diff --git a/docs/en/advanced_config/parameter_reference.md b/docs/en/advanced_config/parameter_reference.md index c43e959dcf..38c5a3939e 100644 --- a/docs/en/advanced_config/parameter_reference.md +++ b/docs/en/advanced_config/parameter_reference.md @@ -23383,6 +23383,21 @@ Enables the PPS capture module to refine the GPS time from pulses detected on a | ------- | -------- | -------- | --------- | ------------ | ---- | | ✓ | | | | Disabled (0) | | +### PPS_CAP_GPS_ID (`INT32`) {#PPS_CAP_GPS_ID} + +PPS capture GPS receiver device ID. + +Device ID of the GPS receiver that emits the PPS signal captured on the +configured PWM input pin. When set to 0 (default), the first available +GPS instance is used. + +The device ID can be obtained from the sensor_gps publication +(e.g. via listener sensor_gps). + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | 0 | | | 0 | | + ## Geofence ### GF_ACTION (`INT32`) {#GF_ACTION} diff --git a/docs/en/middleware/dds_topics.md b/docs/en/middleware/dds_topics.md index f911999f12..193962c3be 100644 --- a/docs/en/middleware/dds_topics.md +++ b/docs/en/middleware/dds_topics.md @@ -95,204 +95,205 @@ They are not build into the module, and hence are neither published or subscribe ::: details See messages -- [AdcReport](../msg_docs/AdcReport.md) -- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md) -- [MountOrientation](../msg_docs/MountOrientation.md) -- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md) -- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md) -- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md) -- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md) -- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md) -- [GpsDump](../msg_docs/GpsDump.md) -- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md) -- [ActuatorArmed](../msg_docs/ActuatorArmed.md) -- [EstimatorStates](../msg_docs/EstimatorStates.md) -- [EscStatus](../msg_docs/EscStatus.md) -- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md) -- [SensorTemp](../msg_docs/SensorTemp.md) -- [VehicleImu](../msg_docs/VehicleImu.md) -- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md) -- [LandingGearWheel](../msg_docs/LandingGearWheel.md) -- [OrbitStatus](../msg_docs/OrbitStatus.md) -- [GainCompression](../msg_docs/GainCompression.md) -- [VehicleRoi](../msg_docs/VehicleRoi.md) -- [Vtx](../msg_docs/Vtx.md) -- [Px4ioStatus](../msg_docs/Px4ioStatus.md) -- [EscEepromRead](../msg_docs/EscEepromRead.md) -- [DebugArray](../msg_docs/DebugArray.md) -- [FollowTarget](../msg_docs/FollowTarget.md) -- [ButtonEvent](../msg_docs/ButtonEvent.md) -- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md) -- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md) -- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md) -- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md) -- [MavlinkLog](../msg_docs/MavlinkLog.md) -- [PowerMonitor](../msg_docs/PowerMonitor.md) -- [TecsStatus](../msg_docs/TecsStatus.md) -- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md) -- [SensorAccel](../msg_docs/SensorAccel.md) -- [RaptorStatus](../msg_docs/RaptorStatus.md) -- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md) -- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md) -- [CameraStatus](../msg_docs/CameraStatus.md) -- [RcParameterMap](../msg_docs/RcParameterMap.md) -- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md) -- [DifferentialPressure](../msg_docs/DifferentialPressure.md) -- [SensorHygrometer](../msg_docs/SensorHygrometer.md) -- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md) -- [CameraTrigger](../msg_docs/CameraTrigger.md) -- [HomePositionV0](../msg_docs/HomePositionV0.md) -- [GeneratorStatus](../msg_docs/GeneratorStatus.md) -- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md) -- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md) -- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md) -- [PwmInput](../msg_docs/PwmInput.md) -- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md) -- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md) -- [OrbTestMedium](../msg_docs/OrbTestMedium.md) -- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md) -- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md) -- [GpsInjectData](../msg_docs/GpsInjectData.md) -- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md) -- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md) -- [MissionResult](../msg_docs/MissionResult.md) -- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md) -- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md) -- [InputRc](../msg_docs/InputRc.md) -- [LandingTargetPose](../msg_docs/LandingTargetPose.md) -- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md) -- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md) -- [LoggerStatus](../msg_docs/LoggerStatus.md) -- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md) -- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md) -- [RaptorInput](../msg_docs/RaptorInput.md) -- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md) -- [ActuatorTest](../msg_docs/ActuatorTest.md) -- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md) -- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md) -- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md) -- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md) -- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md) -- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md) -- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md) -- [SatelliteInfo](../msg_docs/SatelliteInfo.md) -- [SystemPower](../msg_docs/SystemPower.md) -- [ParameterUpdate](../msg_docs/ParameterUpdate.md) -- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md) -- [RadioStatus](../msg_docs/RadioStatus.md) -- [QshellRetval](../msg_docs/QshellRetval.md) -- [PositionSetpoint](../msg_docs/PositionSetpoint.md) -- [Gripper](../msg_docs/Gripper.md) -- [EscReport](../msg_docs/EscReport.md) -- [DebugKeyValue](../msg_docs/DebugKeyValue.md) -- [SensorGyroFft](../msg_docs/SensorGyroFft.md) -- [TaskStackInfo](../msg_docs/TaskStackInfo.md) -- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md) -- [BatteryInfo](../msg_docs/BatteryInfo.md) -- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md) -- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md) -- [GeofenceResult](../msg_docs/GeofenceResult.md) -- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md) +- [OrbTest](../msg_docs/OrbTest.md) - [EstimatorStatus](../msg_docs/EstimatorStatus.md) -- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md) -- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md) -- [QshellReq](../msg_docs/QshellReq.md) -- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md) -- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) -- [DatamanRequest](../msg_docs/DatamanRequest.md) -- [GeofenceStatus](../msg_docs/GeofenceStatus.md) -- [FuelTankStatus](../msg_docs/FuelTankStatus.md) -- [DebugValue](../msg_docs/DebugValue.md) -- [WheelEncoders](../msg_docs/WheelEncoders.md) -- [EstimatorBias](../msg_docs/EstimatorBias.md) -- [VelocityLimits](../msg_docs/VelocityLimits.md) -- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md) -- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md) -- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md) -- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md) -- [AirspeedWind](../msg_docs/AirspeedWind.md) -- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md) -- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md) -- [SensorCorrection](../msg_docs/SensorCorrection.md) -- [SensorsStatus](../msg_docs/SensorsStatus.md) -- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md) -- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md) -- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md) -- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md) -- [GpioRequest](../msg_docs/GpioRequest.md) -- [SensorSelection](../msg_docs/SensorSelection.md) -- [SensorUwb](../msg_docs/SensorUwb.md) -- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md) +- [MissionResult](../msg_docs/MissionResult.md) - [HealthReport](../msg_docs/HealthReport.md) +- [RcParameterMap](../msg_docs/RcParameterMap.md) +- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md) +- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md) +- [GpioConfig](../msg_docs/GpioConfig.md) +- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md) +- [SensorHygrometer](../msg_docs/SensorHygrometer.md) +- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md) +- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md) +- [RcChannels](../msg_docs/RcChannels.md) +- [TecsStatus](../msg_docs/TecsStatus.md) +- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md) +- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md) +- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md) +- [TaskStackInfo](../msg_docs/TaskStackInfo.md) +- [GeofenceStatus](../msg_docs/GeofenceStatus.md) +- [MagWorkerData](../msg_docs/MagWorkerData.md) +- [PositionSetpoint](../msg_docs/PositionSetpoint.md) +- [GpioOut](../msg_docs/GpioOut.md) +- [FollowTarget](../msg_docs/FollowTarget.md) +- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md) +- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md) +- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md) +- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md) +- [Px4ioStatus](../msg_docs/Px4ioStatus.md) +- [CameraCapture