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uORB message layout fixes (#25581)
* uORB message layout fixes * Apply suggestions from code review --------- Co-authored-by: PX4BuildBot <bot@pixhawk.org>
This commit is contained in:
Hamish Willee
GitHub
parent
c06ba93175
commit
799f910ca9
@ -8,9 +8,9 @@ uint32 MESSAGE_VERSION = 0
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uint64 timestamp # [us] Time since system start
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uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
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uint16 reversible_flags # Bitset indicating which motors are configured to be reversible
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uint16 reversible_flags # [-] Bitset indicating which motors are configured to be reversible
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uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 #
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uint8 NUM_CONTROLS = 12 #
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float32[12] control # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)
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float32[12] control # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)
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@ -9,4 +9,4 @@ uint64 timestamp # [us] Time since system start
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uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
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uint8 NUM_CONTROLS = 8 #
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float32[8] control # [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
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float32[8] control # [-] [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
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@ -1,4 +1,4 @@
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# Arming check reply.
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# Arming check reply
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#
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# This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
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# The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station).
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@ -11,33 +11,33 @@ uint32 MESSAGE_VERSION = 1
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uint64 timestamp # [us] Time since system start.
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uint8 request_id # Id of ArmingCheckRequest for which this is a response.
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uint8 registration_id # Id of external component emitting this response.
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uint8 request_id # [-] Id of ArmingCheckRequest for which this is a response
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uint8 registration_id # [-] Id of external component emitting this response
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uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies.
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uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies
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uint8 health_component_index # [@enum HEALTH_COMPONENT_INDEX]
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bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json).
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bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json).
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bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json).
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bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json)
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bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json)
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bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json)
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bool can_arm_and_run # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed.
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bool can_arm_and_run # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed
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uint8 num_events # Number of queued failure messages (Event) in the events field.
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uint8 num_events # Number of queued failure messages (Event) in the events field
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Event[5] events # Arming failure reasons (Queue of events to report to GCS).
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Event[5] events # Arming failure reasons (Queue of events to report to GCS)
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# Mode requirements
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bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope).
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bool mode_req_attitude # Requires an attitude estimate.
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bool mode_req_local_alt # Requires a local altitude estimate.
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bool mode_req_local_position # Requires a local position estimate.
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bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate.
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bool mode_req_global_position # Requires a global position estimate.
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bool mode_req_global_position_relaxed # Requires a relaxed global position estimate.
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bool mode_req_mission # Requires an uploaded mission.
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bool mode_req_home_position # Requires a home position (such as RTL/Return mode).
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bool mode_req_prevent_arming # Prevent arming (such as in Land mode).
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bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope)
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bool mode_req_attitude # Requires an attitude estimate
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bool mode_req_local_alt # Requires a local altitude estimate
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bool mode_req_local_position # Requires a local position estimate
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bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate
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bool mode_req_global_position # Requires a global position estimate
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bool mode_req_global_position_relaxed # Requires a relaxed global position estimate
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bool mode_req_mission # Requires an uploaded mission
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bool mode_req_home_position # Requires a home position (such as RTL/Return mode)
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bool mode_req_prevent_arming # Prevent arming (such as in Land mode)
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bool mode_req_manual_control # Requires a manual controller
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uint8 ORB_QUEUE_LENGTH = 4
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@ -1,4 +1,4 @@
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# Arming check request.
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# Arming check request
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#
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# Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
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# All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
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@ -9,8 +9,8 @@
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uint32 MESSAGE_VERSION = 1
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uint64 timestamp # [us] Time since system start.
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uint64 timestamp # [us] Time since system start
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uint8 request_id # Id of this request. Allows correlation with associated ArmingCheckReply messages.
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uint8 request_id # [-] Id of this request. Allows correlation with associated ArmingCheckReply messages.
