diff --git a/docs/uk/SUMMARY.md b/docs/uk/SUMMARY.md index 074fdb0520..b762eb54c4 100644 --- a/docs/uk/SUMMARY.md +++ b/docs/uk/SUMMARY.md @@ -780,6 +780,7 @@ - [Receiving Messages](mavlink/receiving_messages.md) - [Custom MAVLink Messages](mavlink/custom_messages.md) - [Message Signing](mavlink/message_signing.md) + - [Security Hardening](mavlink/security_hardening.md) - [Protocols/Microservices](mavlink/protocols.md) - [Standard Modes Protocol](mavlink/standard_modes.md) - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](middleware/uxrce_dds.md) diff --git a/docs/uk/assembly/_assembly.md b/docs/uk/assembly/_assembly.md index e363253b7e..88db2774b3 100644 --- a/docs/uk/assembly/_assembly.md +++ b/docs/uk/assembly/_assembly.md @@ -414,7 +414,6 @@ They recommend sensors, power systems, and other components from the same manufa - [Holybro Pixhawk 6X Wiring Quickstart](../assembly/quick_start_pixhawk6x.md) - [Holybro Pixhawk 5X Wiring Quickstart](../assembly/quick_start_pixhawk5x.md) - [Holybro Pixhawk 4 Wiring Quickstart](../assembly/quick_start_pixhawk4.md) -- [Holybro Pixhawk 4 Mini (Discontinued) Wiring Quickstart](../assembly/quick_start_pixhawk4_mini.md) - [Holybro Durandal Wiring Quickstart](../assembly/quick_start_durandal.md) - [Holybro Pix32 v5 Wiring Quickstart](../assembly/quick_start_holybro_pix32_v5.md) - [Cube Wiring Quickstart](../assembly/quick_start_cube.md) (All cube variants) diff --git a/docs/uk/complete_vehicles_mc/holybro_kopis2.md b/docs/uk/complete_vehicles_mc/holybro_kopis2.md index 477d20ac9d..b70e7a5c8c 100644 --- a/docs/uk/complete_vehicles_mc/holybro_kopis2.md +++ b/docs/uk/complete_vehicles_mc/holybro_kopis2.md @@ -29,7 +29,7 @@ _Kopis 2_ можна придбати від кількох виробників _Kopis 2_ поставляється із заздалегідь встановленим Betaflight. Перед завантаженням прошивки PX4 вам спочатку потрібно встановити завантажувач PX4. -Інструкції по встановленню завантажувача можна знайти в темі [Kakute F7](../flight_controller/kakutef7.md#bootloader) (це плата польотного контролера на _Kopis 2_). +Download the [kakutef7_bl.hex](https://raw.githubusercontent.com/PX4/PX4-Autopilot/release/1.17/docs/assets/flight_controller/kakutef7/kakutef7_bl_0b3fbe2da0.hex?download=true) bootloader binary and read [PX4 Bootloader Flashing onto Betaflight Systems](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions. :::tip Ви завжди можете [перевстановити Betaflight](../advanced_config/bootloader_update_from_betaflight.md#reinstall-betaflight) пізніше, якщо захочете! diff --git a/docs/uk/config/safety.md b/docs/uk/config/safety.md index 4ed4b0cf72..cc7f4f8235 100644 --- a/docs/uk/config/safety.md +++ b/docs/uk/config/safety.md @@ -362,11 +362,7 @@ Remote control switches can be configured (as part of _QGroundControl_ [Flight M A kill switch immediately stops all motor outputs — if flying, the vehicle will start to fall! -[By default](#COM_KILL_DISARM) the motors will restart if the switch is reverted within 5 seconds, after which the vehicle will automatically disarm, and you will need to arm it again in order to start the motors. - -| Параметр | Опис | -| -------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------- | -| [COM_KILL_DISARM](../advanced_config/parameter_reference.md#COM_KILL_DISARM) | Timeout value for disarming after kill switch is engaged. Default: `5` seconds. | +The motors will restart if the switch is reverted within 5 seconds, after which the vehicle will automatically disarm, and you will need to arm it again in order to start the motors. :::info There is also a [Kill Gesture](#kill-gesture), which cannot be reverted. @@ -408,7 +404,7 @@ A return switch can be used to immediately engage [Return mode](../flight_modes/ A kill gesture immediately stops all motor outputs — if flying, the vehicle will start to fall! -The action cannot be reverted without a reboot (this differs from a [Kill Switch](#kill-switch), where the operation can be reverted within the time period defined by [COM_KILL_DISARM](#COM_KILL_DISARM)). +The action cannot be reverted without a reboot (this differs from a [Kill Switch](#kill-switch), where the operation can be reverted within 5 seconds). | Параметр | Опис | | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | diff --git a/docs/uk/debug/system_console.md b/docs/uk/debug/system_console.md index 0bd0b62024..75df93273f 100644 --- a/docs/uk/debug/system_console.md +++ b/docs/uk/debug/system_console.md @@ -23,16 +23,10 @@ Developers targeting a number of different boards may wish to use a [debug adapt ### Проводка, специфічна для плати -The System Console UART pinouts/debug ports are typically documented in [autopilot overview pages](../flight_controller/index.md) (some are linked below): +The System Console UART pinouts/debug ports are typically documented in the affected [autopilot overview pages](../flight_controller/index.md). +For example, see [mRo Pixhawk](../flight_controller/mro_pixhawk.md#console-port) and [Pixracer](../flight_controller/pixracer.md#debug-port). -- [3DR Pixhawk v1 Flight Controller](../flight_controller/pixhawk.md#console-port) (also applies to - [mRo Pixhawk](../flight_controller/mro_pixhawk.md#debug-ports), [Holybro pix32](../flight_controller/holybro_pix32.md#debug-port)) -- [Pixhawk 3](../flight_controller/pixhawk3_pro.md#debug-port) -- [Pixracer](../flight_controller/pixracer.md#debug-port) - - - -### Порти відладки Pixhawk +### Pixhawk Debug Port {#pixhawk_debug_port} Pixhawk flight controllers usually come with a [Pixhawk Connector Standard Debug Port](../debug/swd_debug.md#pixhawk-connector-standard-debug-ports) which will be either the 10 pin [Pixhawk Debug Full](../debug/swd_debug.md#pixhawk-debug-full) or 6 pin [Pixhawk Debug Mini](../debug/swd_debug.md#pixhawk-debug-mini) port. diff --git a/docs/uk/flight_controller/autopilot_discontinued.md b/docs/uk/flight_controller/autopilot_discontinued.md index 178831cfd7..c9bd88c6f0 100644 --- a/docs/uk/flight_controller/autopilot_discontinued.md +++ b/docs/uk/flight_controller/autopilot_discontinued.md @@ -14,10 +14,11 @@ They are listed because you may be using them in an existing drone, and because - _CUAV Pixhack v3_ (FMUv3) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/pixhack_v3) - _Aerotenna OcPoC-Zynq Mini_ — last published in [PX4v1.11](https://docs.px4.io/v1.11/en/flight_controller/ocpoc_zynq#aerotenna-ocpoc-zynq-mini-flight-controller) - _Holybro Pixhawk 4 Mini_ (FMUv5) -— last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/pixhawk4_mini) -- _Holybro Kakute F7_ — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/kakutef7) -- _Holybro Pixhawk Mini_ (FMUv3) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/pixhawk_mini) +- _Holybro Kakute F7_ — Marked as discontinued in PX4 v1.15. + Last published in [PX4 v1.17](https://docs.px4.io/v1.17/en/flight_controller/kakutef7). +- _Holybro Pixhawk Mini_ (FMUv3) — last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/pixhawk_mini) - _Holybro Pixfalcon_ (Pixhawk FMUv2) — last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/pixfalcon) -- _Holybro Pix32_ (FMUv2) — last published in [PX4 v1.15](https://docs.px4.io/v1.15/en/flight_controller/holybro_pix32) +- _Holybro Pix32_ (FMUv2) — last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/holybro_pix32) - _ModalAI VOXL Flight_ — last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/modalai_voxl_flight) - _ModalAI Flight Core v1_ — last published in [PX4 v1.11](https://docs.px4.io/v1.11/en/flight_controller/modalai_fc_v1) - _mRobotics-X2.1_ (FMUv2) — last published in [PX4 v1.16](https://docs.px4.io/v1.16/en/flight_controller/mro_x2.1) diff --git a/docs/uk/flight_controller/mro_pixhawk.md b/docs/uk/flight_controller/mro_pixhawk.md index b38a513df9..e4424c9d53 100644 --- a/docs/uk/flight_controller/mro_pixhawk.md +++ b/docs/uk/flight_controller/mro_pixhawk.md @@ -78,11 +78,172 @@ make px4_fmu-v3_default ## Відладочні порти -See [3DR Pixhawk 1 > Debug Ports](../flight_controller/pixhawk.md#debug-ports) +### Порт Консолі + +The [PX4 System Console](../debug/system_console.md) runs on the port labeled [SERIAL4/5](#serial-4-5-port). + +:::tip +A convenient way to connect to the console is to use a [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1), as it comes with connectors that can be used with several different Pixhawk devices. +Simply connect the 6-pos DF13 1:1 cable on the [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1) to the Pixhawk `SERIAL4/5` port. + +![Zubax BugFace BF1](../../assets/flight_controller/mro/dronecode_probe.jpg) +::: + +The pinout is standard serial pinout, designed to connect to a [3.3V FTDI](https://www.digikey.com/en/products/detail/TTL-232R-3V3/768-1015-ND/1836393) cable (5V tolerant). + +| 3DR Pixhawk 1 | | FTDI | | +| ------------- | ---------------------------- | ---- | ----------------------------------- | +| 1 | +5V (red) | | N/C | +| 2 | S4 Tx | | N/C | +| 3 | S4 Rx | | N/C | +| 4 | S5 Tx | 5 | FTDI RX (yellow) | +| 5 | S5 Rx | 4 | FTDI TX (orange) | +| 6 | GND | 1 | FTDI GND (black) | + +The wiring for an FTDI cable to a 6-pos DF13 1:1 connector is shown in the figure below. + +![Console Connector](../../assets/flight_controller/mro/console_connector.jpg) + +The complete wiring is shown below. + +![Console Debug](../../assets/flight_controller/mro/console_debug.jpg) + +:::info +For information on how to _use_ the console see: [System Console](../debug/system_console.md). +::: + +### SWD Port + +The [SWD](../debug/swd_debug.md) (JTAG) ports are hidden under the cover (which must be removed for hardware debugging). +There are separate ports for FMU and IO, as highlighted below. + +![Pixhawk SWD](../../assets/flight_controller/mro/pixhawk_swd.jpg) + +The ports are ARM 10-pin JTAG connectors, which you will probably have to solder. +The pinout for the ports is shown below (the square markers in the corners above indicates pin 1). + +![ARM 10-Pin connector pinout](../../assets/flight_controller/mro/arm_10pin_jtag_connector_pinout.jpg) + +:::info +All Pixhawk FMUv2 boards have a similar SWD port. +::: ## Схема розташування виводів -See [3DR Pixhawk 1 > Pinouts](../flight_controller/pixhawk.md#pinouts) +#### TELEM1, TELEM2 порти + +| Pin | Сигнал | Вольтаж | +| -------------------------- | ---------------------------- | --------------------- | +| 1 (red) | VCC | +5V | +| 2 (blk) | TX (OUT) | +3.3V | +| 3 (blk) | RX (IN) | +3.3V | +| 4 (blk) | CTS (IN) | +3.3V | +| 5 (blk) | RTS (OUT) | +3.3V | +| 6 (blk) | GND | GND | + +#### Порт GPS + +| Pin | Сигнал | Вольтаж | +| -------------------------- | --------------------------- | --------------------- | +| 1 (red) | VCC | +5V | +| 2 (blk) | TX (OUT) | +3.3V | +| 3 (blk) | RX (IN) | +3.3V | +| 4 (blk) | CAN2 TX | +3.3V | +| 5 (blk) | CAN2 RX | +3.3V | +| 6 (blk) | GND | GND | + +#### SERIAL 4/5 port + +Due to space constraints two ports are on one connector. + +| Pin | Сигнал | Вольтаж | +| -------------------------- | -------------------------- | --------------------- | +| 1 (red) | VCC | +5V | +| 2 (blk) | TX (#4) | +3.3V | +| 3 (blk) | RX (#4) | +3.3V | +| 4 (blk) | TX (#5) | +3.3V | +| 5 (blk) | RX (#5) | +3.3V | +| 6 (blk) | GND | GND | + +#### ADC 6.6V + +| Pin | Сигнал | Вольтаж | +| -------------------------- | ------ | --------------------------- | +| 1 (red) | VCC | +5V | +| 2 (blk) | ADC IN | up to +6.6V | +| 3 (blk) | GND | GND | + +#### ADC 3.3V + +| Pin | Сигнал | Вольтаж | +| -------------------------- | ------ | ------------------------ | +| 1 (red) | VCC | +5V | +| 2 (blk) | ADC IN | до +3.3V | +| 3 (blk) | GND | GND | +| 4 (blk) | ADC IN | до +3.3V | +| 5 (blk) | GND | GND | + +#### I2C + +| Pin | Сигнал | Вольтаж | +| -------------------------- | ------ | ------------------------------------------------- | +| 1 (red) | VCC | +5V | +| 2 (blk) | SCL | +3.3 (pullups) | +| 3 (blk) | SDA | +3.3 (pullups) | +| 4 (blk) | GND | GND | + +#### CAN + +| Pin | Сигнал | Вольтаж | +| -------------------------- | -------------------------- | ------- | +| 1 (red) | VCC | +5V | +| 2 (blk) | CAN_H | +12V | +| 3 (blk) | CAN_L | +12V | +| 4 (blk) | GND | GND | + +#### SPI + +| Pin | Сигнал | Вольтаж | +| -------------------------- | ------------------------------------------------------ | -------------------- | +| 1 (red) | VCC | +5V | +| 2 (blk) | SPI_EXT_SCK | +3.3 | +| 3 (blk) | SPI_EXT_MISO | +3.3 | +| 4 (blk) | SPI_EXT_MOSI | +3.3 | +| 5 (blk) | !SPI_EXT_NSS | +3.3 | +| 6 (blk) | !GPIO_EXT | +3.3 | +| 7 (blk) | GND | GND | + +#### POWER + +| Pin | Сигнал | Вольтаж | +| -------------------------- | ------- | --------------------- | +| 1 (red) | VCC | +5V | +| 2 (blk) | VCC | +5V | +| 3 (blk) | CURRENT | +3.3V | +| 4 (blk) | VOLTAGE | +3.3V | +| 5 (blk) | GND | GND | +| 6 (blk) | GND | GND | + +#### SWITCH + +| Pin | Сигнал | Вольтаж | +| -------------------------- | -------------------------------------------------------- | --------------------- | +| 1 (red) | VCC | +3.3V | +| 2 (blk) | !IO_LED_SAFETY | GND | +| 3 (blk) | SAFETY | GND | + +## Налаштування послідовного порту + +| UART | Пристрій | Порт | +| ------ | ---------- | --------------------------------------------- | +| UART1 | /dev/ttyS0 | IO debug | +| USART2 | /dev/ttyS1 | TELEM1 (керування потоком) | +| USART3 | /dev/ttyS2 | TELEM2 (керування потоком) | +| UART4 | | | +| UART7 | CONSOLE | | +| UART8 | SERIAL4 | | + + ## Налаштування послідовного порту diff --git a/docs/uk/flight_controller/pixhawk6c_mini.md b/docs/uk/flight_controller/pixhawk6c_mini.md index ff72834af1..b15d65cefd 100644 --- a/docs/uk/flight_controller/pixhawk6c_mini.md +++ b/docs/uk/flight_controller/pixhawk6c_mini.md @@ -100,8 +100,8 @@ Order from [Holybro](https://holybro.com/products/pixhawk-6c-mini). ## Зборка/інсталяція -Порт Pixhawk 4 Mini дуже схожий з портом Pixhawk 6C Mini. -Please refer to the [Pixhawk 4 Mini Wiring Quick Start](../assembly/quick_start_pixhawk4_mini.md) as it provides instructions on how to assemble required/important peripherals including GPS, Power Module etc. +The Pixhawk 6C Mini's ports are very similar to the Pixhawk 4 Mini's ports. +Please refer to the [Pixhawk 4 Mini Wiring Quick Start](https://docs.px4.io/v1.16/en/assembly/quick_start_pixhawk4_mini) (Discontinued) as it provides instructions on how to assemble required/important peripherals including GPS, Power Module etc. ## Схема розташування виводів @@ -206,7 +206,7 @@ The complete set of supported configurations can be seen in the [Airframes Refer ## Дивіться також - [Holybro Docs](https://docs.holybro.com/) (Holybro) -- [Pixhawk 4 Mini Wiring Quick Start](../assembly/quick_start_pixhawk4_mini.md) (and [Pixhawk 6C Wiring QuickStart](../assembly/quick_start_pixhawk6c.md)) +- [Pixhawk 6C Wiring QuickStart](../assembly/quick_start_pixhawk6c.md) - [PM02 Power Module](../power_module/holybro_pm02.md) - [PM06 Power Module](../power_module/holybro_pm06_pixhawk4mini_power_module.md) - [PM07 Power Module](../power_module/holybro_pm07_pixhawk4_power_module.md) diff --git a/docs/uk/frames_multicopter/qav_r_5_kiss_esc_racer.md b/docs/uk/frames_multicopter/qav_r_5_kiss_esc_racer.md index be4e67f954..1ceb6856a9 100644 --- a/docs/uk/frames_multicopter/qav_r_5_kiss_esc_racer.md +++ b/docs/uk/frames_multicopter/qav_r_5_kiss_esc_racer.md @@ -169,7 +169,7 @@ As we have no ground or positive BEC voltage connections we connect our `PWM` ES ### GPS / Зовнішній магнітометр Я взяв кабель GPS, який підходить до роз'єму використаного GPS і поставляється ​​з набором Pixracer. -Sadly the pin assignment was completely wrong and I rewired the connector again using tweezers according to the [3DR Pixhawk Mini user manual](../flight_controller/pixhawk_mini.md#connector-pin-assignments-pin-outs) GPS port. +Sadly the pin assignment was completely wrong and I rewired the connector again using tweezers according to the [3DR Pixhawk Mini user manual](https://docs.px4.io/v1.16/en/flight_controller/pixhawk_mini#connector-pin-assignments-pin-outs) GPS port. #### Pixracer GPS/I2C Port diff --git a/docs/uk/mavlink/index.md b/docs/uk/mavlink/index.md index c6d4289039..35fdb6784b 100644 --- a/docs/uk/mavlink/index.md +++ b/docs/uk/mavlink/index.md @@ -14,6 +14,10 @@ It also links instructions for how you can add PX4 support for: - [Message Signing](../mavlink/message_signing.md) - [Protocols/Microservices](../mavlink/protocols.md) +:::warning +MAVLink messages are unauthenticated by default. Without [message signing](../mavlink/message_signing.md) enabled, any device that can send MAVLink messages to the vehicle can execute commands including shell access, file operations, and flight termination. Production deployments must enable signing and follow the [Security Hardening](../mavlink/security_hardening.md) guide. +::: + :::info We do not yet cover _command_ handling and sending, or how to implement your own microservices. ::: diff --git a/docs/uk/mavlink/security_hardening.md b/docs/uk/mavlink/security_hardening.md new file mode 100644 index 0000000000..ecdfab9227 --- /dev/null +++ b/docs/uk/mavlink/security_hardening.md @@ -0,0 +1,84 @@ +# MAVLink Security Hardening for Production Deployments + + + +MAVLink is an open communication protocol designed for lightweight, low-latency communication between drones and ground stations. +By default, all MAVLink messages are unauthenticated. +This is intentional for development and testing, but **production deployments must enable [message signing](message_signing.md)** to prevent unauthorized access. + +:::warning +Without message signing enabled, any device that can send MAVLink messages to the vehicle (via radio, network, or serial) can execute any command, including shell access, file operations, parameter changes, mission uploads, arming, and flight termination. +::: + +## What Is at Risk + +When MAVLink signing is not enabled, an attacker within communication range can: + +| Capability | MAVLink mechanism | +| ------------------------------------------- | ------------------------------------------------ | +| Execute shell commands | `SERIAL_CONTROL` with `SERIAL_CONTROL_DEV_SHELL` | +| Read, write, or delete files | MAVLink FTP protocol | +| Change any flight parameter | `PARAM_SET` / `PARAM_EXT_SET` | +| Upload or overwrite missions | Mission protocol | +| Arm or disarm motors | `MAV_CMD_COMPONENT_ARM_DISARM` | +| Terminate flight (crash) | `MAV_CMD_DO_FLIGHTTERMINATION` | +| Trigger emergency landing | Spoofed `BATTERY_STATUS` | +| Reboot the vehicle | `MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN` | + +All of these are standard MAVLink capabilities used by ground control stations. +Without signing, there is no distinction between a legitimate GCS and an unauthorized sender. + +## Hardening Checklist + +### 1. Enable Message Signing + +Message signing provides cryptographic authentication for all MAVLink communication. +See [Message Signing](message_signing.md) for full details. + +Steps: + +1. Connect the vehicle via **USB** (key provisioning only works over USB). +2. Provision a 32-byte secret key using the [SETUP_SIGNING](https://mavlink.io/en/messages/common.html#SETUP_SIGNING) message. +3. Set [MAV_SIGN_CFG](../advanced_config/parameter_reference.md#MAV_SIGN_CFG) to **1** (signing enabled on all links except USB) or **2** (signing on all links including USB). +4. Provision the same key on all ground control stations and companion computers that need to communicate with the vehicle. +5. Verify that unsigned messages from unknown sources are rejected. + +:::info +`MAV_SIGN_CFG=1` is recommended for most deployments. +This enforces signing on telemetry radios and network links while allowing unsigned access over USB for maintenance. +USB connections require physical access to the vehicle, which provides equivalent security to physical key access. +::: + +### 2. Secure Physical Access + +- Protect access to the SD card. The signing key is stored at `/mavlink/mavlink-signing-key.bin` and can be read or removed by anyone with physical access. +- USB connections bypass signing when `MAV_SIGN_CFG=1`. Ensure USB ports are not exposed in deployed configurations. + +### 3. Secure Network Links + +- Do not expose MAVLink UDP/TCP ports to untrusted networks or the internet. +- Place MAVLink communication links behind firewalls or VPNs. +- Segment MAVLink networks from business or public networks. +- When using companion computers, audit which network interfaces MAVLink is bound to. + +### 4. Understand the Limitations + +- **No encryption**: Message signing provides authentication and integrity, but messages are sent in plaintext. An eavesdropper can read telemetry and commands but cannot forge them. +- **Allowlisted messages**: A small set of [safety-critical messages](message_signing.md#unsigned-message-allowlist) (RADIO_STATUS, ADSB_VEHICLE, COLLISION) are always accepted unsigned. +- **Key management**: There is no automatic key rotation. Keys must be reprovisioned manually via USB if compromised. + +## Integrator Responsibility + +PX4 is open-source flight controller firmware used by manufacturers and system integrators to build commercial and custom drone platforms. + +Securing the communication links for a specific deployment is the responsibility of the system integrator. +Це включає: + +- Choosing appropriate radio hardware and link security +- Enabling and managing MAVLink message signing +- Restricting network access to MAVLink interfaces +- Applying firmware updates that address security issues +- Evaluating whether the default configuration meets the security requirements of the target application + +PX4 provides the tools for securing MAVLink communication. +Integrators must enable and configure them for their deployment context. diff --git a/docs/uk/middleware/dds_topics.md b/docs/uk/middleware/dds_topics.md index 0bde0ea3f4..17133ddb36 100644 --- a/docs/uk/middleware/dds_topics.md +++ b/docs/uk/middleware/dds_topics.md @@ -96,203 +96,203 @@ They are not build into the module, and hence are neither published or subscribe :::details See messages -- [EventV0](../msg_docs/EventV0.md) -- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md) -- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md) -- [UlogStreamAck](../msg_docs/UlogStreamAck.md) -- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md) -- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md) -- [PositionSetpoint](../msg_docs/PositionSetpoint.md) -- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md) -- [GimbalControls](../msg_docs/GimbalControls.md) -- [SystemPower](../msg_docs/SystemPower.md) -- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md) -- [EscReport](../msg_docs/EscReport.md) -- [IrlockReport](../msg_docs/IrlockReport.md) -- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md) -- [GpioConfig](../msg_docs/GpioConfig.md) -- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md) -- [GpioRequest](../msg_docs/GpioRequest.md) -- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md) -- [ParameterUpdate](../msg_docs/ParameterUpdate.md) -- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md) -- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md) -- [MissionResult](../msg_docs/MissionResult.md) -- [GeofenceResult](../msg_docs/GeofenceResult.md) -- [OrbTestLarge](../msg_docs/OrbTestLarge.md) -- [LandingGearWheel](../msg_docs/LandingGearWheel.md) -- [MavlinkLog](../msg_docs/MavlinkLog.md) -- [DebugValue](../msg_docs/DebugValue.md) -- [PwmInput](../msg_docs/PwmInput.md) -- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md) -- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md) -- [PowerButtonState](../msg_docs/PowerButtonState.md) -- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md) -- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md) -- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md) -- [VehicleRoi](../msg_docs/VehicleRoi.md) -- [SensorHygrometer](../msg_docs/SensorHygrometer.md) -- [WheelEncoders](../msg_docs/WheelEncoders.md) -- [UlogStream](../msg_docs/UlogStream.md) -- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md) -- [