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Move PX4 Guide source into /docs (#24490)
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
Hamish Willee
co-authored by
Ramon Roche
Ramon Roche
parent
8e6d2ebe4a
commit
88d623bedb
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# ActionRequest (повідомлення UORB)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActionRequest.msg)
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```c
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uint64 timestamp # time since system start (microseconds)
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uint8 action # what action is requested
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uint8 ACTION_DISARM = 0
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uint8 ACTION_ARM = 1
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uint8 ACTION_TOGGLE_ARMING = 2
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uint8 ACTION_UNKILL = 3
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uint8 ACTION_KILL = 4
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uint8 ACTION_SWITCH_MODE = 5
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uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6
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uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7
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uint8 source # how the request was triggered
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uint8 SOURCE_STICK_GESTURE = 0
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uint8 SOURCE_RC_SWITCH = 1
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uint8 SOURCE_RC_BUTTON = 2
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uint8 SOURCE_RC_MODE_SLOT = 3
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uint8 mode # for ACTION_SWITCH_MODE what mode is requested according to vehicle_status_s::NAVIGATION_STATE_*
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```
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# ActuatorArmed (повідомлення UORB)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorArmed.msg)
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```c
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uint64 timestamp # time since system start (microseconds)
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bool armed # Set to true if system is armed
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bool prearmed # Set to true if the actuator safety is disabled but motors are not armed
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bool ready_to_arm # Set to true if system is ready to be armed
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bool lockdown # Set to true if actuators are forced to being disabled (due to emergency or HIL)
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bool manual_lockdown # Set to true if manual throttle kill switch is engaged
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bool force_failsafe # Set to true if the actuators are forced to the failsafe position
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bool in_esc_calibration_mode # IO/FMU should ignore messages from the actuator controls topics
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```
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@@ -0,0 +1,12 @@
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# ActuatorControlsStatus (повідомлення UORB)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorControlsStatus.msg)
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```c
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uint64 timestamp # time since system start (microseconds)
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float32[3] control_power
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# TOPICS actuator_controls_status_0 actuator_controls_status_1
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```
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# ActuatorMotors (повідомлення UORB)
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Повідомлення про керування двигуном
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg)
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```c
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# Motor control message
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
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uint16 reversible_flags # bitset 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], where 1 means maximum positive thrust,
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# -1 maximum negative (if not supported by the output, <0 maps to NaN),
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# and NaN maps to disarmed (stop the motors)
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```
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@@ -0,0 +1,15 @@
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# ActuatorOutputs (повідомлення UORB)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorOutputs.msg)
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```c
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uint64 timestamp # time since system start (microseconds)
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uint8 NUM_ACTUATOR_OUTPUTS = 16
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uint8 NUM_ACTUATOR_OUTPUT_GROUPS = 4 # for sanity checking
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uint32 noutputs # valid outputs
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float32[16] output # output data, in natural output units
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# actuator_outputs_sim is used for SITL, HITL & SIH (with an output range of [-1, 1])
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# TOPICS actuator_outputs actuator_outputs_sim actuator_outputs_debug
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```
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@@ -0,0 +1,20 @@
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# ActuatorServos (повідомлення UORB)
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Повідомлення про керування сервоприводом
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorServos.msg)
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```c
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# Servo control message
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
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uint8 NUM_CONTROLS = 8
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float32[8] control # range: [-1, 1], where 1 means maximum positive position,
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# -1 maximum negative,
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# and NaN maps to disarmed
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```
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@@ -0,0 +1,14 @@
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# ActuatorServosTrim (повідомлення UORB)
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Підлаштування сервоприводів, що додаються як зміщення до виходів сервоприводів
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorServosTrim.msg)
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```c
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# Servo trims, added as offset to servo outputs
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uint64 timestamp # time since system start (microseconds)
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uint8 NUM_CONTROLS = 8
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float32[8] trim # range: [-1, 1]
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```
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# ActuatorTest (повідомлення UORB)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorTest.msg)
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```c
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uint64 timestamp # time since system start (microseconds)
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# Topic to test individual actuator output functions
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uint8 ACTION_RELEASE_CONTROL = 0 # exit test mode for the given function
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uint8 ACTION_DO_CONTROL = 1 # enable actuator test mode
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uint8 FUNCTION_MOTOR1 = 101
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uint8 MAX_NUM_MOTORS = 12
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uint8 FUNCTION_SERVO1 = 201
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uint8 MAX_NUM_SERVOS = 8
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uint8 action # one of ACTION_*
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uint16 function # actuator output function
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float32 value # range: [-1, 1], where 1 means maximum positive output,
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# 0 to center servos or minimum motor thrust,
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# -1 maximum negative (if not supported by the motors, <0 maps to NaN),
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# and NaN maps to disarmed (stop the motors)
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uint32 timeout_ms # timeout in ms after which to exit test mode (if 0, do not time out)
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uint8 ORB_QUEUE_LENGTH = 16 # >= MAX_NUM_MOTORS to support code in esc_calibration
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```
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# AdcReport (повідомлення UORB)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AdcReport.msg)
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```c
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uint64 timestamp # time since system start (microseconds)
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uint32 device_id # unique device ID for the sensor that does not change between power cycles
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int16[12] channel_id # ADC channel IDs, negative for non-existent, TODO: should be kept same as array index
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int32[12] raw_data # ADC channel raw value, accept negative value, valid if channel ID is positive
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uint32 resolution # ADC channel resolution
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float32 v_ref # ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution)
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```
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@@ -0,0 +1,15 @@
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# Airspeed (повідомлення UORB)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Airspeed.msg)
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```c
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample
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float32 indicated_airspeed_m_s # indicated airspeed in m/s
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float32 true_airspeed_m_s # true filtered airspeed in m/s
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float32 confidence # confidence value from 0 to 1 for this sensor
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```
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# AirspeedValidated (повідомлення UORB)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AirspeedValidated.msg)
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```c
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uint64 timestamp # time since system start (microseconds)
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float32 indicated_airspeed_m_s # indicated airspeed in m/s (IAS), set to NAN if invalid
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float32 calibrated_airspeed_m_s # calibrated airspeed in m/s (CAS, accounts for instrumentation errors), set to NAN if invalid
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float32 true_airspeed_m_s # true filtered airspeed in m/s (TAS), set to NAN if invalid
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float32 calibrated_ground_minus_wind_m_s # CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
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float32 true_ground_minus_wind_m_s # TAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
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bool airspeed_sensor_measurement_valid # True if data from at least one airspeed sensor is declared valid.
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int8 selected_airspeed_index # 1-3: airspeed sensor index, 0: groundspeed-windspeed, -1: airspeed invalid
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float32 airspeed_derivative_filtered # filtered indicated airspeed derivative [m/s/s]
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float32 throttle_filtered # filtered fixed-wing throttle [-]
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float32 pitch_filtered # filtered pitch [rad]
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```
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# AirspeedWind (повідомлення UORB)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AirspeedWind.msg)
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```c
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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float32 windspeed_north # Wind component in north / X direction (m/sec)
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float32 windspeed_east # Wind component in east / Y direction (m/sec)
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float32 variance_north # Wind estimate error variance in north / X direction (m/sec)**2 - set to zero (no uncertainty) if not estimated
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float32 variance_east # Wind estimate error variance in east / Y direction (m/sec)**2 - set to zero (no uncertainty) if not estimated
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float32 tas_innov # True airspeed innovation
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float32 tas_innov_var # True airspeed innovation variance
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float32 tas_scale_raw # Estimated true airspeed scale factor (not validated)
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float32 tas_scale_raw_var # True airspeed scale factor variance
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float32 tas_scale_validated # Estimated true airspeed scale factor after validation
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float32 beta_innov # Sideslip measurement innovation
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float32 beta_innov_var # Sideslip measurement innovation variance
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uint8 source # source of wind estimate
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uint8 SOURCE_AS_BETA_ONLY = 0 # wind estimate only based on synthetic sideslip fusion
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uint8 SOURCE_AS_SENSOR_1 = 1 # combined synthetic sideslip and airspeed fusion (data from first airspeed sensor)
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uint8 SOURCE_AS_SENSOR_2 = 2 # combined synthetic sideslip and airspeed fusion (data from second airspeed sensor)
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uint8 SOURCE_AS_SENSOR_3 = 3 # combined synthetic sideslip and airspeed fusion (data from third airspeed sensor)
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```
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# ArmingCheckReply (повідомлення UORB)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg)
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```c
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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uint8 request_id
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uint8 registration_id
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uint8 HEALTH_COMPONENT_INDEX_NONE = 0
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uint8 health_component_index # HEALTH_COMPONENT_INDEX_*
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bool health_component_is_present
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bool health_component_warning
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bool health_component_error
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bool can_arm_and_run # whether arming is possible, and if it's a navigation mode, if it can run
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uint8 num_events
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Event[5] events
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# Mode requirements
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bool mode_req_angular_velocity
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bool mode_req_attitude
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bool mode_req_local_alt
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bool mode_req_local_position
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bool mode_req_local_position_relaxed
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bool mode_req_global_position
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bool mode_req_mission
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bool mode_req_home_position
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bool mode_req_prevent_arming
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bool mode_req_manual_control
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uint8 ORB_QUEUE_LENGTH = 4
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```
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# ArmingCheckRequest (повідомлення UORB)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg)
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```c
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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# broadcast message to request all registered arming checks to be reported
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uint8 request_id
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```
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@@ -0,0 +1,42 @@
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# AutotuneAttitudeControlStatus (повідомлення UORB)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AutotuneAttitudeControlStatus.msg)
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```c
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uint64 timestamp # time since system start (microseconds)
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float32[5] coeff # coefficients of the identified discrete-time model
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float32[5] coeff_var # coefficients' variance of the identified discrete-time model
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float32 fitness # fitness of the parameter estimate
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float32 innov
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float32 dt_model
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float32 kc
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float32 ki
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float32 kd
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float32 kff
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float32 att_p
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float32[3] rate_sp
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float32 u_filt
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float32 y_filt
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uint8 STATE_IDLE = 0
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uint8 STATE_INIT = 1
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uint8 STATE_ROLL = 2
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uint8 STATE_ROLL_PAUSE = 3
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uint8 STATE_PITCH = 4
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uint8 STATE_PITCH_PAUSE = 5
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uint8 STATE_YAW = 6
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uint8 STATE_YAW_PAUSE = 7
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uint8 STATE_VERIFICATION = 8
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uint8 STATE_APPLY = 9
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uint8 STATE_TEST = 10
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uint8 STATE_COMPLETE = 11
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uint8 STATE_FAIL = 12
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uint8 STATE_WAIT_FOR_DISARM = 13
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uint8 state
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```
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@@ -0,0 +1,81 @@
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# BatteryStatus (повідомлення UORB)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/BatteryStatus.msg)
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```c
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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bool connected # Whether or not a battery is connected, based on a voltage threshold
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float32 voltage_v # Battery voltage in volts, 0 if unknown
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float32 current_a # Battery current in amperes, -1 if unknown
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float32 current_average_a # Battery current average in amperes (for FW average in level flight), -1 if unknown
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float32 discharged_mah # Discharged amount in mAh, -1 if unknown
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float32 remaining # From 1 to 0, -1 if unknown
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float32 scale # Power scaling factor, >= 1, or -1 if unknown
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float32 time_remaining_s # predicted time in seconds remaining until battery is empty under previous averaged load, NAN if unknown
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float32 temperature # Temperature of the battery in degrees Celcius, NaN if unknown
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uint8 cell_count # Number of cells, 0 if unknown
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uint8 SOURCE_POWER_MODULE = 0
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uint8 SOURCE_EXTERNAL = 1
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uint8 SOURCE_ESCS = 2
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uint8 source # Battery source
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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 # actual capacity of the battery
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uint16 cycle_count # number of discharge cycles the battery has experienced
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uint16 average_time_to_empty # predicted remaining battery capacity based on the average rate of discharge in min
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uint16 serial_number # serial number of the battery pack
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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 # state of health. FullChargeCapacity/DesignCapacity, 0-100%.
