diff --git a/docs/en/SUMMARY.md b/docs/en/SUMMARY.md index 58317715a3..8cbcaa427d 100644 --- a/docs/en/SUMMARY.md +++ b/docs/en/SUMMARY.md @@ -672,8 +672,6 @@ - [RoverSpeedStatus](msg_docs/RoverSpeedStatus.md) - [RoverSteeringSetpoint](msg_docs/RoverSteeringSetpoint.md) - [RoverThrottleSetpoint](msg_docs/RoverThrottleSetpoint.md) - - [RoverVelocitySetpoint](msg_docs/RoverVelocitySetpoint.md) - - [RoverVelocityStatus](msg_docs/RoverVelocityStatus.md) - [Rpm](msg_docs/Rpm.md) - [RtlStatus](msg_docs/RtlStatus.md) - [RtlTimeEstimate](msg_docs/RtlTimeEstimate.md) @@ -695,6 +693,7 @@ - [SensorOpticalFlow](msg_docs/SensorOpticalFlow.md) - [SensorPreflightMag](msg_docs/SensorPreflightMag.md) - [SensorSelection](msg_docs/SensorSelection.md) + - [SensorTemp](msg_docs/SensorTemp.md) - [SensorUwb](msg_docs/SensorUwb.md) - [SensorsStatus](msg_docs/SensorsStatus.md) - [SensorsStatusImu](msg_docs/SensorsStatusImu.md) diff --git a/docs/en/advanced_config/parameter_reference.md b/docs/en/advanced_config/parameter_reference.md index 7eca46d3f3..0c1a843a55 100644 --- a/docs/en/advanced_config/parameter_reference.md +++ b/docs/en/advanced_config/parameter_reference.md @@ -10,6 +10,48 @@ If a listed parameter is missing from the Firmware see: [Finding/Updating Parame +## ADC + +### ADC_ADS7953_EN (`INT32`) {#ADC_ADS7953_EN} + +Enable ADS7953. + +Enable the driver for the ADS7953 board + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------------ | ---- | +| ✓ | | | | Disabled (0) | + +### ADC_ADS7953_REFV (`FLOAT`) {#ADC_ADS7953_REFV} + +Applied reference Voltage. + +The voltage applied to the ADS7953 board as reference + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | 2.0 | 3.0 | 0.01 | 2.5 | V | + +### ADC_TLA2528_EN (`INT32`) {#ADC_TLA2528_EN} + +Enable TLA2528. + +Enable the driver for the TLA2528 + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------------ | ---- | +| ✓ | | | | Disabled (0) | + +### ADC_TLA2528_REFV (`FLOAT`) {#ADC_TLA2528_REFV} + +Applied reference Voltage. + +The voltage applied to the TLA2528 board as reference + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------- | ---- | +| ✓ | 2.0 | 3.0 | 0.01 | 2.5 | V | + ## ADSB ### ADSB_CALLSIGN_1 (`INT32`) {#ADSB_CALLSIGN_1} @@ -13955,9 +13997,9 @@ Scale of airspeed sensor 1. This is the scale IAS --> CAS of the first airspeed sensor instance -| Reboot | minValue | maxValue | increment | default | unit | -| ------- | -------- | -------- | --------- | ------- | ---- | -| ✓ | 0.5 | 2.0 | | 1.0 | +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | 0.5 | 2.0 | | 1.0 | ### ASPD_SCALE_2 (`FLOAT`) {#ASPD_SCALE_2} @@ -13965,9 +14007,9 @@ Scale of airspeed sensor 2. This is the scale IAS --> CAS of the second airspeed sensor instance -| Reboot | minValue | maxValue | increment | default | unit | -| ------- | -------- | -------- | --------- | ------- | ---- | -| ✓ | 0.5 | 2.0 | | 1.0 | +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | 0.5 | 2.0 | | 1.0 | ### ASPD_SCALE_3 (`FLOAT`) {#ASPD_SCALE_3} @@ -13975,9 +14017,9 @@ Scale of airspeed sensor 3. This is the scale IAS --> CAS of the third airspeed sensor instance -| Reboot | minValue | maxValue | increment | default | unit | -| ------- | -------- | -------- | --------- | ------- | ---- | -| ✓ | 0.5 | 2.0 | | 1.0 | +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | 0.5 | 2.0 | | 1.0 | ### ASPD_SCALE_APPLY (`INT32`) {#ASPD_SCALE_APPLY} @@ -17165,7 +17207,9 @@ Set bits in the following positions to enable: 0 : Longitude and latitude fusion ### EKF2_GPS_DELAY (`FLOAT`) {#EKF2_GPS_DELAY} -GPS measurement delay relative to IMU measurements. +GPS measurement delay relative to IMU measurement. + +GPS measurement delay relative to IMU measurement if PPS time correction is not available/enabled (PPS_CAP_ENABLE). | Reboot | minValue | maxValue | increment | default | unit | | ------- | -------- | -------- | --------- | ------- | ---- | @@ -17175,7 +17219,7 @@ GPS measurement delay relative to IMU measurements. Fusion reset mode. -Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available +Automatic: reset on fusion timeout if no other source of position is available. Dead-reckoning: reset on fusion timeout if no source of velocity is available. **Values:** @@ -33105,6 +33149,14 @@ Maxbotix Sonar (mb12xx). | ------- | -------- | -------- | --------- | ------------ | ---- | | ✓ | | | | Disabled (0) | +### SENS_EN_MCP9808 (`INT32`) {#SENS_EN_MCP9808} + +Enable MCP9808 temperature sensor (external I2C). + +| Reboot | minValue | maxValue | increment | default | unit | +| ------- | -------- | -------- | --------- | ------------ | ---- | +| ✓ | | | | Disabled (0) | + ### SENS_EN_MPDT (`INT32`) {#SENS_EN_MPDT} Enable Mappydot rangefinder (i2c). @@ -39432,6 +39484,14 @@ Maximum time (in seconds) before resetting setpoint. | ------ | -------- | -------- | --------- | ------- | ---- | |   | | | | 2.0 | +### UUV_STICK_MODE (`INT32`) {#UUV_STICK_MODE} + +Stick mode selector (0=Heave/sway control, roll/pitch leveled; 1=Pitch/roll control). + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | 0 | 1 | | 0 | + ### UUV_THRUST_SAT (`FLOAT`) {#UUV_THRUST_SAT} UUV Thrust setpoint Saturation. @@ -40135,7 +40195,7 @@ Time in seconds it takes to tilt form VT_TILT_FW to VT_TILT_MC. ### VT_B_DEC_I (`FLOAT`) {#VT_B_DEC_I} -Backtransition deceleration setpoint to pitch I gain. +Backtransition deceleration setpoint to tilt I gain. | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------- | ------- | @@ -40353,7 +40413,7 @@ During landing it can be beneficial to reduce the pitch angle to reduce the gene | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------- | ---- | -|   | -10.0 | 45.0 | 0.1 | -5.0 | deg | +|   | -10.0 | 45.0 | 0.1 | 0.0 | deg | ### VT_PITCH_MIN (`FLOAT`) {#VT_PITCH_MIN} @@ -40364,7 +40424,7 @@ VT_FWD_TRHUST_EN is set. | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------- | ---- | -|   | -10.0 | 45.0 | 0.1 | -5.0 | deg | +|   | -10.0 | 45.0 | 0.1 | 0.0 | deg | ### VT_PSHER_SLEW (`FLOAT`) {#VT_PSHER_SLEW} diff --git a/docs/en/config_rover/basic_setup.md b/docs/en/config_rover/basic_setup.md index 328e04950c..e729fc6328 100644 --- a/docs/en/config_rover/basic_setup.md +++ b/docs/en/config_rover/basic_setup.md @@ -88,7 +88,7 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and One approach to determine an appropriate value is: 1. From a standstill, give the rover full throttle until it reaches the maximum speed. - 2. Disarm the rover and plot the `measured_speed_body_x` from [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md). + 2. Disarm the rover and plot the `measured_speed_body_x` from [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md). 