORWARD_FACING"></a> ROTATION_FORWARD_FACING | `uint8` | 0 | MAV_SENSOR_ROTATION_NONE |
| <a id="#ROTATION_RIGHT_FACING"></a> ROTATION_RIGHT_FACING | `uint8` | 2 | MAV_SENSOR_ROTATION_YAW_90 |
| <a id="#ROTATION_BACKWARD_FACING"></a> ROTATION_BACKWARD_FACING | `uint8` | 4 | MAV_SENSOR_ROTATION_YAW_180 |
| <a id="#ROTATION_LEFT_FACING"></a> ROTATION_LEFT_FACING | `uint8` | 6 | MAV_SENSOR_ROTATION_YAW_270 |
| <a id="#ROTATION_UPWARD_FACING"></a> ROTATION_UPWARD_FACING | `uint8` | 24 | MAV_SENSOR_ROTATION_PITCH_90 |
| <a id="#ROTATION_DOWNWARD_FACING"></a> ROTATION_DOWNWARD_FACING | `uint8` | 25 | MAV_SENSOR_ROTATION_PITCH_270 |
| <a id="#ROTATION_CUSTOM"></a> ROTATION_CUSTOM | `uint8` | 100 | MAV_SENSOR_ROTATION_CUSTOM |
| <a id="#MODE_UNKNOWN"></a> MODE_UNKNOWN | `uint8` | 0 | |
| <a id="#MODE_ENABLED"></a> MODE_ENABLED | `uint8` | 1 | |
| <a id="#MODE_DISABLED"></a> MODE_DISABLED | `uint8` | 2 | |
## Source Message
docs/zh/msg_docs/DistanceSensorModeChangeRequest.md
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@@ -4,7 +4,7 @@ pageClass: is-wide-page
# DistanceSensorModeChangeRequest (UORB message)
**TOPICS:** distance_sensormode_changerequest
**TOPICS:** distance_sensor_mode_change_request
## Fields
@@ -15,10 +15,10 @@ pageClass: is-wide-page
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------ | ------- | - | -- |
| <a href="#REQUEST_OFF"></a> REQUEST_OFF | `uint8` | 0 | |
| <a href="#REQUEST_ON"></a> REQUEST_ON | `uint8` | 1 | |
| 参数名 | 类型 | 值 | 描述 |
| ---------------------------------------------------------- | ------- | - | -- |
| <a id="#REQUEST_OFF"></a> REQUEST_OFF | `uint8` | 0 | |
| <a id="#REQUEST_ON"></a> REQUEST_ON | `uint8` | 1 | |
## Source Message
docs/zh/msg_docs/DronecanNodeStatus.md
+12 -12
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@@ -4,7 +4,7 @@ pageClass: is-wide-page
# DronecanNodeStatus (UORB message)
**TOPICS:** dronecan_nodestatus
**TOPICS:** dronecan_node_status
## Fields
@@ -20,17 +20,17 @@ pageClass: is-wide-page
## Constants
| 参数名 | 类型 | 值 | 描述 |
| --------------------------------------------------------------------------------------------------- | ------- | - | ------------------------------------------------------------------------------------------------- |
| <a href="#HEALTH_OK"></a> HEALTH_OK | `uint8` | 0 | The node is functioning properly. |
| <a href="#HEALTH_WARNING"></a> HEALTH_WARNING | `uint8` | 1 | A critical parameter went out of range or the node encountered a minor failure. |
| <a href="#HEALTH_ERROR"></a> HEALTH_ERROR | `uint8` | 2 | The node encountered a major failure. |
| <a href="#HEALTH_CRITICAL"></a> HEALTH_CRITICAL | `uint8` | 3 | The node suffered a fatal malfunction. |
| <a href="#MODE_OPERATIONAL"></a> MODE_OPERATIONAL | `uint8` | 0 | Normal operating mode. |
| <a href="#MODE_INITIALIZATION"></a> MODE_INITIALIZATION | `uint8` | 1 | Initialization is in progress; this mode is entered immediately after startup. |
| <a href="#MODE_MAINTENANCE"></a> MODE_MAINTENANCE | `uint8` | 2 | E.g. calibration, the bootloader is running, etc. |
| <a href="#MODE_SOFTWARE_UPDATE"></a> MODE_SOFTWARE_UPDATE | `uint8` | 3 | New software/firmware is being loaded. |
| <a href="#MODE_OFFLINE"></a> MODE_OFFLINE | `uint8` | 7 | The node is no longer available. |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------- | ------- | - | ------------------------------------------------------------------------------------------------- |
| <a id="#HEALTH_OK"></a> HEALTH_OK | `uint8` | 0 | The node is functioning properly. |
| <a id="#HEALTH_WARNING"></a> HEALTH_WARNING | `uint8` | 1 | A critical parameter went out of range or the node encountered a minor failure. |
| <a id="#HEALTH_ERROR"></a> HEALTH_ERROR | `uint8` | 2 | The node encountered a major failure. |
| <a id="#HEALTH_CRITICAL"></a> HEALTH_CRITICAL | `uint8` | 3 | The node suffered a fatal malfunction. |
| <a id="#MODE_OPERATIONAL"></a> MODE_OPERATIONAL | `uint8` | 0 | Normal operating mode. |
| <a id="#MODE_INITIALIZATION"></a> MODE_INITIALIZATION | `uint8` | 1 | Initialization is in progress; this mode is entered immediately after startup. |
| <a id="#MODE_MAINTENANCE"></a> MODE_MAINTENANCE | `uint8` | 2 | E.g. calibration, the bootloader is running, etc. |
| <a id="#MODE_SOFTWARE_UPDATE"></a> MODE_SOFTWARE_UPDATE | `uint8` | 3 | New software/firmware is being loaded. |
| <a id="#MODE_OFFLINE"></a> MODE_OFFLINE | `uint8` | 7 | The node is no longer available. |
## Source Message
docs/zh/msg_docs/Ekf2Timestamps.md
+3 -3
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@@ -23,9 +23,9 @@ this message contains the (relative) timestamps of the sensor inputs used by EKF
## Constants
| 参数名 | 类型 | 值 | 描述 |
| --------------------------------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------- |
| <a href="#RELATIVE_TIMESTAMP_INVALID"></a> RELATIVE_TIMESTAMP_INVALID | `int16` | 32767 | (0x7fff) If one of the relative timestamps |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------- |
| <a id="#RELATIVE_TIMESTAMP_INVALID"></a> RELATIVE_TIMESTAMP_INVALID | `int16` | 32767 | (0x7fff) If one of the relative timestamps |
## Source Message
docs/zh/msg_docs/EscReport.md
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@@ -16,6 +16,7 @@ pageClass: is-wide-page
| esc_voltage | `float32` | | | Voltage measured from current ESC [V] - if supported |
| esc_current | `float32` | | | Current measured from current ESC [A] - if supported |
| esc_temperature | `float32` | | | Temperature measured from current ESC [degC] - if supported |
| motor_temperature | `int16` | | | Temperature measured from current motor [degC] - if supported |
| esc_address | `uint8` | | | Address of current ESC (in most cases 1-8 / must be set by driver) |
| esc_cmdcount | `uint8` | | | Counter of number of commands |
| esc_state | `uint8` | | | State of ESC - depend on Vendor |
@@ -25,31 +26,31 @@ pageClass: is-wide-page
## Constants
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------- | ------- | --- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a href="#ACTUATOR_FUNCTION_MOTOR1"></a> ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR2"></a> ACTUATOR_FUNCTION_MOTOR2 | `uint8` | 102 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR3"></a> ACTUATOR_FUNCTION_MOTOR3 | `uint8` | 103 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR4"></a> ACTUATOR_FUNCTION_MOTOR4 | `uint8` | 104 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR5"></a> ACTUATOR_FUNCTION_MOTOR5 | `uint8` | 105 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR6"></a> ACTUATOR_FUNCTION_MOTOR6 | `uint8` | 106 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR7"></a> ACTUATOR_FUNCTION_MOTOR7 | `uint8` | 107 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR8"></a> ACTUATOR_FUNCTION_MOTOR8 | `uint8` | 108 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR9"></a> ACTUATOR_FUNCTION_MOTOR9 | `uint8` | 109 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR10"></a> ACTUATOR_FUNCTION_MOTOR10 | `uint8` | 110 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR11"></a> ACTUATOR_FUNCTION_MOTOR11 | `uint8` | 111 | |
| <a href="#ACTUATOR_FUNCTION_MOTOR12"></a> ACTUATOR_FUNCTION_MOTOR12 | `uint8` | 112 | |
| <a href="#FAILURE_OVER_CURRENT"></a> FAILURE_OVER_CURRENT | `uint8` | 0 | (1 << 0) |
| <a href="#FAILURE_OVER_VOLTAGE"></a> FAILURE_OVER_VOLTAGE | `uint8` | 1 | (1 << 1) |
| <a href="#FAILURE_MOTOR_OVER_TEMPERATURE"></a> FAILURE_MOTOR_OVER_TEMPERATURE | `uint8` | 2 | (1 << 2) |
| <a href="#FAILURE_OVER_RPM"></a> FAILURE_OVER_RPM | `uint8` | 3 | (1 << 3) |
| <a href="#FAILURE_INCONSISTENT_CMD"></a> FAILURE_INCONSISTENT_CMD | `uint8` | 4 | (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries) |
| <a href="#FAILURE_MOTOR_STUCK"></a> FAILURE_MOTOR_STUCK | `uint8` | 5 | (1 << 5) |
| <a href="#FAILURE_GENERIC"></a> FAILURE_GENERIC | `uint8` | 6 | (1 << 6) |
| <a href="#FAILURE_MOTOR_WARN_TEMPERATURE"></a> FAILURE_MOTOR_WARN_TEMPERATURE | `uint8` | 7 | (1 << 7) |
| <a href="#FAILURE_WARN_ESC_TEMPERATURE"></a> FAILURE_WARN_ESC_TEMPERATURE | `uint8` | 8 | (1 << 8) |
| <a href="#FAILURE_OVER_ESC_TEMPERATURE"></a> FAILURE_OVER_ESC_TEMPERATURE | `uint8` | 9 | (1 << 9) |
| <a href="#ESC_FAILURE_COUNT"></a> ESC_FAILURE_COUNT | `uint8` | 10 | Counter - keep it as last element! |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------------------------------------------------ | ------- | --- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a id="#ACTUATOR_FUNCTION_MOTOR1"></a> ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | |
| <a id="#ACTUATOR_FUNCTION_MOTOR2"></a> ACTUATOR_FUNCTION_MOTOR2 | `uint8` | 102 | |
| <a id="#ACTUATOR_FUNCTION_MOTOR3"></a> ACTUATOR_FUNCTION_MOTOR3 | `uint8` | 103 | |
| <a id="#ACTUATOR_FUNCTION_MOTOR4"></a> ACTUATOR_FUNCTION_MOTOR4 | `uint8` | 104 | |
| <a id="#ACTUATOR_FUNCTION_MOTOR5"></a> ACTUATOR_FUNCTION_MOTOR5 | `uint8` | 105 | |
| <a id="#ACTUATOR_FUNCTION_MOTOR6"></a> ACTUATOR_FUNCTION_MOTOR6 | `uint8` | 106 | |
| <a id="#ACTUATOR_FUNCTION_MOTOR7"></a> ACTUATOR_FUNCTION_MOTOR7 | `uint8` | 107 | |
| <a id="#ACTUATOR_FUNCTION_MOTOR8"></a> ACTUATOR_FUNCTION_MOTOR8 | `uint8` | 108 | |
| <a id="#ACTUATOR_FUNCTION_MOTOR9"></a> ACTUATOR_FUNCTION_MOTOR9 | `uint8` | 109 | |
| <a id="#ACTUATOR_FUNCTION_MOTOR10"></a> ACTUATOR_FUNCTION_MOTOR10 | `uint8` | 110 | |
| <a id="#ACTUATOR_FUNCTION_MOTOR11"></a> ACTUATOR_FUNCTION_MOTOR11 | `uint8` | 111 | |
| <a id="#ACTUATOR_FUNCTION_MOTOR12"></a> ACTUATOR_FUNCTION_MOTOR12 | `uint8` | 112 | |
| <a id="#FAILURE_OVER_CURRENT"></a> FAILURE_OVER_CURRENT | `uint8` | 0 | (1 << 0) |
| <a id="#FAILURE_OVER_VOLTAGE"></a> FAILURE_OVER_VOLTAGE | `uint8` | 1 | (1 << 1) |
| <a id="#FAILURE_MOTOR_OVER_TEMPERATURE"></a> FAILURE_MOTOR_OVER_TEMPERATURE | `uint8` | 2 | (1 << 2) |
| <a id="#FAILURE_OVER_RPM"></a> FAILURE_OVER_RPM | `uint8` | 3 | (1 << 3) |
| <a id="#FAILURE_INCONSISTENT_CMD"></a> FAILURE_INCONSISTENT_CMD | `uint8` | 4 | (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries) |
| <a id="#FAILURE_MOTOR_STUCK"></a> FAILURE_MOTOR_STUCK | `uint8` | 5 | (1 << 5) |
| <a id="#FAILURE_GENERIC"></a> FAILURE_GENERIC | `uint8` | 6 | (1 << 6) |
| <a id="#FAILURE_MOTOR_WARN_TEMPERATURE"></a> FAILURE_MOTOR_WARN_TEMPERATURE | `uint8` | 7 | (1 << 7) |
| <a id="#FAILURE_WARN_ESC_TEMPERATURE"></a> FAILURE_WARN_ESC_TEMPERATURE | `uint8` | 8 | (1 << 8) |
| <a id="#FAILURE_OVER_ESC_TEMPERATURE"></a> FAILURE_OVER_ESC_TEMPERATURE | `uint8` | 9 | (1 << 9) |
| <a id="#ESC_FAILURE_COUNT"></a> ESC_FAILURE_COUNT | `uint8` | 10 | Counter - keep it as last element! |
## Source Message
@@ -65,6 +66,7 @@ int32 esc_rpm # Motor RPM, negative for reverse rotation [RPM] - if support
float32 esc_voltage # Voltage measured from current ESC [V] - if supported
float32 esc_current # Current measured from current ESC [A] - if supported
float32 esc_temperature # Temperature measured from current ESC [degC] - if supported
int16 motor_temperature # Temperature measured from current motor [degC] - if supported
uint8 esc_address # Address of current ESC (in most cases 1-8 / must be set by driver)
uint8 esc_cmdcount # Counter of number of commands
docs/zh/msg_docs/EscStatus.md
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## Constants
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | ---------------------------------------------------------------------------------------------------- |
| <a href="#CONNECTED_ESC_MAX"></a> CONNECTED_ESC_MAX | `uint8` | 8 | The number of ESCs supported. Current (Q2/2013) we support 8 ESCs |
| <a href="#ESC_CONNECTION_TYPE_PPM"></a> ESC_CONNECTION_TYPE_PPM | `uint8` | 0 | Traditional PPM ESC |
| <a href="#ESC_CONNECTION_TYPE_SERIAL"></a> ESC_CONNECTION_TYPE_SERIAL | `uint8` | 1 | Serial Bus connected ESC |
| <a href="#ESC_CONNECTION_TYPE_ONESHOT"></a> ESC_CONNECTION_TYPE_ONESHOT | `uint8` | 2 | One Shot PPM |
| <a href="#ESC_CONNECTION_TYPE_I2C"></a> ESC_CONNECTION_TYPE_I2C | `uint8` | 3 | I2C |
| <a href="#ESC_CONNECTION_TYPE_CAN"></a> ESC_CONNECTION_TYPE_CAN | `uint8` | 4 | CAN-Bus |
| <a href="#ESC_CONNECTION_TYPE_DSHOT"></a> ESC_CONNECTION_TYPE_DSHOT | `uint8` | 5 | DShot |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | - | ---------------------------------------------------------------------------------------------------- |
| <a id="#CONNECTED_ESC_MAX"></a> CONNECTED_ESC_MAX | `uint8` | 8 | The number of ESCs supported. Current (Q2/2013) we support 8 ESCs |
| <a id="#ESC_CONNECTION_TYPE_PPM"></a> ESC_CONNECTION_TYPE_PPM | `uint8` | 0 | Traditional PPM ESC |
| <a id="#ESC_CONNECTION_TYPE_SERIAL"></a> ESC_CONNECTION_TYPE_SERIAL | `uint8` | 1 | Serial Bus connected ESC |
| <a id="#ESC_CONNECTION_TYPE_ONESHOT"></a> ESC_CONNECTION_TYPE_ONESHOT | `uint8` | 2 | One Shot PPM |
| <a id="#ESC_CONNECTION_TYPE_I2C"></a> ESC_CONNECTION_TYPE_I2C | `uint8` | 3 | I2C |
| <a id="#ESC_CONNECTION_TYPE_CAN"></a> ESC_CONNECTION_TYPE_CAN | `uint8` | 4 | CAN-Bus |
| <a id="#ESC_CONNECTION_TYPE_DSHOT"></a> ESC_CONNECTION_TYPE_DSHOT | `uint8` | 5 | DShot |
## Source Message
docs/zh/msg_docs/EstimatorEventFlags.md
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# EstimatorEventFlags (UORB message)
**TOPICS:** estimator_eventflags
**TOPICS:** estimator_event_flags
## Fields
docs/zh/msg_docs/EstimatorGpsStatus.md
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# EstimatorGpsStatus (UORB message)
**TOPICS:** estimator_gpsstatus
**TOPICS:** estimator_gps_status
## Fields
docs/zh/msg_docs/EstimatorSelectorStatus.md
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# EstimatorSelectorStatus (UORB message)
**TOPICS:** estimator_selectorstatus
**TOPICS:** estimator_selector_status
## Fields
docs/zh/msg_docs/EstimatorSensorBias.md
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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).