](../msg_docs/CameraCapture.md) +- [PowerButtonState](../msg_docs/PowerButtonState.md) +- [Mission](../msg_docs/Mission.md) +- [LandingTargetPose](../msg_docs/LandingTargetPose.md) +- [Cpuload](../msg_docs/Cpuload.md) +- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md) +- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md) +- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md) +- [GeofenceResult](../msg_docs/GeofenceResult.md) +- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md) +- [GpioIn](../msg_docs/GpioIn.md) +- [Gripper](../msg_docs/Gripper.md) +- [DebugKeyValue](../msg_docs/DebugKeyValue.md) +- [SystemPower](../msg_docs/SystemPower.md) +- [Rpm](../msg_docs/Rpm.md) +- [GpioRequest](../msg_docs/GpioRequest.md) +- [CellularStatus](../msg_docs/CellularStatus.md) +- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md) +- [SensorBaro](../msg_docs/SensorBaro.md) +- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) +- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md) +- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md) +- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md) +- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md) +- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md) +- [SensorGyroFft](../msg_docs/SensorGyroFft.md) +- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md) +- [ParameterUpdate](../msg_docs/ParameterUpdate.md) +- [GimbalControls](../msg_docs/GimbalControls.md) +- [MountOrientation](../msg_docs/MountOrientation.md) +- [PpsCapture](../msg_docs/PpsCapture.md) +- [FuelTankStatus](../msg_docs/FuelTankStatus.md) +- [OrbitStatus](../msg_docs/OrbitStatus.md) +- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md) +- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md) +- [SensorMag](../msg_docs/SensorMag.md) +- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md) +- [DifferentialPressure](../msg_docs/DifferentialPressure.md) +- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md) +- [DatamanResponse](../msg_docs/DatamanResponse.md) +- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md) +- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md) +- [VehicleAirData](../msg_docs/VehicleAirData.md) +- [AirspeedWind](../msg_docs/AirspeedWind.md) +- [SensorAccel](../msg_docs/SensorAccel.md) +- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md) +- [EscEepromRead](../msg_docs/EscEepromRead.md) +- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md) +- [PowerMonitor](../msg_docs/PowerMonitor.md) +- [MavlinkLog](../msg_docs/MavlinkLog.md) +- [NeuralControl](../msg_docs/NeuralControl.md) +- [PwmInput](../msg_docs/PwmInput.md) +- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md) +- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md) +- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md) +- [GainCompression](../msg_docs/GainCompression.md) +- [IrlockReport](../msg_docs/IrlockReport.md) +- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md) +- [Vtx](../msg_docs/Vtx.md) +- [QshellRetval](../msg_docs/QshellRetval.md) +- [Event](../msg_docs/Event.md) +- [Ping](../msg_docs/Ping.md) +- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md) +- [DeviceInformation](../msg_docs/DeviceInformation.md) +- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md) +- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md) +- [QshellReq](../msg_docs/QshellReq.md) +- [ActionRequest](../msg_docs/ActionRequest.md) +- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md) +- [WheelEncoders](../msg_docs/WheelEncoders.md) +- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md) +- [DebugValue](../msg_docs/DebugValue.md) +- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md) +- [TuneControl](../msg_docs/TuneControl.md) +- [OrbTestMedium](../msg_docs/OrbTestMedium.md) +- [RadioStatus](../msg_docs/RadioStatus.md) +- [AdcReport](../msg_docs/AdcReport.md) +- [DebugArray](../msg_docs/DebugArray.md) +- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md) +- [SatelliteInfo](../msg_docs/SatelliteInfo.md) +- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md) +- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md) +- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md) +- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md) +- [VehicleImu](../msg_docs/VehicleImu.md) +- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md) +- [SensorUwb](../msg_docs/SensorUwb.md) +- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md) +- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md) +- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md) +- [EstimatorStates](../msg_docs/EstimatorStates.md) +- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md) +- [SensorAirflow](../msg_docs/SensorAirflow.md) +- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md) +- [SensorSelection](../msg_docs/SensorSelection.md) +- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md) +- [SensorsStatus](../msg_docs/SensorsStatus.md) +- [VelocityLimits](../msg_docs/VelocityLimits.md) +- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md) +- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md) +- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md) +- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md) +- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md) +- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md) +- [DatamanRequest](../msg_docs/DatamanRequest.md) +- [OrbTestLarge](../msg_docs/OrbTestLarge.md) +- [HomePositionV0](../msg_docs/HomePositionV0.md) +- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md) +- [RoverRateStatus](../msg_docs/RoverRateStatus.md) +- [RtlStatus](../msg_docs/RtlStatus.md) +- [GpsInjectData](../msg_docs/GpsInjectData.md) +- [ActuatorArmed](../msg_docs/ActuatorArmed.md) +- [LandingGearWheel](../msg_docs/LandingGearWheel.md) +- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md) +- [EscStatus](../msg_docs/EscStatus.md) +- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md) +- [ButtonEvent](../msg_docs/ButtonEvent.md) +- [RaptorInput](../msg_docs/RaptorInput.md) +- [InputRc](../msg_docs/InputRc.md) +- [CameraTrigger](../msg_docs/CameraTrigger.md) +- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md) +- [SensorGyro](../msg_docs/SensorGyro.md) +- [Airspeed](../msg_docs/Airspeed.md) +- [EstimatorBias](../msg_docs/EstimatorBias.md) +- [BatteryInfo](../msg_docs/BatteryInfo.md) +- [EventV0](../msg_docs/EventV0.md) +- [GpsDump](../msg_docs/GpsDump.md) +- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md) +- [EscEepromWrite](../msg_docs/EscEepromWrite.md) +- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md) +- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md) +- [LoggerStatus](../msg_docs/LoggerStatus.md) +- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md) +- [CameraStatus](../msg_docs/CameraStatus.md) +- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md) +- [GeneratorStatus](../msg_docs/GeneratorStatus.md) +- [ActuatorTest](../msg_docs/ActuatorTest.md) - [NavigatorStatus](../msg_docs/NavigatorStatus.md) - [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md) -- [LedControl](../msg_docs/LedControl.md) -- [Event](../msg_docs/Event.md) -- [SensorMag](../msg_docs/SensorMag.md) -- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md) -- [Rpm](../msg_docs/Rpm.md) -- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md) -- [EscEepromWrite](../msg_docs/EscEepromWrite.md) -- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md) -- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md) -- [ActionRequest](../msg_docs/ActionRequest.md) -- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md) -- [TakeoffStatus](../msg_docs/TakeoffStatus.md) -- [PowerButtonState](../msg_docs/PowerButtonState.md) -- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md) -- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md) -- [RtlStatus](../msg_docs/RtlStatus.md) -- [Airspeed](../msg_docs/Airspeed.md) -- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md) -- [GimbalControls](../msg_docs/GimbalControls.md) -- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md) -- [PpsCapture](../msg_docs/PpsCapture.md) -- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md) -- [SensorBaro](../msg_docs/SensorBaro.md) - [UlogStreamAck](../msg_docs/UlogStreamAck.md) -- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md) -- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md) -- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md) -- [SensorAirflow](../msg_docs/SensorAirflow.md) -- [GpioConfig](../msg_docs/GpioConfig.md) -- [UlogStream](../msg_docs/UlogStream.md) -- [GpioIn](../msg_docs/GpioIn.md) -- [TuneControl](../msg_docs/TuneControl.md) -- [MagWorkerData](../msg_docs/MagWorkerData.md) -- [EventV0](../msg_docs/EventV0.md) -- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md) -- [SensorGyro](../msg_docs/SensorGyro.md) -- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md) -- [HeaterStatus](../msg_docs/HeaterStatus.md) -- [Mission](../msg_docs/Mission.md) -- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md) -- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md) -- [VehicleConstraints](../msg_docs/VehicleConstraints.md) -- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md) -- [DeviceInformation](../msg_docs/DeviceInformation.md) -- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md) -- [DatamanResponse