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uint16 max_error # max error, expected margin of error in % in the state-of-charge calculation with a range of 1 to 100%
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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 # Battery individual cell voltages, 0 if unknown
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float32 max_cell_voltage_delta # 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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uint8 WARNING_NONE = 0 # no battery low voltage warning active
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uint8 WARNING_LOW = 1 # warning of low voltage
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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 # the 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 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 it as last element!
|
||||
|
||||
uint16 faults # Smart battery supply status/fault flags (bitmask) for health indication.
|
||||
uint8 warning # Current battery warning
|
||||
|
||||
uint8 MAX_INSTANCES = 4
|
||||
|
||||
float32 full_charge_capacity_wh # The compensated battery capacity
|
||||
float32 remaining_capacity_wh # The compensated battery capacity remaining
|
||||
uint16 over_discharge_count # Number of battery overdischarge
|
||||
float32 nominal_voltage # Nominal voltage of the battery pack
|
||||
|
||||
float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
|
||||
float32 ocv_estimate # [V] Open circuit voltage estimate
|
||||
float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate
|
||||
float32 volt_based_soc_estimate # [0, 1] Normalized volt based state of charge estimate
|
||||
float32 voltage_prediction # [V] Predicted voltage
|
||||
float32 prediction_error # [V] Prediction error
|
||||
float32 estimation_covariance_norm # Norm of the covariance matrix
|
||||
|
||||
```
|
||||
@@ -0,0 +1,15 @@
|
||||
# Buffer128 (повідомлення UORB)
|
||||
|
||||
[вихідний файл](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Buffer128.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint8 len # length of data
|
||||
uint32 MAX_BUFLEN = 128
|
||||
|
||||
uint8[128] data # data
|
||||
|
||||
# TOPICS voxl2_io_data
|
||||
|
||||
```
|
||||
@@ -0,0 +1,13 @@
|
||||
# ButtonEvent (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ButtonEvent.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
bool triggered # Set to true if the event is triggered
|
||||
|
||||
# TOPICS button_event safety_button
|
||||
|
||||
uint8 ORB_QUEUE_LENGTH = 2
|
||||
|
||||
```
|
||||
@@ -0,0 +1,16 @@
|
||||
# CameraCapture (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CameraCapture.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_utc # Capture time in UTC / GPS time
|
||||
uint32 seq # Image sequence number
|
||||
float64 lat # Latitude in degrees (WGS84)
|
||||
float64 lon # Longitude in degrees (WGS84)
|
||||
float32 alt # Altitude (AMSL)
|
||||
float32 ground_distance # Altitude above ground (meters)
|
||||
float32[4] q # Attitude of the camera relative to NED earth-fixed frame when using a gimbal, otherwise vehicle attitude
|
||||
int8 result # 1 for success, 0 for failure, -1 if camera does not provide feedback
|
||||
|
||||
```
|
||||
@@ -0,0 +1,11 @@
|
||||
# CameraStatus (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CameraStatus.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint8 active_sys_id # mavlink system id of the currently active camera
|
||||
uint8 active_comp_id # mavlink component id of currently active camera
|
||||
|
||||
```
|
||||
@@ -0,0 +1,14 @@
|
||||
# CameraTrigger (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CameraTrigger.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_utc # UTC timestamp
|
||||
|
||||
uint32 seq # Image sequence number
|
||||
bool feedback # Trigger feedback from camera
|
||||
|
||||
uint32 ORB_QUEUE_LENGTH = 2
|
||||
|
||||
```
|
||||
@@ -0,0 +1,13 @@
|
||||
# CanInterfaceStatus (повідомлення UORB)
|
||||
|
||||
[вихідний файл](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CanInterfaceStatus.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint8 interface
|
||||
|
||||
uint64 io_errors
|
||||
uint64 frames_tx
|
||||
uint64 frames_rx
|
||||
|
||||
```
|
||||
@@ -0,0 +1,35 @@
|
||||
# CellularStatus (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CellularStatus.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint8 CELLULAR_STATUS_FLAG_UNKNOWN=0 # State unknown or not reportable
|
||||
uint8 CELLULAR_STATUS_FLAG_FAILED=1 # velocity setpoint
|
||||
uint8 CELLULAR_STATUS_FLAG_INITIALIZING=2 # Modem is being initialized
|
||||
uint8 CELLULAR_STATUS_FLAG_LOCKED=3 # Modem is locked
|
||||
uint8 CELLULAR_STATUS_FLAG_DISABLED=4 # Modem is not enabled and is powered down
|
||||
uint8 CELLULAR_STATUS_FLAG_DISABLING=5 # Modem is currently transitioning to the CELLULAR_STATUS_FLAG_DISABLED state
|
||||
uint8 CELLULAR_STATUS_FLAG_ENABLING=6 # Modem is currently transitioning to the CELLULAR_STATUS_FLAG_ENABLED state
|
||||
uint8 CELLULAR_STATUS_FLAG_ENABLED=7 # Modem is enabled and powered on but not registered with a network provider and not available for data connections
|
||||
uint8 CELLULAR_STATUS_FLAG_SEARCHING=8 # Modem is searching for a network provider to register
|
||||
uint8 CELLULAR_STATUS_FLAG_REGISTERED=9 # Modem is registered with a network provider, and data connections and messaging may be available for use
|
||||
uint8 CELLULAR_STATUS_FLAG_DISCONNECTING=10 # Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated
|
||||
uint8 CELLULAR_STATUS_FLAG_CONNECTING=11 # Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered
|
||||
uint8 CELLULAR_STATUS_FLAG_CONNECTED=12 # One or more packet data bearers is active and connected
|
||||
|
||||
uint8 CELLULAR_NETWORK_FAILED_REASON_NONE=0 # No error
|
||||
uint8 CELLULAR_NETWORK_FAILED_REASON_UNKNOWN=1 # Error state is unknown
|
||||
uint8 CELLULAR_NETWORK_FAILED_REASON_SIM_MISSING=2 # SIM is required for the modem but missing
|
||||
uint8 CELLULAR_NETWORK_FAILED_REASON_SIM_ERROR=3 # SIM is available, but not usable for connection
|
||||
|
||||
uint16 status # Status bitmap 1: Roaming is active
|
||||
uint8 failure_reason #Failure reason when status in in CELLUAR_STATUS_FAILED
|
||||
uint8 type # Cellular network radio type 0: none 1: gsm 2: cdma 3: wcdma 4: lte
|
||||
uint8 quality # Cellular network RSSI/RSRP in dBm, absolute value
|
||||
uint16 mcc # Mobile country code. If unknown, set to: UINT16_MAX
|
||||
uint16 mnc # Mobile network code. If unknown, set to: UINT16_MAX
|
||||
uint16 lac # Location area code. If unknown, set to: 0
|
||||
|
||||
```
|
||||
@@ -0,0 +1,17 @@
|
||||
# CollisionConstraints (повідомлення UORB)
|
||||
|
||||
Обмеження локальної заданої точки в рамці NED
|
||||
встановлення чого-небудь на NaN означає, що обмеження не надано
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CollisionConstraints.msg)
|
||||
|
||||
```c
|
||||
# Local setpoint constraints in NED frame
|
||||
# setting something to NaN means that no limit is provided
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
float32[2] original_setpoint # velocities demanded
|
||||
float32[2] adapted_setpoint # velocities allowed
|
||||
|
||||
```
|
||||
@@ -0,0 +1,15 @@
|
||||
# CollisionReport (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/CollisionReport.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint8 src
|
||||
uint32 id
|
||||
uint8 action
|
||||
uint8 threat_level
|
||||
float32 time_to_minimum_delta
|
||||
float32 altitude_minimum_delta
|
||||
float32 horizontal_minimum_delta
|
||||
|
||||
```
|
||||
@@ -0,0 +1,30 @@
|
||||
# ConfigOverrides (повідомлення UORB)
|
||||
|
||||
Конфігуровані перевизначення (зовнішніми) режимами або виконавцями режимів
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ConfigOverrides.msg)
|
||||
|
||||
```c
|
||||
# Configurable overrides by (external) modes or mode executors
|
||||
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
bool disable_auto_disarm # Prevent the drone from automatically disarming after landing (if configured)
|
||||
|
||||
bool defer_failsafes # Defer all failsafes that can be deferred (until the flag is cleared)
|
||||
int16 defer_failsafes_timeout_s # Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout
|
||||
|
||||
|
||||
int8 SOURCE_TYPE_MODE = 0
|
||||
int8 SOURCE_TYPE_MODE_EXECUTOR = 1
|
||||
int8 source_type
|
||||
|
||||
uint8 source_id # ID depending on source_type
|
||||
|
||||
uint8 ORB_QUEUE_LENGTH = 4
|
||||
|
||||
# TOPICS config_overrides config_overrides_request
|
||||
|
||||
```
|
||||
@@ -0,0 +1,28 @@
|
||||
# ControlAllocatorStatus (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ControlAllocatorStatus.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
bool torque_setpoint_achieved # Boolean indicating whether the 3D torque setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved.
