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30
docs/en/advanced_config/parameter_reference.md
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@ -25550,12 +25550,16 @@ Used below MPC_LAND_ALT3 if distance sensor data is availabe.
User assisted landing radius.
When nudging is enabled (see MPC_LAND_RC_HELP), this controls
the maximum allowed horizontal displacement from the original landing point.
When nudging is enabled (see MPC_LAND_RC_HELP), this defines the maximum
allowed horizontal displacement from the original landing point.
- If inside of the radius, only allow nudging inputs that do not move the vehicle outside of it.
- If outside of the radius, only allow nudging inputs that move the vehicle back towards it.
Set it to -1 for infinite radius.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0 | | 1 | 1000. | m |
|   | -1 | | 1 | -1.0 | m |
### MPC_LAND_RC_HELP (`INT32`) {#MPC_LAND_RC_HELP}
@ -38833,6 +38837,14 @@ UAVCAN CAN bus bitrate.
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 20000 | 1000000 | | 1000000 |
### CANNODE_NODE_ID (`INT32`) {#CANNODE_NODE_ID}
UAVCAN CAN node ID (0 for dynamic allocation).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
|   | 0 | 127 | | 0 |
### CANNODE_PUB_IMU (`INT32`) {#CANNODE_PUB_IMU}
Enable RawIMU pub.
@ -40859,13 +40871,15 @@ The encoder angle at which theta is zero. Adjust this number to change the locat
### ZENOH_ENABLE (`INT32`) {#ZENOH_ENABLE}
Zenoh Enable.
Enable Zenoh.
Zenoh
Set true (1) to start the Zenoh driver module (a.k.a the "Zenoh-Pico Node").
See https://docs.px4.io/main/en/middleware/zenoh and
https://docs.px4.io/main/en/modules/modules_driver.html#zenoh
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| ✓ | | | | 0 |
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------------ | ---- |
| ✓ | | | | Disabled (0) |
## Miscellaneous

21
docs/en/msg_docs/DifferentialPressure.md
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@ -1,19 +1,24 @@
# DifferentialPressure (UORB message)
Differential-pressure (airspeed) sensor
This is populated by airspeed sensor drivers and used by the sensor module to calculate airspeed.
The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding `SensorBaro` instance).
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DifferentialPressure.msg)
```c
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample
# Differential-pressure (airspeed) sensor
#
# This is populated by airspeed sensor drivers and used by the sensor module to calculate airspeed.
# The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding `SensorBaro` instance).
uint32 device_id # unique device ID for the sensor that does not change between power cycles
uint64 timestamp # [us] Time of publication (since system start)
uint64 timestamp_sample # [us] Time of raw data capture
float32 differential_pressure_pa # differential pressure reading in Pascals (may be negative)
float32 temperature # Temperature provided by sensor in degrees Celsius, NAN if unknown
uint32 error_count # Number of errors detected by driver
uint32 device_id # [-] Unique device ID for the sensor that does not change between power cycles
float32 differential_pressure_pa # [Pa] Differential pressure reading (may be negative)
float32 temperature # [degC] [@invalid NaN if unknown] Temperature
uint32 error_count # [-] Number of errors detected by driver
```

21
docs/en/msg_docs/SensorBaro.md
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@ -1,20 +1,25 @@
# SensorBaro (UORB message)
Barometer sensor
This is populated by barometer drivers and used by the EKF2 estimator.
The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding `DifferentialPressure` instance).
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorBaro.msg)
```c
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample
# Barometer sensor
#
# This is populated by barometer drivers and used by the EKF2 estimator.
# The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding `DifferentialPressure` instance).
uint32 device_id # unique device ID for the sensor that does not change between power cycles
uint64 timestamp # [us] Time of publication (since system start)
uint64 timestamp_sample # [us] Time of raw data capture
float32 pressure # static pressure measurement in Pascals
float32 temperature # temperature in degrees Celsius
uint32 error_count
uint32 device_id # [-] Unique device ID for the sensor that does not change between power cycles
float32 pressure # [Pa] Static pressure measurement
float32 temperature # [degC] Temperature.
uint32 error_count # [-] Number of errors detected by driver.
uint8 ORB_QUEUE_LENGTH = 4

14
docs/en/msg_docs/VehicleStatus.md
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@ -20,20 +20,16 @@ uint8 ARMING_STATE_ARMED = 2
uint8 latest_arming_reason
uint8 latest_disarming_reason
uint8 ARM_DISARM_REASON_TRANSITION_TO_STANDBY = 0
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_SAFETY_BUTTON = 6
uint8 ARM_DISARM_REASON_AUTO_DISARM_LAND = 7
uint8 ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT = 8
uint8 ARM_DISARM_REASON_KILL_SWITCH = 9
uint8 ARM_DISARM_REASON_LOCKDOWN = 10
uint8 ARM_DISARM_REASON_FAILURE_DETECTOR = 11
uint8 ARM_DISARM_REASON_SHUTDOWN = 12
uint8 ARM_DISARM_REASON_UNIT_TEST = 13
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

4
docs/en/msg_docs/index.md
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@ -105,7 +105,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [DebugKeyValue](DebugKeyValue.md)
- [DebugValue](DebugValue.md)
- [DebugVect](DebugVect.md)
- [DifferentialPressure](DifferentialPressure.md)
- [DifferentialPressure](DifferentialPressure.md) — Differential-pressure (airspeed) sensor
- [DistanceSensor](DistanceSensor.md) — DISTANCE_SENSOR message data
- [DistanceSensorModeChangeRequest](DistanceSensorModeChangeRequest.md)
- [DronecanNodeStatus](DronecanNodeStatus.md)
@ -240,7 +240,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [SensorAccel](SensorAccel.md)
- [SensorAccelFifo](SensorAccelFifo.md)
- [SensorAirflow](SensorAirflow.md)
- [SensorBaro](SensorBaro.md)
- [SensorBaro](SensorBaro.md) — Barometer sensor
- [SensorCombined](SensorCombined.md) — Sensor readings in SI-unit form.
These fields are scaled and offset-compensated where possible and do not
change with board revisions and sensor updates.