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uint32 valid_registrations_mask # Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
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uint32 valid_registrations_mask # [-] Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
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@ -7,72 +7,73 @@
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uint32 MESSAGE_VERSION = 1
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uint8 MAX_INSTANCES = 4
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uint64 timestamp # [us] Time since system start
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bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
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float32 voltage_v # [V] [@invalid 0] Battery voltage
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float32 current_a # [A] [@invalid -1] Battery current
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float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight)
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float32 discharged_mah # [mAh] [@invalid -1] Discharged amount
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float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity
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float32 scale # [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
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float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
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float32 temperature # [°C] [@invalid NaN] Temperature of the battery
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uint8 cell_count # [@invalid 0] Number of cells
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uint64 timestamp # [us] Time since system start
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bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
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float32 voltage_v # [V] [@invalid 0] Battery voltage
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float32 current_a # [A] [@invalid -1] Battery current
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float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight)
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float32 discharged_mah # [mAh] [@invalid -1] Discharged amount
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float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity
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float32 scale # [-] [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
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float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
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float32 temperature # [°C] [@invalid NaN] Temperature of the battery
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uint8 cell_count # [-] [@invalid 0] Number of cells
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uint8 source # [@enum SOURCE] Battery source
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uint8 SOURCE_POWER_MODULE = 0 # Power module
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uint8 SOURCE_EXTERNAL = 1 # External
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uint8 SOURCE_ESCS = 2 # ESCs
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uint8 source # [@enum SOURCE] Battery source
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uint8 SOURCE_POWER_MODULE = 0 # Power module
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uint8 SOURCE_EXTERNAL = 1 # External
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uint8 SOURCE_ESCS = 2 # ESCs
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uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
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uint16 capacity # [mAh] Capacity of the battery when fully charged
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uint16 cycle_count # Number of discharge cycles the battery has experienced
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uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
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uint16 manufacture_date # Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
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uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
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uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
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uint8 id # ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
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uint16 interface_error # Interface error counter
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uint8 priority # [-] Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
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uint16 capacity # [mAh] Capacity of the battery when fully charged
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uint16 cycle_count # [-] Number of discharge cycles the battery has experienced
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uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
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uint16 manufacture_date # [-] Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
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uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
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uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
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uint8 id # [-] ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
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uint16 interface_error # [-] Interface error counter
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float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages
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float32 max_cell_voltage_delta # Max difference between individual cell voltages
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float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages
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float32 max_cell_voltage_delta # [V] Max difference between individual cell voltages
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bool is_powering_off # Power off event imminent indication, false if unknown
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bool is_required # Set if the battery is explicitly required before arming
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bool is_powering_off # Power off event imminent indication, false if unknown
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bool is_required # Set if the battery is explicitly required before arming
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uint8 warning # [@enum WARNING STATE] Current battery warning
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uint8 WARNING_NONE = 0 # No battery low voltage warning active
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uint8 WARNING_LOW = 1 # Low voltage warning
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uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
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uint8 WARNING_EMERGENCY = 3 # Immediate landing required
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uint8 WARNING_FAILED = 4 # Battery has failed completely
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uint8 STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field
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uint8 STATE_CHARGING = 7 # Battery is charging
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uint8 warning # [@enum WARNING STATE] Current battery warning
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uint8 WARNING_NONE = 0 # No battery low voltage warning active
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uint8 WARNING_LOW = 1 # Low voltage warning
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uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
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uint8 WARNING_EMERGENCY = 3 # Immediate landing required
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uint8 WARNING_FAILED = 4 # Battery has failed completely
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uint8 STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field
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uint8 STATE_CHARGING = 7 # Battery is charging
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uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication
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uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
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uint8 FAULT_SPIKES = 1 # Voltage spikes
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uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed
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uint8 FAULT_OVER_CURRENT = 3 # Over-current
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uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature
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uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
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uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
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uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
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uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
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uint8 FAULT_HARDWARE_FAILURE = 9 # Hardware problem
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uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
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uint8 FAULT_COUNT = 11 # Counter. Keep this as last element
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uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication
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uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
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uint8 FAULT_SPIKES = 1 # Voltage spikes
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uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed
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uint8 FAULT_OVER_CURRENT = 3 # Over-current
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uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature
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uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
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uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
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uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
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uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
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uint8 FAULT_HARDWARE_FAILURE = 9 # Hardware problem
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uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
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uint8 FAULT_COUNT = 11 # Counter. Keep this as last element
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float32 full_charge_capacity_wh # [Wh] Compensated battery capacity
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float32 remaining_capacity_wh # [Wh] Compensated battery capacity remaining
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uint16 over_discharge_count # Number of battery overdischarge
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float32 nominal_voltage # [V] Nominal voltage of the battery pack
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float32 full_charge_capacity_wh # [Wh] Compensated battery capacity
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float32 remaining_capacity_wh # [Wh] Compensated battery capacity remaining
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uint16 over_discharge_count # [-] Number of battery overdischarge
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float32 nominal_voltage # [V] Nominal voltage of the battery pack
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float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
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float32 ocv_estimate # [V] Open circuit voltage estimate
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float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate
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float32 volt_based_soc_estimate # [@range 0, 1] Normalized volt based state of charge estimate
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float32 voltage_prediction # [V] Predicted voltage
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float32 prediction_error # [V] Prediction error
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float32 estimation_covariance_norm # Norm of the covariance matrix
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float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
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float32 ocv_estimate # [V] Open circuit voltage estimate
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float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate
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float32 volt_based_soc_estimate # [-] [@range 0, 1] Normalized volt based state of charge estimate
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float32 voltage_prediction # [V] Predicted voltage
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float32 prediction_error # [V] Prediction error
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float32 estimation_covariance_norm # [-] Norm of the covariance matrix
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