**TOPICS:** estimator_sensorbias
**TOPICS:** estimator_sensor_bias
## Fields
docs/zh/msg_docs/EstimatorStatus.md
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## Constants
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -- | ------------------------------------------------------------------------------------------------- |
| <a href="#GPS_CHECK_FAIL_GPS_FIX"></a> GPS_CHECK_FAIL_GPS_FIX | `uint8` | 0 | 0 : insufficient fix type (no 3D solution) |
| <a href="#GPS_CHECK_FAIL_MIN_SAT_COUNT"></a> GPS_CHECK_FAIL_MIN_SAT_COUNT | `uint8` | 1 | 1 : minimum required sat count fail |
| <a href="#GPS_CHECK_FAIL_MAX_PDOP"></a> GPS_CHECK_FAIL_MAX_PDOP | `uint8` | 2 | 2 : maximum allowed PDOP fail |
| <a href="#GPS_CHECK_FAIL_MAX_HORZ_ERR"></a> GPS_CHECK_FAIL_MAX_HORZ_ERR | `uint8` | 3 | 3 : maximum allowed horizontal position error fail |
| <a href="#GPS_CHECK_FAIL_MAX_VERT_ERR"></a> GPS_CHECK_FAIL_MAX_VERT_ERR | `uint8` | 4 | 4 : maximum allowed vertical position error fail |
| <a href="#GPS_CHECK_FAIL_MAX_SPD_ERR"></a> GPS_CHECK_FAIL_MAX_SPD_ERR | `uint8` | 5 | 5 : maximum allowed speed error fail |
| <a href="#GPS_CHECK_FAIL_MAX_HORZ_DRIFT"></a> GPS_CHECK_FAIL_MAX_HORZ_DRIFT | `uint8` | 6 | 6 : maximum allowed horizontal position drift fail - requires stationary vehicle |
| <a href="#GPS_CHECK_FAIL_MAX_VERT_DRIFT"></a> GPS_CHECK_FAIL_MAX_VERT_DRIFT | `uint8` | 7 | 7 : maximum allowed vertical position drift fail - requires stationary vehicle |
| <a href="#GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR"></a> GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR | `uint8` | 8 | 8 : maximum allowed horizontal speed fail - requires stationary vehicle |
| <a href="#GPS_CHECK_FAIL_MAX_VERT_SPD_ERR"></a> GPS_CHECK_FAIL_MAX_VERT_SPD_ERR | `uint8` | 9 | 9 : maximum allowed vertical velocity discrepancy fail |
| <a href="#GPS_CHECK_FAIL_SPOOFED"></a> GPS_CHECK_FAIL_SPOOFED | `uint8` | 10 | 10 : GPS signal is spoofed |
| <a href="#GPS_CHECK_FAIL_JAMMED"></a> GPS_CHECK_FAIL_JAMMED | `uint8` | 11 | 11 : GPS signal is jammed |
| <a href="#CS_TILT_ALIGN"></a> CS_TILT_ALIGN | `uint8` | 0 | 0 - true if the filter tilt alignment is complete |
| <a href="#CS_YAW_ALIGN"></a> CS_YAW_ALIGN | `uint8` | 1 | 1 - true if the filter yaw alignment is complete |
| <a href="#CS_GNSS_POS"></a> CS_GNSS_POS | `uint8` | 2 | 2 - true if GNSS position measurements are being fused |
| <a href="#CS_OPT_FLOW"></a> CS_OPT_FLOW | `uint8` | 3 | 3 - true if optical flow measurements are being fused |
| <a href="#CS_MAG_HDG"></a> CS_MAG_HDG | `uint8` | 4 | 4 - true if a simple magnetic yaw heading is being fused |
| <a href="#CS_MAG_3D"></a> CS_MAG_3D | `uint8` | 5 | 5 - true if 3-axis magnetometer measurement are being fused |
| <a href="#CS_MAG_DEC"></a> CS_MAG_DEC | `uint8` | 6 | 6 - true if synthetic magnetic declination measurements are being fused |
| <a href="#CS_IN_AIR"></a> CS_IN_AIR | `uint8` | 7 | 7 - true when thought to be airborne |
| <a href="#CS_WIND"></a> CS_WIND | `uint8` | 8 | 8 - true when wind velocity is being estimated |
| <a href="#CS_BARO_HGT"></a> CS_BARO_HGT | `uint8` | 9 | 9 - true when baro data is being fused |
| <a href="#CS_RNG_HGT"></a> CS_RNG_HGT | `uint8` | 10 | 10 - true when range finder data is being fused for height aiding |
| <a href="#CS_GPS_HGT"></a> CS_GPS_HGT | `uint8` | 11 | 11 - true when GPS altitude is being fused |
| <a href="#CS_EV_POS"></a> CS_EV_POS | `uint8` | 12 | 12 - true when local position data from external vision is being fused |
| <a href="#CS_EV_YAW"></a> CS_EV_YAW | `uint8` | 13 | 13 - true when yaw data from external vision measurements is being fused |
| <a href="#CS_EV_HGT"></a> CS_EV_HGT | `uint8` | 14 | 14 - true when height data from external vision measurements is being fused |
| <a href="#CS_BETA"></a> CS_BETA | `uint8` | 15 | 15 - true when synthetic sideslip measurements are being fused |
| <a href="#CS_MAG_FIELD"></a> CS_MAG_FIELD | `uint8` | 16 | 16 - true when only the magnetic field states are updated by the magnetometer |
| <a href="#CS_FIXED_WING"></a> CS_FIXED_WING | `uint8` | 17 | 17 - true when thought to be operating as a fixed wing vehicle with constrained sideslip |
| <a href="#CS_MAG_FAULT"></a> CS_MAG_FAULT | `uint8` | 18 | 18 - true when the magnetometer has been declared faulty and is no longer being used |
| <a href="#CS_ASPD"></a> CS_ASPD | `uint8` | 19 | 19 - true when airspeed measurements are being fused |
| <a href="#CS_GND_EFFECT"></a> CS_GND_EFFECT | `uint8` | 20 | 20 - true when when protection from ground effect induced static pressure rise is active |
| <a href="#CS_RNG_STUCK"></a> CS_RNG_STUCK | `uint8` | 21 | 21 - true when a stuck range finder sensor has been detected |
| <a href="#CS_GPS_YAW"></a> CS_GPS_YAW | `uint8` | 22 | 22 - true when yaw (not ground course) data from a GPS receiver is being fused |
| <a href="#CS_MAG_ALIGNED"></a> CS_MAG_ALIGNED | `uint8` | 23 | 23 - true when the in-flight mag field alignment has been completed |
| <a href="#CS_EV_VEL"></a> CS_EV_VEL | `uint8` | 24 | 24 - true when local frame velocity data fusion from external vision measurements is intended |
| <a href="#CS_SYNTHETIC_MAG_Z"></a> CS_SYNTHETIC_MAG_Z | `uint8` | 25 | 25 - true when we are using a synthesized measurement for the magnetometer Z component |
| <a href="#CS_VEHICLE_AT_REST"></a> CS_VEHICLE_AT_REST | `uint8` | 26 | 26 - true when the vehicle is at rest |
| <a href="#CS_GPS_YAW_FAULT"></a> CS_GPS_YAW_FAULT | `uint8` | 27 | 27 - true when the GNSS heading has been declared faulty and is no longer being used |
| <a href="#CS_RNG_FAULT"></a> CS_RNG_FAULT | `uint8` | 28 | 28 - true when the range finder has been declared faulty and is no longer being used |
| <a href="#CS_GNSS_VEL"></a> CS_GNSS_VEL | `uint8` | 44 | 44 - true if GNSS velocity measurement fusion is intended |
| <a href="#CS_GNSS_FAULT"></a> CS_GNSS_FAULT | `uint8` | 45 | 45 - true if GNSS measurements have been declared faulty and are no longer used |
| <a href="#CS_YAW_MANUAL"></a> CS_YAW_MANUAL | `uint8` | 46 | 46 - true if yaw has been set manually |
| 参数名 | 类型 | 值 | 描述 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -- | ------------------------------------------------------------------------------------------------- |
| <a id="#GPS_CHECK_FAIL_GPS_FIX"></a> GPS_CHECK_FAIL_GPS_FIX | `uint8` | 0 | 0 : insufficient fix type (no 3D solution) |
| <a id="#GPS_CHECK_FAIL_MIN_SAT_COUNT"></a> GPS_CHECK_FAIL_MIN_SAT_COUNT | `uint8` | 1 | 1 : minimum required sat count fail |
| <a id="#GPS_CHECK_FAIL_MAX_PDOP"></a> GPS_CHECK_FAIL_MAX_PDOP | `uint8` | 2 | 2 : maximum allowed PDOP fail |
| <a id="#GPS_CHECK_FAIL_MAX_HORZ_ERR"></a> GPS_CHECK_FAIL_MAX_HORZ_ERR | `uint8` | 3 | 3 : maximum allowed horizontal position error fail |
| <a id="#GPS_CHECK_FAIL_MAX_VERT_ERR"></a> GPS_CHECK_FAIL_MAX_VERT_ERR | `uint8` | 4 | 4 : maximum allowed vertical position error fail |
| <a id="#GPS_CHECK_FAIL_MAX_SPD_ERR"></a> GPS_CHECK_FAIL_MAX_SPD_ERR | `uint8` | 5 | 5 : maximum allowed speed error fail |
| <a id="#GPS_CHECK_FAIL_MAX_HORZ_DRIFT"></a> GPS_CHECK_FAIL_MAX_HORZ_DRIFT | `uint8` | 6 | 6 : maximum allowed horizontal position drift fail - requires stationary vehicle |
| <a id="#GPS_CHECK_FAIL_MAX_VERT_DRIFT"></a> GPS_CHECK_FAIL_MAX_VERT_DRIFT | `uint8` | 7 | 7 : maximum allowed vertical position drift fail - requires stationary vehicle |
| <a id="#GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR"></a> GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR | `uint8` | 8 | 8 : maximum allowed horizontal speed fail - requires stationary vehicle |
| <a id="#GPS_CHECK_FAIL_MAX_VERT_SPD_ERR"></a> GPS_CHECK_FAIL_MAX_VERT_SPD_ERR | `uint8` | 9 | 9 : maximum allowed vertical velocity discrepancy fail |
| <a id="#GPS_CHECK_FAIL_SPOOFED"></a> GPS_CHECK_FAIL_SPOOFED | `uint8` | 10 | 10 : GPS signal is spoofed |
| <a id="#GPS_CHECK_FAIL_JAMMED"></a> GPS_CHECK_FAIL_JAMMED | `uint8` | 11 | 11 : GPS signal is jammed |
| <a id="#CS_TILT_ALIGN"></a> CS_TILT_ALIGN | `uint8` | 0 | 0 - true if the filter tilt alignment is complete |
| <a id="#CS_YAW_ALIGN"></a> CS_YAW_ALIGN | `uint8` | 1 | 1 - true if the filter yaw alignment is complete |
| <a id="#CS_GNSS_POS"></a> CS_GNSS_POS | `uint8` | 2 | 2 - true if GNSS position measurements are being fused |
| <a id="#CS_OPT_FLOW"></a> CS_OPT_FLOW | `uint8` | 3 | 3 - true if optical flow measurements are being fused |
| <a id="#CS_MAG_HDG"></a> CS_MAG_HDG | `uint8` | 4 | 4 - true if a simple magnetic yaw heading is being fused |
| <a id="#CS_MAG_3D"></a> CS_MAG_3D | `uint8` | 5 | 5 - true if 3-axis magnetometer measurement are being fused |
| <a id="#CS_MAG_DEC"></a> CS_MAG_DEC | `uint8` | 6 | 6 - true if synthetic magnetic declination measurements are being fused |
| <a id="#CS_IN_AIR"></a> CS_IN_AIR | `uint8` | 7 | 7 - true when thought to be airborne |
| <a id="#CS_WIND"></a> CS_WIND | `uint8` | 8 | 8 - true when wind velocity is being estimated |
| <a id="#CS_BARO_HGT"></a> CS_BARO_HGT | `uint8` | 9 | 9 - true when baro data is being fused |
| <a id="#CS_RNG_HGT"></a> CS_RNG_HGT | `uint8` | 10 | 10 - true when range finder data is being fused for height aiding |
| <a id="#CS_GPS_HGT"></a> CS_GPS_HGT | `uint8` | 11 | 11 - true when GPS altitude is being fused |
| <a id="#CS_EV_POS"></a> CS_EV_POS | `uint8` | 12 | 12 - true when local position data from external vision is being fused |
| <a id="#CS_EV_YAW"></a> CS_EV_YAW | `uint8` | 13 | 13 - true when yaw data from external vision measurements is being fused |
| <a id="#CS_EV_HGT"></a> CS_EV_HGT | `uint8` | 14 | 14 - true when height data from external vision measurements is being fused |
| <a id="#CS_BETA"></a> CS_BETA | `uint8` | 15 | 15 - true when synthetic sideslip measurements are being fused |
| <a id="#CS_MAG_FIELD"></a> CS_MAG_FIELD | `uint8` | 16 | 16 - true when only the magnetic field states are updated by the magnetometer |
| <a id="#CS_FIXED_WING"></a> CS_FIXED_WING | `uint8` | 17 | 17 - true when thought to be operating as a fixed wing vehicle with constrained sideslip |
| <a id="#CS_MAG_FAULT"></a> CS_MAG_FAULT | `uint8` | 18 | 18 - true when the magnetometer has been declared faulty and is no longer being used |
| <a id="#CS_ASPD"></a> CS_ASPD | `uint8` | 19 | 19 - true when airspeed measurements are being fused |
| <a id="#CS_GND_EFFECT"></a> CS_GND_EFFECT | `uint8` | 20 | 20 - true when when protection from ground effect induced static pressure rise is active |
| <a id="#CS_RNG_STUCK"></a> CS_RNG_STUCK | `uint8` | 21 | 21 - true when a stuck range finder sensor has been detected |
| <a id="#CS_GPS_YAW"></a> CS_GPS_YAW | `uint8` | 22 | 22 - true when yaw (not ground course) data from a GPS receiver is being fused |
| <a id="#CS_MAG_ALIGNED"></a> CS_MAG_ALIGNED | `uint8` | 23 | 23 - true when the in-flight mag field alignment has been completed |
| <a id="#CS_EV_VEL"></a> CS_EV_VEL | `uint8` | 24 | 24 - true when local frame velocity data fusion from external vision measurements is intended |
| <a id="#CS_SYNTHETIC_MAG_Z"></a> CS_SYNTHETIC_MAG_Z | `uint8` | 25 | 25 - true when we are using a synthesized measurement for the magnetometer Z component |
| <a id="#CS_VEHICLE_AT_REST"></a> CS_VEHICLE_AT_REST | `uint8` | 26 | 26 - true when the vehicle is at rest |
| <a id="#CS_GPS_YAW_FAULT"></a> CS_GPS_YAW_FAULT | `uint8` | 27 | 27 - true when the GNSS heading has been declared faulty and is no longer being used |
| <a id="#CS_RNG_FAULT"></a> CS_RNG_FAULT | `uint8` | 28 | 28 - true when the range finder has been declared faulty and is no longer being used |
| <a id="#CS_GNSS_VEL"></a> CS_GNSS_VEL | `uint8` | 44 | 44 - true if GNSS velocity measurement fusion is intended |
| <a id="#CS_GNSS_FAULT"></a> CS_GNSS_FAULT | `uint8` | 45 | 45 - true if GNSS measurements have been declared faulty and are no longer used |
| <a id="#CS_YAW_MANUAL"></a> CS_YAW_MANUAL | `uint8` | 46 | 46 - true if yaw has been set manually |
## Source Message
docs/zh/msg_docs/EstimatorStatusFlags.md
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# EstimatorStatusFlags (UORB message)
**TOPICS:** estimator_statusflags
**TOPICS:** estimator_status_flags
## Fields
docs/zh/msg_docs/Event.md
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## Constants
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------- | -------- | -- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 | |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 16 | |
| 参数名 | 类型 | 值 | 描述 |
| ----------------------------------------------------------------------------------------- | -------- | -- | -- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 | |
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 16 | |
## Source Message
docs/zh/msg_docs/EventV0.md
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this message is required here in the msg_old folder because other msg are depending on it. Events interface.