](../msg_docs/DatamanResponse.md) -- [DebugVect](../msg_docs/DebugVect.md) -- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) -- [VehicleAirData](../msg_docs/VehicleAirData.md) -- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md) -- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md) -- [NeuralControl](../msg_docs/NeuralControl.md) -- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md) -- [FigureEightStatus](../msg_docs/FigureEightStatus.md) -- [GpioOut](../msg_docs/GpioOut.md) -- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md) -- [LogMessage](../msg_docs/LogMessage.md) -- [Cpuload](../msg_docs/Cpuload.md) -- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md) +- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md) +- [TakeoffStatus](../msg_docs/TakeoffStatus.md) - [SensorPreflightMag](../msg_docs/SensorPreflightMag.md) -- [CameraCapture](../msg_docs/CameraCapture.md) -- [OrbTestLarge](../msg_docs/OrbTestLarge.md) -- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md) -- [OrbTest](../msg_docs/OrbTest.md) -- [Ping](../msg_docs/Ping.md) -- [RoverRateStatus](../msg_docs/RoverRateStatus.md) -- [IrlockReport](../msg_docs/IrlockReport.md) -- [RcChannels](../msg_docs/RcChannels.md) -- [CellularStatus](../msg_docs/CellularStatus.md) +- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md) +- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md) +- [LedControl](../msg_docs/LedControl.md) +- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md) +- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md) +- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md) +- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md) +- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md) +- [FigureEightStatus](../msg_docs/FigureEightStatus.md) +- [VehicleRoi](../msg_docs/VehicleRoi.md) +- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md) +- [HeaterStatus](../msg_docs/HeaterStatus.md) +- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) +- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md) +- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md) +- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md) +- [RaptorStatus](../msg_docs/RaptorStatus.md) +- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md) +- [SensorTemp](../msg_docs/SensorTemp.md) +- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md) +- [SensorCorrection](../msg_docs/SensorCorrection.md) +- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md) +- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md) +- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md) +- [LogMessage](../msg_docs/LogMessage.md) +- [VehicleConstraints](../msg_docs/VehicleConstraints.md) +- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md) +- [EscReport](../msg_docs/EscReport.md) +- [UlogStream](../msg_docs/UlogStream.md) +- [DebugVect](../msg_docs/DebugVect.md) ::: diff --git a/docs/en/msg_docs/VehicleStatus.md b/docs/en/msg_docs/VehicleStatus.md index 241de2e6ca..8daf0985a7 100644 --- a/docs/en/msg_docs/VehicleStatus.md +++ b/docs/en/msg_docs/VehicleStatus.md @@ -25,7 +25,6 @@ Encodes the system state of the vehicle published by commander. | nav_state_display | `uint8` | | | User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state) | | valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values | | can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select | -| failure_detector_status | `uint16` | | | | hil_state | `uint8` | | | | vehicle_type | `uint8` | | | | failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) | @@ -58,7 +57,7 @@ Encodes the system state of the vehicle published by commander. | Name | Type | Value | Description | | --------------------------------------------------------------------------------------- | -------- | ----- | ------------------------------------------------ | -| MESSAGE_VERSION | `uint32` | 2 | +| MESSAGE_VERSION | `uint32` | 3 | | ARMING_STATE_DISARMED | `uint8` | 1 | | ARMING_STATE_ARMED | `uint8` | 2 | | ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 | @@ -103,15 +102,6 @@ Encodes the system state of the vehicle published by commander. | NAVIGATION_STATE_EXTERNAL7 | `uint8` | 29 | | NAVIGATION_STATE_EXTERNAL8 | `uint8` | 30 | | NAVIGATION_STATE_MAX | `uint8` | 31 | -| FAILURE_NONE | `uint16` | 0 | -| FAILURE_ROLL | `uint16` | 1 | (1 << 0) | -| FAILURE_PITCH | `uint16` | 2 | (1 << 1) | -| FAILURE_ALT | `uint16` | 4 | (1 << 2) | -| FAILURE_EXT | `uint16` | 8 | (1 << 3) | -| FAILURE_ARM_ESC | `uint16` | 16 | (1 << 4) | -| FAILURE_BATTERY | `uint16` | 32 | (1 << 5) | -| FAILURE_IMBALANCED_PROP | `uint16` | 64 | (1 << 6) | -| FAILURE_MOTOR | `uint16` | 128 | (1 << 7) | | HIL_STATE_OFF | `uint8` | 0 | | HIL_STATE_ON | `uint8` | 1 | | VEHICLE_TYPE_UNSPECIFIED | `uint8` | 0 | @@ -131,7 +121,7 @@ Encodes the system state of the vehicle published by commander. ```c # Encodes the system state of the vehicle published by commander -uint32 MESSAGE_VERSION = 2 +uint32 MESSAGE_VERSION = 3 uint64 timestamp # time since system start (microseconds) @@ -199,18 +189,6 @@ uint8 nav_state_display # User-visible nav state sent vi uint32 valid_nav_states_mask # Bitmask for all valid nav_state values uint32 can_set_nav_states_mask # Bitmask for all modes that a user can select -# Bitmask of detected failures -uint16 failure_detector_status -uint16 FAILURE_NONE = 0 -uint16 FAILURE_ROLL = 1 # (1 << 0) -uint16 FAILURE_PITCH = 2 # (1 << 1) -uint16 FAILURE_ALT = 4 # (1 << 2) -uint16 FAILURE_EXT = 8 # (1 << 3) -uint16 FAILURE_ARM_ESC = 16 # (1 << 4) -uint16 FAILURE_BATTERY = 32 # (1 << 5) -uint16 FAILURE_IMBALANCED_PROP = 64 # (1 << 6) -uint16 FAILURE_MOTOR = 128 # (1 << 7) - uint8 hil_state uint8 HIL_STATE_OFF = 0 uint8 HIL_STATE_ON = 1 diff --git a/docs/en/msg_docs/VehicleStatusV2.md b/docs/en/msg_docs/VehicleStatusV2.md new file mode 100644 index 0000000000..29e3d1a3a9 --- /dev/null +++ b/docs/en/msg_docs/VehicleStatusV2.md @@ -0,0 +1,269 @@ +--- +pageClass: is-wide-page +--- + +# VehicleStatusV2 (UORB message) + +Encodes the system state of the vehicle published by commander. + +**TOPICS:** vehicle_status_v2 + +## Fields + +| Name | Type | Unit [Frame] | Range/Enum | Description | +| -------------------------------- | -------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| armed_time | `uint64` | | | Arming timestamp (microseconds) | +| takeoff_time | `uint64` | | | Takeoff timestamp (microseconds) | +| arming_state | `uint8` | | | +| latest_arming_reason | `uint8` | | | +| latest_disarming_reason | `uint8` | | | +| nav_state_timestamp | `uint64` | | | time when current nav_state activated | +| nav_state_user_intention | `uint8` | | | Mode that the user selected (might be different from nav_state in a failsafe situation) | +| nav_state | `uint8` | | | Currently active mode | +| executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) | +| nav_state_display | `uint8` | | | User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state) | +| valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values | +| can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select | +| failure_detector_status | `uint16` | | | +| hil_state | `uint8` | | | +| vehicle_type | `uint8` | | | +| failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) | +| failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control | +| failsafe_defer_state | `uint8` | | | one of FAILSAFE*DEFER_STATE*\* | +| gcs_connection_lost | `bool` | | | datalink to GCS lost | +| gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events | +| high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost | +| is_vtol | `bool` | | | True if the system is VTOL capable | +| is_vtol_tailsitter | `bool` | | | True if the system performs a 90° pitch down rotation during transition from MC to FW | +| in_transition_mode | `bool` | | | True if VTOL is doing a transition | +| in_transition_to_fw | `bool` | | | True if VTOL is doing a transition from MC to FW | +| system_type | `uint8` | | | system type, contains mavlink MAV_TYPE | +| system_id | `uint8` | | | system id, contains MAVLink's system ID field | +| component_id | `uint8` | | | subsystem / component id, contains MAVLink's component ID field | +| safety_button_available | `bool` | | | Set to true if a safety button is connected | +| safety_off | `bool` | | | Set to true if safety is off | +| power_input_valid | `bool` | | | set if input power is valid | +| usb_connected | `bool` | | | set to true (never cleared) once telemetry received from usb link | +| open_drone_id_system_present | `bool` | | | +| open_drone_id_system_healthy | `bool` | | | +| parachute_system_present | `bool` | | | +| parachute_system_healthy | `bool` | | | +| traffic_avoidance_system_present | `bool` | | | +| rc_calibration_in_progress | `bool` | | | +| calibration_enabled | `bool` | | | +| pre_flight_checks_pass | `bool` | | | true if all checks necessary to arm pass | + +## Constants + +| Name | Type | Value | Description | +| --------------------------------------------------------------------------------------- | -------- | ----- | ------------------------------------------------ | +| MESSAGE_VERSION | `uint32` | 2 | +| ARMING_STATE_DISARMED | `uint8` | 1 | +| ARMING_STATE_ARMED | `uint8` | 2 | +| ARM_DISARM_REASON_STICK_GESTURE | `uint8` | 1 | +| ARM_DISARM_REASON_RC_SWITCH | `uint8` | 2 | +| ARM_DISARM_REASON_COMMAND_INTERNAL | `uint8` | 3 | +| ARM_DISARM_REASON_COMMAND_EXTERNAL | `uint8` | 4 | +| ARM_DISARM_REASON_MISSION_START | `uint8` | 5 | +| ARM_DISARM_REASON_LANDING | `uint8` | 6 | +| ARM_DISARM_REASON_PREFLIGHT_INACTION | `uint8` | 7 | +| ARM_DISARM_REASON_KILL_SWITCH | `uint8` | 8 | +| ARM_DISARM_REASON_RC_BUTTON | `uint8` | 13 | +| ARM_DISARM_REASON_FAILSAFE | `uint8` | 14 | +| NAVIGATION_STATE_MANUAL | `uint8` | 0 | Manual mode | +| NAVIGATION_STATE_ALTCTL | `uint8` | 1 | Altitude control mode | +| NAVIGATION_STATE_POSCTL | `uint8` | 2 | Position control mode | +| NAVIGATION_STATE_AUTO_MISSION | `uint8` | 3 | Auto mission mode | +| NAVIGATION_STATE_AUTO_LOITER | `uint8` | 4 | Auto loiter mode | +| NAVIGATION_STATE_AUTO_RTL | `uint8` | 5 | Auto return to launch mode | +| NAVIGATION_STATE_POSITION_SLOW | `uint8` | 6 | +| NAVIGATION_STATE_FREE5 | `uint8` | 7 | +| NAVIGATION_STATE_ALTITUDE_CRUISE | `uint8` | 8 | Altitude with Cruise mode | +| NAVIGATION_STATE_FREE3 | `uint8` | 9 | +| NAVIGATION_STATE_ACRO | `uint8` | 10 | Acro mode | +| NAVIGATION_STATE_FREE2 | `uint8` | 11 | +| NAVIGATION_STATE_DESCEND | `uint8` | 12 | Descend mode (no position control) | +| NAVIGATION_STATE_TERMINATION | `uint8` | 13 | Termination mode | +| NAVIGATION_STATE_OFFBOARD | `uint8` | 14 | +| NAVIGATION_STATE_STAB | `uint8` | 15 | Stabilized mode | +| NAVIGATION_STATE_FREE1 | `uint8` | 16 | +| NAVIGATION_STATE_AUTO_TAKEOFF | `uint8` | 17 | Takeoff | +| NAVIGATION_STATE_AUTO_LAND | `uint8` | 18 | Land | +| NAVIGATION_STATE_AUTO_FOLLOW_TARGET | `uint8` | 19 | Auto Follow | +| NAVIGATION_STATE_AUTO_PRECLAND | `uint8` | 20 | Precision land with landing target | +| NAVIGATION_STATE_ORBIT | `uint8` | 21 | Orbit in a circle | +| NAVIGATION_STATE_AUTO_VTOL_TAKEOFF | `uint8` | 22 | Takeoff, transition, establish loiter | +| NAVIGATION_STATE_EXTERNAL1 | `uint8` | 23 | +| NAVIGATION_STATE_EXTERNAL2 | `uint8` | 24 | +| NAVIGATION_STATE_EXTERNAL3 | `uint8` | 25 | +| NAVIGATION_STATE_EXTERNAL4 | `uint8` | 26 | +| NAVIGATION_STATE_EXTERNAL5 | `uint8` | 27 | +| NAVIGATION_STATE_EXTERNAL6 | `uint8` | 28 | +| NAVIGATION_STATE_EXTERNAL7 | `uint8` | 29 | +| NAVIGATION_STATE_EXTERNAL8 | `uint8` | 30 | +| NAVIGATION_STATE_MAX | `uint8` | 31 | +| FAILURE_NONE | `uint16` | 0 | +| FAILURE_ROLL | `uint16` | 1 | (1 << 0) | +| FAILURE_PITCH | `uint16` | 2 | (1 << 1) | +| FAILURE_ALT | `uint16` | 4 | (1 << 2) | +| FAILURE_EXT | `uint16` | 8 | (1 << 3) | +| FAILURE_ARM_ESC | `uint16` | 16 | (1 << 4) | +| FAILURE_BATTERY | `uint16` | 32 | (1 << 5) | +| FAILURE_IMBALANCED_PROP | `uint16` | 64 | (1 << 6) | +| FAILURE_MOTOR | `uint16` | 128 | (1 << 7) | +| HIL_STATE_OFF | `uint8` | 0 | +| HIL_STATE_ON | `uint8` | 1 | +| VEHICLE_TYPE_UNSPECIFIED | `uint8` | 0 | +| VEHICLE_TYPE_ROTARY_WING | `uint8` | 1 | +| VEHICLE_TYPE_FIXED_WING | `uint8` | 2 | +| VEHICLE_TYPE_ROVER | `uint8` | 3 | +| FAILSAFE_DEFER_STATE_DISABLED | `uint8` | 0 | +| FAILSAFE_DEFER_STATE_ENABLED | `uint8` | 1 | +| FAILSAFE_DEFER_STATE_WOULD_FAILSAFE | `uint8` | 2 | Failsafes deferred, but would trigger a failsafe | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleStatusV2.msg) + +::: details Click here to see original file + +```c +# Encodes the system state of the vehicle published by commander + +uint32 MESSAGE_VERSION = 2 + +uint64 timestamp # time since system start (microseconds) + +uint64 armed_time # Arming timestamp (microseconds) +uint64 takeoff_time # Takeoff timestamp (microseconds) + +uint8 arming_state +uint8 ARMING_STATE_DISARMED = 1 +uint8 ARMING_STATE_ARMED = 2 + +uint8 latest_arming_reason +uint8 latest_disarming_reason +uint8 ARM_DISARM_REASON_STICK_GESTURE = 1 +uint8 ARM_DISARM_REASON_RC_SWITCH = 2 +uint8 ARM_DISARM_REASON_COMMAND_INTERNAL = 3 +uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4 +uint8 ARM_DISARM_REASON_MISSION_START = 5 +uint8 ARM_DISARM_REASON_LANDING = 6 +uint8 ARM_DISARM_REASON_PREFLIGHT_INACTION = 7 +uint8 ARM_DISARM_REASON_KILL_SWITCH = 8 +uint8 ARM_DISARM_REASON_RC_BUTTON = 13 +uint8 ARM_DISARM_REASON_FAILSAFE = 14 + +uint64 nav_state_timestamp # time when current nav_state activated + +uint8 nav_state_user_intention # Mode that the user selected (might be different from nav_state in a failsafe situation) + +uint8 nav_state # Currently active mode +uint8 NAVIGATION_STATE_MANUAL = 0 # Manual mode +uint8 NAVIGATION_STATE_ALTCTL = 1 # Altitude control mode +uint8 NAVIGATION_STATE_POSCTL = 2 # Position control mode +uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode +uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode +uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode +uint8 NAVIGATION_STATE_POSITION_SLOW = 6 +uint8 NAVIGATION_STATE_FREE5 = 7 +uint8 NAVIGATION_STATE_ALTITUDE_CRUISE = 8 # Altitude with Cruise mode +uint8 NAVIGATION_STATE_FREE3 = 9 +uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode +uint8 NAVIGATION_STATE_FREE2 = 11 +uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control) +uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode +uint8 NAVIGATION_STATE_OFFBOARD = 14 +uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode +uint8 NAVIGATION_STATE_FREE1 = 16 +uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17 # Takeoff +uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land +uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow +uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20 # Precision land with landing target +uint8 NAVIGATION_STATE_ORBIT = 21 # Orbit in a circle +uint8 NAVIGATION_STATE_AUTO_VTOL_TAKEOFF = 22 # Takeoff, transition, establish loiter +uint8 NAVIGATION_STATE_EXTERNAL1 = 23 +uint8 NAVIGATION_STATE_EXTERNAL2 = 24 +uint8 NAVIGATION_STATE_EXTERNAL3 = 25 +uint8 NAVIGATION_STATE_EXTERNAL4 = 26 +uint8 NAVIGATION_STATE_EXTERNAL5 = 27 +uint8 NAVIGATION_STATE_EXTERNAL6 = 28 +uint8 NAVIGATION_STATE_EXTERNAL7 = 29 +uint8 NAVIGATION_STATE_EXTERNAL8 = 30 +uint8 NAVIGATION_STATE_MAX = 31 + +uint8 executor_in_charge # Current mode executor in charge (0=Autopilot) +uint8 nav_state_display # User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state) + +uint32 valid_nav_states_mask # Bitmask for all valid nav_state values +uint32 can_set_nav_states_mask # Bitmask for all modes that a user can select + +# Bitmask of detected failures +uint16 failure_detector_status +uint16 FAILURE_NONE = 0 +uint16 FAILURE_ROLL = 1 # (1 << 0) +uint16 FAILURE_PITCH = 2 # (1 << 1) +uint16 FAILURE_ALT = 4 # (1 << 2) +uint16 FAILURE_EXT = 8 # (1 << 3) +uint16 FAILURE_ARM_ESC = 16 # (1 << 4) +uint16 FAILURE_BATTERY = 32 # (1 << 5) +uint16 FAILURE_IMBALANCED_PROP = 64 # (1 << 6) +uint16 FAILURE_MOTOR = 128 # (1 << 7) + +uint8 hil_state +uint8 HIL_STATE_OFF = 0 +uint8 HIL_STATE_ON = 1 + +# Current vehicle locomotion method. A vehicle can have different methods (e.g. VTOL transitions from RW to FW method) +uint8 vehicle_type +uint8 VEHICLE_TYPE_UNSPECIFIED = 0 +uint8 VEHICLE_TYPE_ROTARY_WING = 1 +uint8 VEHICLE_TYPE_FIXED_WING = 2 +uint8 VEHICLE_TYPE_ROVER = 3 + +uint8 FAILSAFE_DEFER_STATE_DISABLED = 0 +uint8 FAILSAFE_DEFER_STATE_ENABLED = 1 +uint8 FAILSAFE_DEFER_STATE_WOULD_FAILSAFE = 2 # Failsafes deferred, but would trigger a failsafe + +bool failsafe # true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) +bool failsafe_and_user_took_over # true if system is in failsafe state but the user took over control +uint8 failsafe_defer_state # one of FAILSAFE_DEFER_STATE_* + +# Link loss +bool gcs_connection_lost # datalink to GCS lost +uint8 gcs_connection_lost_counter # counts unique GCS connection lost events +bool high_latency_data_link_lost # Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost + +# VTOL flags +bool is_vtol # True if the system is VTOL capable +bool is_vtol_tailsitter # True if the system performs a 90° pitch down rotation during transition from MC to FW +bool in_transition_mode # True if VTOL is doing a transition +bool in_transition_to_fw # True if VTOL is doing a transition from MC to FW + +# MAVLink identification +uint8 system_type # system type, contains mavlink MAV_TYPE +uint8 system_id # system id, contains MAVLink's system ID field +uint8 component_id # subsystem / component id, contains MAVLink's component ID field + +bool safety_button_available # Set to true if a safety button is connected +bool safety_off # Set to true if safety is off + +bool power_input_valid # set if input power is valid +bool usb_connected # set to true (never cleared) once telemetry received from usb link + +bool open_drone_id_system_present +bool open_drone_id_system_healthy + +bool parachute_system_present +bool parachute_system_healthy + +bool traffic_avoidance_system_present + +bool rc_calibration_in_progress +bool calibration_enabled + +bool pre_flight_checks_pass # true if all checks necessary to arm pass +``` + +::: diff --git a/docs/en/msg_docs/index.md b/docs/en/msg_docs/index.md index ff02de8420..8c4d7d9ff4 100644 --- a/docs/en/msg_docs/index.md +++ b/docs/en/msg_docs/index.md @@ -275,3 +275,4 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [VehicleLocalPositionV0](VehicleLocalPositionV0.md) — Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started. - [VehicleStatusV0](VehicleStatusV0.md) — Encodes the system state of the vehicle published by commander. - [VehicleStatusV1](VehicleStatusV1.md) — Encodes the system state of the vehicle published by commander. +- [VehicleStatusV2](VehicleStatusV2.md) — Encodes the system state of the vehicle published by commander.