|
||||
float32[3] unallocated_torque # Unallocated torque. Equal to 0 if the setpoint was achieved.
|
||||
# Computed as: unallocated_torque = torque_setpoint - allocated_torque
|
||||
|
||||
bool thrust_setpoint_achieved # Boolean indicating whether the 3D thrust setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved.
|
||||
float32[3] unallocated_thrust # Unallocated thrust. Equal to 0 if the setpoint was achieved.
|
||||
# Computed as: unallocated_thrust = thrust_setpoint - allocated_thrust
|
||||
|
||||
int8 ACTUATOR_SATURATION_OK = 0 # The actuator is not saturated
|
||||
int8 ACTUATOR_SATURATION_UPPER_DYN = 1 # The actuator is saturated (with a value <= the desired value) because it cannot increase its value faster
|
||||
int8 ACTUATOR_SATURATION_UPPER = 2 # The actuator is saturated (with a value <= the desired value) because it has reached its maximum value
|
||||
int8 ACTUATOR_SATURATION_LOWER_DYN = -1 # The actuator is saturated (with a value >= the desired value) because it cannot decrease its value faster
|
||||
int8 ACTUATOR_SATURATION_LOWER = -2 # The actuator is saturated (with a value >= the desired value) because it has reached its minimum value
|
||||
|
||||
int8[16] actuator_saturation # Indicates actuator saturation status.
|
||||
# Note 1: actuator saturation does not necessarily imply that the thrust setpoint or the torque setpoint were not achieved.
|
||||
# Note 2: an actuator with limited dynamics can be indicated as upper-saturated even if it as not reached its maximum value.
|
||||
|
||||
uint16 handled_motor_failure_mask # Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector
|
||||
|
||||
```
|
||||
@@ -0,0 +1,10 @@
|
||||
# Cpuload (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Cpuload.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
float32 load # processor load from 0 to 1
|
||||
float32 ram_usage # RAM usage from 0 to 1
|
||||
|
||||
```
|
||||
@@ -0,0 +1,15 @@
|
||||
# DatamanRequest (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DatamanRequest.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint8 client_id
|
||||
uint8 request_type # id/read/write/clear
|
||||
uint8 item # dm_item_t
|
||||
uint32 index
|
||||
uint8[56] data
|
||||
uint32 data_length
|
||||
|
||||
```
|
||||
@@ -0,0 +1,22 @@
|
||||
# DatamanResponse (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DatamanResponse.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint8 client_id
|
||||
uint8 request_type # id/read/write/clear
|
||||
uint8 item # dm_item_t
|
||||
uint32 index
|
||||
uint8[56] data
|
||||
|
||||
uint8 STATUS_SUCCESS = 0
|
||||
uint8 STATUS_FAILURE_ID_ERR = 1
|
||||
uint8 STATUS_FAILURE_NO_DATA = 2
|
||||
uint8 STATUS_FAILURE_READ_FAILED = 3
|
||||
uint8 STATUS_FAILURE_WRITE_FAILED = 4
|
||||
uint8 STATUS_FAILURE_CLEAR_FAILED = 5
|
||||
uint8 status
|
||||
|
||||
```
|
||||
@@ -0,0 +1,12 @@
|
||||
# DebugArray (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugArray.msg)
|
||||
|
||||
```c
|
||||
uint8 ARRAY_SIZE = 58
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint16 id # unique ID of debug array, used to discriminate between arrays
|
||||
char[10] name # name of the debug array (max. 10 characters)
|
||||
float32[58] data # data
|
||||
|
||||
```
|
||||
@@ -0,0 +1,10 @@
|
||||
# DebugKeyValue (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugKeyValue.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
char[10] key # max. 10 characters as key / name
|
||||
float32 value # the value to send as debug output
|
||||
|
||||
```
|
||||
@@ -0,0 +1,10 @@
|
||||
# DebugValue (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugValue.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
int8 ind # index of debug variable
|
||||
float32 value # the value to send as debug output
|
||||
|
||||
```
|
||||
@@ -0,0 +1,12 @@
|
||||
# DebugVect (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DebugVect.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
char[10] name # max. 10 characters as key / name
|
||||
float32 x # x value
|
||||
float32 y # y value
|
||||
float32 z # z value
|
||||
|
||||
```
|
||||
@@ -0,0 +1,15 @@
|
||||
# DifferentialDriveSetpoint (повідомлення UORB)
|
||||
|
||||
[вихідний файл](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DifferentialDriveSetpoint.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
float32 speed # [m/s] collective roll-off speed in body x-axis
|
||||
bool closed_loop_speed_control # true if speed is controlled using estimator feedback, false if direct feed-forward
|
||||
float32 yaw_rate # [rad/s] yaw rate
|
||||
bool closed_loop_yaw_rate_control # true if yaw rate is controlled using gyroscope feedback, false if direct feed-forward
|
||||
|
||||
# TOPICS differential_drive_setpoint differential_drive_control_output
|
||||
|
||||
```
|
||||
@@ -0,0 +1,17 @@
|
||||
# DifferentialPressure (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DifferentialPressure.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample
|
||||
|
||||
uint32 device_id # unique device ID for the sensor that does not change between power cycles
|
||||
|
||||
float32 differential_pressure_pa # differential pressure reading in Pascals (may be negative)
|
||||
|
||||
float32 temperature # Temperature provided by sensor in degrees Celsius, NAN if unknown
|
||||
|
||||
uint32 error_count # Number of errors detected by driver
|
||||
|
||||
```
|
||||
@@ -0,0 +1,56 @@
|
||||
# DistanceSensor (повідомлення UORB)
|
||||
|
||||
Дані повідомлення DISTANCE_SENSOR
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DistanceSensor.msg)
|
||||
|
||||
```c
|
||||
# DISTANCE_SENSOR message data
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint32 device_id # unique device ID for the sensor that does not change between power cycles
|
||||
|
||||
float32 min_distance # Minimum distance the sensor can measure (in m)
|
||||
float32 max_distance # Maximum distance the sensor can measure (in m)
|
||||
float32 current_distance # Current distance reading (in m)
|
||||
float32 variance # Measurement variance (in m^2), 0 for unknown / invalid readings
|
||||
int8 signal_quality # Signal quality in percent (0...100%), where 0 = invalid signal, 100 = perfect signal, and -1 = unknown signal quality.