**TOPICS:** eventv0
**TOPICS:** event_v0
## Fields
@@ -20,10 +20,10 @@ this message is required here in the msg_old folder because other msg are depend
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------- | -------- | -- | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 16 | |
| 参数名 | 类型 | 值 | 描述 |
| ----------------------------------------------------------------------------------------- | -------- | -- | -- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 16 | |
## Source Message
docs/zh/msg_docs/FailsafeFlags.md
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| battery_warning | `uint8` | | | Battery warning level (see BatteryStatus.msg) |
| battery_low_remaining_time | `bool` | | | Low battery based on remaining flight time |
| battery_unhealthy | `bool` | | | Battery unhealthy |
| fd_critical_failure | `bool` | | | Critical failure (attitude/altitude limit exceeded, or external ATS) |
| fd_esc_arming_failure | `bool` | | | ESC failed to arm |
| fd_imbalanced_prop | `bool` | | | Imbalanced propeller detected |
| fd_motor_failure | `bool` | | | Motor failure |
| geofence_breached | `bool` | | | Geofence breached (one or multiple) |
| mission_failure | `bool` | | | Mission failure |
| vtol_fixed_wing_system_failure | `bool` | | | vehicle in fixed-wing system failure failsafe mode (after quad-chute) |
@@ -53,10 +57,7 @@ The flag comments are used as label for the failsafe state machine simulation
| flight_time_limit_exceeded | `bool` | | | Maximum flight time exceeded |
| position_accuracy_low | `bool` | | | Position estimate has dropped below threshold, but is currently still declared valid |
| navigator_failure | `bool` | | | Navigator failed to execute a mode |
| fd_critical_failure | `bool` | | | Critical failure (attitude/altitude limit exceeded, or external ATS) |
| fd_esc_arming_failure | `bool` | | | ESC failed to arm |
| fd_imbalanced_prop | `bool` | | | Imbalanced propeller detected |
| fd_motor_failure | `bool` | | | Motor failure |
| parachute_unhealthy | `bool` | | | Parachute system missing or unhealthy |
## Source Message
@@ -112,6 +113,12 @@ uint8 battery_warning # Battery warning level (see BatteryStatus
bool battery_low_remaining_time # Low battery based on remaining flight time
bool battery_unhealthy # Battery unhealthy
# Failure detector
bool fd_critical_failure # Critical failure (attitude/altitude limit exceeded, or external ATS)
bool fd_esc_arming_failure # ESC failed to arm
bool fd_imbalanced_prop # Imbalanced propeller detected
bool fd_motor_failure # Motor failure
# Other
bool geofence_breached # Geofence breached (one or multiple)
bool mission_failure # Mission failure
@@ -120,12 +127,7 @@ bool wind_limit_exceeded # Wind limit exceeded
bool flight_time_limit_exceeded # Maximum flight time exceeded
bool position_accuracy_low # Position estimate has dropped below threshold, but is currently still declared valid
bool navigator_failure # Navigator failed to execute a mode
# Failure detector
bool fd_critical_failure # Critical failure (attitude/altitude limit exceeded, or external ATS)
bool fd_esc_arming_failure # ESC failed to arm
bool fd_imbalanced_prop # Imbalanced propeller detected
bool fd_motor_failure # Motor failure
bool parachute_unhealthy # Parachute system missing or unhealthy
```
:::
docs/zh/msg_docs/FailureDetectorStatus.md
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# FailureDetectorStatus (UORB message)
**TOPICS:** failure_detectorstatus
**TOPICS:** failure_detector_status
## Fields
docs/zh/msg_docs/FigureEightStatus.md
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# FigureEightStatus (UORB message)
**TOPICS:** figure_eightstatus
**TOPICS:** figure_eight_status
## Fields
docs/zh/msg_docs/FixedWingLateralGuidanceStatus.md
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Fixed Wing Lateral Guidance Status message. Published by fw_pos_control module to report the resultant lateral setpoints and NPFG debug outputs.
**TOPICS:** fixed_winglateral_guidancestatus
**TOPICS:** fixed_wing_lateral_guidance_status
## Fields
docs/zh/msg_docs/FixedWingLateralSetpoint.md
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# FixedWingLateralSetpoint (UORB message)
Fixed Wing Lateral Setpoint message. Used by the fw_lateral_longitudinal_control module. At least one of course, airspeed_direction, or lateral_acceleration must be finite.
Fixed Wing Lateral Setpoint message.
**TOPICS:** fixed_winglateral_setpoint
Used by the fw_lateral_longitudinal_control module
At least one of course, airspeed_direction, or lateral_acceleration must be finite.
**TOPICS:** fixed_wing_lateral_setpoint
## Fields
| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
| ----------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp | `uint64` | us | | Time since system start |
| course | `float32` | rad | [-pi : pi] | Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly. |
| airspeed_direction | `float32` | rad | [-pi : pi] | Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite. |
| lateral_acceleration | `float32` | FRD | | Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite. |
| lateral_acceleration | `float32` | m/s^2 [FRD] | | Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite. |
## Constants
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------- | -------- | - | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------ | -------- | - | -- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
@@ -32,16 +35,17 @@ Click here to see original file
```c
# 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.
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
uint64 timestamp # [us] Time since system start
float32 course # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly.
float32 airspeed_direction # [rad] [@range -pi, pi] Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite.
float32 lateral_acceleration # [m/s^2] [FRD] Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite.
float32 course # [rad] [@range -pi, pi] Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly.
float32 airspeed_direction # [rad] [@range -pi, pi] Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite.
float32 lateral_acceleration # [m/s^2] [@frame FRD] Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite.
```
:::
docs/zh/msg_docs/FixedWingLateralStatus.md
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Fixed Wing Lateral Status message. Published by the fw_lateral_longitudinal_control module to report the resultant lateral setpoint.
**TOPICS:** fixed_winglateral_status
**TOPICS:** fixed_wing_lateral_status
## Fields
docs/zh/msg_docs/FixedWingLongitudinalSetpoint.md
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# FixedWingLongitudinalSetpoint (UORB message)
Fixed Wing Longitudinal Setpoint message. Used by the fw_lateral_longitudinal_control module. If pitch_direct and throttle_direct are not both finite, then the controller relies on altitude/height_rate and equivalent_airspeed to control vertical motion. If both altitude and height_rate are NAN, the controller maintains the current altitude.
Fixed Wing Longitudinal Setpoint message.
**TOPICS:** fixed_winglongitudinal_setpoint
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.
**TOPICS:** fixed_wing_longitudinal_setpoint
## Fields
| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
| ---------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp | `uint64` | us | | Time since system start |
| altitude | `float32` | 米 | | Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite |
| height_rate | `float32` | ENU | | Scalar height rate setpoint. NAN if not controlled directly |
| height_rate | `float32` | m/s [ENU] | | Scalar height rate setpoint. NAN if not controlled directly |
| equivalent_airspeed | `float32` | 米/秒 | [0 : inf] | Scalar equivalent airspeed setpoint. NAN if system default should be used |
| pitch_direct | `float32` | FRD | [-pi : pi] | NAN if not controlled, overrides total energy controller |
| pitch_direct | `float32` | rad [FRD] | [-pi : pi] | NAN if not controlled, overrides total energy controller |
| throttle_direct | `float32` | norm | [0 : 1] | NAN if not controlled, overrides total energy controller |
## Constants
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------- | -------- | - | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------ | -------- | - | -- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
@@ -34,19 +38,20 @@ Click here to see original file
```c
# 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.
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
uint64 timestamp # [us] Time since system start
float32 altitude # [m] Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite
float32 height_rate # [m/s] [ENU] Scalar height rate setpoint. NAN if not controlled directly
float32 equivalent_airspeed # [m/s] [@range 0, inf] Scalar equivalent airspeed setpoint. NAN if system default should be used
float32 pitch_direct # [rad] [@range -pi, pi] [FRD] NAN if not controlled, overrides total energy controller
float32 throttle_direct # [norm] [@range 0,1] NAN if not controlled, overrides total energy controller
float32 altitude # [m] Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite
float32 height_rate # [m/s] [@frame ENU] Scalar height rate setpoint. NAN if not controlled directly
float32 equivalent_airspeed # [m/s] [@range 0, inf] Scalar equivalent airspeed setpoint. NAN if system default should be used
float32 pitch_direct # [rad] [@range -pi, pi] [@frame FRD] NAN if not controlled, overrides total energy controller
float32 throttle_direct # [norm] [@range 0,1] NAN if not controlled, overrides total energy controller
```
:::
docs/zh/msg_docs/FixedWingRunwayControl.md
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Auxiliary control fields for fixed-wing runway takeoff/landing.
**TOPICS:** fixed_wingrunway_control
**TOPICS:** fixed_wing_runway_control
## Fields
@@ -19,12 +19,12 @@ Auxiliary control fields for fixed-wing runway takeoff/landing.
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------------------------------------ | ------- | - | -------------------------------------------------------------------------------- |
| <a href="#STATE_THROTTLE_RAMP"></a> STATE_THROTTLE_RAMP | `uint8` | 0 | ramping up throttle |
| <a href="#STATE_CLAMPED_TO_RUNWAY"></a> STATE_CLAMPED_TO_RUNWAY | `uint8` | 1 | clamped to runway, controlling yaw directly (wheel or rudder) |
| <a href="#STATE_CLIMBOUT"></a> STATE_CLIMBOUT | `uint8` | 2 | climbout to safe height before navigation |
| <a href="#STATE_FLYING"></a> STATE_FLYING | `uint8` | 3 | navigate freely |
| 参数名 | 类型 | 值 | 描述 |
| ---------------------------------------------------------------------------------------------------------------------------- | ------- | - | -------------------------------------------------------------------------------- |
| <a id="#STATE_THROTTLE_RAMP"></a> STATE_THROTTLE_RAMP | `uint8` | 0 | ramping up throttle |
| <a id="#STATE_CLAMPED_TO_RUNWAY"></a> STATE_CLAMPED_TO_RUNWAY | `uint8` | 1 | clamped to runway, controlling yaw directly (wheel or rudder) |
| <a id="#STATE_CLIMBOUT"></a> STATE_CLIMBOUT | `uint8` | 2 | climbout to safe height before navigation |
| <a id="#STATE_FLYING"></a> STATE_FLYING | `uint8` | 3 | navigate freely |
## Source Message
docs/zh/msg_docs/FlightPhaseEstimation.md
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# FlightPhaseEstimation (UORB message)
**TOPICS:** flight_phaseestimation
**TOPICS:** flight_phase_estimation
## Fields
@@ -15,12 +15,12 @@ pageClass: is-wide-page
## Constants
| 参数名 | 类型 | 值 | 描述 |
| --------------------------------------------------------------------------------------------------- | ------- | - | ------------------------------- |
| <a href="#FLIGHT_PHASE_UNKNOWN"></a> FLIGHT_PHASE_UNKNOWN | `uint8` | 0 | vehicle flight phase is unknown |
| <a href="#FLIGHT_PHASE_LEVEL"></a> FLIGHT_PHASE_LEVEL | `uint8` | 1 | Vehicle is in level flight |
| <a href="#FLIGHT_PHASE_DESCEND"></a> FLIGHT_PHASE_DESCEND | `uint8` | 2 | vehicle is in descend |
| <a href="#FLIGHT_PHASE_CLIMB"></a> FLIGHT_PHASE_CLIMB | `uint8` | 3 | vehicle is climbing |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------- | ------- | - | ------------------------------- |
| <a id="#FLIGHT_PHASE_UNKNOWN"></a> FLIGHT_PHASE_UNKNOWN | `uint8` | 0 | vehicle flight phase is unknown |
| <a id="#FLIGHT_PHASE_LEVEL"></a> FLIGHT_PHASE_LEVEL | `uint8` | 1 | Vehicle is in level flight |
| <a id="#FLIGHT_PHASE_DESCEND"></a> FLIGHT_PHASE_DESCEND | `uint8` | 2 | vehicle is in descend |
| <a id="#FLIGHT_PHASE_CLIMB"></a> FLIGHT_PHASE_CLIMB | `uint8` | 3 | vehicle is climbing |
## Source Message
docs/zh/msg_docs/FollowTargetEstimator.md
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# FollowTargetEstimator (UORB message)
**TOPICS:** follow_targetestimator
**TOPICS:** follow_target_estimator
## Fields
docs/zh/msg_docs/FollowTargetStatus.md
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# FollowTargetStatus (UORB message)
**TOPICS:** follow_targetstatus
**TOPICS:** follow_target_status
## Fields
docs/zh/msg_docs/FuelTankStatus.md
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# FuelTankStatus (UORB message)
**TOPICS:** fuel_tankstatus
**TOPICS:** fuel_tank_status
## Fields
@@ -22,11 +22,11 @@ pageClass: is-wide-page
## Constants
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------------------------------------------------------------- | ------- | - | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a href="#MAV_FUEL_TYPE_UNKNOWN"></a> MAV_FUEL_TYPE_UNKNOWN | `uint8` | 0 | fuel type not specified. Fuel levels are normalized (i.e., maximum is 1, and other levels are relative to 1). |
| <a href="#MAV_FUEL_TYPE_LIQUID"></a> MAV_FUEL_TYPE_LIQUID | `uint8` | 1 | represents generic liquid fuels, such as gasoline or diesel. Fuel levels are measured in millilitres (ml), and flow rates in millilitres per second (ml/s). |
| <a href="#MAV_FUEL_TYPE_GAS"></a> MAV_FUEL_TYPE_GAS | `uint8` | 2 | represents a gas fuel, such as hydrogen, methane, or propane. Fuel levels are in kilo-Pascal (kPa), and flow rates are in milliliters per second (ml/s). |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------------------------------ | ------- | - | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="#MAV_FUEL_TYPE_UNKNOWN"></a> MAV_FUEL_TYPE_UNKNOWN | `uint8` | 0 | fuel type not specified. Fuel levels are normalized (i.e., maximum is 1, and other levels are relative to 1). |
| <a id="#MAV_FUEL_TYPE_LIQUID"></a> MAV_FUEL_TYPE_LIQUID | `uint8` | 1 | represents generic liquid fuels, such as gasoline or diesel. Fuel levels are measured in millilitres (ml), and flow rates in millilitres per second (ml/s). |
| <a id="#MAV_FUEL_TYPE_GAS"></a> MAV_FUEL_TYPE_GAS | `uint8` | 2 | represents a gas fuel, such as hydrogen, methane, or propane. Fuel levels are in kilo-Pascal (kPa), and flow rates are in milliliters per second (ml/s). |
## Source Message
docs/zh/msg_docs/GeneratorStatus.md
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## Constants