3. Divide the maximum speed by the time it took to reach it and set this as the value for [RO_ACCEL_LIM](#RO_ACCEL_LIM). Some RC rovers have enough torque to lift up if the maximum acceleration is not limited. diff --git a/docs/en/config_rover/position_tuning.md b/docs/en/config_rover/position_tuning.md index 933e528cbe..f5e7f6ae2e 100644 --- a/docs/en/config_rover/position_tuning.md +++ b/docs/en/config_rover/position_tuning.md @@ -19,7 +19,6 @@ To tune the position controller configure the [parameters](../advanced_config/pa $v*{max} = v*{full throttle} \cdot (1 - \theta\_{normalized} \cdot k) $ with - - $v_{max}:$ Maximum speed - $v_{full throttle}:$ Speed at maximum throttle [RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED). - $\theta_{normalized}:$ Course error (Course - bearing setpoint) normalized from $[0\degree, 180\degree]$ to $[0, 1]$ @@ -34,14 +33,13 @@ To tune the position controller configure the [parameters](../advanced_config/pa ::: tip Plan a mission for the rover to drive a square and observe how it slows down when approaching a waypoint: - - If the rover decelerates too quickly decrease the [RO_DECEL_LIM](../advanced_config/parameter_reference.md#RO_DECEL_LIM) parameter, if it starts slowing down too early increase the parameter. - If you observe a jerking motion as the rover slows down, decrease the [RO_JERK_LIM](../advanced_config/parameter_reference.md#RO_JERK_LIM) parameter otherwise increase it as much as possible as it can interfere with the tuning of [RO_DECEL_LIM](../advanced_config/parameter_reference.md#RO_DECEL_LIM). These two parameters have to be tuned as a pair, repeat until you are satisfied with the behaviour. ::: -3. Plot the `adjusted_speed_body_x_setpoint` and `measured_speed_body_x` from the [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md) message over each other. +3. Plot the `adjusted_speed_body_x_setpoint` and `measured_speed_body_x` from the [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) message over each other. If the tracking of these setpoints is not satisfactory adjust the values for [RO_SPEED_P](../advanced_config/parameter_reference.md#RO_SPEED_P) and [RO_SPEED_I](../advanced_config/parameter_reference.md#RO_SPEED_I). ## Path Following @@ -57,7 +55,6 @@ The following parameters are used to tune the algorithm: Decreasing the parameter makes it more aggressive but can lead to oscillations. To tune this: - 1. Start with a value of 1 for [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN) 2. Put the rover in [Position mode](../flight_modes_rover/manual.md#position-mode) and while driving a straight line at approximately half the maximum speed observe its behaviour. 3. If the rover does not drive in a straight line, reduce the value of the parameter, if it oscillates around the path increase the value. diff --git a/docs/en/config_rover/velocity_tuning.md b/docs/en/config_rover/velocity_tuning.md index 04323e7413..bf0429d43f 100644 --- a/docs/en/config_rover/velocity_tuning.md +++ b/docs/en/config_rover/velocity_tuning.md @@ -23,11 +23,10 @@ To tune the velocity controller configure the following [parameters](../advanced ::: tip To further tune this parameter: - 1. Set [RO_SPEED_P](#RO_SPEED_P) and [RO_SPEED_I](#RO_SPEED_I) to zero. This way the speed is only controlled by the feed-forward term, which makes it easier to tune. 2. Put the rover in [Position mode](../flight_modes_rover/manual.md#position-mode) and then move the left stick of your controller up and/or down and hold it at a few different levels for a couple of seconds each. - 3. Disarm the rover and from the flight log plot the `adjusted_speed_body_x_setpoint` and the `measured_speed_body_x` from the [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md) message over each other. + 3. Disarm the rover and from the flight log plot the `adjusted_speed_body_x_setpoint` and the `measured_speed_body_x` from the [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) message over each other. 4. If the actual speed of the rover is higher than the speed setpoint, increase [RO_MAX_THR_SPEED](#RO_MAX_THR_SPEED). If it is the other way around decrease the parameter and repeat until you are satisfied with the setpoint tracking. @@ -64,7 +63,6 @@ These steps are only necessary if you are tuning/want to unlock the manual [Posi Decreasing the parameter makes it more aggressive but can lead to oscillations. To tune this: - 1. Start with a value of 1 for [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN) 2. Put the rover in [Position mode](../flight_modes_rover/manual.md#position-mode) and while driving a straight line at approximately half the maximum speed observe its behaviour. 3. If the rover does not drive in a straight line, reduce the value of the parameter, if it oscillates around the path increase the value. diff --git a/docs/en/middleware/dds_topics.md b/docs/en/middleware/dds_topics.md index 82ec12edcd..07ec63404c 100644 --- a/docs/en/middleware/dds_topics.md +++ b/docs/en/middleware/dds_topics.md @@ -4,75 +4,84 @@ This document is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code. ::: - -The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) and/or [zenoh](../modules/modules_driver.md#zenoh) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default). +The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default). This document shows a markdown-rendered version of [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), listing the publications, subscriptions, and so on. ## Publications -Topic | Type| Rate Limit ---- | --- | --- -`/fmu/out/register_ext_component_reply` | [px4_msgs::msg::RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md) | -`/fmu/out/arming_check_request` | [px4_msgs::msg::ArmingCheckRequest](../msg_docs/ArmingCheckRequest.md) | 5.0 -`/fmu/out/mode_completed` | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) | 50.0 -`/fmu/out/battery_status` | [px4_msgs::msg::BatteryStatus](../msg_docs/BatteryStatus.md) | 1.0 -`/fmu/out/collision_constraints` | [px4_msgs::msg::CollisionConstraints](../msg_docs/CollisionConstraints.md) | 50.0 -`/fmu/out/estimator_status_flags` | [px4_msgs::msg::EstimatorStatusFlags](../msg_docs/EstimatorStatusFlags.md) | 5.0 -`/fmu/out/failsafe_flags` | [px4_msgs::msg::FailsafeFlags](../msg_docs/FailsafeFlags.md) | 5.0 -`/fmu/out/manual_control_setpoint` | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md) | 25.0 -`/fmu/out/message_format_response` | [px4_msgs::msg::MessageFormatResponse](../msg_docs/MessageFormatResponse.md) | -`/fmu/out/position_setpoint_triplet` | [px4_msgs::msg::PositionSetpointTriplet](../msg_docs/PositionSetpointTriplet.md) | 5.0 -`/fmu/out/sensor_combined` | [px4_msgs::msg::SensorCombined](../msg_docs/SensorCombined.md) | -`/fmu/out/timesync_status` | [px4_msgs::msg::TimesyncStatus](../msg_docs/TimesyncStatus.md) | 10.0 -`/fmu/out/vehicle_land_detected` | [px4_msgs::msg::VehicleLandDetected](../msg_docs/VehicleLandDetected.md) | 5.0 -`/fmu/out/vehicle_attitude` | [px4_msgs::msg::VehicleAttitude](../msg_docs/VehicleAttitude.md) | -`/fmu/out/vehicle_control_mode` | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md) | 50.0 -`/fmu/out/vehicle_command_ack` | [px4_msgs::msg::VehicleCommandAck](../msg_docs/VehicleCommandAck.md) | -`/fmu/out/vehicle_global_position` | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) | 50.0 -`/fmu/out/vehicle_gps_position` | [px4_msgs::msg::SensorGps](../msg_docs/SensorGps.md) | 50.0 -`/fmu/out/vehicle_local_position` | [px4_msgs::msg::VehicleLocalPosition](../msg_docs/VehicleLocalPosition.md) | 50.0 -`/fmu/out/vehicle_odometry` | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) | -`/fmu/out/vehicle_status` | [px4_msgs::msg::VehicleStatus](../msg_docs/VehicleStatus.md) | 5.0 -`/fmu/out/airspeed_validated` | [px4_msgs::msg::AirspeedValidated](../msg_docs/AirspeedValidated.md) | 50.0 -`/fmu/out/vtol_vehicle_status` | [px4_msgs::msg::VtolVehicleStatus](../msg_docs/VtolVehicleStatus.md) | -`/fmu/out/home_position` | [px4_msgs::msg::HomePosition](../msg_docs/HomePosition.md) | 5.0 +| Topic | Type | Rate Limit | +| ---------------------------------------- | -------------------------------------------------------------------------------------- | ---------- | +| `/fmu/out/register_ext_component_reply` | [px4_msgs::msg::RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md) | +| `/fmu/out/arming_check_request` | [px4_msgs::msg::ArmingCheckRequest](../msg_docs/ArmingCheckRequest.md) | 5.0 | +| `/fmu/out/mode_completed` | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) | 50.0 | +| `/fmu/out/battery_status` | [px4_msgs::msg::BatteryStatus](../msg_docs/BatteryStatus.md) | 1.0 | +| `/fmu/out/collision_constraints` | [px4_msgs::msg::CollisionConstraints](../msg_docs/CollisionConstraints.md) | 50.0 | +| `/fmu/out/estimator_status_flags` | [px4_msgs::msg::EstimatorStatusFlags](../msg_docs/EstimatorStatusFlags.md) | 5.0 | +| `/fmu/out/failsafe_flags` | [px4_msgs::msg::FailsafeFlags](../msg_docs/FailsafeFlags.md) | 5.0 | +| `/fmu/out/manual_control_setpoint` | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md) | 25.0 | +| `/fmu/out/message_format_response` | [px4_msgs::msg::MessageFormatResponse](../msg_docs/MessageFormatResponse.md) | +| `/fmu/out/position_setpoint_triplet` | [px4_msgs::msg::PositionSetpointTriplet](../msg_docs/PositionSetpointTriplet.md) | 5.0 | +| `/fmu/out/sensor_combined` | [px4_msgs::msg::SensorCombined](../msg_docs/SensorCombined.md) | +| `/fmu/out/timesync_status` | [px4_msgs::msg::TimesyncStatus](../msg_docs/TimesyncStatus.md) | 10.0 | +| `/fmu/out/transponder_report` | [px4_msgs::msg::TransponderReport](../msg_docs/TransponderReport.md) | +| `/fmu/out/vehicle_land_detected` | [px4_msgs::msg::VehicleLandDetected](../msg_docs/VehicleLandDetected.md) | 5.0 | +| `/fmu/out/vehicle_attitude` | [px4_msgs::msg::VehicleAttitude](../msg_docs/VehicleAttitude.md) | 50.0 | +| `/fmu/out/vehicle_control_mode` | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md) | 50.0 | +| `/fmu/out/vehicle_command_ack` | [px4_msgs::msg::VehicleCommandAck](../msg_docs/VehicleCommandAck.md) | +| `/fmu/out/vehicle_global_position` | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) | 50.0 | +| `/fmu/out/vehicle_gps_position` | [px4_msgs::msg::SensorGps](../msg_docs/SensorGps.md) | 50.0 | +| `/fmu/out/vehicle_local_position` | [px4_msgs::msg::VehicleLocalPosition](../msg_docs/VehicleLocalPosition.md) | 50.0 | +| `/fmu/out/vehicle_odometry` | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) | 100.0 | +| `/fmu/out/vehicle_status` | [px4_msgs::msg::VehicleStatus](../msg_docs/VehicleStatus.md) | 5.0 | +| `/fmu/out/airspeed_validated` | [px4_msgs::msg::AirspeedValidated](../msg_docs/AirspeedValidated.md) | 50.0 | +| `/fmu/out/vtol_vehicle_status` | [px4_msgs::msg::VtolVehicleStatus](../msg_docs/VtolVehicleStatus.md) | +| `/fmu/out/home_position` | [px4_msgs::msg::HomePosition](../msg_docs/HomePosition.md) | 5.0 | +| `/fmu/out/wind` | [px4_msgs::msg::Wind](../msg_docs/Wind.md) | 1.0 | +| `/fmu/out/gimbal_device_attitude_status` | [px4_msgs::msg::GimbalDeviceAttitudeStatus](../msg_docs/GimbalDeviceAttitudeStatus.md) | 20.0 | ## Subscriptions -Topic | Type ---- | --- -/fmu/in/register_ext_component_request | [px4_msgs::msg::RegisterExtComponentRequest](../msg_docs/RegisterExtComponentRequest.md) -/fmu/in/unregister_ext_component | [px4_msgs::msg::UnregisterExtComponent](../msg_docs/UnregisterExtComponent.md) -/fmu/in/config_overrides_request | [px4_msgs::msg::ConfigOverrides](../msg_docs/ConfigOverrides.md) -/fmu/in/arming_check_reply | [px4_msgs::msg::ArmingCheckReply](../msg_docs/ArmingCheckReply.md) -/fmu/in/message_format_request | [px4_msgs::msg::MessageFormatRequest](../msg_docs/MessageFormatRequest.md) -/fmu/in/mode_completed | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) -/fmu/in/config_control_setpoints | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md) -/fmu/in/distance_sensor | [px4_msgs::msg::DistanceSensor](../msg_docs/DistanceSensor.md) -/fmu/in/manual_control_input | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md) -/fmu/in/offboard_control_mode | [px4_msgs::msg::OffboardControlMode](../msg_docs/OffboardControlMode.md) -/fmu/in/onboard_computer_status | [px4_msgs::msg::OnboardComputerStatus](../msg_docs/OnboardComputerStatus.md) -/fmu/in/obstacle_distance | [px4_msgs::msg::ObstacleDistance](../msg_docs/ObstacleDistance.md) -/fmu/in/sensor_optical_flow | [px4_msgs::msg::SensorOpticalFlow](../msg_docs/SensorOpticalFlow.md) -/fmu/in/goto_setpoint | [px4_msgs::msg::GotoSetpoint](../msg_docs/GotoSetpoint.md) -/fmu/in/telemetry_status | [px4_msgs::msg::TelemetryStatus](../msg_docs/TelemetryStatus.md) -/fmu/in/trajectory_setpoint | [px4_msgs::msg::TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) -/fmu/in/vehicle_attitude_setpoint | [px4_msgs::msg::VehicleAttitudeSetpoint](../msg_docs/VehicleAttitudeSetpoint.md) -/fmu/in/vehicle_mocap_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) -/fmu/in/vehicle_rates_setpoint | [px4_msgs::msg::VehicleRatesSetpoint](../msg_docs/VehicleRatesSetpoint.md) -/fmu/in/vehicle_visual_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) -/fmu/in/vehicle_command | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md) -/fmu/in/vehicle_command_mode_executor | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md) -/fmu/in/vehicle_thrust_setpoint | [px4_msgs::msg::VehicleThrustSetpoint](../msg_docs/VehicleThrustSetpoint.md) -/fmu/in/vehicle_torque_setpoint | [px4_msgs::msg::VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md) -/fmu/in/actuator_motors | [px4_msgs::msg::ActuatorMotors](../msg_docs/ActuatorMotors.md) -/fmu/in/actuator_servos | [px4_msgs::msg::ActuatorServos](../msg_docs/ActuatorServos.md) -/fmu/in/aux_global_position | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) -/fmu/in/fixed_wing_longitudinal_setpoint | [px4_msgs::msg::FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md) -/fmu/in/fixed_wing_lateral_setpoint | [px4_msgs::msg::FixedWingLateralSetpoint](../msg_docs/FixedWingLateralSetpoint.md) -/fmu/in/longitudinal_control_configuration | [px4_msgs::msg::LongitudinalControlConfiguration](../msg_docs/LongitudinalControlConfiguration.md) -/fmu/in/lateral_control_configuration | [px4_msgs::msg::LateralControlConfiguration](../msg_docs/LateralControlConfiguration.md) +| Topic | Type | +| ------------------------------------------ | -------------------------------------------------------------------------------------------------- | +| /fmu/in/register_ext_component_request | [px4_msgs::msg::RegisterExtComponentRequest](../msg_docs/RegisterExtComponentRequest.md) | +| /fmu/in/unregister_ext_component | [px4_msgs::msg::UnregisterExtComponent](../msg_docs/UnregisterExtComponent.md) | +| /fmu/in/config_overrides_request | [px4_msgs::msg::ConfigOverrides](../msg_docs/ConfigOverrides.md) | +| /fmu/in/arming_check_reply | [px4_msgs::msg::ArmingCheckReply](../msg_docs/ArmingCheckReply.md) | +| /fmu/in/message_format_request | [px4_msgs::msg::MessageFormatRequest](../msg_docs/MessageFormatRequest.md) | +| /fmu/in/mode_completed | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) | +| /fmu/in/config_control_setpoints | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md) | +| /fmu/in/distance_sensor | [px4_msgs::msg::DistanceSensor](../msg_docs/DistanceSensor.md) | +| /fmu/in/manual_control_input | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md) | +| /fmu/in/offboard_control_mode | [px4_msgs::msg::OffboardControlMode](../msg_docs/OffboardControlMode.md) | +| /fmu/in/onboard_computer_status | [px4_msgs::msg::OnboardComputerStatus](../msg_docs/OnboardComputerStatus.md) | +| /fmu/in/obstacle_distance | [px4_msgs::msg::ObstacleDistance](../msg_docs/ObstacleDistance.md) | +| /fmu/in/sensor_optical_flow | [px4_msgs::msg::SensorOpticalFlow](../msg_docs/SensorOpticalFlow.md) | +| /fmu/in/goto_setpoint | [px4_msgs::msg::GotoSetpoint](../msg_docs/GotoSetpoint.md) | +| /fmu/in/telemetry_status | [px4_msgs::msg::TelemetryStatus](../msg_docs/TelemetryStatus.md) | +| /fmu/in/trajectory_setpoint | [px4_msgs::msg::TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) | +| /fmu/in/vehicle_attitude_setpoint | [px4_msgs::msg::VehicleAttitudeSetpoint](../msg_docs/VehicleAttitudeSetpoint.md) | +| /fmu/in/vehicle_mocap_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) | +| /fmu/in/vehicle_rates_setpoint | [px4_msgs::msg::VehicleRatesSetpoint](../msg_docs/VehicleRatesSetpoint.md) | +| /fmu/in/vehicle_visual_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) | +| /fmu/in/vehicle_command | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md) | +| /fmu/in/vehicle_command_mode_executor | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md) | +| /fmu/in/vehicle_thrust_setpoint | [px4_msgs::msg::VehicleThrustSetpoint](../msg_docs/VehicleThrustSetpoint.md) | +| /fmu/in/vehicle_torque_setpoint | [px4_msgs::msg::VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md) | +| /fmu/in/actuator_motors | [px4_msgs::msg::ActuatorMotors](../msg_docs/ActuatorMotors.md) | +| /fmu/in/actuator_servos | [px4_msgs::msg::ActuatorServos](../msg_docs/ActuatorServos.md) | +| /fmu/in/aux_global_position | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) | +| /fmu/in/fixed_wing_longitudinal_setpoint | [px4_msgs::msg::FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md) | +| /fmu/in/fixed_wing_lateral_setpoint | [px4_msgs::msg::FixedWingLateralSetpoint](../msg_docs/FixedWingLateralSetpoint.md) | +| /fmu/in/longitudinal_control_configuration | [px4_msgs::msg::LongitudinalControlConfiguration](../msg_docs/LongitudinalControlConfiguration.md) | +| /fmu/in/lateral_control_configuration | [px4_msgs::msg::LateralControlConfiguration](../msg_docs/LateralControlConfiguration.md) | +| /fmu/in/rover_position_setpoint | [px4_msgs::msg::RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md) | +| /fmu/in/rover_speed_setpoint | [px4_msgs::msg::RoverSpeedSetpoint](../msg_docs/RoverSpeedSetpoint.md) | +| /fmu/in/rover_attitude_setpoint | [px4_msgs::msg::RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md) | +| /fmu/in/rover_rate_setpoint | [px4_msgs::msg::RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md) | +| /fmu/in/rover_throttle_setpoint | [px4_msgs::msg::RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md) | +| /fmu/in/rover_steering_setpoint | [px4_msgs::msg::RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md) | +| /fmu/in/landing_gear | [px4_msgs::msg::LandingGear](../msg_docs/LandingGear.md) | ## Subscriptions Multi @@ -85,192 +94,191 @@ They are not build into the module, and hence are neither published or subscribe ::: details See messages -- [SensorCorrection](../msg_docs/SensorCorrection.md) -- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md) -- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md) -- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md) -- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md) -- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md) -- [Px4ioStatus](../msg_docs/Px4ioStatus.md) -- [SatelliteInfo](../msg_docs/SatelliteInfo.md) -- [GeofenceResult](../msg_docs/GeofenceResult.md) -- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md) -- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md) -- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md) -- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md) -- [EventV0](../msg_docs/EventV0.md) -- [QshellRetval](../msg_docs/QshellRetval.md) -- [RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md) -- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md) -- [RcChannels](../msg_docs/RcChannels.md) -- [SensorAccel](../msg_docs/SensorAccel.md) -- [GimbalDeviceAttitudeStatus](../msg_docs/GimbalDeviceAttitudeStatus.md) -- [EscStatus](../msg_docs/EscStatus.md) -- [RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md) -- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md) -- [AirspeedWind](../msg_docs/AirspeedWind.md) -- [InputRc](../msg_docs/InputRc.md) -- [GpioIn](../msg_docs/GpioIn.md) -- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md) -- [VehicleImu](../msg_docs/VehicleImu.md) -- [Event](../msg_docs/Event.md) -- [SensorUwb](../msg_docs/SensorUwb.md) -- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md) -- [DatamanResponse](../msg_docs/DatamanResponse.md) -- [OrbTest](../msg_docs/OrbTest.md) -- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md) -- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md) -- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md) -- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md) -- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md) +- [BatteryInfo](../msg_docs/BatteryInfo.md) - [TakeoffStatus](../msg_docs/TakeoffStatus.md) -- [UlogStreamAck](../msg_docs/UlogStreamAck.md) -- [OrbTestLarge](../msg_docs/OrbTestLarge.md) -- [RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md) +- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md) +- [Airspeed](../msg_docs/Airspeed.md) +- [PpsCapture](../msg_docs/PpsCapture.md) +- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md) - [CameraCapture](../msg_docs/CameraCapture.md) -- [VehicleRoi](../msg_docs/VehicleRoi.md) -- [ActuatorArmed](../msg_docs/ActuatorArmed.md) -- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md) -- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md) -- [GeofenceStatus](../msg_docs/GeofenceStatus.md) -- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md) -- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md) -- [PowerMonitor](../msg_docs/PowerMonitor.md) -- [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md) -- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md) -- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) -- [TecsStatus](../msg_docs/TecsStatus.md) -- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md) -- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md) -- [Ping](../msg_docs/Ping.md) -- [LedControl](../msg_docs/LedControl.md) -- [Wind](../msg_docs/Wind.md) -- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md) -- [ActuatorTest](../msg_docs/ActuatorTest.md) -- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md) -- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md) -- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md) -- [Gripper](../msg_docs/Gripper.md) -- [SensorMag](../msg_docs/SensorMag.md) -- [DebugValue](../msg_docs/DebugValue.md) -- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md) -- [RcParameterMap](../msg_docs/RcParameterMap.md) -- [LandingGear](../msg_docs/LandingGear.md) -- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md) +- [Px4ioStatus](../msg_docs/Px4ioStatus.md) +- [FuelTankStatus](../msg_docs/FuelTankStatus.md) +- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md) - [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md) -- [UlogStream](../msg_docs/UlogStream.md) -- [GimbalControls](../msg_docs/GimbalControls.md) -- [RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md) -- [LogMessage](../msg_docs/LogMessage.md) -- [RoverVelocitySetpoint](../msg_docs/RoverVelocitySetpoint.md) +- [AirspeedWind](../msg_docs/AirspeedWind.md) +- [OrbTest](../msg_docs/OrbTest.md) +- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md) - [GpioOut](../msg_docs/GpioOut.md) -- [TaskStackInfo](../msg_docs/TaskStackInfo.md) +- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md) +- [Gripper](../msg_docs/Gripper.md) +- [VehicleAirData](../msg_docs/VehicleAirData.md) +- [TuneControl](../msg_docs/TuneControl.md) +- [DebugVect](../msg_docs/DebugVect.md) +- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md) +- [HomePositionV0](../msg_docs/HomePositionV0.md) +- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md) +- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md) +- [EstimatorBias](../msg_docs/EstimatorBias.md) +- [GpioConfig](../msg_docs/GpioConfig.md) +- [SystemPower](../msg_docs/SystemPower.md) +- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md) +- [MissionResult](../msg_docs/MissionResult.md) +- [PowerButtonState](../msg_docs/PowerButtonState.md) +- [EscStatus](../msg_docs/EscStatus.md) +- [HealthReport](../msg_docs/HealthReport.md) +- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md) +- [SensorGyro](../msg_docs/SensorGyro.md) +- [GpioRequest](../msg_docs/GpioRequest.md) +- [DebugKeyValue](../msg_docs/DebugKeyValue.md) +- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md) +- [ParameterUpdate](../msg_docs/ParameterUpdate.md) +- [SensorAirflow](../msg_docs/SensorAirflow.md) +- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md) +- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md) +- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md) +- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md) +- [ActionRequest](../msg_docs/ActionRequest.md) +- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md) +- [PwmInput](../msg_docs/PwmInput.md) +- [PowerMonitor](../msg_docs/PowerMonitor.md) +- [Mission](../msg_docs/Mission.md) +- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md) +- [FigureEightStatus](../msg_docs/FigureEightStatus.md) +- [RadioStatus](../msg_docs/RadioStatus.md) +- [VehicleRoi](../msg_docs/VehicleRoi.md) +- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md) +- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md) +- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md) +- [Rpm](../msg_docs/Rpm.md) +- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md) +- [Ping](../msg_docs/Ping.md) +- [QshellReq](../msg_docs/QshellReq.md) +- [SensorMag](../msg_docs/SensorMag.md) +- [EstimatorStates](../msg_docs/EstimatorStates.md) +- [SensorUwb](../msg_docs/SensorUwb.md) +- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md) +- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md) +- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md) +- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md) +- [SensorHygrometer](../msg_docs/SensorHygrometer.md) +- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md) +- [AdcReport](../msg_docs/AdcReport.md) +- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md) +- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md) +- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md) +- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) +- [SensorCorrection](../msg_docs/SensorCorrection.md) +- [UlogStream](../msg_docs/UlogStream.md) +- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md) +- [GpsInjectData](../msg_docs/GpsInjectData.md) +- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md) +- [LoggerStatus](../msg_docs/LoggerStatus.md) +- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md) +- [SensorBaro](../msg_docs/SensorBaro.md) +- [OrbTestMedium](../msg_docs/OrbTestMedium.md) +- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) +- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md) +- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md) +- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md) +- [UlogStreamAck](../msg_docs/UlogStreamAck.md) +- [DatamanRequest](../msg_docs/DatamanRequest.md) +- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md) +- [PositionSetpoint](../msg_docs/PositionSetpoint.md) +- [DatamanResponse](../msg_docs/DatamanResponse.md) +- [LedControl](../msg_docs/LedControl.md) +- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md) +- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md) +- [Event](../msg_docs/Event.md) +- [ActuatorArmed](../msg_docs/ActuatorArmed.md) +- [GpioIn](../msg_docs/GpioIn.md) +- [SensorGyroFft](../msg_docs/SensorGyroFft.md) +- [SensorAccel](../msg_docs/SensorAccel.md) +- [SensorsStatus](../msg_docs/SensorsStatus.md) +- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md) +- [GeneratorStatus](../msg_docs/GeneratorStatus.md) +- [DifferentialPressure](../msg_docs/DifferentialPressure.md) +- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md) +- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md) +- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md) +- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md) +- [RoverRateStatus](../msg_docs/RoverRateStatus.md) +- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md) +- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md) - [VelocityLimits](../msg_docs/VelocityLimits.md) - [MagWorkerData](../msg_docs/MagWorkerData.md) -- [ParameterUpdate](../msg_docs/ParameterUpdate.md) -- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md) -- [SensorBaro](../msg_docs/SensorBaro.md) -- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md) -- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md) -- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md) -- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md) -- [Rpm](../msg_docs/Rpm.md) -- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md) -- [MountOrientation](../msg_docs/MountOrientation.md) -- [ActionRequest](../msg_docs/ActionRequest.md) -- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md) -- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md) -- [LoggerStatus](../msg_docs/LoggerStatus.md) -- [GeneratorStatus](../msg_docs/GeneratorStatus.md) -- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md) -- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md) -- [LandingTargetPose](../msg_docs/LandingTargetPose.md) -- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md) -- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md) -- [OrbitStatus](../msg_docs/OrbitStatus.md) -- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md) -- [EstimatorStatus](../msg_docs/EstimatorStatus.md) -- [DatamanRequest](../msg_docs/DatamanRequest.md) -- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md) -- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md) -- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md) - [Cpuload](../msg_docs/Cpuload.md) -- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md) -- [RoverRateStatus](../msg_docs/RoverRateStatus.md) -- [EscReport](../msg_docs/EscReport.md) -- [DebugArray](../msg_docs/DebugArray.md) -- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md) -- [SensorHygrometer](../msg_docs/SensorHygrometer.md) -- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md) -- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md) -- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md) -- [QshellReq](../msg_docs/QshellReq.md) -- [CameraStatus](../msg_docs/CameraStatus.md) -- [GpsInjectData](../msg_docs/GpsInjectData.md) -- [FigureEightStatus](../msg_docs/FigureEightStatus.md) -- [TransponderReport](../msg_docs/TransponderReport.md) -- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md) +- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md) +- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md) - [MavlinkLog](../msg_docs/MavlinkLog.md) -- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md) -- [FuelTankStatus](../msg_docs/FuelTankStatus.md) -- [Mission](../msg_docs/Mission.md) -- [PositionSetpoint](../msg_docs/PositionSetpoint.md) -- [MissionResult](../msg_docs/MissionResult.md) -- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md) -- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md) -- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md) -- [DifferentialPressure](../msg_docs/DifferentialPressure.md) -- [CellularStatus](../msg_docs/CellularStatus.md) -- [GpsDump](../msg_docs/GpsDump.md) -- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md) -- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md) -- [NavigatorStatus](../msg_docs/NavigatorStatus.md) -- [RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md) -- [FollowTarget](../msg_docs/FollowTarget.md) -- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