|
||||
|
||||
uint8 type # Type from MAV_DISTANCE_SENSOR enum
|
||||
uint8 MAV_DISTANCE_SENSOR_LASER = 0
|
||||
uint8 MAV_DISTANCE_SENSOR_ULTRASOUND = 1
|
||||
uint8 MAV_DISTANCE_SENSOR_INFRARED = 2
|
||||
uint8 MAV_DISTANCE_SENSOR_RADAR = 3
|
||||
|
||||
float32 h_fov # Sensor horizontal field of view (rad)
|
||||
float32 v_fov # Sensor vertical field of view (rad)
|
||||
float32[4] q # Quaterion sensor orientation with respect to the vehicle body frame to specify the orientation ROTATION_CUSTOM
|
||||
|
||||
uint8 orientation # Direction the sensor faces from MAV_SENSOR_ORIENTATION enum
|
||||
|
||||
uint8 ROTATION_YAW_0 = 0 # MAV_SENSOR_ROTATION_NONE
|
||||
uint8 ROTATION_YAW_45 = 1 # MAV_SENSOR_ROTATION_YAW_45
|
||||
uint8 ROTATION_YAW_90 = 2 # MAV_SENSOR_ROTATION_YAW_90
|
||||
uint8 ROTATION_YAW_135 = 3 # MAV_SENSOR_ROTATION_YAW_135
|
||||
uint8 ROTATION_YAW_180 = 4 # MAV_SENSOR_ROTATION_YAW_180
|
||||
uint8 ROTATION_YAW_225 = 5 # MAV_SENSOR_ROTATION_YAW_225
|
||||
uint8 ROTATION_YAW_270 = 6 # MAV_SENSOR_ROTATION_YAW_270
|
||||
uint8 ROTATION_YAW_315 = 7 # MAV_SENSOR_ROTATION_YAW_315
|
||||
|
||||
uint8 ROTATION_FORWARD_FACING = 0 # MAV_SENSOR_ROTATION_NONE
|
||||
uint8 ROTATION_RIGHT_FACING = 2 # MAV_SENSOR_ROTATION_YAW_90
|
||||
uint8 ROTATION_BACKWARD_FACING = 4 # MAV_SENSOR_ROTATION_YAW_180
|
||||
uint8 ROTATION_LEFT_FACING = 6 # MAV_SENSOR_ROTATION_YAW_270
|
||||
|
||||
uint8 ROTATION_UPWARD_FACING = 24 # MAV_SENSOR_ROTATION_PITCH_90
|
||||
uint8 ROTATION_DOWNWARD_FACING = 25 # MAV_SENSOR_ROTATION_PITCH_270
|
||||
|
||||
uint8 ROTATION_CUSTOM = 100 # MAV_SENSOR_ROTATION_CUSTOM
|
||||
|
||||
uint8 mode
|
||||
uint8 MODE_UNKNOWN = 0
|
||||
uint8 MODE_ENABLED = 1
|
||||
uint8 MODE_DISABLED = 2
|
||||
|
||||
```
|
||||
@@ -0,0 +1,12 @@
|
||||
# DistanceSensorModeChangeRequest (UORB message)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/DistanceSensorModeChangeRequest.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint8 request_on_off # request to disable/enable the distance sensor
|
||||
uint8 REQUEST_OFF = 0
|
||||
uint8 REQUEST_ON = 1
|
||||
|
||||
```
|
||||
@@ -0,0 +1,36 @@
|
||||
# Ekf2Timestamps (повідомлення UORB)
|
||||
|
||||
це повідомлення містить (відносні) відмітки часу введення датчиків, які використовує EKF2.
|
||||
Це може бути використано для відтворення.
|
||||
|
||||
поле мітки часу - це посилання на час ekf2 і відповідає мітці часу теми sensor_combined.
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Ekf2Timestamps.msg)
|
||||
|
||||
```c
|
||||
# this message contains the (relative) timestamps of the sensor inputs used by EKF2.
|
||||
# It can be used for reproducible replay.
|
||||
|
||||
# the timestamp field is the ekf2 reference time and matches the timestamp of
|
||||
# the sensor_combined topic.
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
int16 RELATIVE_TIMESTAMP_INVALID = 32767 # (0x7fff) If one of the relative timestamps
|
||||
# is set to this value, it means the associated sensor values did not update
|
||||
|
||||
# timestamps are relative to the main timestamp and are in 0.1 ms (timestamp +
|
||||
# *_timestamp_rel = absolute timestamp). For int16, this allows a maximum
|
||||
# difference of +-3.2s to the sensor_combined topic.
|
||||
|
||||
int16 airspeed_timestamp_rel
|
||||
int16 airspeed_validated_timestamp_rel
|
||||
int16 distance_sensor_timestamp_rel
|
||||
int16 optical_flow_timestamp_rel
|
||||
int16 vehicle_air_data_timestamp_rel
|
||||
int16 vehicle_magnetometer_timestamp_rel
|
||||
int16 visual_odometry_timestamp_rel
|
||||
|
||||
# Note: this is a high-rate logged topic, so it needs to be as small as possible
|
||||
|
||||
```
|
||||
@@ -0,0 +1,34 @@
|
||||
# EscReport (UORB повідомлення)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscReport.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint32 esc_errorcount # Number of reported errors by ESC - if supported
|
||||
int32 esc_rpm # Motor RPM, negative for reverse rotation [RPM] - if supported
|
||||
float32 esc_voltage # Voltage measured from current ESC [V] - if supported
|
||||
float32 esc_current # Current measured from current ESC [A] - if supported
|
||||
float32 esc_temperature # Temperature measured from current ESC [degC] - if supported
|
||||
uint8 esc_address # Address of current ESC (in most cases 1-8 / must be set by driver)
|
||||
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)
|
||||
|
||||
uint16 failures # Bitmask to indicate the internal ESC faults
|
||||
int8 esc_power # Applied power 0-100 in % (negative values reserved)
|
||||
|
||||
uint8 FAILURE_OVER_CURRENT = 0 # (1 << 0)
|
||||
uint8 FAILURE_OVER_VOLTAGE = 1 # (1 << 1)
|
||||
uint8 FAILURE_MOTOR_OVER_TEMPERATURE = 2 # (1 << 2)
|
||||
uint8 FAILURE_OVER_RPM = 3 # (1 << 3)
|
||||
uint8 FAILURE_INCONSISTENT_CMD = 4 # (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries)
|
||||
uint8 FAILURE_MOTOR_STUCK = 5 # (1 << 5)
|
||||
uint8 FAILURE_GENERIC = 6 # (1 << 6)
|
||||
uint8 FAILURE_MOTOR_WARN_TEMPERATURE = 7 # (1 << 7)
|
||||
uint8 FAILURE_WARN_ESC_TEMPERATURE = 8 # (1 << 8)
|
||||
uint8 FAILURE_OVER_ESC_TEMPERATURE = 9 # (1 << 9)
|
||||
uint8 ESC_FAILURE_COUNT = 10 # Counter - keep it as last element!
|
||||
|
||||
```
|
||||
@@ -0,0 +1,35 @@
|
||||
# EscStatus (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscStatus.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint8 CONNECTED_ESC_MAX = 8 # The number of ESCs supported. Current (Q2/2013) we support 8 ESCs
|
||||
|
||||
uint8 ESC_CONNECTION_TYPE_PPM = 0 # Traditional PPM ESC
|
||||
uint8 ESC_CONNECTION_TYPE_SERIAL = 1 # Serial Bus connected ESC
|
||||
uint8 ESC_CONNECTION_TYPE_ONESHOT = 2 # One Shot PPM
|
||||
uint8 ESC_CONNECTION_TYPE_I2C = 3 # I2C
|
||||
uint8 ESC_CONNECTION_TYPE_CAN = 4 # CAN-Bus
|
||||
uint8 ESC_CONNECTION_TYPE_DSHOT = 5 # DShot
|
||||
|
||||
uint16 counter # incremented by the writing thread everytime new data is stored
|
||||
|
||||
uint8 esc_count # number of connected ESCs
|
||||
uint8 esc_connectiontype # how ESCs connected to the system
|
||||
|
||||
uint8 esc_online_flags # Bitmask indicating which ESC is online/offline
|
||||
# esc_online_flags bit 0 : Set to 1 if ESC0 is online
|
||||
# esc_online_flags bit 1 : Set to 1 if ESC1 is online
|
||||
# esc_online_flags bit 2 : Set to 1 if ESC2 is online
|
||||
# esc_online_flags bit 3 : Set to 1 if ESC3 is online
|
||||
# esc_online_flags bit 4 : Set to 1 if ESC4 is online
|
||||
# esc_online_flags bit 5 : Set to 1 if ESC5 is online
|
||||
# esc_online_flags bit 6 : Set to 1 if ESC6 is online
|
||||
# esc_online_flags bit 7 : Set to 1 if ESC7 is online
|
||||
|
||||
uint8 esc_armed_flags # Bitmask indicating which ESC is armed. For ESC's where the arming state is not known (returned by the ESC), the arming bits should always be set.