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | ------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a href="#STATUS_FLAG_OFF"></a> STATUS_FLAG_OFF | `uint64` | 1 | Generator is off. |
| <a href="#STATUS_FLAG_READY"></a> STATUS_FLAG_READY | `uint64` | 2 | Generator is ready to start generating power. |
| <a href="#STATUS_FLAG_GENERATING"></a> STATUS_FLAG_GENERATING | `uint64` | 4 | Generator is generating power. |
| <a href="#STATUS_FLAG_CHARGING"></a> STATUS_FLAG_CHARGING | `uint64` | 8 | Generator is charging the batteries (generating enough power to charge and provide the load). |
| <a href="#STATUS_FLAG_REDUCED_POWER"></a> STATUS_FLAG_REDUCED_POWER | `uint64` | 16 | Generator is operating at a reduced maximum power. |
| <a href="#STATUS_FLAG_MAXPOWER"></a> STATUS_FLAG_MAXPOWER | `uint64` | 32 | Generator is providing the maximum output. |
| <a href="#STATUS_FLAG_OVERTEMP_WARNING"></a> STATUS_FLAG_OVERTEMP_WARNING | `uint64` | 64 | Generator is near the maximum operating temperature, cooling is insufficient. |
| <a href="#STATUS_FLAG_OVERTEMP_FAULT"></a> STATUS_FLAG_OVERTEMP_FAULT | `uint64` | 128 | Generator hit the maximum operating temperature and shutdown. |
| <a href="#STATUS_FLAG_ELECTRONICS_OVERTEMP_WARNING"></a> STATUS_FLAG_ELECTRONICS_OVERTEMP_WARNING | `uint64` | 256 | Power electronics are near the maximum operating temperature, cooling is insufficient. |
| <a href="#STATUS_FLAG_ELECTRONICS_OVERTEMP_FAULT"></a> STATUS_FLAG_ELECTRONICS_OVERTEMP_FAULT | `uint64` | 512 | Power electronics hit the maximum operating temperature and shutdown. |
| <a href="#STATUS_FLAG_ELECTRONICS_FAULT"></a> STATUS_FLAG_ELECTRONICS_FAULT | `uint64` | 1024 | Power electronics experienced a fault and shutdown. |
| <a href="#STATUS_FLAG_POWERSOURCE_FAULT"></a> STATUS_FLAG_POWERSOURCE_FAULT | `uint64` | 2048 | The power source supplying the generator failed e.g. mechanical generator stopped, tether is no longer providing power, solar cell is in shade, hydrogen reaction no longer happening. |
| <a href="#STATUS_FLAG_COMMUNICATION_WARNING"></a> STATUS_FLAG_COMMUNICATION_WARNING | `uint64` | 4096 | Generator controller having communication problems. |
| <a href="#STATUS_FLAG_COOLING_WARNING"></a> STATUS_FLAG_COOLING_WARNING | `uint64` | 8192 | Power electronic or generator cooling system error. |
| <a href="#STATUS_FLAG_POWER_RAIL_FAULT"></a> STATUS_FLAG_POWER_RAIL_FAULT | `uint64` | 16384 | Generator controller power rail experienced a fault. |
| <a href="#STATUS_FLAG_OVERCURRENT_FAULT"></a> STATUS_FLAG_OVERCURRENT_FAULT | `uint64` | 32768 | Generator controller exceeded the overcurrent threshold and shutdown to prevent damage. |
| <a href="#STATUS_FLAG_BATTERY_OVERCHARGE_CURRENT_FAULT"></a> STATUS_FLAG_BATTERY_OVERCHARGE_CURRENT_FAULT | `uint64` | 65536 | Generator controller detected a high current going into the batteries and shutdown to prevent battery damage. |
| <a href="#STATUS_FLAG_OVERVOLTAGE_FAULT"></a> STATUS_FLAG_OVERVOLTAGE_FAULT | `uint64` | 131072 | Generator controller exceeded it's overvoltage threshold and shutdown to prevent it exceeding the voltage rating. |
| <a href="#STATUS_FLAG_BATTERY_UNDERVOLT_FAULT"></a> STATUS_FLAG_BATTERY_UNDERVOLT_FAULT | `uint64` | 262144 | Batteries are under voltage (generator will not start). |
| <a href="#STATUS_FLAG_START_INHIBITED"></a> STATUS_FLAG_START_INHIBITED | `uint64` | 524288 | Generator start is inhibited by e.g. a safety switch. |
| <a href="#STATUS_FLAG_MAINTENANCE_REQUIRED"></a> STATUS_FLAG_MAINTENANCE_REQUIRED | `uint64` | 1048576 | Generator requires maintenance. |
| <a href="#STATUS_FLAG_WARMING_UP"></a> STATUS_FLAG_WARMING_UP | `uint64` | 2097152 | Generator is not ready to generate yet. |
| <a href="#STATUS_FLAG_IDLE"></a> STATUS_FLAG_IDLE | `uint64` | 4194304 | Generator is idle. |
| 参数名 | 类型 | 值 | 描述 |
| ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="#STATUS_FLAG_OFF"></a> STATUS_FLAG_OFF | `uint64` | 1 | Generator is off. |
| <a id="#STATUS_FLAG_READY"></a> STATUS_FLAG_READY | `uint64` | 2 | Generator is ready to start generating power. |
| <a id="#STATUS_FLAG_GENERATING"></a> STATUS_FLAG_GENERATING | `uint64` | 4 | Generator is generating power. |
| <a id="#STATUS_FLAG_CHARGING"></a> STATUS_FLAG_CHARGING | `uint64` | 8 | Generator is charging the batteries (generating enough power to charge and provide the load). |
| <a id="#STATUS_FLAG_REDUCED_POWER"></a> STATUS_FLAG_REDUCED_POWER | `uint64` | 16 | Generator is operating at a reduced maximum power. |
| <a id="#STATUS_FLAG_MAXPOWER"></a> STATUS_FLAG_MAXPOWER | `uint64` | 32 | Generator is providing the maximum output. |
| <a id="#STATUS_FLAG_OVERTEMP_WARNING"></a> STATUS_FLAG_OVERTEMP_WARNING | `uint64` | 64 | Generator is near the maximum operating temperature, cooling is insufficient. |
| <a id="#STATUS_FLAG_OVERTEMP_FAULT"></a> STATUS_FLAG_OVERTEMP_FAULT | `uint64` | 128 | Generator hit the maximum operating temperature and shutdown. |
| <a id="#STATUS_FLAG_ELECTRONICS_OVERTEMP_WARNING"></a> STATUS_FLAG_ELECTRONICS_OVERTEMP_WARNING | `uint64` | 256 | Power electronics are near the maximum operating temperature, cooling is insufficient. |
| <a id="#STATUS_FLAG_ELECTRONICS_OVERTEMP_FAULT"></a> STATUS_FLAG_ELECTRONICS_OVERTEMP_FAULT | `uint64` | 512 | Power electronics hit the maximum operating temperature and shutdown. |
| <a id="#STATUS_FLAG_ELECTRONICS_FAULT"></a> STATUS_FLAG_ELECTRONICS_FAULT | `uint64` | 1024 | Power electronics experienced a fault and shutdown. |
| <a id="#STATUS_FLAG_POWERSOURCE_FAULT"></a> STATUS_FLAG_POWERSOURCE_FAULT | `uint64` | 2048 | The power source supplying the generator failed e.g. mechanical generator stopped, tether is no longer providing power, solar cell is in shade, hydrogen reaction no longer happening. |
| <a id="#STATUS_FLAG_COMMUNICATION_WARNING"></a> STATUS_FLAG_COMMUNICATION_WARNING | `uint64` | 4096 | Generator controller having communication problems. |
| <a id="#STATUS_FLAG_COOLING_WARNING"></a> STATUS_FLAG_COOLING_WARNING | `uint64` | 8192 | Power electronic or generator cooling system error. |
| <a id="#STATUS_FLAG_POWER_RAIL_FAULT"></a> STATUS_FLAG_POWER_RAIL_FAULT | `uint64` | 16384 | Generator controller power rail experienced a fault. |
| <a id="#STATUS_FLAG_OVERCURRENT_FAULT"></a> STATUS_FLAG_OVERCURRENT_FAULT | `uint64` | 32768 | Generator controller exceeded the overcurrent threshold and shutdown to prevent damage. |
| <a id="#STATUS_FLAG_BATTERY_OVERCHARGE_CURRENT_FAULT"></a> STATUS_FLAG_BATTERY_OVERCHARGE_CURRENT_FAULT | `uint64` | 65536 | Generator controller detected a high current going into the batteries and shutdown to prevent battery damage. |
| <a id="#STATUS_FLAG_OVERVOLTAGE_FAULT"></a> STATUS_FLAG_OVERVOLTAGE_FAULT | `uint64` | 131072 | Generator controller exceeded it's overvoltage threshold and shutdown to prevent it exceeding the voltage rating. |
| <a id="#STATUS_FLAG_BATTERY_UNDERVOLT_FAULT"></a> STATUS_FLAG_BATTERY_UNDERVOLT_FAULT | `uint64` | 262144 | Batteries are under voltage (generator will not start). |
| <a id="#STATUS_FLAG_START_INHIBITED"></a> STATUS_FLAG_START_INHIBITED | `uint64` | 524288 | Generator start is inhibited by e.g. a safety switch. |
| <a id="#STATUS_FLAG_MAINTENANCE_REQUIRED"></a> STATUS_FLAG_MAINTENANCE_REQUIRED | `uint64` | 1048576 | Generator requires maintenance. |
| <a id="#STATUS_FLAG_WARMING_UP"></a> STATUS_FLAG_WARMING_UP | `uint64` | 2097152 | Generator is not ready to generate yet. |
| <a id="#STATUS_FLAG_IDLE"></a> STATUS_FLAG_IDLE | `uint64` | 4194304 | Generator is idle. |
## Source Message
docs/zh/msg_docs/GeofenceResult.md
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## Constants
\| Name | Type | Value | Description |
\| ------------------------------------------------------- | ------- | ----- | ------------------------------- | ------ |
\| <a href="#GF_ACTION_NONE"></a> GF_ACTION_NONE | `uint8` | 0 | no action on geofence violation |
\| <a href="#GF_ACTION_WARN"></a> GF_ACTION_WARN | `uint8` | 1 | critical mavlink message |
\| <a href="#GF_ACTION_LOITER"></a> GF_ACTION_LOITER | `uint8` | 2 | switch to AUTO | LOITER |
\| <a href="#GF_ACTION_RTL"></a> GF_ACTION_RTL | `uint8` | 3 | switch to AUTO | RTL |
\| <a href="#GF_ACTION_TERMINATE"></a> GF_ACTION_TERMINATE | `uint8` | 4 | flight termination |
\| <a href="#GF_ACTION_LAND"></a> GF_ACTION_LAND | `uint8` | 5 | switch to AUTO | LAND |
\| Name | Type | Value | Description |
\| ----------------------------------------------------- | ------- | ----- | ------------------------------- | ------ |
\| <a id="#GF_ACTION_NONE"></a> GF_ACTION_NONE | `uint8` | 0 | no action on geofence violation |
\| <a id="#GF_ACTION_WARN"></a> GF_ACTION_WARN | `uint8` | 1 | critical mavlink message |
\| <a id="#GF_ACTION_LOITER"></a> GF_ACTION_LOITER | `uint8` | 2 | switch to AUTO | LOITER |
\| <a id="#GF_ACTION_RTL"></a> GF_ACTION_RTL | `uint8` | 3 | switch to AUTO | RTL |
\| <a id="#GF_ACTION_TERMINATE"></a> GF_ACTION_TERMINATE | `uint8` | 4 | flight termination |
\| <a id="#GF_ACTION_LAND"></a> GF_ACTION_LAND | `uint8` | 5 | switch to AUTO | LAND |
## Source Message
docs/zh/msg_docs/GeofenceStatus.md
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## Constants
| 参数名 | 类型 | 值 | 描述 |
| --------------------------------------------------------------------------------------------- | ------- | - | -- |
| <a href="#GF_STATUS_LOADING"></a> GF_STATUS_LOADING | `uint8` | 0 | |
| <a href="#GF_STATUS_READY"></a> GF_STATUS_READY | `uint8` | 1 | |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------- | ------- | - | -- |
| <a id="#GF_STATUS_LOADING"></a> GF_STATUS_LOADING | `uint8` | 0 | |
| <a id="#GF_STATUS_READY"></a> GF_STATUS_READY | `uint8` | 1 | |
## Source Message
docs/zh/msg_docs/GimbalControls.md
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## Constants
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------ | ------- | - | -- |
| <a href="#INDEX_ROLL"></a> INDEX_ROLL | `uint8` | 0 | |
| <a href="#INDEX_PITCH"></a> INDEX_PITCH | `uint8` | 1 | |
| <a href="#INDEX_YAW"></a> INDEX_YAW | `uint8` | 2 | |
| 参数名 | 类型 | 值 | 描述 |
| ---------------------------------------------------------- | ------- | - | -- |
| <a id="#INDEX_ROLL"></a> INDEX_ROLL | `uint8` | 0 | |
| <a id="#INDEX_PITCH"></a> INDEX_PITCH | `uint8` | 1 | |
| <a id="#INDEX_YAW"></a> INDEX_YAW | `uint8` | 2 | |
## Source Message
docs/zh/msg_docs/GimbalDeviceAttitudeStatus.md
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# GimbalDeviceAttitudeStatus (UORB message)
**TOPICS:** gimbal_deviceattitude_status
**TOPICS:** gimbal_device_attitude_status
## Fields
@@ -26,15 +26,15 @@ pageClass: is-wide-page
## Constants
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -- | -- |
| <a href="#DEVICE_FLAGS_RETRACT"></a> DEVICE_FLAGS_RETRACT | `uint16` | 1 | |
| <a href="#DEVICE_FLAGS_NEUTRAL"></a> DEVICE_FLAGS_NEUTRAL | `uint16` | 2 | |
| <a href="#DEVICE_FLAGS_ROLL_LOCK"></a> DEVICE_FLAGS_ROLL_LOCK | `uint16` | 4 | |
| <a href="#DEVICE_FLAGS_PITCH_LOCK"></a> DEVICE_FLAGS_PITCH_LOCK | `uint16` | 8 | |
| <a href="#DEVICE_FLAGS_YAW_LOCK"></a> DEVICE_FLAGS_YAW_LOCK | `uint16` | 16 | |
| <a href="#DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME"></a> DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME | `uint16` | 32 | |
| <a href="#DEVICE_FLAGS_YAW_IN_EARTH_FRAME"></a> DEVICE_FLAGS_YAW_IN_EARTH_FRAME | `uint16` | 64 | |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | -- | -- |
| <a id="#DEVICE_FLAGS_RETRACT"></a> DEVICE_FLAGS_RETRACT | `uint16` | 1 | |
| <a id="#DEVICE_FLAGS_NEUTRAL"></a> DEVICE_FLAGS_NEUTRAL | `uint16` | 2 | |
| <a id="#DEVICE_FLAGS_ROLL_LOCK"></a> DEVICE_FLAGS_ROLL_LOCK | `uint16` | 4 | |
| <a id="#DEVICE_FLAGS_PITCH_LOCK"></a> DEVICE_FLAGS_PITCH_LOCK | `uint16` | 8 | |
| <a id="#DEVICE_FLAGS_YAW_LOCK"></a> DEVICE_FLAGS_YAW_LOCK | `uint16` | 16 | |
| <a id="#DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME"></a> DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME | `uint16` | 32 | |
| <a id="#DEVICE_FLAGS_YAW_IN_EARTH_FRAME"></a> DEVICE_FLAGS_YAW_IN_EARTH_FRAME | `uint16` | 64 | |
## Source Message
docs/zh/msg_docs/GimbalDeviceInformation.md
+15 -15
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@@ -4,7 +4,7 @@ pageClass: is-wide-page
# GimbalDeviceInformation (UORB message)
**TOPICS:** gimbal_deviceinformation
**TOPICS:** gimbal_device_information
## Fields
@@ -29,20 +29,20 @@ pageClass: is-wide-page
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ---- | -- |
| <a href="#GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT | `uint32` | 1 | |
| <a href="#GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL | `uint32` | 2 | |
| <a href="#GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS | `uint32` | 4 | |
| <a href="#GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW | `uint32` | 8 | |
| <a href="#GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK | `uint32` | 16 | |
| <a href="#GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS | `uint32` | 32 | |
| <a href="#GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW | `uint32` | 64 | |
| <a href="#GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK | `uint32` | 128 | |
| <a href="#GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS | `uint32` | 256 | |
| <a href="#GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW | `uint32` | 512 | |
| <a href="#GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK | `uint32` | 1024 | |
| <a href="#GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW"></a> GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW | `uint32` | 2048 | |
| 参数名 | 类型 | 值 | 描述 |
| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ---- | -- |
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT | `uint32` | 1 | |
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL | `uint32` | 2 | |
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS | `uint32` | 4 | |
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW | `uint32` | 8 | |
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK | `uint32` | 16 | |
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS | `uint32` | 32 | |
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW | `uint32` | 64 | |
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK | `uint32` | 128 | |
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS | `uint32` | 256 | |
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW | `uint32` | 512 | |
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK | `uint32` | 1024 | |
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW"></a> GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW | `uint32` | 2048 | |
## Source Message
docs/zh/msg_docs/GimbalDeviceSetAttitude.md
+8 -8
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@@ -4,7 +4,7 @@ pageClass: is-wide-page
# GimbalDeviceSetAttitude (UORB message)
**TOPICS:** gimbal_deviceset_attitude
**TOPICS:** gimbal_device_set_attitude
## Fields
@@ -21,13 +21,13 @@ pageClass: is-wide-page
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -- | -- |