md) -- [EstimatorStates](../msg_docs/EstimatorStates.md) -- [SensorGyro](../msg_docs/SensorGyro.md) -- [SensorAirflow](../msg_docs/SensorAirflow.md) -- [ButtonEvent](../msg_docs/ButtonEvent.md) -- [DebugKeyValue](../msg_docs/DebugKeyValue.md) -- [GpioConfig](../msg_docs/GpioConfig.md) -- [CameraTrigger](../msg_docs/CameraTrigger.md) +- [SensorTemp](../msg_docs/SensorTemp.md) - [LandingGearWheel](../msg_docs/LandingGearWheel.md) -- [VehicleConstraints](../msg_docs/VehicleConstraints.md) -- [HealthReport](../msg_docs/HealthReport.md) -- [PowerButtonState](../msg_docs/PowerButtonState.md) -- [RadioStatus](../msg_docs/RadioStatus.md) -- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md) -- [EstimatorBias](../msg_docs/EstimatorBias.md) -- [DebugVect](../msg_docs/DebugVect.md) -- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md) -- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md) -- [PpsCapture](../msg_docs/PpsCapture.md) -- [SensorSelection](../msg_docs/SensorSelection.md) -- [SystemPower](../msg_docs/SystemPower.md) -- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md) -- [SensorGyroFft](../msg_docs/SensorGyroFft.md) -- [VehicleAirData](../msg_docs/VehicleAirData.md) +- [OrbTestLarge](../msg_docs/OrbTestLarge.md) - [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md) -- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md) -- [GpioRequest](../msg_docs/GpioRequest.md) -- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md) -- [RtlStatus](../msg_docs/RtlStatus.md) -- [Airspeed](../msg_docs/Airspeed.md) -- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md) -- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md) -- [IrlockReport](../msg_docs/IrlockReport.md) -- [HeaterStatus](../msg_docs/HeaterStatus.md) -- [AdcReport](../msg_docs/AdcReport.md) -- [PwmInput](../msg_docs/PwmInput.md) -- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md) -- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md) -- [OrbTestMedium](../msg_docs/OrbTestMedium.md) -- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md) -- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md) -- [TuneControl](../msg_docs/TuneControl.md) -- [WheelEncoders](../msg_docs/WheelEncoders.md) +- [CellularStatus](../msg_docs/CellularStatus.md) +- [QshellRetval](../msg_docs/QshellRetval.md) +- [OrbitStatus](../msg_docs/OrbitStatus.md) +- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md) +- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md) +- [LogMessage](../msg_docs/LogMessage.md) +- [SatelliteInfo](../msg_docs/SatelliteInfo.md) +- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md) +- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md) +- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md) +- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md) +- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md) +- [EstimatorStatus](../msg_docs/EstimatorStatus.md) +- [NeuralControl](../msg_docs/NeuralControl.md) +- [TaskStackInfo](../msg_docs/TaskStackInfo.md) +- [RcParameterMap](../msg_docs/RcParameterMap.md) +- [SensorSelection](../msg_docs/SensorSelection.md) +- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md) +- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md) +- [ActuatorTest](../msg_docs/ActuatorTest.md) +- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md) +- [MountOrientation](../msg_docs/MountOrientation.md) +- [CameraStatus](../msg_docs/CameraStatus.md) - [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md) -- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md) -- [SensorsStatus](../msg_docs/SensorsStatus.md) -::: +- [FollowTarget](../msg_docs/FollowTarget.md) +- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md) +- [ButtonEvent](../msg_docs/ButtonEvent.md) +- [DebugArray](../msg_docs/DebugArray.md) +- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md) +- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md) +- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md) +- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md) +- [VehicleImu](../msg_docs/VehicleImu.md) +- [GpsDump](../msg_docs/GpsDump.md) +- [WheelEncoders](../msg_docs/WheelEncoders.md) +- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md) +- [DebugValue](../msg_docs/DebugValue.md) +- [LandingTargetPose](../msg_docs/LandingTargetPose.md) +- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md) +- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md) +- [RtlStatus](../msg_docs/RtlStatus.md) +- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md) +- [GimbalControls](../msg_docs/GimbalControls.md) +- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md) +- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md) +- [HeaterStatus](../msg_docs/HeaterStatus.md) +- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md) +- [RcChannels](../msg_docs/RcChannels.md) +- [TecsStatus](../msg_docs/TecsStatus.md) +- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md) +- [InputRc](../msg_docs/InputRc.md) +- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md) +- [GeofenceResult](../msg_docs/GeofenceResult.md) +- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md) +- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md) +- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md) +- [NavigatorStatus](../msg_docs/NavigatorStatus.md) +- [CameraTrigger](../msg_docs/CameraTrigger.md) +- [EscReport](../msg_docs/EscReport.md) +- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md) +- [GeofenceStatus](../msg_docs/GeofenceStatus.md) +- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md) +- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md) +- [EventV0](../msg_docs/EventV0.md) +- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md) +- [VehicleConstraints](../msg_docs/VehicleConstraints.md) +- [IrlockReport](../msg_docs/IrlockReport.md) + ::: diff --git a/docs/en/modules/modules_driver.md b/docs/en/modules/modules_driver.md index 7801da4db3..2b0b2a6b7e 100644 --- a/docs/en/modules/modules_driver.md +++ b/docs/en/modules/modules_driver.md @@ -2,6 +2,7 @@ Subcategories: +- [Adc](modules_driver_adc.md) - [Airspeed Sensor](modules_driver_airspeed_sensor.md) - [Baro](modules_driver_baro.md) - [Camera](modules_driver_camera.md) @@ -46,66 +47,6 @@ MCP23009 [arguments...] status print status info ``` -## adc - -Source: [drivers/adc/board_adc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/board_adc) - -### Description - -ADC driver. - -### Usage {#adc_usage} - -``` -adc [arguments...] - Commands: - start - - test - [-n] Do not publish ADC report, only system power - - stop - - status print status info -``` - -## ads1115 - -Source: [drivers/adc/ads1115](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/ads1115) - -### Description - -Driver to enable an external [ADS1115](https://www.adafruit.com/product/1085) ADC connected via I2C. - -The driver is included by default in firmware for boards that do not have an internal analog to digital converter, -such as [PilotPi](../flight_controller/raspberry_pi_pilotpi.md) or [CUAV Nora](../flight_controller/cuav_nora.md) -(search for `CONFIG_DRIVERS_ADC_ADS1115` in board configuration files). - -It is enabled/disabled using the -[ADC_ADS1115_EN](../advanced_config/parameter_reference.md#ADC_ADS1115_EN) -parameter, and is disabled by default. -If enabled, internal ADCs are not used. - -### Usage {#ads1115_usage} - -``` -ads1115 [arguments...] - Commands: - start - [-I] Internal I2C bus(es) - [-X] External I2C bus(es) - [-b ] board-specific bus (default=all) (external SPI: n-th bus - (default=1)) - [-f ] bus frequency in kHz - [-q] quiet startup (no message if no device found) - [-a ] I2C address - default: 72 - - stop - - status print status info -``` - ## atxxxx Source: [drivers/osd/atxxxx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/osd/atxxxx) @@ -808,6 +749,30 @@ lsm303agr [arguments...] status print status info ``` +## mcp9808 + +Source: [drivers/temperature_sensor/mcp9808](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/temperature_sensor/mcp9808) + +### Usage {#mcp9808_usage} + +``` +mcp9808 [arguments...] + Commands: + start + [-I] Internal I2C bus(es) + [-X] External I2C bus(es) + [-b ] board-specific bus (default=all) (external SPI: n-th bus + (default=1)) + [-f ] bus frequency in kHz + [-q] quiet startup (no message if no device found) + [-a ] I2C address + default: 24 + + stop + + status print status info +``` + ## msp_osd Source: [drivers/osd/msp_osd](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/osd/msp_osd) diff --git a/docs/en/modules/modules_driver_adc.md b/docs/en/modules/modules_driver_adc.md new file mode 100644 index 0000000000..cecdbff037 --- /dev/null +++ b/docs/en/modules/modules_driver_adc.md @@ -0,0 +1,107 @@ +# Modules Reference: Adc (Driver) + +## TLA2528 + +Source: [drivers/adc/tla2528](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/tla2528) + +### Usage {#TLA2528_usage} + +``` +TLA2528 [arguments...] + Commands: + start + [-I] Internal I2C bus(es) + [-X] External I2C bus(es) + [-b ] board-specific bus (default=all) (external SPI: n-th bus + (default=1)) + [-f ] bus frequency in kHz + [-q] quiet startup (no message if no device found) + + stop + + status print status info +``` + +## adc + +Source: [drivers/adc/board_adc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/board_adc) + +### Description + +ADC driver. + +### Usage {#adc_usage} + +``` +adc [arguments...] + Commands: + start + + test + [-n] Do not publish ADC report, only system power + + stop + + status print status info +``` + +## ads1115 + +Source: [drivers/adc/ads1115](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/ads1115) + +### Description + +Driver to enable an external [ADS1115](https://www.adafruit.com/product/1085) ADC connected via I2C. + +The driver is included by default in firmware for boards that do not have an internal analog to digital converter, +such as [PilotPi](../flight_controller/raspberry_pi_pilotpi.md) or [CUAV Nora](../flight_controller/cuav_nora.md) +(search for `CONFIG_DRIVERS_ADC_ADS1115` in board configuration files). + +It is enabled/disabled using the +[ADC_ADS1115_EN](../advanced_config/parameter_reference.md#ADC_ADS1115_EN) +parameter, and is disabled by default. +If enabled, internal ADCs are not used. + +### Usage {#ads1115_usage} + +``` +ads1115 [arguments...] + Commands: + start + [-I] Internal I2C bus(es) + [-X] External I2C bus(es) + [-b ] board-specific bus (default=all) (external SPI: n-th bus + (default=1)) + [-f ] bus frequency in kHz + [-q] quiet startup (no message if no device found) + [-a ] I2C address + default: 72 + + stop + + status print status info +``` + +## ads7953 + +Source: [drivers/adc/ads7953](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/ads7953) + +### Usage {#ads7953_usage} + +``` +ads7953 [arguments...] + Commands: + start + [-s] Internal SPI bus(es) + [-S] External SPI bus(es) + [-b ] board-specific bus (default=all) (external SPI: n-th bus + (default=1)) + [-c ] chip-select pin (for internal SPI) or index (for external SPI) + [-m ] SPI mode + [-f ] bus frequency in kHz + [-q] quiet startup (no message if no device found) + + stop + + status print status info +``` diff --git a/docs/en/modules/modules_driver_radio_control.md b/docs/en/modules/modules_driver_radio_control.md index 98489438e5..3cfb312593 100644 --- a/docs/en/modules/modules_driver_radio_control.md +++ b/docs/en/modules/modules_driver_radio_control.md @@ -4,10 +4,9 @@ Source: [drivers/rc/crsf_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/crsf_rc) - ### Description -This module parses the CRSF RC uplink protocol and generates CRSF downlink telemetry data +This module parses the CRSF RC uplink protocol and generates CRSF downlink telemetry data ### Usage {#crsf_rc_usage} @@ -17,6 +16,10 @@ crsf_rc [arguments...] start [-d ] RC device values: , default: /dev/ttyS3 + [-b ] RC baudrate + default: 420000 + + inject Inject frame data bytes (for testing) stop @@ -27,10 +30,9 @@ crsf_rc [arguments...] Source: [drivers/rc/dsm_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/dsm_rc) - ### Description -This module does Spektrum DSM RC input parsing. +This module does Spektrum DSM RC input parsing. ### Usage {#dsm_rc_usage} @@ -52,10 +54,9 @@ dsm_rc [arguments...] Source: [drivers/rc/ghst_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/ghst_rc) - ### Description -This module does Ghost (GHST) RC input parsing. +This module does Ghost (GHST) RC input parsing. ### Usage {#ghst_rc_usage} @@ -75,9 +76,10 @@ ghst_rc [arguments...] Source: [drivers/rc_input](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc_input) - ### Description + This module does the RC input parsing and auto-selecting the method. Supported methods are: + - PPM - SBUS - DSM @@ -85,7 +87,6 @@ This module does the RC input parsing and auto-selecting the method. Supported m - ST24 - TBS Crossfire (CRSF) - ### Usage {#rc_input_usage} ``` @@ -106,10 +107,9 @@ rc_input [arguments...] Source: [drivers/rc/sbus_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/sbus_rc) - ### Description -This module does SBUS RC input parsing. +This module does SBUS RC input parsing. ### Usage {#sbus_rc_usage} diff --git a/docs/en/msg_docs/AdcReport.md b/docs/en/msg_docs/AdcReport.md index 53ab9a2f07..50fde63ff5 100644 --- a/docs/en/msg_docs/AdcReport.md +++ b/docs/en/msg_docs/AdcReport.md @@ -1,15 +1,21 @@ # AdcReport (UORB message) +ADC raw data. +Communicates raw data from an analog-to-digital converter (ADC) to other modules, such as battery status. [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AdcReport.msg) ```c -uint64 timestamp # time since system start (microseconds) -uint32 device_id # unique device ID for the sensor that does not change between power cycles -int16[12] channel_id # ADC channel IDs, negative for non-existent, TODO: should be kept same as array index -int32[12] raw_data # ADC channel raw value, accept negative value, valid if channel ID is positive -uint32 resolution # ADC channel resolution -float32 v_ref # ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution) +# ADC raw data. +# +# Communicates raw data from an analog-to-digital converter (ADC) to other modules, such as battery status. + +uint64 timestamp # [us] Time since system start +uint32 device_id # [-] unique device ID for the sensor that does not change between power cycles +int16[16] channel_id # [-] ADC channel IDs, negative for non-existent, TODO: should be kept same as array index +int32[16] raw_data # [-] ADC channel raw value, accept negative value, valid if channel ID is positive +uint32 resolution # [-] ADC channel resolution +float32 v_ref # [V] ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution) ``` diff --git a/docs/en/msg_docs/EscReport.md b/docs/en/msg_docs/EscReport.md index 4a75bee418..277402ae69 100644 --- a/docs/en/msg_docs/EscReport.md +++ b/docs/en/msg_docs/EscReport.md @@ -1,7 +1,5 @@ # EscReport (UORB message) - - [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscReport.msg) ```c @@ -18,6 +16,19 @@ uint8 esc_state # State of ESC - depend on Vendor uint8 actuator_function # actuator output function (one of Motor1...MotorN) +uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 +uint8 ACTUATOR_FUNCTION_MOTOR2 = 102 +uint8 ACTUATOR_FUNCTION_MOTOR3 = 103 +uint8 ACTUATOR_FUNCTION_MOTOR4 = 104 +uint8 ACTUATOR_FUNCTION_MOTOR5 = 105 +uint8 ACTUATOR_FUNCTION_MOTOR6 = 106 +uint8 ACTUATOR_FUNCTION_MOTOR7 = 107 +uint8 ACTUATOR_FUNCTION_MOTOR8 = 108 +uint8 ACTUATOR_FUNCTION_MOTOR9 = 109 +uint8 ACTUATOR_FUNCTION_MOTOR10 = 110 +uint8 ACTUATOR_FUNCTION_MOTOR11 = 111 +uint8 ACTUATOR_FUNCTION_MOTOR12 = 112 + uint16 failures # Bitmask to indicate the internal ESC faults int8 esc_power # Applied power 0-100 in % (negative values reserved) diff --git a/docs/en/msg_docs/InputRc.md b/docs/en/msg_docs/InputRc.md index 3f8bdb3da3..fbae6e0254 100644 --- a/docs/en/msg_docs/InputRc.md +++ b/docs/en/msg_docs/InputRc.md @@ -1,7 +1,5 @@ # InputRc (UORB message) - - [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/InputRc.msg) ```c @@ -39,11 +37,13 @@ bool rc_lost # RC receiver connection status: True,if no frame has arrived in uint16 rc_lost_frame_count # Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality. uint16 rc_total_frame_count # Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality. uint16 rc_ppm_frame_length # Length of a single PPM frame. Zero for non-PPM systems +uint16 rc_frame_rate # RC frame rate in msg/second. 