|
||||
|
||||
EscReport[8] esc
|
||||
|
||||
```
|
||||
@@ -0,0 +1,34 @@
|
||||
# EstimatorAidSource1d (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource1d.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
|
||||
|
||||
uint8 estimator_instance
|
||||
|
||||
uint32 device_id
|
||||
|
||||
uint64 time_last_fuse
|
||||
|
||||
float32 observation
|
||||
float32 observation_variance
|
||||
|
||||
float32 innovation
|
||||
float32 innovation_filtered
|
||||
|
||||
float32 innovation_variance
|
||||
|
||||
float32 test_ratio # normalized innovation squared
|
||||
float32 test_ratio_filtered # signed filtered test ratio
|
||||
|
||||
bool innovation_rejected # true if the observation has been rejected
|
||||
bool fused # true if the sample was successfully fused
|
||||
|
||||
# TOPICS estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt
|
||||
# TOPICS estimator_aid_src_airspeed estimator_aid_src_sideslip
|
||||
# TOPICS estimator_aid_src_fake_hgt
|
||||
# TOPICS estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw
|
||||
|
||||
```
|
||||
@@ -0,0 +1,33 @@
|
||||
# EstimatorAidSource2d (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource2d.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
|
||||
|
||||
uint8 estimator_instance
|
||||
|
||||
uint32 device_id
|
||||
|
||||
uint64 time_last_fuse
|
||||
|
||||
float64[2] observation
|
||||
float32[2] observation_variance
|
||||
|
||||
float32[2] innovation
|
||||
float32[2] innovation_filtered
|
||||
|
||||
float32[2] innovation_variance
|
||||
|
||||
float32[2] test_ratio # normalized innovation squared
|
||||
float32[2] test_ratio_filtered # signed filtered test ratio
|
||||
|
||||
bool innovation_rejected # true if the observation has been rejected
|
||||
bool fused # true if the sample was successfully fused
|
||||
|
||||
# TOPICS estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos estimator_aid_src_aux_global_position
|
||||
# TOPICS estimator_aid_src_aux_vel estimator_aid_src_optical_flow
|
||||
# TOPICS estimator_aid_src_drag
|
||||
|
||||
```
|
||||
@@ -0,0 +1,31 @@
|
||||
# EstimatorAidSource3d (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource3d.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
|
||||
|
||||
uint8 estimator_instance
|
||||
|
||||
uint32 device_id
|
||||
|
||||
uint64 time_last_fuse
|
||||
|
||||
float32[3] observation
|
||||
float32[3] observation_variance
|
||||
|
||||
float32[3] innovation
|
||||
float32[3] innovation_filtered
|
||||
|
||||
float32[3] innovation_variance
|
||||
|
||||
float32[3] test_ratio # normalized innovation squared
|
||||
float32[3] test_ratio_filtered # signed filtered test ratio
|
||||
|
||||
bool innovation_rejected # true if the observation has been rejected
|
||||
bool fused # true if the sample was successfully fused
|
||||
|
||||
# TOPICS estimator_aid_src_ev_vel estimator_aid_src_gnss_vel estimator_aid_src_gravity estimator_aid_src_mag
|
||||
|
||||
```
|
||||
@@ -0,0 +1,19 @@
|
||||
# EstimatorBias (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorBias.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
|
||||
|
||||
uint32 device_id # unique device ID for the sensor that does not change between power cycles
|
||||
float32 bias # estimated barometric altitude bias (m)
|
||||
float32 bias_var # estimated barometric altitude bias variance (m^2)
|
||||
|
||||
float32 innov # innovation of the last measurement fusion (m)
|
||||
float32 innov_var # innovation variance of the last measurement fusion (m^2)
|
||||
float32 innov_test_ratio # normalized innovation squared test ratio
|
||||
|
||||
# TOPICS estimator_baro_bias estimator_gnss_hgt_bias
|
||||
|
||||
```
|
||||
@@ -0,0 +1,21 @@
|
||||
# EstimatorBias3d (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorBias3d.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
|
||||
|
||||
uint32 device_id # unique device ID for the sensor that does not change between power cycles
|
||||
|
||||
float32[3] bias # estimated barometric altitude bias (m)
|
||||
float32[3] bias_var # estimated barometric altitude bias variance (m^2)
|
||||
|
||||
float32[3] innov # innovation of the last measurement fusion (m)
|
||||
float32[3] innov_var # innovation variance of the last measurement fusion (m^2)
|
||||
float32[3] innov_test_ratio # normalized innovation squared test ratio
|
||||
|
||||
# TOPICS estimator_bias3d
|
||||
# TOPICS estimator_ev_pos_bias
|
||||
|
||||
```
|
||||
@@ -0,0 +1,29 @@
|
||||
# EstimatorEventFlags (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorEventFlags.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
|
||||
|
||||
# information events
|
||||
uint32 information_event_changes # number of information event changes
|
||||
bool gps_checks_passed # 0 - true when gps quality checks are passing passed
|
||||
bool reset_vel_to_gps # 1 - true when the velocity states are reset to the gps measurement
|
||||
bool reset_vel_to_flow # 2 - true when the velocity states are reset using the optical flow measurement
|
||||
bool reset_vel_to_vision # 3 - true when the velocity states are reset to the vision system measurement
|
||||
bool reset_vel_to_zero # 4 - true when the velocity states are reset to zero
|
||||
bool reset_pos_to_last_known # 5 - true when the position states are reset to the last known position
|
||||
bool reset_pos_to_gps # 6 - true when the position states are reset to the gps measurement
|
||||
bool reset_pos_to_vision # 7 - true when the position states are reset to the vision system measurement
|
||||
bool starting_gps_fusion # 8 - true when the filter starts using gps measurements to correct the state estimates
|
||||
bool starting_vision_pos_fusion # 9 - true when the filter starts using vision system position measurements to correct the state estimates
|
||||
bool starting_vision_vel_fusion # 10 - true when the filter starts using vision system velocity measurements to correct the state estimates
|
||||
bool starting_vision_yaw_fusion # 11 - true when the filter starts using vision system yaw measurements to correct the state estimates
|
||||
bool yaw_aligned_to_imu_gps # 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data
|
||||
bool reset_hgt_to_baro # 13 - true when the vertical position state is reset to the baro measurement
|
||||
bool reset_hgt_to_gps # 14 - true when the vertical position state is reset to the gps measurement
|
||||
bool reset_hgt_to_rng # 15 - true when the vertical position state is reset to the rng measurement
|
||||
bool reset_hgt_to_ev # 16 - true when the vertical position state is reset to the ev measurement
|
||||
|
||||
```
|
||||
@@ -0,0 +1,27 @@
|
||||
# EstimatorGpsStatus (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorGpsStatus.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
|
||||
|
||||
bool checks_passed
|
||||
|
||||
bool check_fail_gps_fix # 0 : insufficient fix type (no 3D solution)
|
||||
bool check_fail_min_sat_count # 1 : minimum required sat count fail
|
||||
bool check_fail_max_pdop # 2 : maximum allowed PDOP fail
|
||||
bool check_fail_max_horz_err # 3 : maximum allowed horizontal position error fail
|
||||
bool check_fail_max_vert_err # 4 : maximum allowed vertical position error fail
|
||||
bool check_fail_max_spd_err # 5 : maximum allowed speed error fail
|
||||
bool check_fail_max_horz_drift # 6 : maximum allowed horizontal position drift fail - requires stationary vehicle
|
||||
bool check_fail_max_vert_drift # 7 : maximum allowed vertical position drift fail - requires stationary vehicle
|
||||
bool check_fail_max_horz_spd_err # 8 : maximum allowed horizontal speed fail - requires stationary vehicle
|
||||
bool check_fail_max_vert_spd_err # 9 : maximum allowed vertical velocity discrepancy fail
|
||||
bool check_fail_spoofed_gps # 10 : GPS signal is spoofed
|
||||
|
||||
float32 position_drift_rate_horizontal_m_s # Horizontal position rate magnitude (m/s)
|
||||
float32 position_drift_rate_vertical_m_s # Vertical position rate magnitude (m/s)
|
||||
float32 filtered_horizontal_speed_m_s # Filtered horizontal velocity magnitude (m/s)
|
||||
|
||||
```
|
||||
@@ -0,0 +1,46 @@
|
||||
# EstimatorInnovations (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorInnovations.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
|
||||
|
||||
# GPS
|
||||
float32[2] gps_hvel # horizontal GPS velocity innovation (m/sec) and innovation variance ((m/sec)**2)
|
||||
float32 gps_vvel # vertical GPS velocity innovation (m/sec) and innovation variance ((m/sec)**2)
|
||||
float32[2] gps_hpos # horizontal GPS position innovation (m) and innovation variance (m**2)
|
||||
float32 gps_vpos # vertical GPS position innovation (m) and innovation variance (m**2)
|
||||
|
||||
# External Vision
|
||||
float32[2] ev_hvel # horizontal external vision velocity innovation (m/sec) and innovation variance ((m/sec)**2)
|
||||
float32 ev_vvel # vertical external vision velocity innovation (m/sec) and innovation variance ((m/sec)**2)
|
||||
float32[2] ev_hpos # horizontal external vision position innovation (m) and innovation variance (m**2)
|
||||
float32 ev_vpos # vertical external vision position innovation (m) and innovation variance (m**2)
|
||||
|
||||
# Height sensors
|
||||
float32 rng_vpos # range sensor height innovation (m) and innovation variance (m**2)
|
||||
float32 baro_vpos # barometer height innovation (m) and innovation variance (m**2)
|
||||
|
||||
# Auxiliary velocity
|
||||
float32[2] aux_hvel # horizontal auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)
|
||||
|
||||
# Optical flow
|
||||
float32[2] flow # flow innvoation (rad/sec) and innovation variance ((rad/sec)**2)
|
||||
|
||||
# Various
|
||||
float32 heading # heading innovation (rad) and innovation variance (rad**2)
|
||||
float32[3] mag_field # earth magnetic field innovation (Gauss) and innovation variance (Gauss**2)
|
||||
float32[3] gravity # gravity innovation from accelerometerr vector (m/s**2)
|
||||
float32[2] drag # drag specific force innovation (m/sec**2) and innovation variance ((m/sec)**2)
|
||||
float32 airspeed # airspeed innovation (m/sec) and innovation variance ((m/sec)**2)
|
||||
float32 beta # synthetic sideslip innovation (rad) and innovation variance (rad**2)
|
||||
float32 hagl # height of ground innovation (m) and innovation variance (m**2)
|
||||
float32 hagl_rate # height of ground rate innovation (m/s) and innovation variance ((m/s)**2)
|
||||
|
||||
# The innovation test ratios are scalar values. In case the field is a vector,
|
||||
# the test ratio will be put in the first component of the vector.
|
||||
|
||||
# TOPICS estimator_innovations estimator_innovation_variances estimator_innovation_test_ratios
|
||||
|
||||
```
|
||||
@@ -0,0 +1,29 @@
|
||||
# EstimatorSelectorStatus (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorSelectorStatus.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint8 primary_instance
|
||||
|
||||
uint8 instances_available
|
||||
|
||||
uint32 instance_changed_count
|
||||
uint64 last_instance_change
|
||||
|
||||
uint32 accel_device_id
|
||||
uint32 baro_device_id
|
||||
uint32 gyro_device_id
|
||||
uint32 mag_device_id
|
||||
|
||||
float32[9] combined_test_ratio
|
||||
float32[9] relative_test_ratio
|
||||
bool[9] healthy
|
||||
|
||||
float32[4] accumulated_gyro_error
|
||||
float32[4] accumulated_accel_error
|
||||
bool gyro_fault_detected
|
||||
bool accel_fault_detected
|
||||
|
||||
```
|
||||
@@ -0,0 +1,40 @@
|
||||
# EstimatorSensorBias (повідомлення UORB)
|
||||
|
||||
Показання датчиків та похибки в процесі роботи в одиницях СІ. Показання датчиків компенсуються для статичних зсувів,
|
||||
похибки шкали, зсув під час роботи та тепловий зсув (якщо термокомпенсація увімкнена та доступна).