| <a href="#GIMBAL_DEVICE_FLAGS_RETRACT"></a> GIMBAL_DEVICE_FLAGS_RETRACT | `uint32` | 1 | |
| <a href="#GIMBAL_DEVICE_FLAGS_NEUTRAL"></a> GIMBAL_DEVICE_FLAGS_NEUTRAL | `uint32` | 2 | |
| <a href="#GIMBAL_DEVICE_FLAGS_ROLL_LOCK"></a> GIMBAL_DEVICE_FLAGS_ROLL_LOCK | `uint32` | 4 | |
| <a href="#GIMBAL_DEVICE_FLAGS_PITCH_LOCK"></a> GIMBAL_DEVICE_FLAGS_PITCH_LOCK | `uint32` | 8 | |
| <a href="#GIMBAL_DEVICE_FLAGS_YAW_LOCK"></a> GIMBAL_DEVICE_FLAGS_YAW_LOCK | `uint32` | 16 | |
| 参数名 | 类型 | 值 | 描述 |
| --------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -- | -- |
| <a id="#GIMBAL_DEVICE_FLAGS_RETRACT"></a> GIMBAL_DEVICE_FLAGS_RETRACT | `uint32` | 1 | |
| <a id="#GIMBAL_DEVICE_FLAGS_NEUTRAL"></a> GIMBAL_DEVICE_FLAGS_NEUTRAL | `uint32` | 2 | |
| <a id="#GIMBAL_DEVICE_FLAGS_ROLL_LOCK"></a> GIMBAL_DEVICE_FLAGS_ROLL_LOCK | `uint32` | 4 | |
| <a id="#GIMBAL_DEVICE_FLAGS_PITCH_LOCK"></a> GIMBAL_DEVICE_FLAGS_PITCH_LOCK | `uint32` | 8 | |
| <a id="#GIMBAL_DEVICE_FLAGS_YAW_LOCK"></a> GIMBAL_DEVICE_FLAGS_YAW_LOCK | `uint32` | 16 | |
## Source Message
docs/zh/msg_docs/GimbalManagerInformation.md
+17 -17
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@@ -4,7 +4,7 @@ pageClass: is-wide-page
# GimbalManagerInformation (UORB message)
**TOPICS:** gimbal_managerinformation
**TOPICS:** gimbal_manager_information
## Fields
@@ -22,22 +22,22 @@ pageClass: is-wide-page
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | ------ | -- |
| <a href="#GIMBAL_MANAGER_CAP_FLAGS_HAS_RETRACT"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_RETRACT | `uint32` | 1 | |
| <a href="#GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRAL"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRAL | `uint32` | 2 | |
| <a href="#GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_AXIS"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_AXIS | `uint32` | 4 | |
| <a href="#GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_FOLLOW"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_FOLLOW | `uint32` | 8 | |
| <a href="#GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCK"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCK | `uint32` | 16 | |
| <a href="#GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXIS"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXIS | `uint32` | 32 | |
| <a href="#GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_FOLLOW"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_FOLLOW | `uint32` | 64 | |
| <a href="#GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCK"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCK | `uint32` | 128 | |
| <a href="#GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXIS"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXIS | `uint32` | 256 | |
| <a href="#GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_FOLLOW"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_FOLLOW | `uint32` | 512 | |
| <a href="#GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCK"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCK | `uint32` | 1024 | |
| <a href="#GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_INFINITE_YAW"></a> GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_INFINITE_YAW | `uint32` | 2048 | |
| <a href="#GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_LOCAL"></a> GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_LOCAL | `uint32` | 65536 | |
| <a href="#GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBAL"></a> GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBAL | `uint32` | 131072 | |
| 参数名 | 类型 | 值 | 描述 |
| ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ------ | -- |
| <a id="#GIMBAL_MANAGER_CAP_FLAGS_HAS_RETRACT"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_RETRACT | `uint32` | 1 | |
| <a id="#GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRAL"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRAL | `uint32` | 2 | |
| <a id="#GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_AXIS"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_AXIS | `uint32` | 4 | |
| <a id="#GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_FOLLOW"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_FOLLOW | `uint32` | 8 | |
| <a id="#GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCK"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCK | `uint32` | 16 | |
| <a id="#GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXIS"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXIS | `uint32` | 32 | |
| <a id="#GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_FOLLOW"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_FOLLOW | `uint32` | 64 | |
| <a id="#GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCK"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCK | `uint32` | 128 | |
| <a id="#GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXIS"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXIS | `uint32` | 256 | |
| <a id="#GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_FOLLOW"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_FOLLOW | `uint32` | 512 | |
| <a id="#GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCK"></a> GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCK | `uint32` | 1024 | |
| <a id="#GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_INFINITE_YAW"></a> GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_INFINITE_YAW | `uint32` | 2048 | |
| <a id="#GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_LOCAL"></a> GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_LOCAL | `uint32` | 65536 | |
| <a id="#GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBAL"></a> GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBAL | `uint32` | 131072 | |
## Source Message
docs/zh/msg_docs/GimbalManagerSetAttitude.md
+9 -9
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@@ -4,7 +4,7 @@ pageClass: is-wide-page
# GimbalManagerSetAttitude (UORB message)
**TOPICS:** gimbal_managerset_attitude
**TOPICS:** gimbal_manager_set_attitude
## Fields
@@ -24,14 +24,14 @@ pageClass: is-wide-page
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -- | -- |
| <a href="#GIMBAL_MANAGER_FLAGS_RETRACT"></a> GIMBAL_MANAGER_FLAGS_RETRACT | `uint32` | 1 | |
| <a href="#GIMBAL_MANAGER_FLAGS_NEUTRAL"></a> GIMBAL_MANAGER_FLAGS_NEUTRAL | `uint32` | 2 | |
| <a href="#GIMBAL_MANAGER_FLAGS_ROLL_LOCK"></a> GIMBAL_MANAGER_FLAGS_ROLL_LOCK | `uint32` | 4 | |
| <a href="#GIMBAL_MANAGER_FLAGS_PITCH_LOCK"></a> GIMBAL_MANAGER_FLAGS_PITCH_LOCK | `uint32` | 8 | |
| <a href="#GIMBAL_MANAGER_FLAGS_YAW_LOCK"></a> GIMBAL_MANAGER_FLAGS_YAW_LOCK | `uint32` | 16 | |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 2 | |
| 参数名 | 类型 | 值 | 描述 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -- | -- |
| <a id="#GIMBAL_MANAGER_FLAGS_RETRACT"></a> GIMBAL_MANAGER_FLAGS_RETRACT | `uint32` | 1 | |
| <a id="#GIMBAL_MANAGER_FLAGS_NEUTRAL"></a> GIMBAL_MANAGER_FLAGS_NEUTRAL | `uint32` | 2 | |
| <a id="#GIMBAL_MANAGER_FLAGS_ROLL_LOCK"></a> GIMBAL_MANAGER_FLAGS_ROLL_LOCK | `uint32` | 4 | |
| <a id="#GIMBAL_MANAGER_FLAGS_PITCH_LOCK"></a> GIMBAL_MANAGER_FLAGS_PITCH_LOCK | `uint32` | 8 | |
| <a id="#GIMBAL_MANAGER_FLAGS_YAW_LOCK"></a> GIMBAL_MANAGER_FLAGS_YAW_LOCK | `uint32` | 16 | |
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 2 | |
## Source Message
docs/zh/msg_docs/GimbalManagerSetManualControl.md
+8 -8
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@@ -4,7 +4,7 @@ pageClass: is-wide-page
# GimbalManagerSetManualControl (UORB message)
**TOPICS:** gimbal_managerset_manualcontrol
**TOPICS:** gimbal_manager_set_manual_control
## Fields
@@ -24,13 +24,13 @@ pageClass: is-wide-page
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -- | -- |
| <a href="#GIMBAL_MANAGER_FLAGS_RETRACT"></a> GIMBAL_MANAGER_FLAGS_RETRACT | `uint32` | 1 | |
| <a href="#GIMBAL_MANAGER_FLAGS_NEUTRAL"></a> GIMBAL_MANAGER_FLAGS_NEUTRAL | `uint32` | 2 | |
| <a href="#GIMBAL_MANAGER_FLAGS_ROLL_LOCK"></a> GIMBAL_MANAGER_FLAGS_ROLL_LOCK | `uint32` | 4 | |
| <a href="#GIMBAL_MANAGER_FLAGS_PITCH_LOCK"></a> GIMBAL_MANAGER_FLAGS_PITCH_LOCK | `uint32` | 8 | |
| <a href="#GIMBAL_MANAGER_FLAGS_YAW_LOCK"></a> GIMBAL_MANAGER_FLAGS_YAW_LOCK | `uint32` | 16 | |
| 参数名 | 类型 | 值 | 描述 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | -- | -- |
| <a id="#GIMBAL_MANAGER_FLAGS_RETRACT"></a> GIMBAL_MANAGER_FLAGS_RETRACT | `uint32` | 1 | |
| <a id="#GIMBAL_MANAGER_FLAGS_NEUTRAL"></a> GIMBAL_MANAGER_FLAGS_NEUTRAL | `uint32` | 2 | |
| <a id="#GIMBAL_MANAGER_FLAGS_ROLL_LOCK"></a> GIMBAL_MANAGER_FLAGS_ROLL_LOCK | `uint32` | 4 | |
| <a id="#GIMBAL_MANAGER_FLAGS_PITCH_LOCK"></a> GIMBAL_MANAGER_FLAGS_PITCH_LOCK | `uint32` | 8 | |
| <a id="#GIMBAL_MANAGER_FLAGS_YAW_LOCK"></a> GIMBAL_MANAGER_FLAGS_YAW_LOCK | `uint32` | 16 | |
## Source Message
docs/zh/msg_docs/GimbalManagerStatus.md
+1 -1
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@@ -4,7 +4,7 @@ pageClass: is-wide-page
# GimbalManagerStatus (UORB message)
**TOPICS:** gimbal_managerstatus
**TOPICS:** gimbal_manager_status
## Fields
docs/zh/msg_docs/GotoSetpoint.md
+26 -19
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@@ -4,7 +4,13 @@ pageClass: is-wide-page
# GotoSetpoint (UORB message)
Position and (optional) heading setpoints with corresponding speed constraints. Setpoints are intended as inputs to position and heading smoothers, respectively. Setpoints do not need to be kinematically consistent. Optional heading setpoints may be specified as controlled by the respective flag. Unset optional setpoints are not controlled. Unset optional constraints default to vehicle specifications.
Position and (optional) heading setpoints with corresponding speed constraints.
Setpoints are intended as inputs to position and heading smoothers, respectively.
Setpoints do not need to be kinematically consistent.
Optional heading setpoints may be specified as controlled by the respective flag.
Unset optional setpoints are not controlled.
Unset optional constraints default to vehicle specifications.
**TOPICS:** goto_setpoint
@@ -12,22 +18,22 @@ Position and (optional) heading setpoints with corresponding speed constraints.
| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
| ----------------------------------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| 位置 | `float32[3]` | 米 | | NED local world frame |
| timestamp | `uint64` | us | | Time since system start |
| 位置 | `float32[3]` | m [NED] | | NED local world frame |
| flag_control_heading | `bool` | | | true if heading is to be controlled |
| heading | `float32` | | | (optional) [rad] [-pi,pi] from North |
| flag_set_max_horizontal_speed | `bool` | | | true if setting a non-default horizontal speed limit |
| max_horizontal_speed | `float32` | | | (optional) [m/s] maximum speed (absolute) in the NE-plane |
| max_horizontal_speed | `float32` | 米/秒 | | (optional) Maximum speed (absolute) in the NE-plane |
| flag_set_max_vertical_speed | `bool` | | | true if setting a non-default vertical speed limit |
| max_vertical_speed | `float32` | | | (optional) [m/s] maximum speed (absolute) in the D-axis |
| max_vertical_speed | `float32` | 米/秒 | | (optional) Maximum speed (absolute) in the D-axis |
| flag_set_max_heading_rate | `bool` | | | true if setting a non-default heading rate limit |
| max_heading_rate | `float32` | | | (optional) [rad/s] maximum heading rate (absolute) |
| max_heading_rate | `float32` | rad/s | | (optional) Maximum heading rate (absolute) |
## Constants
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------- | -------- | - | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------ | -------- | - | -- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
@@ -38,31 +44,32 @@ Click here to see original file
```c
# 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.
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
uint64 timestamp # [us] Time since system start
# setpoints
float32[3] position # [m] NED local world frame
float32[3] position # [m] [@frame NED] NED local world frame
bool flag_control_heading # true if heading is to be controlled
float32 heading # (optional) [rad] [-pi,pi] from North
# constraints
bool flag_set_max_horizontal_speed # true if setting a non-default horizontal speed limit
float32 max_horizontal_speed # (optional) [m/s] maximum speed (absolute) in the NE-plane
float32 max_horizontal_speed # [m/s] (optional) Maximum speed (absolute) in the NE-plane
bool flag_set_max_vertical_speed # true if setting a non-default vertical speed limit
float32 max_vertical_speed # (optional) [m/s] maximum speed (absolute) in the D-axis
float32 max_vertical_speed # [m/s] (optional) Maximum speed (absolute) in the D-axis
bool flag_set_max_heading_rate # true if setting a non-default heading rate limit
float32 max_heading_rate # (optional) [rad/s] maximum heading rate (absolute)
float32 max_heading_rate # [rad/s] (optional) Maximum heading rate (absolute)
```
:::
docs/zh/msg_docs/GpioConfig.md
+13 -13
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@@ -20,19 +20,19 @@ GPIO configuration.
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ---------------------------------------------------------------------------------------------------------- | -------- | --- | ------ |
| <a href="#INPUT "></a> INPUT | `uint32` | 0 | 0x0000 |
| <a href="#OUTPUT "></a> OUTPUT | `uint32` | 1 | 0x0001 |
| <a href="#PULLUP "></a> PULLUP | `uint32` | 16 | 0x0010 |
| <a href="#PULLDOWN "></a> PULLDOWN | `uint32` | 32 | 0x0020 |
| <a href="#OPENDRAIN "></a> OPENDRAIN | `uint32` | 256 | 0x0100 |
| <a href="#INPUT_FLOATING "></a> INPUT_FLOATING | `uint32` | 0 | 0x0000 |
| <a href="#INPUT_PULLUP "></a> INPUT_PULLUP | `uint32` | 16 | 0x0010 |
| <a href="#INPUT_PULLDOWN "></a> INPUT_PULLDOWN | `uint32` | 32 | 0x0020 |
| <a href="#OUTPUT_PUSHPULL "></a> OUTPUT_PUSHPULL | `uint32` | 0 | 0x0000 |
| <a href="#OUTPUT_OPENDRAIN "></a> OUTPUT_OPENDRAIN | `uint32` | 256 | 0x0100 |
| <a href="#OUTPUT_OPENDRAIN_PULLUP "></a> OUTPUT_OPENDRAIN_PULLUP | `uint32` | 272 | 0x0110 |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------------- | -------- | --- | ------ |
| <a id="#INPUT"></a> INPUT | `uint32` | 0 | 0x0000 |
| <a id="#OUTPUT"></a> OUTPUT | `uint32` | 1 | 0x0001 |
| <a id="#PULLUP"></a> PULLUP | `uint32` | 16 | 0x0010 |
| <a id="#PULLDOWN"></a> PULLDOWN | `uint32` | 32 | 0x0020 |
| <a id="#OPENDRAIN"></a> OPENDRAIN | `uint32` | 256 | 0x0100 |
| <a id="#INPUT_FLOATING"></a> INPUT_FLOATING | `uint32` | 0 | 0x0000 |
| <a id="#INPUT_PULLUP"></a> INPUT_PULLUP | `uint32` | 16 | 0x0010 |
| <a id="#INPUT_PULLDOWN"></a> INPUT_PULLDOWN | `uint32` | 32 | 0x0020 |
| <a id="#OUTPUT_PUSHPULL"></a> OUTPUT_PUSHPULL | `uint32` | 0 | 0x0000 |
| <a id="#OUTPUT_OPENDRAIN"></a> OUTPUT_OPENDRAIN | `uint32` | 256 | 0x0100 |
| <a id="#OUTPUT_OPENDRAIN_PULLUP"></a> OUTPUT_OPENDRAIN_PULLUP | `uint32` | 272 | 0x0110 |
## Source Message
docs/zh/msg_docs/GpioIn.md
+3 -3
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@@ -18,9 +18,9 @@ GPIO mask and state.