ButtonEvent](../msg_docs/ButtonEvent.md) -- [RoverRateStatus](../msg_docs/RoverRateStatus.md) -- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md) -- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md) -- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md) -- [NavigatorStatus](../msg_docs/NavigatorStatus.md) -- [GainCompression](../msg_docs/GainCompression.md) -- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md) -- [RcParameterMap](../msg_docs/RcParameterMap.md) -- [DeviceInformation](../msg_docs/DeviceInformation.md) -- [Rpm](../msg_docs/Rpm.md) -- [NeuralControl](../msg_docs/NeuralControl.md) -- [Event](../msg_docs/Event.md) -- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md) -- [PpsCapture](../msg_docs/PpsCapture.md) -- [FollowTarget](../msg_docs/FollowTarget.md) -- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md) -- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md) -- [TaskStackInfo](../msg_docs/TaskStackInfo.md) -- [CameraTrigger](../msg_docs/CameraTrigger.md) -- [Airspeed](../msg_docs/Airspeed.md) -- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md) -- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md) -- [ActuatorTest](../msg_docs/ActuatorTest.md) -- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md) -- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md) -- [LedControl](../msg_docs/LedControl.md) -- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md) -- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md) -- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md) -- [MagWorkerData](../msg_docs/MagWorkerData.md) -- [Px4ioStatus](../msg_docs/Px4ioStatus.md) -- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md) -- [DebugKeyValue](../msg_docs/DebugKeyValue.md) -- [DebugVect](../msg_docs/DebugVect.md) -- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md) -- [CellularStatus](../msg_docs/CellularStatus.md) -- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md) -- [QshellRetval](../msg_docs/QshellRetval.md) -- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md) -- [SensorBaro](../msg_docs/SensorBaro.md) -- [DatamanResponse](../msg_docs/DatamanResponse.md) -- [OrbTestMedium](../msg_docs/OrbTestMedium.md) -- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md) -- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md) -- [GpsInjectData](../msg_docs/GpsInjectData.md) -- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md) -- [SensorUwb](../msg_docs/SensorUwb.md) -- [CameraCapture](../msg_docs/CameraCapture.md) -- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md) -- [DatamanRequest](../msg_docs/DatamanRequest.md) -- [GpioIn](../msg_docs/GpioIn.md) -- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md) -- [Mission](../msg_docs/Mission.md) -- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md) -- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md) -- [DebugArray](../msg_docs/DebugArray.md) -- [GeneratorStatus](../msg_docs/GeneratorStatus.md) -- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) -- [SensorGyro](../msg_docs/SensorGyro.md) -- [InputRc](../msg_docs/InputRc.md) -- [AirspeedWind](../msg_docs/AirspeedWind.md) -- [LandingTargetPose](../msg_docs/LandingTargetPose.md) -- [OrbitStatus](../msg_docs/OrbitStatus.md) -- [Vtx](../msg_docs/Vtx.md) -- [LoggerStatus](../msg_docs/LoggerStatus.md) -- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md) -- [GeofenceStatus](../msg_docs/GeofenceStatus.md) -- [Gripper](../msg_docs/Gripper.md) -- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md) -- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md) -- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md) -- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md) -- [EstimatorStatus](../msg_docs/EstimatorStatus.md) -- [RaptorInput](../msg_docs/RaptorInput.md) -- [GpioOut](../msg_docs/GpioOut.md) -- [CameraStatus](../msg_docs/CameraStatus.md) -- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md) -- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md) -- [LogMessage](../msg_docs/LogMessage.md) -- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md) -- [RaptorStatus](../msg_docs/RaptorStatus.md) -- [SensorCorrection](../msg_docs/SensorCorrection.md) -- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md) -- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md) -- [OrbTest](../msg_docs/OrbTest.md) -- [SensorGyroFft](../msg_docs/SensorGyroFft.md) -- [PowerMonitor](../msg_docs/PowerMonitor.md) -- [VehicleConstraints](../msg_docs/VehicleConstraints.md) -- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md) -- [SensorAirflow](../msg_docs/SensorAirflow.md) -- [TecsStatus](../msg_docs/TecsStatus.md) -- [EstimatorBias](../msg_docs/EstimatorBias.md) -- [SensorMag](../msg_docs/SensorMag.md) -- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md) -- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md) -- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md) -- [ActuatorArmed](../msg_docs/ActuatorArmed.md) -- [ActionRequest](../msg_docs/ActionRequest.md) -- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) -- [MountOrientation](../msg_docs/MountOrientation.md) -- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md) -- [QshellReq](../msg_docs/QshellReq.md) -- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md) -- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md) -- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md) -- [EscStatus](../msg_docs/EscStatus.md) -- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md) -- [Cpuload](../msg_docs/Cpuload.md) -- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md) -- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md) -- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md) -- [DifferentialPressure](../msg_docs/DifferentialPressure.md) -- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md) -- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md) -- [SensorsStatus](../msg_docs/SensorsStatus.md) -- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md) -- [SensorAccel](../msg_docs/SensorAccel.md) -- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md) -- [HomePositionV0](../msg_docs/HomePositionV0.md) -- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md) - [FigureEightStatus](../msg_docs/FigureEightStatus.md) -- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md) -- [HealthReport](../msg_docs/HealthReport.md) -- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md) -- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md) -- [SensorSelection](../msg_docs/SensorSelection.md) -- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md) -- [FuelTankStatus](../msg_docs/FuelTankStatus.md) -- [RtlStatus](../msg_docs/RtlStatus.md) -- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md) -- [BatteryInfo](../msg_docs/BatteryInfo.md) -- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md) -- [AdcReport](../msg_docs/AdcReport.md) -- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md) -- [TakeoffStatus](../msg_docs/TakeoffStatus.md) -- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md) -- [VehicleImu](../msg_docs/VehicleImu.md) -- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md) -- [HeaterStatus](../msg_docs/HeaterStatus.md) -- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md) -- [TuneControl](../msg_docs/TuneControl.md) -- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md) -- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md) -- [VehicleAirData](../msg_docs/VehicleAirData.md) -- [RadioStatus](../msg_docs/RadioStatus.md) -- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md) -- [VelocityLimits](../msg_docs/VelocityLimits.md) -- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md) -- [EstimatorStates](../msg_docs/EstimatorStates.md) -- [Ping](../msg_docs/Ping.md) -- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md) -- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md) -- [GpsDump](../msg_docs/GpsDump.md) +- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md) +- [RoverRateStatus](../msg_docs/RoverRateStatus.md) +- [ButtonEvent](../msg_docs/ButtonEvent.md) +- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md) +- [GpsInjectData](../msg_docs/GpsInjectData.md) - [SensorTemp](../msg_docs/SensorTemp.md) -- [RcChannels](../msg_docs/RcChannels.md) -- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md) -- [SatelliteInfo](../msg_docs/SatelliteInfo.md) +- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md) +- [SensorUwb](../msg_docs/SensorUwb.md) +- [GpioRequest](../msg_docs/GpioRequest.md) +- [OrbTestLarge](../msg_docs/OrbTestLarge.md) +- [VehicleRoi](../msg_docs/VehicleRoi.md) +- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md) +- [OrbTest](../msg_docs/OrbTest.md) - [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md) +- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md) +- [WheelEncoders](../msg_docs/WheelEncoders.md) +- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md) +- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md) +- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md) +- [ActuatorTest](../msg_docs/ActuatorTest.md) +- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md) +- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md) +- [Mission](../msg_docs/Mission.md) +- [EventV0](../msg_docs/EventV0.md) +- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md) +- [PwmInput](../msg_docs/PwmInput.md) +- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md) +- [TuneControl](../msg_docs/TuneControl.md) +- [CameraStatus](../msg_docs/CameraStatus.md) +- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md) +- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md) +- [SystemPower](../msg_docs/SystemPower.md) +- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md) +- [VehicleConstraints](../msg_docs/VehicleConstraints.md) +- [SensorGyroFft](../msg_docs/SensorGyroFft.md) +- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md) +- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md) +- [HealthReport](../msg_docs/HealthReport.md) +- [DebugKeyValue](../msg_docs/DebugKeyValue.md) +- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md) +- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md) +- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md) +- [FollowTarget](../msg_docs/FollowTarget.md) +- [DebugVect](../msg_docs/DebugVect.md) +- [NavigatorStatus](../msg_docs/NavigatorStatus.md) +- [DatamanRequest](../msg_docs/DatamanRequest.md) +- [Vtx](../msg_docs/Vtx.md) +- [RcParameterMap](../msg_docs/RcParameterMap.md) +- [DifferentialPressure](../msg_docs/DifferentialPressure.md) +- [QshellReq](../msg_docs/QshellReq.md) +- [CameraTrigger](../msg_docs/CameraTrigger.md) +- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md) +- [DatamanResponse](../msg_docs/DatamanResponse.md) +- [HeaterStatus](../msg_docs/HeaterStatus.md) +- [AdcReport](../msg_docs/AdcReport.md) +- [GeofenceResult](../msg_docs/GeofenceResult.md) +- [GimbalControls](../msg_docs/GimbalControls.md) +- [SensorBaro](../msg_docs/SensorBaro.md) +- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md) +- [RaptorStatus](../msg_docs/RaptorStatus.md) +- [LedControl](../msg_docs/LedControl.md) +- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md) +- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md) +- [IrlockReport](../msg_docs/IrlockReport.md) +- [RadioStatus](../msg_docs/RadioStatus.md) +- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md) +- [Airspeed](../msg_docs/Airspeed.md) +- [DeviceInformation](../msg_docs/DeviceInformation.md) +- [Px4ioStatus](../msg_docs/Px4ioStatus.md) +- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md) +- [MagWorkerData](../msg_docs/MagWorkerData.md) +- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md) +- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md) +- [PowerMonitor](../msg_docs/PowerMonitor.md) +- [RcChannels](../msg_docs/RcChannels.md) +- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md) +- [Rpm](../msg_docs/Rpm.md) +- [VehicleImu](../msg_docs/VehicleImu.md) +- [Gripper](../msg_docs/Gripper.md) +- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md) +- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md) +- [PowerButtonState](../msg_docs/PowerButtonState.md) +- [Ping](../msg_docs/Ping.md) +- [TakeoffStatus](../msg_docs/TakeoffStatus.md) +- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md) +- [GeneratorStatus](../msg_docs/GeneratorStatus.md) +- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md) +- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md) +- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md) +- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md) +- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md) +- [OrbTestMedium](../msg_docs/OrbTestMedium.md) +- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md) +- [DebugArray](../msg_docs/DebugArray.md) +- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md) +- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md) +- [SatelliteInfo](../msg_docs/SatelliteInfo.md) +- [RaptorInput](../msg_docs/RaptorInput.md) +- [NeuralControl](../msg_docs/NeuralControl.md) +- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md) +- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md) +- [VehicleAirData](../msg_docs/VehicleAirData.md) +- [SensorGyro](../msg_docs/SensorGyro.md) +- [GainCompression](../msg_docs/GainCompression.md) +- [EscStatus](../msg_docs/EscStatus.md) +- [ParameterUpdate](../msg_docs/ParameterUpdate.md) +- [LogMessage](../msg_docs/LogMessage.md) +- [RtlStatus](../msg_docs/RtlStatus.md) +- [SensorAirflow](../msg_docs/SensorAirflow.md) +- [GeofenceStatus](../msg_docs/GeofenceStatus.md) +- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md) +- [GpsDump](../msg_docs/GpsDump.md) +- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md) +- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md) +- [SensorMag](../msg_docs/SensorMag.md) +- [LandingTargetPose](../msg_docs/LandingTargetPose.md) +- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md) +- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md) +- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md) +- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md) +- [AirspeedWind](../msg_docs/AirspeedWind.md) +- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md) +- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md) +- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md) +- [MountOrientation](../msg_docs/MountOrientation.md) +- [ActionRequest](../msg_docs/ActionRequest.md) +- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md) +- [TecsStatus](../msg_docs/TecsStatus.md) +- [UlogStream](../msg_docs/UlogStream.md) +- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) +- [EscReport](../msg_docs/EscReport.md) +- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md) +- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md) +- [SensorHygrometer](../msg_docs/SensorHygrometer.md) +- [LandingGearWheel](../msg_docs/LandingGearWheel.md) +- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md) +- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md) +- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md) +- [FuelTankStatus](../msg_docs/FuelTankStatus.md) +- [TaskStackInfo](../msg_docs/TaskStackInfo.md) +- [ActuatorArmed](../msg_docs/ActuatorArmed.md) +- [HomePositionV0](../msg_docs/HomePositionV0.md) +- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md) +- [Cpuload](../msg_docs/Cpuload.md) +- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md) +- [InputRc](../msg_docs/InputRc.md) +- [GpioConfig](../msg_docs/GpioConfig.md) +- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md) +- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md) +- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md) +- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md) +- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md) +- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md) +- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md) +- [CameraCapture](../msg_docs/CameraCapture.md) +- [MavlinkLog](../msg_docs/MavlinkLog.md) +- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md) +- [SensorsStatus](../msg_docs/SensorsStatus.md) +- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md) +- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md) +- [EstimatorStatus](../msg_docs/EstimatorStatus.md) +- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md) +- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md) +- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md) +- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md) +- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md) +- [SensorCorrection](../msg_docs/SensorCorrection.md) +- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md) +- [OrbitStatus](../msg_docs/OrbitStatus.md) +- [GpioOut](../msg_docs/GpioOut.md) +- [GpioIn](../msg_docs/GpioIn.md) +- [DebugValue](../msg_docs/DebugValue.md) +- [PositionSetpoint](../msg_docs/PositionSetpoint.md) +- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md) +- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md) +- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md) +- [SensorSelection](../msg_docs/SensorSelection.md) +- [LoggerStatus](../msg_docs/LoggerStatus.md) +- [EstimatorBias](../msg_docs/EstimatorBias.md) +- [BatteryInfo](../msg_docs/BatteryInfo.md) +- [EstimatorStates](../msg_docs/EstimatorStates.md) +- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md) +- [UlogStreamAck](../msg_docs/UlogStreamAck.md) +- [CellularStatus](../msg_docs/CellularStatus.md) +- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) +- [SensorAccel](../msg_docs/SensorAccel.md) +- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md) +- [PpsCapture](../msg_docs/PpsCapture.md) +- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md) +- [VelocityLimits](../msg_docs/VelocityLimits.md) +- [Event](../msg_docs/Event.md) +- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md) +- [QshellRetval](../msg_docs/QshellRetval.md) +- [MissionResult](../msg_docs/MissionResult.md) +- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md) +- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md) +- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md) ::: diff --git a/docs/uk/msg_docs/ActuatorMotors.md b/docs/uk/msg_docs/ActuatorMotors.md index 6a5e8c0fc0..bf5bc2f7fc 100644 --- a/docs/uk/msg_docs/ActuatorMotors.md +++ b/docs/uk/msg_docs/ActuatorMotors.md @@ -22,11 +22,11 @@ Published by the vehicle's allocation and consumed by the ESC protocol drivers e ## Constants -| Назва | Тип | Значення | Опис | -| --------------------------------------------------------------------------------------------------------- | -------- | -------- | ---- | -| MESSAGE_VERSION | `uint32` | 0 | | -| ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | | -| NUM_CONTROLS | `uint8` | 12 | | +| Назва | Тип | Значення | Опис | +| --------------------------------------------------------------------------------------------------------- | -------- | -------- | -------------------------------------------------------------------------------------- | +| MESSAGE_VERSION | `uint32` | 0 | | +| ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | output_functions.yaml Motor.start | +| NUM_CONTROLS | `uint8` | 12 | output_functions.yaml Motor.count | ## Source Message @@ -48,9 +48,9 @@ uint64 timestamp_sample # [us] Sampling timestamp of the data this control respo uint16 reversible_flags # [-] Bitset indicating which motors are configured to be reversible -uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 +uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 # output_functions.yaml Motor.start -uint8 NUM_CONTROLS = 12 +uint8 NUM_CONTROLS = 12 # output_functions.yaml Motor.count 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) ``` diff --git a/docs/uk/msg_docs/EscReport.md b/docs/uk/msg_docs/EscReport.md index abcf887ee1..9416b12b4f 100644 --- a/docs/uk/msg_docs/EscReport.md +++ b/docs/uk/msg_docs/EscReport.md @@ -29,17 +29,7 @@ pageClass: is-wide-page | Назва | Тип | Значення | Опис | | ------------------------------------------------------------------------------------------------------------------------------------------ | ------- | -------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | | ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | | -| ACTUATOR_FUNCTION_MOTOR2 | `uint8` | 102 | | -| ACTUATOR_FUNCTION_MOTOR3 | `uint8` | 103 | | -| ACTUATOR_FUNCTION_MOTOR4 | `uint8` | 104 | | -| ACTUATOR_FUNCTION_MOTOR5 | `uint8` | 105 | | -| ACTUATOR_FUNCTION_MOTOR6 | `uint8` | 106 | | -| ACTUATOR_FUNCTION_MOTOR7 | `uint8` | 107 | | -| ACTUATOR_FUNCTION_MOTOR8 | `uint8` | 108 | | -| ACTUATOR_FUNCTION_MOTOR9 | `uint8` | 109 | | -| ACTUATOR_FUNCTION_MOTOR10 | `uint8` | 110 | | -| ACTUATOR_FUNCTION_MOTOR11 | `uint8` | 111 | | -| ACTUATOR_FUNCTION_MOTOR12 | `uint8` | 112 | | +| ACTUATOR_FUNCTION_MOTOR_MAX | `uint8` | 112 | output_functions.yaml Motor.start + Motor.count - 1 | | FAILURE_OVER_CURRENT | `uint8` | 0 | (1 << 0) | | FAILURE_OVER_VOLTAGE | `uint8` | 1 | (1 << 1) | | FAILURE_MOTOR_OVER_TEMPERATURE | `uint8` | 2 | (1 << 2) | @@ -73,19 +63,8 @@ uint8 esc_cmdcount # Counter of number of commands 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 +uint8 ACTUATOR_FUNCTION_MOTOR_MAX = 112 # output_functions.yaml Motor.start + Motor.count - 1 uint16 failures # Bitmask to indicate the internal ESC faults int8 esc_power # Applied power 0-100 in % (negative values reserved) diff --git a/docs/uk/msg_docs/EstimatorStatusFlags.md b/docs/uk/msg_docs/EstimatorStatusFlags.md index 8e840460b8..3a52606275 100644 --- a/docs/uk/msg_docs/EstimatorStatusFlags.md +++ b/docs/uk/msg_docs/EstimatorStatusFlags.md @@ -61,6 +61,8 @@ pageClass: is-wide-page | cs_gnss_fault | `bool` | | | 45 - true if GNSS true if GNSS measurements (lat, lon, vel) have been declared faulty | | cs_yaw_manual | `bool` | | | 46 - true if yaw has been set manually | | cs_gnss_hgt_fault | `bool` | | | 47 - true if GNSS true if GNSS measurements (alt) have been declared faulty | +| cs_in_transition | `bool` | | | 48 - true if the vehicle is in vtol transition | +| cs_heading_observable | `bool` | | | 49 - true when heading is observable | | fault_status_changes | `uint32` | | | number of filter fault status (fs) changes | | fs_bad_mag_x | `bool` | | | 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error | | fs_bad_mag_y | `bool` | | | 1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error | @@ -136,6 +138,8 @@ bool cs_gnss_vel # 44 - true if GNSS velocity measurement fusion bool cs_gnss_fault # 45 - true if GNSS true if GNSS measurements (lat, lon, vel) have been declared faulty bool cs_yaw_manual # 46 - true if yaw has been set manually bool cs_gnss_hgt_fault # 47 - true if GNSS true if GNSS measurements (alt) have been declared faulty +bool cs_in_transition # 48 - true if the vehicle is in vtol transition +bool cs_heading_observable # 49 - true when heading is observable # fault status uint32 fault_status_changes # number of filter fault status (fs) changes diff --git a/docs/uk/power_module/holybro_pm06_pixhawk4mini_power_module.md b/docs/uk/power_module/holybro_pm06_pixhawk4mini_power_module.md index fe450ab525..8ac72c2c2f 100644 --- a/docs/uk/power_module/holybro_pm06_pixhawk4mini_power_module.md +++ b/docs/uk/power_module/holybro_pm06_pixhawk4mini_power_module.md @@ -26,6 +26,8 @@ ## Проведення/Підключення -Wiring and connection examples can be found in: [Pixhawk 4 Mini > Power](../assembly/quick_start_pixhawk4_mini.md#power). +![pm06_pin_map](../../assets/hardware/power_module/holybro_pm06/pm06_pin_map.jpg) - +This image shows the wiring and connections for the [Pixhawk 4 Mini](https://docs.px4.io/v1.16/en/assembly/quick_start_pixhawk4_mini#power) (discontinued). + +![Pixhawk 4 - Power Management Board](../../assets/hardware/power_module/holybro_pm06/pixhawk4mini_power_management.png)