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorSensorBias.msg)
|
||||
|
||||
```c
|
||||
#
|
||||
# Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets,
|
||||
# scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).
|
||||
#
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
|
||||
|
||||
# In-run bias estimates (subtract from uncorrected data)
|
||||
|
||||
uint32 gyro_device_id # unique device ID for the sensor that does not change between power cycles
|
||||
float32[3] gyro_bias # gyroscope in-run bias in body frame (rad/s)
|
||||
float32 gyro_bias_limit # magnitude of maximum gyroscope in-run bias in body frame (rad/s)
|
||||
float32[3] gyro_bias_variance
|
||||
bool gyro_bias_valid
|
||||
bool gyro_bias_stable # true when the gyro bias estimate is stable enough to use for calibration
|
||||
|
||||
uint32 accel_device_id # unique device ID for the sensor that does not change between power cycles
|
||||
float32[3] accel_bias # accelerometer in-run bias in body frame (m/s^2)
|
||||
float32 accel_bias_limit # magnitude of maximum accelerometer in-run bias in body frame (m/s^2)
|
||||
float32[3] accel_bias_variance
|
||||
bool accel_bias_valid
|
||||
bool accel_bias_stable # true when the accel bias estimate is stable enough to use for calibration
|
||||
|
||||
uint32 mag_device_id # unique device ID for the sensor that does not change between power cycles
|
||||
float32[3] mag_bias # magnetometer in-run bias in body frame (Gauss)
|
||||
float32 mag_bias_limit # magnitude of maximum magnetometer in-run bias in body frame (Gauss)
|
||||
float32[3] mag_bias_variance
|
||||
bool mag_bias_valid
|
||||
bool mag_bias_stable # true when the mag bias estimate is stable enough to use for calibration
|
||||
|
||||
```
|
||||
@@ -0,0 +1,14 @@
|
||||
# EstimatorStates (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStates.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
|
||||
|
||||
float32[25] states # Internal filter states
|
||||
uint8 n_states # Number of states effectively used
|
||||
|
||||
float32[24] covariances # Diagonal Elements of Covariance Matrix
|
||||
|
||||
```
|
||||
@@ -0,0 +1,131 @@
|
||||
# EstimatorStatus (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatus.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
|
||||
|
||||
float32[3] output_tracking_error # return a vector containing the output predictor angular, velocity and position tracking error magnitudes (rad), (m/s), (m)
|
||||
|
||||
uint16 gps_check_fail_flags # Bitmask to indicate status of GPS checks - see definition below
|
||||
# bits are true when corresponding test has failed
|
||||
uint8 GPS_CHECK_FAIL_GPS_FIX = 0 # 0 : insufficient fix type (no 3D solution)
|
||||
uint8 GPS_CHECK_FAIL_MIN_SAT_COUNT = 1 # 1 : minimum required sat count fail
|
||||
uint8 GPS_CHECK_FAIL_MAX_PDOP = 2 # 2 : maximum allowed PDOP fail
|
||||
uint8 GPS_CHECK_FAIL_MAX_HORZ_ERR = 3 # 3 : maximum allowed horizontal position error fail
|
||||
uint8 GPS_CHECK_FAIL_MAX_VERT_ERR = 4 # 4 : maximum allowed vertical position error fail
|
||||
uint8 GPS_CHECK_FAIL_MAX_SPD_ERR = 5 # 5 : maximum allowed speed error fail
|
||||
uint8 GPS_CHECK_FAIL_MAX_HORZ_DRIFT = 6 # 6 : maximum allowed horizontal position drift fail - requires stationary vehicle
|
||||
uint8 GPS_CHECK_FAIL_MAX_VERT_DRIFT = 7 # 7 : maximum allowed vertical position drift fail - requires stationary vehicle
|
||||
uint8 GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR = 8 # 8 : maximum allowed horizontal speed fail - requires stationary vehicle
|
||||
uint8 GPS_CHECK_FAIL_MAX_VERT_SPD_ERR = 9 # 9 : maximum allowed vertical velocity discrepancy fail
|
||||
uint8 GPS_CHECK_FAIL_SPOOFED = 10 # 10 : GPS signal is spoofed
|
||||
|
||||
uint64 control_mode_flags # Bitmask to indicate EKF logic state
|
||||
uint8 CS_TILT_ALIGN = 0 # 0 - true if the filter tilt alignment is complete
|
||||
uint8 CS_YAW_ALIGN = 1 # 1 - true if the filter yaw alignment is complete
|
||||
uint8 CS_GNSS_POS = 2 # 2 - true if GNSS position measurements are being fused
|
||||
uint8 CS_OPT_FLOW = 3 # 3 - true if optical flow measurements are being fused
|
||||
uint8 CS_MAG_HDG = 4 # 4 - true if a simple magnetic yaw heading is being fused
|
||||
uint8 CS_MAG_3D = 5 # 5 - true if 3-axis magnetometer measurement are being fused
|
||||
uint8 CS_MAG_DEC = 6 # 6 - true if synthetic magnetic declination measurements are being fused
|
||||
uint8 CS_IN_AIR = 7 # 7 - true when thought to be airborne
|
||||
uint8 CS_WIND = 8 # 8 - true when wind velocity is being estimated
|
||||
uint8 CS_BARO_HGT = 9 # 9 - true when baro data is being fused
|
||||
uint8 CS_RNG_HGT = 10 # 10 - true when range finder data is being fused for height aiding
|
||||
uint8 CS_GPS_HGT = 11 # 11 - true when GPS altitude is being fused
|
||||
uint8 CS_EV_POS = 12 # 12 - true when local position data from external vision is being fused
|
||||
uint8 CS_EV_YAW = 13 # 13 - true when yaw data from external vision measurements is being fused
|
||||
uint8 CS_EV_HGT = 14 # 14 - true when height data from external vision measurements is being fused
|
||||
uint8 CS_BETA = 15 # 15 - true when synthetic sideslip measurements are being fused
|
||||
uint8 CS_MAG_FIELD = 16 # 16 - true when only the magnetic field states are updated by the magnetometer
|
||||
uint8 CS_FIXED_WING = 17 # 17 - true when thought to be operating as a fixed wing vehicle with constrained sideslip
|
||||
uint8 CS_MAG_FAULT = 18 # 18 - true when the magnetometer has been declared faulty and is no longer being used
|
||||
uint8 CS_ASPD = 19 # 19 - true when airspeed measurements are being fused
|
||||
uint8 CS_GND_EFFECT = 20 # 20 - true when when protection from ground effect induced static pressure rise is active
|
||||
uint8 CS_RNG_STUCK = 21 # 21 - true when a stuck range finder sensor has been detected
|
||||
uint8 CS_GPS_YAW = 22 # 22 - true when yaw (not ground course) data from a GPS receiver is being fused
|
||||
uint8 CS_MAG_ALIGNED = 23 # 23 - true when the in-flight mag field alignment has been completed
|
||||
uint8 CS_EV_VEL = 24 # 24 - true when local frame velocity data fusion from external vision measurements is intended
|
||||
uint8 CS_SYNTHETIC_MAG_Z = 25 # 25 - true when we are using a synthesized measurement for the magnetometer Z component
|
||||
uint8 CS_VEHICLE_AT_REST = 26 # 26 - true when the vehicle is at rest
|
||||
uint8 CS_GPS_YAW_FAULT = 27 # 27 - true when the GNSS heading has been declared faulty and is no longer being used
|
||||
uint8 CS_RNG_FAULT = 28 # 28 - true when the range finder has been declared faulty and is no longer being used
|
||||
uint8 CS_GNSS_VEL = 44 # 44 - true if GNSS velocity measurements are being fused
|
||||
|
||||
uint32 filter_fault_flags # Bitmask to indicate EKF internal faults
|
||||
# 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error
|
||||
# 1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error
|
||||
# 2 - true if the fusion of the magnetometer Z-axis has encountered a numerical error
|
||||
# 3 - true if the fusion of the magnetic heading has encountered a numerical error
|
||||
# 4 - true if the fusion of the magnetic declination has encountered a numerical error
|
||||
# 5 - true if fusion of the airspeed has encountered a numerical error
|
||||
# 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error
|
||||
# 7 - true if fusion of the optical flow X axis has encountered a numerical error
|
||||
# 8 - true if fusion of the optical flow Y axis has encountered a numerical error
|
||||
# 9 - true if fusion of the North velocity has encountered a numerical error
|
||||
# 10 - true if fusion of the East velocity has encountered a numerical error
|
||||
# 11 - true if fusion of the Down velocity has encountered a numerical error
|
||||
# 12 - true if fusion of the North position has encountered a numerical error
|
||||
# 13 - true if fusion of the East position has encountered a numerical error
|
||||
# 14 - true if fusion of the Down position has encountered a numerical error
|
||||
# 15 - true if bad delta velocity bias estimates have been detected
|
||||
# 16 - true if bad vertical accelerometer data has been detected
|
||||
# 17 - true if delta velocity data contains clipping (asymmetric railing)
|
||||
|
||||
float32 pos_horiz_accuracy # 1-Sigma estimated horizontal position accuracy relative to the estimators origin (m)
|
||||
float32 pos_vert_accuracy # 1-Sigma estimated vertical position accuracy relative to the estimators origin (m)
|
||||
|
||||
float32 hdg_test_ratio # low-pass filtered ratio of the largest heading innovation component to the innovation test limit
|
||||
float32 vel_test_ratio # low-pass filtered ratio of the largest velocity innovation component to the innovation test limit
|
||||
float32 pos_test_ratio # low-pass filtered ratio of the largest horizontal position innovation component to the innovation test limit
|
||||
float32 hgt_test_ratio # low-pass filtered ratio of the vertical position innovation to the innovation test limit
|
||||
float32 tas_test_ratio # low-pass filtered ratio of the true airspeed innovation to the innovation test limit
|
||||
float32 hagl_test_ratio # low-pass filtered ratio of the height above ground innovation to the innovation test limit
|
||||
float32 beta_test_ratio # low-pass filtered ratio of the synthetic sideslip innovation to the innovation test limit
|
||||
|
||||
uint16 solution_status_flags # Bitmask indicating which filter kinematic state outputs are valid for flight control use.