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ---------------------------------------------------------------- | ------- | - | -- |
| <a href="#MAX_INSTANCES"></a> MAX_INSTANCES | `uint8` | 8 | |
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------- | ------- | - | -- |
| <a id="#MAX_INSTANCES"></a> MAX_INSTANCES | `uint8` | 8 | |
## Source Message
docs/zh/msg_docs/GpsDump.md
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## Constants
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------- | ------- | -- | -- |
| <a href="#INSTANCE_MAIN"></a> INSTANCE_MAIN | `uint8` | 0 | |
| <a href="#INSTANCE_SECONDARY"></a> INSTANCE_SECONDARY | `uint8` | 1 | |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 16 | |
| 参数名 | 类型 | 值 | 描述 |
| ----------------------------------------------------------------------------------------- | ------- | -- | -- |
| <a id="#INSTANCE_MAIN"></a> INSTANCE_MAIN | `uint8` | 0 | |
| <a id="#INSTANCE_SECONDARY"></a> INSTANCE_SECONDARY | `uint8` | 1 | |
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 16 | |
## Source Message
docs/zh/msg_docs/GpsInjectData.md
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# GpsInjectData (UORB message)
**TOPICS:** gps_injectdata
**TOPICS:** gps_inject_data
## Fields
@@ -18,10 +18,10 @@ pageClass: is-wide-page
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------- | ------- | - | -- |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 8 | |
| <a href="#MAX_INSTANCES"></a> MAX_INSTANCES | `uint8` | 2 | |
| 参数名 | 类型 | 值 | 描述 |
| ----------------------------------------------------------------------------------------- | ------- | - | -- |
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 8 | |
| <a id="#MAX_INSTANCES"></a> MAX_INSTANCES | `uint8` | 2 | |
## Source Message
docs/zh/msg_docs/Gripper.md
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## Constants
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------- | ------ | - | -- |
| <a href="#COMMAND_GRAB"></a> COMMAND_GRAB | `int8` | 0 | |
| <a href="#COMMAND_RELEASE"></a> COMMAND_RELEASE | `int8` | 1 | |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------ | ------ | - | -- |
| <a id="#COMMAND_GRAB"></a> COMMAND_GRAB | `int8` | 0 | |
| <a id="#COMMAND_RELEASE"></a> COMMAND_RELEASE | `int8` | 1 | |
## Source Message
docs/zh/msg_docs/HeaterStatus.md
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## Constants
| 参数名 | 类型 | 值 | 描述 |
| ---------------------------------------------------------- | ------- | - | -- |
| <a href="#MODE_GPIO"></a> MODE_GPIO | `uint8` | 1 | |
| <a href="#MODE_PX4IO"></a> MODE_PX4IO | `uint8` | 2 | |
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------- | ------- | - | -- |
| <a id="#MODE_GPIO"></a> MODE_GPIO | `uint8` | 1 | |
| <a id="#MODE_PX4IO"></a> MODE_PX4IO | `uint8` | 2 | |
## Source Message
docs/zh/msg_docs/HomePosition.md
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## Constants
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------- | -------- | - | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 | |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------ | -------- | - | -- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 1 | |
## Source Message
docs/zh/msg_docs/HomePositionV0.md
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GPS home position in WGS84 coordinates.
**TOPICS:** home_positionv0
**TOPICS:** home_position_v0
## Fields
@@ -28,9 +28,9 @@ GPS home position in WGS84 coordinates.
## Constants
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------- | -------- | - | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------ | -------- | - | -- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
docs/zh/msg_docs/HoverThrustEstimate.md
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# HoverThrustEstimate (UORB message)
**TOPICS:** hover_thrustestimate
**TOPICS:** hover_thrust_estimate
## Fields
docs/zh/msg_docs/InputRc.md
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## Constants
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | --- | -------------------------------------------------------------------------------------------------------------------------------- |
| <a href="#RC_INPUT_SOURCE_UNKNOWN"></a> RC_INPUT_SOURCE_UNKNOWN | `uint8` | 0 | |
| <a href="#RC_INPUT_SOURCE_PX4FMU_PPM"></a> RC_INPUT_SOURCE_PX4FMU_PPM | `uint8` | 1 | |
| <a href="#RC_INPUT_SOURCE_PX4IO_PPM"></a> RC_INPUT_SOURCE_PX4IO_PPM | `uint8` | 2 | |
| <a href="#RC_INPUT_SOURCE_PX4IO_SPEKTRUM"></a> RC_INPUT_SOURCE_PX4IO_SPEKTRUM | `uint8` | 3 | |
| <a href="#RC_INPUT_SOURCE_PX4IO_SBUS"></a> RC_INPUT_SOURCE_PX4IO_SBUS | `uint8` | 4 | |
| <a href="#RC_INPUT_SOURCE_PX4IO_ST24"></a> RC_INPUT_SOURCE_PX4IO_ST24 | `uint8` | 5 | |
| <a href="#RC_INPUT_SOURCE_MAVLINK"></a> RC_INPUT_SOURCE_MAVLINK | `uint8` | 6 | |
| <a href="#RC_INPUT_SOURCE_QURT"></a> RC_INPUT_SOURCE_QURT | `uint8` | 7 | |
| <a href="#RC_INPUT_SOURCE_PX4FMU_SPEKTRUM"></a> RC_INPUT_SOURCE_PX4FMU_SPEKTRUM | `uint8` | 8 | |
| <a href="#RC_INPUT_SOURCE_PX4FMU_SBUS"></a> RC_INPUT_SOURCE_PX4FMU_SBUS | `uint8` | 9 | |
| <a href="#RC_INPUT_SOURCE_PX4FMU_ST24"></a> RC_INPUT_SOURCE_PX4FMU_ST24 | `uint8` | 10 | |
| <a href="#RC_INPUT_SOURCE_PX4FMU_SUMD"></a> RC_INPUT_SOURCE_PX4FMU_SUMD | `uint8` | 11 | |
| <a href="#RC_INPUT_SOURCE_PX4FMU_DSM"></a> RC_INPUT_SOURCE_PX4FMU_DSM | `uint8` | 12 | |
| <a href="#RC_INPUT_SOURCE_PX4IO_SUMD"></a> RC_INPUT_SOURCE_PX4IO_SUMD | `uint8` | 13 | |
| <a href="#RC_INPUT_SOURCE_PX4FMU_CRSF"></a> RC_INPUT_SOURCE_PX4FMU_CRSF | `uint8` | 14 | |
| <a href="#RC_INPUT_SOURCE_PX4FMU_GHST"></a> RC_INPUT_SOURCE_PX4FMU_GHST | `uint8` | 15 | |
| <a href="#RC_INPUT_MAX_CHANNELS"></a> RC_INPUT_MAX_CHANNELS | `uint8` | 18 | Maximum number of R/C input channels in the system. S.Bus has up to 18 channels. |
| <a href="#RSSI_MAX"></a> RSSI_MAX | `int8` | 100 | |
| 参数名 | 类型 | 值 | 描述 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | --- | -------------------------------------------------------------------------------------------------------------------------------- |
| <a id="#RC_INPUT_SOURCE_UNKNOWN"></a> RC_INPUT_SOURCE_UNKNOWN | `uint8` | 0 | |
| <a id="#RC_INPUT_SOURCE_PX4FMU_PPM"></a> RC_INPUT_SOURCE_PX4FMU_PPM | `uint8` | 1 | |
| <a id="#RC_INPUT_SOURCE_PX4IO_PPM"></a> RC_INPUT_SOURCE_PX4IO_PPM | `uint8` | 2 | |
| <a id="#RC_INPUT_SOURCE_PX4IO_SPEKTRUM"></a> RC_INPUT_SOURCE_PX4IO_SPEKTRUM | `uint8` | 3 | |
| <a id="#RC_INPUT_SOURCE_PX4IO_SBUS"></a> RC_INPUT_SOURCE_PX4IO_SBUS | `uint8` | 4 | |
| <a id="#RC_INPUT_SOURCE_PX4IO_ST24"></a> RC_INPUT_SOURCE_PX4IO_ST24 | `uint8` | 5 | |
| <a id="#RC_INPUT_SOURCE_MAVLINK"></a> RC_INPUT_SOURCE_MAVLINK | `uint8` | 6 | |
| <a id="#RC_INPUT_SOURCE_QURT"></a> RC_INPUT_SOURCE_QURT | `uint8` | 7 | |
| <a id="#RC_INPUT_SOURCE_PX4FMU_SPEKTRUM"></a> RC_INPUT_SOURCE_PX4FMU_SPEKTRUM | `uint8` | 8 | |
| <a id="#RC_INPUT_SOURCE_PX4FMU_SBUS"></a> RC_INPUT_SOURCE_PX4FMU_SBUS | `uint8` | 9 | |
| <a id="#RC_INPUT_SOURCE_PX4FMU_ST24"></a> RC_INPUT_SOURCE_PX4FMU_ST24 | `uint8` | 10 | |
| <a id="#RC_INPUT_SOURCE_PX4FMU_SUMD"></a> RC_INPUT_SOURCE_PX4FMU_SUMD | `uint8` | 11 | |
| <a id="#RC_INPUT_SOURCE_PX4FMU_DSM"></a> RC_INPUT_SOURCE_PX4FMU_DSM | `uint8` | 12 | |
| <a id="#RC_INPUT_SOURCE_PX4IO_SUMD"></a> RC_INPUT_SOURCE_PX4IO_SUMD | `uint8` | 13 | |
| <a id="#RC_INPUT_SOURCE_PX4FMU_CRSF"></a> RC_INPUT_SOURCE_PX4FMU_CRSF | `uint8` | 14 | |
| <a id="#RC_INPUT_SOURCE_PX4FMU_GHST"></a> RC_INPUT_SOURCE_PX4FMU_GHST | `uint8` | 15 | |
| <a id="#RC_INPUT_MAX_CHANNELS"></a> RC_INPUT_MAX_CHANNELS | `uint8` | 18 | Maximum number of R/C input channels in the system. S.Bus has up to 18 channels. |
| <a id="#RSSI_MAX"></a> RSSI_MAX | `int8` | 100 | |
## Source Message
docs/zh/msg_docs/InternalCombustionEngineControl.md
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# InternalCombustionEngineControl (UORB message)
**TOPICS:** internal_combustionengine_control
**TOPICS:** internal_combustion_engine_control
## Fields
docs/zh/msg_docs/InternalCombustionEngineStatus.md
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# InternalCombustionEngineStatus (UORB message)
**TOPICS:** internal_combustionengine_status
**TOPICS:** internal_combustion_engine_status
## Fields
@@ -36,36 +36,36 @@ pageClass: is-wide-page
## Constants
| 参数名 | 类型 | 值 | 描述 |
| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ------ | -------------------------------------------------------------------------------------- |
| <a href="#STATE_STOPPED"></a> STATE_STOPPED | `uint8` | 0 | The engine is not running. This is the default state. |
| <a href="#STATE_STARTING"></a> STATE_STARTING | `uint8` | 1 | The engine is starting. This is a transient state. |
| <a href="#STATE_RUNNING"></a> STATE_RUNNING | `uint8` | 2 | The engine is running normally. |
| <a href="#STATE_FAULT"></a> STATE_FAULT | `uint8` | 3 | The engine can no longer function. |
| <a href="#FLAG_GENERAL_ERROR"></a> FLAG_GENERAL_ERROR | `uint32` | 1 | General error. |
| <a href="#FLAG_CRANKSHAFT_SENSOR_ERROR_SUPPORTED"></a> FLAG_CRANKSHAFT_SENSOR_ERROR_SUPPORTED | `uint32` | 2 | Error of the crankshaft sensor. This flag is optional. |
| <a href="#FLAG_CRANKSHAFT_SENSOR_ERROR"></a> FLAG_CRANKSHAFT_SENSOR_ERROR | `uint32` | 4 | |
| <a href="#FLAG_TEMPERATURE_SUPPORTED"></a> FLAG_TEMPERATURE_SUPPORTED | `uint32` | 8 | Temperature levels. These flags are optional |
| <a href="#FLAG_TEMPERATURE_BELOW_NOMINAL"></a> FLAG_TEMPERATURE_BELOW_NOMINAL | `uint32` | 16 | Under-temperature warning |
| <a href="#FLAG_TEMPERATURE_ABOVE_NOMINAL"></a> FLAG_TEMPERATURE_ABOVE_NOMINAL | `uint32` | 32 | Over-temperature warning |
| <a href="#FLAG_TEMPERATURE_OVERHEATING"></a> FLAG_TEMPERATURE_OVERHEATING | `uint32` | 64 | Critical overheating |
| <a href="#FLAG_TEMPERATURE_EGT_ABOVE_NOMINAL"></a> FLAG_TEMPERATURE_EGT_ABOVE_NOMINAL | `uint32` | 128 | Exhaust gas over-temperature warning |
| <a href="#FLAG_FUEL_PRESSURE_SUPPORTED"></a> FLAG_FUEL_PRESSURE_SUPPORTED | `uint32` | 256 | Fuel pressure. These flags are optional |
| <a href="#FLAG_FUEL_PRESSURE_BELOW_NOMINAL"></a> FLAG_FUEL_PRESSURE_BELOW_NOMINAL | `uint32` | 512 | Under-pressure warning |
| <a href="#FLAG_FUEL_PRESSURE_ABOVE_NOMINAL"></a> FLAG_FUEL_PRESSURE_ABOVE_NOMINAL | `uint32` | 1024 | Over-pressure warning |
| <a href="#FLAG_DETONATION_SUPPORTED"></a> FLAG_DETONATION_SUPPORTED | `uint32` | 2048 | Detonation warning. This flag is optional. |
| <a href="#FLAG_DETONATION_OBSERVED"></a> FLAG_DETONATION_OBSERVED | `uint32` | 4096 | Detonation condition observed warning |
| <a href="#FLAG_MISFIRE_SUPPORTED"></a> FLAG_MISFIRE_SUPPORTED | `uint32` | 8192 | Misfire warning. This flag is optional. |
| <a href="#FLAG_MISFIRE_OBSERVED"></a> FLAG_MISFIRE_OBSERVED | `uint32` | 16384 | Misfire condition observed warning |
| <a href="#FLAG_OIL_PRESSURE_SUPPORTED"></a> FLAG_OIL_PRESSURE_SUPPORTED | `uint32` | 32768 | Oil pressure. These flags are optional |
| <a href="#FLAG_OIL_PRESSURE_BELOW_NOMINAL"></a> FLAG_OIL_PRESSURE_BELOW_NOMINAL | `uint32` | 65536 | Under-pressure warning |
| <a href="#FLAG_OIL_PRESSURE_ABOVE_NOMINAL"></a> FLAG_OIL_PRESSURE_ABOVE_NOMINAL | `uint32` | 131072 | Over-pressure warning |
| <a href="#FLAG_DEBRIS_SUPPORTED"></a> FLAG_DEBRIS_SUPPORTED | `uint32` | 262144 | Debris warning. This flag is optional |
| <a href="#FLAG_DEBRIS_DETECTED"></a> FLAG_DEBRIS_DETECTED | `uint32` | 524288 | Detection of debris warning |
| <a href="#SPARK_PLUG_SINGLE"></a> SPARK_PLUG_SINGLE | `uint8` | 0 | |
| <a href="#SPARK_PLUG_FIRST_ACTIVE"></a> SPARK_PLUG_FIRST_ACTIVE | `uint8` | 1 | |
| <a href="#SPARK_PLUG_SECOND_ACTIVE"></a> SPARK_PLUG_SECOND_ACTIVE | `uint8` | 2 | |
| <a href="#SPARK_PLUG_BOTH_ACTIVE"></a> SPARK_PLUG_BOTH_ACTIVE | `uint8` | 3 | |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ------ | -------------------------------------------------------------------------------------- |
| <a id="#STATE_STOPPED"></a> STATE_STOPPED | `uint8` | 0 | The engine is not running. This is the default state. |
| <a id="#STATE_STARTING"></a> STATE_STARTING | `uint8` | 1 | The engine is starting. This is a transient state. |
| <a id="#STATE_RUNNING"></a> STATE_RUNNING | `uint8` | 2 | The engine is running normally. |
| <a id="#STATE_FAULT"></a> STATE_FAULT | `uint8` | 3 | The engine can no longer function. |
| <a id="#FLAG_GENERAL_ERROR"></a> FLAG_GENERAL_ERROR | `uint32` | 1 | General error. |
| <a id="#FLAG_CRANKSHAFT_SENSOR_ERROR_SUPPORTED"></a> FLAG_CRANKSHAFT_SENSOR_ERROR_SUPPORTED | `uint32` | 2 | Error of the crankshaft sensor. This flag is optional. |
| <a id="#FLAG_CRANKSHAFT_SENSOR_ERROR"></a> FLAG_CRANKSHAFT_SENSOR_ERROR | `uint32` | 4 | |
| <a id="#FLAG_TEMPERATURE_SUPPORTED"></a> FLAG_TEMPERATURE_SUPPORTED | `uint32` | 8 | Temperature levels. These flags are optional |
| <a id="#FLAG_TEMPERATURE_BELOW_NOMINAL"></a> FLAG_TEMPERATURE_BELOW_NOMINAL | `uint32` | 16 | Under-temperature warning |
| <a id="#FLAG_TEMPERATURE_ABOVE_NOMINAL"></a> FLAG_TEMPERATURE_ABOVE_NOMINAL | `uint32` | 32 | Over-temperature warning |
| <a id="#FLAG_TEMPERATURE_OVERHEATING"></a> FLAG_TEMPERATURE_OVERHEATING | `uint32` | 64 | Critical overheating |
| <a id="#FLAG_TEMPERATURE_EGT_ABOVE_NOMINAL"></a> FLAG_TEMPERATURE_EGT_ABOVE_NOMINAL | `uint32` | 128 | Exhaust gas over-temperature warning |
| <a id="#FLAG_FUEL_PRESSURE_SUPPORTED"></a> FLAG_FUEL_PRESSURE_SUPPORTED | `uint32` | 256 | Fuel pressure. These flags are optional |
| <a id="#FLAG_FUEL_PRESSURE_BELOW_NOMINAL"></a> FLAG_FUEL_PRESSURE_BELOW_NOMINAL | `uint32` | 512 | Under-pressure warning |
| <a id="#FLAG_FUEL_PRESSURE_ABOVE_NOMINAL"></a> FLAG_FUEL_PRESSURE_ABOVE_NOMINAL | `uint32` | 1024 | Over-pressure warning |
| <a id="#FLAG_DETONATION_SUPPORTED"></a> FLAG_DETONATION_SUPPORTED | `uint32` | 2048 | Detonation warning. This flag is optional. |
| <a id="#FLAG_DETONATION_OBSERVED"></a> FLAG_DETONATION_OBSERVED | `uint32` | 4096 | Detonation condition observed warning |
| <a id="#FLAG_MISFIRE_SUPPORTED"></a> FLAG_MISFIRE_SUPPORTED | `uint32` | 8192 | Misfire warning. This flag is optional. |
| <a id="#FLAG_MISFIRE_OBSERVED"></a> FLAG_MISFIRE_OBSERVED | `uint32` | 16384 | Misfire condition observed warning |
| <a id="#FLAG_OIL_PRESSURE_SUPPORTED"></a> FLAG_OIL_PRESSURE_SUPPORTED | `uint32` | 32768 | Oil pressure. These flags are optional |
| <a id="#FLAG_OIL_PRESSURE_BELOW_NOMINAL"></a> FLAG_OIL_PRESSURE_BELOW_NOMINAL | `uint32` | 65536 | Under-pressure warning |
| <a id="#FLAG_OIL_PRESSURE_ABOVE_NOMINAL"></a> FLAG_OIL_PRESSURE_ABOVE_NOMINAL | `uint32` | 131072 | Over-pressure warning |
| <a id="#FLAG_DEBRIS_SUPPORTED"></a> FLAG_DEBRIS_SUPPORTED | `uint32` | 262144 | Debris warning. This flag is optional |
| <a id="#FLAG_DEBRIS_DETECTED"></a> FLAG_DEBRIS_DETECTED | `uint32` | 524288 | Detection of debris warning |
| <a id="#SPARK_PLUG_SINGLE"></a> SPARK_PLUG_SINGLE | `uint8` | 0 | |
| <a id="#SPARK_PLUG_FIRST_ACTIVE"></a> SPARK_PLUG_FIRST_ACTIVE | `uint8` | 1 | |
| <a id="#SPARK_PLUG_SECOND_ACTIVE"></a> SPARK_PLUG_SECOND_ACTIVE | `uint8` | 2 | |
| <a id="#SPARK_PLUG_BOTH_ACTIVE"></a> SPARK_PLUG_BOTH_ACTIVE | `uint8` | 3 | |
## Source Message
docs/zh/msg_docs/LandingGear.md
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## Constants
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------- | ------ | -- | ---------------------- |
| <a href="#GEAR_UP"></a> GEAR_UP | `int8` | 1 | landing gear up |
| <a href="#GEAR_DOWN"></a> GEAR_DOWN | `int8` | -1 | landing gear down |
| <a href="#GEAR_KEEP"></a> GEAR_KEEP | `int8` | 0 | keep the current state |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------ | ------ | -- | ---------------------- |
| <a id="#GEAR_UP"></a> GEAR_UP | `int8` | 1 | landing gear up |
| <a id="#GEAR_DOWN"></a> GEAR_DOWN | `int8` | -1 | landing gear down |
| <a id="#GEAR_KEEP"></a> GEAR_KEEP | `int8` | 0 | keep the current state |
## Source Message
docs/zh/msg_docs/LandingGearWheel.md
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# LandingGearWheel (UORB message)
**TOPICS:** landing_gearwheel
**TOPICS:** landing_gear_wheel
## Fields
docs/zh/msg_docs/LandingTargetInnovations.md
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# LandingTargetInnovations (UORB message)
**TOPICS:** landing_targetinnovations
**TOPICS:** landing_target_innovations
## Fields
docs/zh/msg_docs/LandingTargetPose.md
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Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames.
**TOPICS:** landing_targetpose
**TOPICS:** landing_target_pose
## Fields
docs/zh/msg_docs/LateralControlConfiguration.md
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# LateralControlConfiguration (UORB message)
Fixed Wing Lateral Control Configuration message. Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
Fixed Wing Lateral Control Configuration message.
**TOPICS:** lateral_controlconfiguration
Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
**TOPICS:** lateral_control_configuration
## Fields
| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
| ----------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| lateral_accel_max | `float32` | m/s^2 | | currently maps to a maximum roll angle, accel_max = tan(roll_max) \* GRAVITY |
| timestamp | `uint64` | us | | Time since system start |
| lateral_accel_max | `float32` | m/s^2 | | Currently maps to a maximum roll angle, accel_max = tan(roll_max) \* GRAVITY |
## Constants
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------- | -------- | - | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------ | -------- | - | -- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
@@ -30,13 +32,14 @@ Click here to see original file
```c
# Fixed Wing Lateral Control Configuration message
#
# Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateralSetpoint messages.
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
uint64 timestamp # [us] Time since system start
float32 lateral_accel_max # [m/s^2] currently maps to a maximum roll angle, accel_max = tan(roll_max) * GRAVITY
float32 lateral_accel_max # [m/s^2] Currently maps to a maximum roll angle, accel_max = tan(roll_max) * GRAVITY
```
:::
docs/zh/msg_docs/LaunchDetectionStatus.md
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Status of the launch detection state machine (fixed-wing only).
**TOPICS:** launch_detectionstatus
**TOPICS:** launch_detection_status
## Fields
| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
| ---------------------------------------------------------------- | -------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| launch_detection_state | `uint8` | | | |
| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
| ------------------------------------------------------------------------------------------------ | -------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| launch_detection_state | `uint8` | | | |
| selected_control_surface_disarmed | `bool` | | | flag indicating whether selected actuators should kept disarmed (have to be configured in control allocation) |
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a href="#STATE_WAITING_FOR_LAUNCH"></a> STATE_WAITING_FOR_LAUNCH | `uint8` | 0 | waiting for launch |
| <a href="#STATE_LAUNCH_DETECTED_DISABLED_MOTOR"></a> STATE_LAUNCH_DETECTED_DISABLED_MOTOR | `uint8` | 1 | launch detected, but keep motor(s) disabled (e.g. because it can't spin freely while on catapult) |
| <a href="#STATE_FLYING"></a> STATE_FLYING | `uint8` | 2 | launch detected, use normal takeoff/flying configuration |
| 参数名 | 类型 | 值 | 描述 |
| --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | - | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="#STATE_WAITING_FOR_LAUNCH"></a> STATE_WAITING_FOR_LAUNCH | `uint8` | 0 | waiting for launch |
| <a id="#STATE_LAUNCH_DETECTED_DISABLED_MOTOR"></a> STATE_LAUNCH_DETECTED_DISABLED_MOTOR | `uint8` | 1 | launch detected, but keep motor(s) disabled (e.g. because it can't spin freely while on catapult) |
| <a id="#STATE_FLYING"></a> STATE_FLYING | `uint8` | 2 | launch detected, use normal takeoff/flying configuration |
## Source Message
@@ -40,6 +41,8 @@ uint8 STATE_LAUNCH_DETECTED_DISABLED_MOTOR = 1 # launch detected, but keep moto
uint8 STATE_FLYING = 2 # launch detected, use normal takeoff/flying configuration
uint8 launch_detection_state
bool selected_control_surface_disarmed # [-] flag indicating whether selected actuators should kept disarmed (have to be configured in control allocation)
```
:::
docs/zh/msg_docs/LedControl.md
+21 -21
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@@ -21,27 +21,27 @@ LED control: control a single or multiple LED's. These are the externally visibl
## Constants
| 参数名 | 类型 | 值 | 描述 |
| --------------------------------------------------------------------------------------------- | ------- | - | ------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a href="#COLOR_OFF"></a> COLOR_OFF | `uint8` | 0 | this is only used in the drivers |
| <a href="#COLOR_RED"></a> COLOR_RED | `uint8` | 1 | |
| <a href="#COLOR_GREEN"></a> COLOR_GREEN | `uint8` | 2 | |
| <a href="#COLOR_BLUE"></a> COLOR_BLUE | `uint8` | 3 | |
| <a href="#COLOR_YELLOW"></a> COLOR_YELLOW | `uint8` | 4 | |
| <a href="#COLOR_PURPLE"></a> COLOR_PURPLE | `uint8` | 5 | |
| <a href="#COLOR_AMBER"></a> COLOR_AMBER | `uint8` | 6 | |
| <a href="#COLOR_CYAN"></a> COLOR_CYAN | `uint8` | 7 | |
| <a href="#COLOR_WHITE"></a> COLOR_WHITE | `uint8` | 8 | |
| <a href="#MODE_OFF"></a> MODE_OFF | `uint8` | 0 | turn LED off |
| <a href="#MODE_ON"></a> MODE_ON | `uint8` | 1 | turn LED on |
| <a href="#MODE_DISABLED"></a> MODE_DISABLED | `uint8` | 2 | disable this priority (switch to lower priority setting) |
| <a href="#MODE_BLINK_SLOW"></a> MODE_BLINK_SLOW | `uint8` | 3 | |
| <a href="#MODE_BLINK_NORMAL"></a> MODE_BLINK_NORMAL | `uint8` | 4 | |
| <a href="#MODE_BLINK_FAST"></a> MODE_BLINK_FAST | `uint8` | 5 | |
| <a href="#MODE_BREATHE"></a> MODE_BREATHE | `uint8` | 6 | continuously increase & decrease brightness (solid color if driver does not support it) |
| <a href="#MODE_FLASH"></a> MODE_FLASH | `uint8` | 7 | two fast blinks (on/off) with timing as in MODE_BLINK_FAST and then off for a while |
| <a href="#MAX_PRIORITY"></a> MAX_PRIORITY | `uint8` | 2 | maximum priority (minimum is 0) |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 8 | needs to match BOARD_MAX_LEDS |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------- | ------- | - | ------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a id="#COLOR_OFF"></a> COLOR_OFF | `uint8` | 0 | this is only used in the drivers |
| <a id="#COLOR_RED"></a> COLOR_RED | `uint8` | 1 | |
| <a id="#COLOR_GREEN"></a> COLOR_GREEN | `uint8` | 2 | |
| <a id="#COLOR_BLUE"></a> COLOR_BLUE | `uint8` | 3 | |
| <a id="#COLOR_YELLOW"></a> COLOR_YELLOW | `uint8` | 4 | |
| <a id="#COLOR_PURPLE"></a> COLOR_PURPLE | `uint8` | 5 | |
| <a id="#COLOR_AMBER"></a> COLOR_AMBER | `uint8` | 6 | |
| <a id="#COLOR_CYAN"></a> COLOR_CYAN | `uint8` | 7 | |
| <a id="#COLOR_WHITE"></a> COLOR_WHITE | `uint8` | 8 | |
| <a id="#MODE_OFF"></a> MODE_OFF | `uint8` | 0 | turn LED off |
| <a id="#MODE_ON"></a> MODE_ON | `uint8` | 1 | turn LED on |
| <a id="#MODE_DISABLED"></a> MODE_DISABLED | `uint8` | 2 | disable this priority (switch to lower priority setting) |
| <a id="#MODE_BLINK_SLOW"></a> MODE_BLINK_SLOW | `uint8` | 3 | |
| <a id="#MODE_BLINK_NORMAL"></a> MODE_BLINK_NORMAL | `uint8` | 4 | |
| <a id="#MODE_BLINK_FAST"></a> MODE_BLINK_FAST | `uint8` | 5 | |
| <a id="#MODE_BREATHE"></a> MODE_BREATHE | `uint8` | 6 | continuously increase & decrease brightness (solid color if driver does not support it) |
| <a id="#MODE_FLASH"></a> MODE_FLASH | `uint8` | 7 | two fast blinks (on/off) with timing as in MODE_BLINK_FAST and then off for a while |
| <a id="#MAX_PRIORITY"></a> MAX_PRIORITY | `uint8` | 2 | maximum priority (minimum is 0) |
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 8 | needs to match BOARD_MAX_LEDS |
## Source Message
docs/zh/msg_docs/LogMessage.md
+3 -3
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@@ -18,9 +18,9 @@ A logging message, output with PX4_WARN, PX4_ERR, PX4_INFO.
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------- | ------- | - | -- |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 4 | |
| 参数名 | 类型 | 值 | 描述 |
| ----------------------------------------------------------------------------------------- | ------- | - | -- |
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 4 | |
## Source Message
docs/zh/msg_docs/LoggerStatus.md
+7 -7
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@@ -24,13 +24,13 @@ pageClass: is-wide-page
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------- | ------- | - | -------------------------------------------------------------------------------------------- |
| <a href="#LOGGER_TYPE_FULL"></a> LOGGER_TYPE_FULL | `uint8` | 0 | Normal, full size log |
| <a href="#LOGGER_TYPE_MISSION"></a> LOGGER_TYPE_MISSION | `uint8` | 1 | reduced mission log (e.g. for geotagging) |
| <a href="#BACKEND_FILE"></a> BACKEND_FILE | `uint8` | 1 | |
| <a href="#BACKEND_MAVLINK"></a> BACKEND_MAVLINK | `uint8` | 2 | |
| <a href="#BACKEND_ALL"></a> BACKEND_ALL | `uint8` | 3 | |
| 参数名 | 类型 | 值 | 描述 |
| ----------------------------------------------------------------------------------------------- | ------- | - | -------------------------------------------------------------------------------------------- |
| <a id="#LOGGER_TYPE_FULL"></a> LOGGER_TYPE_FULL | `uint8` | 0 | Normal, full size log |
| <a id="#LOGGER_TYPE_MISSION"></a> LOGGER_TYPE_MISSION | `uint8` | 1 | reduced mission log (e.g. for geotagging) |
| <a id="#BACKEND_FILE"></a> BACKEND_FILE | `uint8` | 1 | |
| <a id="#BACKEND_MAVLINK"></a> BACKEND_MAVLINK | `uint8` | 2 | |
| <a id="#BACKEND_ALL"></a> BACKEND_ALL | `uint8` | 3 | |
## Source Message
docs/zh/msg_docs/LongitudinalControlConfiguration.md
+29 -25
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@@ -4,30 +4,33 @@ pageClass: is-wide-page
# LongitudinalControlConfiguration (UORB message)
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.
Fixed Wing Longitudinal Control Configuration message.
**TOPICS:** longitudinal_controlconfiguration
Used by the fw_lateral_longitudinal_control module and TECS to constrain FixedWingLongitudinalSetpoint messages
and configure the resultant setpoints.
