diff --git a/docs/en/advanced_config/parameter_reference.md b/docs/en/advanced_config/parameter_reference.md index 41db8563d2..7eca46d3f3 100644 --- a/docs/en/advanced_config/parameter_reference.md +++ b/docs/en/advanced_config/parameter_reference.md @@ -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 diff --git a/docs/en/msg_docs/DifferentialPressure.md b/docs/en/msg_docs/DifferentialPressure.md index a6f10625c6..83adb2d03e 100644 --- a/docs/en/msg_docs/DifferentialPressure.md +++ b/docs/en/msg_docs/DifferentialPressure.md @@ -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 ``` diff --git a/docs/en/msg_docs/SensorBaro.md b/docs/en/msg_docs/SensorBaro.md index 8a3c364f60..ef4d7a8f28 100644 --- a/docs/en/msg_docs/SensorBaro.md +++ b/docs/en/msg_docs/SensorBaro.md @@ -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 diff --git a/docs/en/msg_docs/VehicleStatus.md b/docs/en/msg_docs/VehicleStatus.md index 9d46e42cb3..05e3f98bbb 100644 --- a/docs/en/msg_docs/VehicleStatus.md +++ b/docs/en/msg_docs/VehicleStatus.md @@ -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 diff --git a/docs/en/msg_docs/index.md b/docs/en/msg_docs/index.md index 44ab566a6b..a70fa245f5 100644 --- a/docs/en/msg_docs/index.md +++ b/docs/en/msg_docs/index.md @@ -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.