|
||||
# 0 - True if the attitude estimate is good
|
||||
# 1 - True if the horizontal velocity estimate is good
|
||||
# 2 - True if the vertical velocity estimate is good
|
||||
# 3 - True if the horizontal position (relative) estimate is good
|
||||
# 4 - True if the horizontal position (absolute) estimate is good
|
||||
# 5 - True if the vertical position (absolute) estimate is good
|
||||
# 6 - True if the vertical position (above ground) estimate is good
|
||||
# 7 - True if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow)
|
||||
# 8 - True if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate
|
||||
# 9 - True if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate
|
||||
# 10 - True if the EKF has detected a GPS glitch
|
||||
# 11 - True if the EKF has detected bad accelerometer data
|
||||
|
||||
uint8 reset_count_vel_ne # number of horizontal position reset events (allow to wrap if count exceeds 255)
|
||||
uint8 reset_count_vel_d # number of vertical velocity reset events (allow to wrap if count exceeds 255)
|
||||
uint8 reset_count_pos_ne # number of horizontal position reset events (allow to wrap if count exceeds 255)
|
||||
uint8 reset_count_pod_d # number of vertical position reset events (allow to wrap if count exceeds 255)
|
||||
uint8 reset_count_quat # number of quaternion reset events (allow to wrap if count exceeds 255)
|
||||
|
||||
float32 time_slip # cumulative amount of time in seconds that the EKF inertial calculation has slipped relative to system time
|
||||
|
||||
bool pre_flt_fail_innov_heading
|
||||
bool pre_flt_fail_innov_height
|
||||
bool pre_flt_fail_innov_pos_horiz
|
||||
bool pre_flt_fail_innov_vel_horiz
|
||||
bool pre_flt_fail_innov_vel_vert
|
||||
bool pre_flt_fail_mag_field_disturbed
|
||||
|
||||
uint32 accel_device_id
|
||||
uint32 gyro_device_id
|
||||
uint32 baro_device_id
|
||||
uint32 mag_device_id
|
||||
|
||||
# legacy local position estimator (LPE) flags
|
||||
uint8 health_flags # Bitmask to indicate sensor health states (vel, pos, hgt)
|
||||
uint8 timeout_flags # Bitmask to indicate timeout flags (vel, pos, hgt)
|
||||
|
||||
float32 mag_inclination_deg
|
||||
float32 mag_inclination_ref_deg
|
||||
float32 mag_strength_gs
|
||||
float32 mag_strength_ref_gs
|
||||
|
||||
```
|
||||
@@ -0,0 +1,86 @@
|
||||
# EstimatorStatusFlags (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatusFlags.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
|
||||
|
||||
|
||||
# filter control status
|
||||
uint32 control_status_changes # number of filter control status (cs) changes
|
||||
bool cs_tilt_align # 0 - true if the filter tilt alignment is complete
|
||||
bool cs_yaw_align # 1 - true if the filter yaw alignment is complete
|
||||
bool cs_gnss_pos # 2 - true if GNSS position measurement fusion is intended
|
||||
bool cs_opt_flow # 3 - true if optical flow measurements fusion is intended
|
||||
bool cs_mag_hdg # 4 - true if a simple magnetic yaw heading fusion is intended
|
||||
bool cs_mag_3d # 5 - true if 3-axis magnetometer measurement fusion is intended
|
||||
bool cs_mag_dec # 6 - true if synthetic magnetic declination measurements fusion is intended
|
||||
bool cs_in_air # 7 - true when the vehicle is airborne
|
||||
bool cs_wind # 8 - true when wind velocity is being estimated
|
||||
bool cs_baro_hgt # 9 - true when baro data is being fused
|
||||
bool cs_rng_hgt # 10 - true when range finder data is being fused for height aiding
|
||||
bool cs_gps_hgt # 11 - true when GPS altitude is being fused
|
||||
bool cs_ev_pos # 12 - true when local position data fusion from external vision is intended
|
||||
bool cs_ev_yaw # 13 - true when yaw data from external vision measurements fusion is intended
|
||||
bool cs_ev_hgt # 14 - true when height data from external vision measurements is being fused
|
||||
bool cs_fuse_beta # 15 - true when synthetic sideslip measurements are being fused
|
||||
bool cs_mag_field_disturbed # 16 - true when the mag field does not match the expected strength
|
||||
bool cs_fixed_wing # 17 - true when the vehicle is operating as a fixed wing vehicle
|
||||
bool cs_mag_fault # 18 - true when the magnetometer has been declared faulty and is no longer being used
|
||||
bool cs_fuse_aspd # 19 - true when airspeed measurements are being fused
|
||||
bool cs_gnd_effect # 20 - true when protection from ground effect induced static pressure rise is active
|
||||
bool cs_rng_stuck # 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough
|
||||
bool cs_gnss_yaw # 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended
|
||||
bool cs_mag_aligned_in_flight # 23 - true when the in-flight mag field alignment has been completed
|
||||
bool cs_ev_vel # 24 - true when local frame velocity data fusion from external vision measurements is intended
|
||||
bool cs_synthetic_mag_z # 25 - true when we are using a synthesized measurement for the magnetometer Z component
|
||||
bool cs_vehicle_at_rest # 26 - true when the vehicle is at rest
|
||||
bool cs_gnss_yaw_fault # 27 - true when the GNSS heading has been declared faulty and is no longer being used
|
||||
bool cs_rng_fault # 28 - true when the range finder has been declared faulty and is no longer being used
|
||||
bool cs_inertial_dead_reckoning # 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift
|
||||
bool cs_wind_dead_reckoning # 30 - true if we are navigationg reliant on wind relative measurements
|
||||
bool cs_rng_kin_consistent # 31 - true when the range finder kinematic consistency check is passing
|
||||
bool cs_fake_pos # 32 - true when fake position measurements are being fused
|
||||
bool cs_fake_hgt # 33 - true when fake height measurements are being fused
|
||||
bool cs_gravity_vector # 34 - true when gravity vector measurements are being fused
|
||||
bool cs_mag # 35 - true if 3-axis magnetometer measurement fusion (mag states only) is intended
|
||||
bool cs_ev_yaw_fault # 36 - true when the EV heading has been declared faulty and is no longer being used
|
||||
bool cs_mag_heading_consistent # 37 - true when the heading obtained from mag data is declared consistent with the filter
|
||||
bool cs_aux_gpos # 38 - true if auxiliary global position measurement fusion is intended
|
||||
bool cs_rng_terrain # 39 - true if we are fusing range finder data for terrain
|
||||
bool cs_opt_flow_terrain # 40 - true if we are fusing flow data for terrain
|
||||
bool cs_valid_fake_pos # 41 - true if a valid constant position is being fused
|
||||
bool cs_constant_pos # 42 - true if the vehicle is at a constant position
|
||||
bool cs_baro_fault # 43 - true when the current baro has been declared faulty and is no longer being used
|
||||
bool cs_gnss_vel # 44 - true if GNSS velocity measurement fusion is intended
|
||||
|
||||
# fault status
|
||||
uint32 fault_status_changes # number of filter fault status (fs) changes
|
||||
bool fs_bad_mag_x # 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error
|
||||
bool fs_bad_mag_y # 1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error
|
||||
bool fs_bad_mag_z # 2 - true if the fusion of the magnetometer Z-axis has encountered a numerical error
|
||||
bool fs_bad_hdg # 3 - true if the fusion of the heading angle has encountered a numerical error
|
||||
bool fs_bad_mag_decl # 4 - true if the fusion of the magnetic declination has encountered a numerical error
|
||||
bool fs_bad_airspeed # 5 - true if fusion of the airspeed has encountered a numerical error
|
||||
bool fs_bad_sideslip # 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error
|
||||
bool fs_bad_optflow_x # 7 - true if fusion of the optical flow X axis has encountered a numerical error
|
||||
bool fs_bad_optflow_y # 8 - true if fusion of the optical flow Y axis has encountered a numerical error
|
||||
bool fs_bad_acc_vertical # 10 - true if bad vertical accelerometer data has been detected
|
||||
bool fs_bad_acc_clipping # 11 - true if delta velocity data contains clipping (asymmetric railing)
|
||||
|
||||
|
||||
# innovation test failures
|
||||
uint32 innovation_fault_status_changes # number of innovation fault status (reject) changes
|
||||
bool reject_hor_vel # 0 - true if horizontal velocity observations have been rejected
|
||||
bool reject_ver_vel # 1 - true if vertical velocity observations have been rejected
|
||||
bool reject_hor_pos # 2 - true if horizontal position observations have been rejected
|
||||
bool reject_ver_pos # 3 - true if vertical position observations have been rejected
|
||||
bool reject_yaw # 7 - true if the yaw observation has been rejected
|
||||
bool reject_airspeed # 8 - true if the airspeed observation has been rejected
|
||||
bool reject_sideslip # 9 - true if the synthetic sideslip observation has been rejected
|
||||
bool reject_hagl # 10 - true if the height above ground observation has been rejected
|
||||
bool reject_optflow_x # 11 - true if the X optical flow observation has been rejected
|
||||
bool reject_optflow_y # 12 - true if the Y optical flow observation has been rejected
|
||||
|
||||
```
|
||||
@@ -0,0 +1,19 @@
|
||||
# Event (повідомлення UORB)
|
||||
|
||||
Інтерфейс подій
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Event.msg)
|
||||
|
||||
```c
|
||||
# Events interface
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint32 id # Event ID
|
||||
uint16 event_sequence # Event sequence number
|
||||
uint8[25] arguments # (optional) arguments, depend on event id
|
||||
|
||||
uint8 log_levels # Log levels: 4 bits MSB: internal, 4 bits LSB: external
|
||||
|
||||
uint8 ORB_QUEUE_LENGTH = 16
|
||||
|
||||
```
|
||||
@@ -0,0 +1,70 @@
|
||||
# FailsafeFlags (повідомлення UORB)
|
||||
|
||||
Input flags for the failsafe state machine set by the arming & health checks.