**TOPICS:** longitudinal_control_configuration
## Fields
| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
| ------------------------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| pitch_min | `float32` | rad | [-pi : pi] | defaults to FW_P_LIM_MIN if NAN. |
| pitch_max | `float32` | rad | [-pi : pi] | defaults to FW_P_LIM_MAX if NAN. |
| throttle_min | `float32` | norm | [0 : 1] | deaults to FW_THR_MIN if NAN. |
| throttle_max | `float32` | norm | [0 : 1] | defaults to FW_THR_MAX if NAN. |
| climb_rate_target | `float32` | 米/秒 | | target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. |
| sink_rate_target | `float32` | 米/秒 | | target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. |
| speed_weight | `float32` | | [0 : 2] | , 0=pitch controls altitude only, 2=pitch controls airspeed only |
| enforce_low_height_condition | `bool` | boolean | | if true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking |
| disable_underspeed_protection | `bool` | boolean | | if true, underspeed handling is disabled in the altitude controller |
| timestamp | `uint64` | us | | Time since system start |
| pitch_min | `float32` | rad | [-pi : pi] | Defaults to FW_P_LIM_MIN if NAN. |
| pitch_max | `float32` | rad | [-pi : pi] | Defaults to FW_P_LIM_MAX if NAN. |
| throttle_min | `float32` | norm | [0 : 1] | Defaults to FW_THR_MIN if NAN. |
| throttle_max | `float32` | norm | [0 : 1] | Defaults to FW_THR_MAX if NAN. |
| climb_rate_target | `float32` | 米/秒 | | Target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. |
| sink_rate_target | `float32` | 米/秒 | | Target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. |
| speed_weight | `float32` | | [0 : 2] | 0=pitch controls altitude only, 2=pitch controls airspeed only |
| enforce_low_height_condition | `bool` | | | If true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking |
| disable_underspeed_protection | `bool` | | | If true, underspeed handling is disabled in the altitude controller |
## Constants
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------- | -------- | - | -- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------ | -------- | - | -- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
## Source Message
@@ -38,22 +41,23 @@ Click here to see original file
```c
# 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.
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
uint64 timestamp # [us] Time since system start
float32 pitch_min # [rad][@range -pi, pi] defaults to FW_P_LIM_MIN if NAN.
float32 pitch_max # [rad][@range -pi, pi] defaults to FW_P_LIM_MAX if NAN.
float32 throttle_min # [norm] [@range 0,1] deaults to FW_THR_MIN if NAN.
float32 throttle_max # [norm] [@range 0,1] defaults to FW_THR_MAX if NAN.
float32 climb_rate_target # [m/s] target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
float32 sink_rate_target # [m/s] target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
float32 speed_weight # [@range 0,2], 0=pitch controls altitude only, 2=pitch controls airspeed only
bool enforce_low_height_condition # [boolean] if true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking
bool disable_underspeed_protection # [boolean] if true, underspeed handling is disabled in the altitude controller
float32 pitch_min # [rad] [@range -pi, pi] Defaults to FW_P_LIM_MIN if NAN.
float32 pitch_max # [rad] [@range -pi, pi] Defaults to FW_P_LIM_MAX if NAN.
float32 throttle_min # [norm] [@range 0,1] Defaults to FW_THR_MIN if NAN.
float32 throttle_max # [norm] [@range 0,1] Defaults to FW_THR_MAX if NAN.
float32 climb_rate_target # [m/s] Target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
float32 sink_rate_target # [m/s] Target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint.
float32 speed_weight # [-] [@range 0,2] 0=pitch controls altitude only, 2=pitch controls airspeed only
bool enforce_low_height_condition # If true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking
bool disable_underspeed_protection # If true, underspeed handling is disabled in the altitude controller
```
:::
docs/zh/msg_docs/MagWorkerData.md
+4 -4
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@@ -4,7 +4,7 @@ pageClass: is-wide-page
# MagWorkerData (UORB message)
**TOPICS:** mag_workerdata
**TOPICS:** mag_worker_data
## Fields
@@ -23,9 +23,9 @@ pageClass: is-wide-page
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------ | ------- | - | -- |
| <a href="#MAX_MAGS"></a> MAX_MAGS | `uint8` | 4 | |
| 参数名 | 类型 | 值 | 描述 |
| ---------------------------------------------------- | ------- | - | -- |
| <a id="#MAX_MAGS"></a> MAX_MAGS | `uint8` | 4 | |
## Source Message
docs/zh/msg_docs/MagnetometerBiasEstimate.md
+1 -1
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@@ -4,7 +4,7 @@ pageClass: is-wide-page
# MagnetometerBiasEstimate (UORB message)
**TOPICS:** magnetometer_biasestimate
**TOPICS:** magnetometer_bias_estimate
## Fields
docs/zh/msg_docs/ManualControlSetpoint.md
+11 -11
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@@ -30,17 +30,17 @@ pageClass: is-wide-page
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------- | -------- | - | ---------------------------------------------------------------- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| <a href="#SOURCE_UNKNOWN"></a> SOURCE_UNKNOWN | `uint8` | 0 | |
| <a href="#SOURCE_RC"></a> SOURCE_RC | `uint8` | 1 | radio control (input_rc) |
| <a href="#SOURCE_MAVLINK_0"></a> SOURCE_MAVLINK_0 | `uint8` | 2 | mavlink instance 0 |
| <a href="#SOURCE_MAVLINK_1"></a> SOURCE_MAVLINK_1 | `uint8` | 3 | mavlink instance 1 |
| <a href="#SOURCE_MAVLINK_2"></a> SOURCE_MAVLINK_2 | `uint8` | 4 | mavlink instance 2 |
| <a href="#SOURCE_MAVLINK_3"></a> SOURCE_MAVLINK_3 | `uint8` | 5 | mavlink instance 3 |
| <a href="#SOURCE_MAVLINK_4"></a> SOURCE_MAVLINK_4 | `uint8` | 6 | mavlink instance 4 |
| <a href="#SOURCE_MAVLINK_5"></a> SOURCE_MAVLINK_5 | `uint8` | 7 | mavlink instance 5 |
| 参数名 | 类型 | 值 | 描述 |
| ----------------------------------------------------------------------------------------- | -------- | - | ---------------------------------------------------------------- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| <a id="#SOURCE_UNKNOWN"></a> SOURCE_UNKNOWN | `uint8` | 0 | |
| <a id="#SOURCE_RC"></a> SOURCE_RC | `uint8` | 1 | radio control (input_rc) |
| <a id="#SOURCE_MAVLINK_0"></a> SOURCE_MAVLINK_0 | `uint8` | 2 | mavlink instance 0 |
| <a id="#SOURCE_MAVLINK_1"></a> SOURCE_MAVLINK_1 | `uint8` | 3 | mavlink instance 1 |
| <a id="#SOURCE_MAVLINK_2"></a> SOURCE_MAVLINK_2 | `uint8` | 4 | mavlink instance 2 |
| <a id="#SOURCE_MAVLINK_3"></a> SOURCE_MAVLINK_3 | `uint8` | 5 | mavlink instance 3 |
| <a id="#SOURCE_MAVLINK_4"></a> SOURCE_MAVLINK_4 | `uint8` | 6 | mavlink instance 4 |
| <a id="#SOURCE_MAVLINK_5"></a> SOURCE_MAVLINK_5 | `uint8` | 7 | mavlink instance 5 |
## Source Message
docs/zh/msg_docs/ManualControlSwitches.md
+15 -15
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@@ -4,7 +4,7 @@ pageClass: is-wide-page
# ManualControlSwitches (UORB message)
**TOPICS:** manual_controlswitches
**TOPICS:** manual_control_switches
## Fields
@@ -29,20 +29,20 @@ pageClass: is-wide-page
## Constants
| 参数名 | 类型 | 值 | 描述 |
| --------------------------------------------------------------------------------------------- | ------- | - | ---------------------------------------------------- |
| <a href="#SWITCH_POS_NONE"></a> SWITCH_POS_NONE | `uint8` | 0 | switch is not mapped |
| <a href="#SWITCH_POS_ON"></a> SWITCH_POS_ON | `uint8` | 1 | switch activated (value = 1) |
| <a href="#SWITCH_POS_MIDDLE"></a> SWITCH_POS_MIDDLE | `uint8` | 2 | middle position (value = 0) |
| <a href="#SWITCH_POS_OFF"></a> SWITCH_POS_OFF | `uint8` | 3 | switch not activated (value = -1) |
| <a href="#MODE_SLOT_NONE"></a> MODE_SLOT_NONE | `uint8` | 0 | no mode slot assigned |
| <a href="#MODE_SLOT_1"></a> MODE_SLOT_1 | `uint8` | 1 | mode slot 1 selected |
| <a href="#MODE_SLOT_2"></a> MODE_SLOT_2 | `uint8` | 2 | mode slot 2 selected |
| <a href="#MODE_SLOT_3"></a> MODE_SLOT_3 | `uint8` | 3 | mode slot 3 selected |
| <a href="#MODE_SLOT_4"></a> MODE_SLOT_4 | `uint8` | 4 | mode slot 4 selected |
| <a href="#MODE_SLOT_5"></a> MODE_SLOT_5 | `uint8` | 5 | mode slot 5 selected |
| <a href="#MODE_SLOT_6"></a> MODE_SLOT_6 | `uint8` | 6 | mode slot 6 selected |
| <a href="#MODE_SLOT_NUM"></a> MODE_SLOT_NUM | `uint8` | 6 | number of slots |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------- | ------- | - | ---------------------------------------------------- |
| <a id="#SWITCH_POS_NONE"></a> SWITCH_POS_NONE | `uint8` | 0 | switch is not mapped |
| <a id="#SWITCH_POS_ON"></a> SWITCH_POS_ON | `uint8` | 1 | switch activated (value = 1) |
| <a id="#SWITCH_POS_MIDDLE"></a> SWITCH_POS_MIDDLE | `uint8` | 2 | middle position (value = 0) |
| <a id="#SWITCH_POS_OFF"></a> SWITCH_POS_OFF | `uint8` | 3 | switch not activated (value = -1) |
| <a id="#MODE_SLOT_NONE"></a> MODE_SLOT_NONE | `uint8` | 0 | no mode slot assigned |
| <a id="#MODE_SLOT_1"></a> MODE_SLOT_1 | `uint8` | 1 | mode slot 1 selected |
| <a id="#MODE_SLOT_2"></a> MODE_SLOT_2 | `uint8` | 2 | mode slot 2 selected |
| <a id="#MODE_SLOT_3"></a> MODE_SLOT_3 | `uint8` | 3 | mode slot 3 selected |
| <a id="#MODE_SLOT_4"></a> MODE_SLOT_4 | `uint8` | 4 | mode slot 4 selected |
| <a id="#MODE_SLOT_5"></a> MODE_SLOT_5 | `uint8` | 5 | mode slot 5 selected |
| <a id="#MODE_SLOT_6"></a> MODE_SLOT_6 | `uint8` | 6 | mode slot 6 selected |
| <a id="#MODE_SLOT_NUM"></a> MODE_SLOT_NUM | `uint8` | 6 | number of slots |
## Source Message
docs/zh/msg_docs/MavlinkLog.md
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@@ -16,9 +16,9 @@ pageClass: is-wide-page
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------- | ------- | - | -- |
| <a href="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 8 | |
| 参数名 | 类型 | 值 | 描述 |
| ----------------------------------------------------------------------------------------- | ------- | - | -- |
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 8 | |
## Source Message
docs/zh/msg_docs/MavlinkTunnel.md
+13 -13
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@@ -21,19 +21,19 @@ MAV_TUNNEL_PAYLOAD_TYPE enum.
## Constants
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------- | --- | ---------------------------------------- |
| <a href="#MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWN"></a> MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWN | `uint8` | 0 | Encoding of payload unknown |
| <a href="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0 | `uint8` | 200 | Registered for STorM32 gimbal controller |
| <a href="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1 | `uint8` | 201 | Registered for STorM32 gimbal controller |
| <a href="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2 | `uint8` | 202 | Registered for STorM32 gimbal controller |
| <a href="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3 | `uint8` | 203 | Registered for STorM32 gimbal controller |
| <a href="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4 | `uint8` | 204 | Registered for STorM32 gimbal controller |
| <a href="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5 | `uint8` | 205 | Registered for STorM32 gimbal controller |
| <a href="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6 | `uint8` | 206 | Registered for STorM32 gimbal controller |
| <a href="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7 | `uint8` | 207 | Registered for STorM32 gimbal controller |
| <a href="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8 | `uint8` | 208 | Registered for STorM32 gimbal controller |
| <a href="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9 | `uint8` | 209 | Registered for STorM32 gimbal controller |
| 参数名 | 类型 | 值 | 描述 |
| ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | --- | ---------------------------------------- |
| <a id="#MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWN"></a> MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWN | `uint8` | 0 | Encoding of payload unknown |
| <a id="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0 | `uint8` | 200 | Registered for STorM32 gimbal controller |
| <a id="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1 | `uint8` | 201 | Registered for STorM32 gimbal controller |
| <a id="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2 | `uint8` | 202 | Registered for STorM32 gimbal controller |
| <a id="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3 | `uint8` | 203 | Registered for STorM32 gimbal controller |
| <a id="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4 | `uint8` | 204 | Registered for STorM32 gimbal controller |
| <a id="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5 | `uint8` | 205 | Registered for STorM32 gimbal controller |
| <a id="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6 | `uint8` | 206 | Registered for STorM32 gimbal controller |
| <a id="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7 | `uint8` | 207 | Registered for STorM32 gimbal controller |
| <a id="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8 | `uint8` | 208 | Registered for STorM32 gimbal controller |
| <a id="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9 | `uint8` | 209 | Registered for STorM32 gimbal controller |
## Source Message
docs/zh/msg_docs/MessageFormatRequest.md
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# MessageFormatRequest (UORB message)
**TOPICS:** message_formatrequest
**TOPICS:** message_format_request
## Fields
@@ -16,9 +16,9 @@ pageClass: is-wide-page
## Constants
| 参数名 | 类型 | 值 | 描述 |
| --------------------------------------------------------------------------------------------------------- | -------- | - | --------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a href="#LATEST_PROTOCOL_VERSION"></a> LATEST_PROTOCOL_VERSION | `uint16` | 1 | Current version of this protocol. Increase this whenever the MessageFormatRequest or MessageFormatResponse changes. |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------------- | -------- | - | --------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="#LATEST_PROTOCOL_VERSION"></a> LATEST_PROTOCOL_VERSION | `uint16` | 1 | Current version of this protocol. Increase this whenever the MessageFormatRequest or MessageFormatResponse changes. |
## Source Message
docs/zh/msg_docs/MessageFormatResponse.md
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# MessageFormatResponse (UORB message)
**TOPICS:** message_formatresponse
**TOPICS:** message_format_response
## Fields
docs/zh/msg_docs/ModeCompleted.md
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## Constants
| 参数名 | 类型 | 值 | 描述 |
| --------------------------------------------------------------------------------------------------- | -------- | --- | ---------------------------------------------- |
| <a href="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| <a href="#RESULT_SUCCESS"></a> RESULT_SUCCESS | `uint8` | 0 | |
| <a href="#RESULT_FAILURE_OTHER"></a> RESULT_FAILURE_OTHER | `uint8` | 100 | Mode failed (generic error) |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------- | -------- | --- | ---------------------------------------------- |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
| <a id="#RESULT_SUCCESS"></a> RESULT_SUCCESS | `uint8` | 0 | |
| <a id="#RESULT_FAILURE_OTHER"></a> RESULT_FAILURE_OTHER | `uint8` | 100 | Mode failed (generic error) |
## Source Message
docs/zh/msg_docs/NavigatorMissionItem.md
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# NavigatorMissionItem (UORB message)
**TOPICS:** navigator_missionitem
**TOPICS:** navigator_mission_item
## Fields
docs/zh/msg_docs/NavigatorStatus.md
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## Constants
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------- | ------- | - | --------------------------------------------------- |
| <a href="#FAILURE_NONE"></a> FAILURE_NONE | `uint8` | 0 | |
| <a href="#FAILURE_HAGL"></a> FAILURE_HAGL | `uint8` | 1 | Target altitude exceeds maximum height above ground |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------ | ------- | - | --------------------------------------------------- |
| <a id="#FAILURE_NONE"></a> FAILURE_NONE | `uint8` | 0 | |
| <a id="#FAILURE_HAGL"></a> FAILURE_HAGL | `uint8` | 1 | Target altitude exceeds maximum height above ground |
## Source Message
docs/zh/msg_docs/ObstacleDistance.md
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## Constants
| 参数名 | 类型 | 值 | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------- | ------- | -- | -- |
| <a href="#MAV_FRAME_GLOBAL"></a> MAV_FRAME_GLOBAL | `uint8` | 0 | |
| <a href="#MAV_FRAME_LOCAL_NED"></a> MAV_FRAME_LOCAL_NED | `uint8` | 1 | |
| <a href="#MAV_FRAME_BODY_FRD"></a> MAV_FRAME_BODY_FRD | `uint8` | 12 | |
| <a href="#MAV_DISTANCE_SENSOR_LASER"></a> MAV_DISTANCE_SENSOR_LASER | `uint8` | 0 | |
| <a href="#MAV_DISTANCE_SENSOR_ULTRASOUND"></a> MAV_DISTANCE_SENSOR_ULTRASOUND | `uint8` | 1 | |
| <a href="#MAV_DISTANCE_SENSOR_INFRARED"></a> MAV_DISTANCE_SENSOR_INFRARED | `uint8` | 2 | |
| <a href="#MAV_DISTANCE_SENSOR_RADAR"></a> MAV_DISTANCE_SENSOR_RADAR | `uint8` | 3 | |
| 参数名 | 类型 | 值 | 描述 |
| ------------------------------------------------------------------------------------------------------------------------------------------ | ------- | -- | -- |
| <a id="#MAV_FRAME_GLOBAL"></a> MAV_FRAME_GLOBAL | `uint8` | 0 | |
| <a id="#MAV_FRAME_LOCAL_NED"></a> MAV_FRAME_LOCAL_NED | `uint8` | 1 | |
| <a id="#MAV_FRAME_BODY_FRD"></a> MAV_FRAME_BODY_FRD | `uint8` | 12 | |
| <a id="#MAV_DISTANCE_SENSOR_LASER"></a> MAV_DISTANCE_SENSOR_LASER | `uint8` | 0 | |
| <a id="#MAV_DISTANCE_SENSOR_ULTRASOUND"></a> MAV_DISTANCE_SENSOR_ULTRASOUND | `uint8` | 1 | |
| <a id="#MAV_DISTANCE_SENSOR_INFRARED"></a> MAV_DISTANCE_SENSOR_INFRARED | `uint8` | 2 | |
| <a id="#MAV_DISTANCE_SENSOR_RADAR"></a> MAV_DISTANCE_SENSOR_RADAR | `uint8` | 3 | |
## Source Message

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