0 = invalid uint8 input_source # Input source uint16[18] values # measured pulse widths for each of the supported channels int8 link_quality # link quality. Percentage 0-100%. -1 = invalid float32 rssi_dbm # Actual rssi in units of dBm. NaN = invalid +int8 link_snr # link signal to noise ratio in units of dB. -1 = invalid ``` diff --git a/docs/en/msg_docs/RoverVelocitySetpoint.md b/docs/en/msg_docs/RoverVelocitySetpoint.md deleted file mode 100644 index 65103082b8..0000000000 --- a/docs/en/msg_docs/RoverVelocitySetpoint.md +++ /dev/null @@ -1,15 +0,0 @@ -# RoverVelocitySetpoint (UORB message) - -Rover Velocity Setpoint - -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverVelocitySetpoint.msg) - -```c -# Rover Velocity Setpoint - -uint64 timestamp # [us] Time since system start -float32 speed # [m/s] [@range -inf (Backwards), inf (Forwards)] Speed setpoint -float32 bearing # [rad] [@range -pi,pi] [@frame NED] [@invalid: NaN, speed is defined in body x direction] Bearing setpoint -float32 yaw # [rad] [@range -pi, pi] [@frame NED] [@invalid NaN, Defaults to vehicle yaw] Mecanum only: Yaw setpoint - -``` diff --git a/docs/en/msg_docs/RoverVelocityStatus.md b/docs/en/msg_docs/RoverVelocityStatus.md deleted file mode 100644 index dfd7756afa..0000000000 --- a/docs/en/msg_docs/RoverVelocityStatus.md +++ /dev/null @@ -1,18 +0,0 @@ -# RoverVelocityStatus (UORB message) - -Rover Velocity Status - -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverVelocityStatus.msg) - -```c -# Rover Velocity Status - -uint64 timestamp # [us] Time since system start -float32 measured_speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Measured speed in body x direction -float32 adjusted_speed_body_x_setpoint # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction that is being tracked (Applied slew rates) -float32 pid_throttle_body_x_integral # [] [@range -1, 1] Integral of the PID for the closed loop controller of the speed in body x direction -float32 measured_speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Measured speed in body y direction -float32 adjusted_speed_body_y_setpoint # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates) -float32 pid_throttle_body_y_integral # [] [@range -1, 1] [@invalid NaN If not mecanum] Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction - -``` diff --git a/docs/en/msg_docs/SensorTemp.md b/docs/en/msg_docs/SensorTemp.md new file mode 100644 index 0000000000..5ed50541fe --- /dev/null +++ b/docs/en/msg_docs/SensorTemp.md @@ -0,0 +1,11 @@ +# SensorTemp (UORB message) + +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorTemp.msg) + +```c +uint64 timestamp # time since system start (microseconds) + +uint32 device_id # unique device ID for the sensor that does not change between power cycles +float32 temperature # Temperature provided by sensor (Celsius) + +``` diff --git a/docs/en/msg_docs/VehicleCommand.md b/docs/en/msg_docs/VehicleCommand.md index 6c5e87ff5b..7f91701614 100644 --- a/docs/en/msg_docs/VehicleCommand.md +++ b/docs/en/msg_docs/VehicleCommand.md @@ -28,7 +28,7 @@ uint16 VEHICLE_CMD_DO_ORBIT = 34 # Start orbiting on the circumference of a circ uint16 VEHICLE_CMD_DO_FIGUREEIGHT = 35 # Start flying on the outline of a figure eight defined by the parameters. |[m] Major radius|[m] Minor radius|[m/s] Velocity|Orientation|Latitude/X|Longitude/Y|Altitude/Z| uint16 VEHICLE_CMD_NAV_ROI = 80 # Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |[@enum VEHICLE_ROI] Region of interest mode.|MISSION index/ target ID.|ROI index (allows a vehicle to manage multiple ROI's)|Unused|x the location of the fixed ROI (see MAV_FRAME)|y|z| uint16 VEHICLE_CMD_NAV_PATHPLANNING = 81 # Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning|0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid|Unused|[deg] [@range 0, 360] Yaw angle at goal, in compass degrees|Latitude/X of goal|Longitude/Y of goal|Altitude/Z of goal| -uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84 # Takeoff from ground / hand and transition to fixed wing. |Minimum pitch (if airspeed sensor present), desired pitch without sensor|Unused|Unused|Yaw angle (if magnetometer present), ignored without magnetometer|Latitude|Longitude|Altitude| +uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84 # Takeoff from ground / hand and transition to fixed wing. |Minimum pitch (if airspeed sensor present), desired pitch without sensor|Transition heading, 0: Default, 3: Use specified transition heading|Unused|Yaw angle (if magnetometer present), ignored without magnetometer|Latitude|Longitude|Altitude| uint16 VEHICLE_CMD_NAV_VTOL_LAND = 85 # Transition to MC and land at location. |Unused|Unused|Unused|Desired yaw angle.|Latitude|Longitude|Altitude| uint16 VEHICLE_CMD_NAV_GUIDED_LIMITS = 90 # Set limits for external control. |[s] Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout|[m] Absolute altitude min AMSL - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit|[m] Absolute altitude max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit|[m] Horizontal move limit (AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit|Unused|Unused|Unused| uint16 VEHICLE_CMD_NAV_GUIDED_MASTER = 91 # Set id of master controller. |System ID|Component ID|Unused|Unused|Unused|Unused|Unused| diff --git a/docs/en/msg_docs/index.md b/docs/en/msg_docs/index.md index a70fa245f5..1df0fa98f1 100644 --- a/docs/en/msg_docs/index.md +++ b/docs/en/msg_docs/index.md @@ -84,7 +84,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [ActuatorOutputs](ActuatorOutputs.md) - [ActuatorServosTrim](ActuatorServosTrim.md) — Servo trims, added as offset to servo outputs - [ActuatorTest](ActuatorTest.md) -- [AdcReport](AdcReport.md) +- [AdcReport](AdcReport.md) — ADC raw data. - [Airspeed](Airspeed.md) — Airspeed data from sensors - [AirspeedWind](AirspeedWind.md) — Wind estimate (from airspeed_selector) - [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md) — Autotune attitude control status @@ -259,6 +259,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m The topic will not be updated when the vehicle is armed - [SensorSelection](SensorSelection.md) — Sensor ID's for the voted sensors output on the sensor_combined topic. Will be updated on startup of the sensor module and when sensor selection changes +- [SensorTemp](SensorTemp.md) - [SensorUwb](SensorUwb.md) — UWB distance contains the distance information measured by an ultra-wideband positioning system, such as Pozyx or NXP Rddrone. - [SensorsStatus](SensorsStatus.md) — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.