|
||||
|
||||
Прапорці повинні мати назви такі, що false == відсутність відмови (наприклад, _invalid, _unhealthy, _lost)
|
||||
Коментарі до прапорців використовуються як мітка для симуляції аварійного стану машини
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FailsafeFlags.msg)
|
||||
|
||||
```c
|
||||
# Input flags for the failsafe state machine set by the arming & health checks.
|
||||
#
|
||||
# Flags must be named such that false == no failure (e.g. _invalid, _unhealthy, _lost)
|
||||
# The flag comments are used as label for the failsafe state machine simulation
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
# Per-mode requirements
|
||||
uint32 mode_req_angular_velocity
|
||||
uint32 mode_req_attitude
|
||||
uint32 mode_req_local_alt
|
||||
uint32 mode_req_local_position
|
||||
uint32 mode_req_local_position_relaxed
|
||||
uint32 mode_req_global_position
|
||||
uint32 mode_req_mission
|
||||
uint32 mode_req_offboard_signal
|
||||
uint32 mode_req_home_position
|
||||
uint32 mode_req_wind_and_flight_time_compliance # if set, mode cannot be entered if wind or flight time limit exceeded
|
||||
uint32 mode_req_prevent_arming # if set, cannot arm while in this mode
|
||||
uint32 mode_req_manual_control
|
||||
uint32 mode_req_other # other requirements, not covered above (for external modes)
|
||||
|
||||
|
||||
# Mode requirements
|
||||
bool angular_velocity_invalid # Angular velocity invalid
|
||||
bool attitude_invalid # Attitude invalid
|
||||
bool local_altitude_invalid # Local altitude invalid
|
||||
bool local_position_invalid # Local position estimate invalid
|
||||
bool local_position_invalid_relaxed # Local position with reduced accuracy requirements invalid (e.g. flying with optical flow)
|
||||
bool local_velocity_invalid # Local velocity estimate invalid
|
||||
bool global_position_invalid # Global position estimate invalid
|
||||
bool auto_mission_missing # No mission available
|
||||
bool offboard_control_signal_lost # Offboard signal lost
|
||||
bool home_position_invalid # No home position available
|
||||
|
||||
# Control links
|
||||
bool manual_control_signal_lost # Manual control (RC) signal lost
|
||||
bool gcs_connection_lost # GCS connection lost
|
||||
|
||||
# Battery
|
||||
uint8 battery_warning # Battery warning level (see BatteryStatus.msg)
|
||||
bool battery_low_remaining_time # Low battery based on remaining flight time
|
||||
bool battery_unhealthy # Battery unhealthy
|
||||
|
||||
# Other
|
||||
bool geofence_breached # Geofence breached (one or multiple)
|
||||
bool mission_failure # Mission failure
|
||||
bool vtol_fixed_wing_system_failure # vehicle in fixed-wing system failure failsafe mode (after quad-chute)
|
||||
bool wind_limit_exceeded # Wind limit exceeded
|
||||
bool flight_time_limit_exceeded # Maximum flight time exceeded
|
||||
bool local_position_accuracy_low # Local position estimate has dropped below threshold, but is currently still declared valid
|
||||
bool navigator_failure # Navigator failed to execute a mode
|
||||
|
||||
# Failure detector
|
||||
bool fd_critical_failure # Critical failure (attitude/altitude limit exceeded, or external ATS)
|
||||
bool fd_esc_arming_failure # ESC failed to arm
|
||||
bool fd_imbalanced_prop # Imbalanced propeller detected
|
||||
bool fd_motor_failure # Motor failure
|
||||
|
||||
```
|
||||
@@ -0,0 +1,21 @@
|
||||
# FailureDetectorStatus (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FailureDetectorStatus.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
# FailureDetector status
|
||||
bool fd_roll
|
||||
bool fd_pitch
|
||||
bool fd_alt
|
||||
bool fd_ext
|
||||
bool fd_arm_escs
|
||||
bool fd_battery
|
||||
bool fd_imbalanced_prop
|
||||
bool fd_motor
|
||||
|
||||
float32 imbalanced_prop_metric # Metric of the imbalanced propeller check (low-passed)
|
||||
uint16 motor_failure_mask # Bit-mask with motor indices, indicating critical motor failures
|
||||
|
||||
```
|
||||
@@ -0,0 +1,15 @@
|
||||
# FigureEightStatus (повідомлення UORB)
|
||||
|
||||
[вихідний файл](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FigureEightStatus.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
float32 major_radius # Major axis radius of the figure eight [m]. Positive values orbit clockwise, negative values orbit counter-clockwise.
|
||||
float32 minor_radius # Minor axis radius of the figure eight [m].
|
||||
float32 orientation # Orientation of the major axis of the figure eight [rad].
|
||||
uint8 frame # The coordinate system of the fields: x, y, z.
|
||||
int32 x # X coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.
|
||||
int32 y # Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters * 1e4, global = latitude in degrees * 1e7.
|
||||
float32 z # Altitude of center point. Coordinate system depends on frame field.
|
||||
|
||||
```
|
||||
@@ -0,0 +1,15 @@
|
||||
# FlightPhaseEstimation (повідомлення UORB)
|
||||
|
||||
[вихідний файл](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FlightPhaseEstimation.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint8 flight_phase # Estimate of current flight phase
|
||||
|
||||
uint8 FLIGHT_PHASE_UNKNOWN = 0 # vehicle flight phase is unknown
|
||||
uint8 FLIGHT_PHASE_LEVEL = 1 # Vehicle is in level flight
|
||||
uint8 FLIGHT_PHASE_DESCEND = 2 # vehicle is in descend
|
||||
uint8 FLIGHT_PHASE_CLIMB = 3 # vehicle is climbing
|
||||
|
||||
```
|
||||
@@ -0,0 +1,18 @@
|
||||
# FollowTarget (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FollowTarget.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
float64 lat # target position (deg * 1e7)
|
||||
float64 lon # target position (deg * 1e7)
|
||||
float32 alt # target position
|
||||
|
||||
float32 vy # target vel in y
|
||||
float32 vx # target vel in x
|
||||
float32 vz # target vel in z
|
||||
|
||||
uint8 est_cap # target reporting capabilities
|
||||
|
||||
```
|
||||
@@ -0,0 +1,23 @@
|
||||
# FollowTargetEstimator (UORB message)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FollowTargetEstimator.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 last_filter_reset_timestamp # time of last filter reset (microseconds)
|
||||
|
||||
bool valid # True if estimator states are okay to be used
|
||||
bool stale # True if estimator stopped receiving follow_target messages for some time. The estimate can still be valid, though it might be inaccurate.
|
||||
|
||||
float64 lat_est # Estimated target latitude
|
||||
float64 lon_est # Estimated target longitude
|
||||
float32 alt_est # Estimated target altitude
|
||||
|
||||
float32[3] pos_est # Estimated target NED position (m)
|
||||
float32[3] vel_est # Estimated target NED velocity (m/s)
|
||||
float32[3] acc_est # Estimated target NED acceleration (m^2/s)
|
||||
|
||||
uint64 prediction_count
|
||||
uint64 fusion_count
|
||||
|
||||
```
|
||||
@@ -0,0 +1,19 @@
|
||||
# FollowTargetStatus (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FollowTargetStatus.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # [microseconds] time since system start
|
||||
|
||||
float32 tracked_target_course # [rad] Tracked target course in NED local frame (North is course zero)
|
||||
float32 follow_angle # [rad] Current follow angle setting
|
||||
|
||||
float32 orbit_angle_setpoint # [rad] Current orbit angle setpoint from the smooth trajectory generator
|
||||
float32 angular_rate_setpoint # [rad/s] Angular rate commanded from Jerk-limited Orbit Angle trajectory for Orbit Angle
|
||||
|
||||
float32[3] desired_position_raw # [m] Raw 'idealistic' desired drone position if a drone could teleport from place to places
|
||||
|
||||
bool in_emergency_ascent # [bool] True when doing emergency ascent (when distance to ground is below safety altitude)
|
||||
float32 gimbal_pitch # [rad] Gimbal pitch commanded to track target in the center of the frame
|
||||
|
||||
```
|
||||
@@ -0,0 +1,24 @@
|
||||
# FuelTankStatus (UORB message)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/FuelTankStatus.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
float32 maximum_fuel_capacity # maximum fuel capacity. Must always be provided, either from the driver or a parameter
|
||||
float32 consumed_fuel # consumed fuel, NaN if not measured. Should not be inferred from the max fuel capacity
|
||||
float32 fuel_consumption_rate # fuel consumption rate, NaN if not measured
|
||||
|
||||
uint8 percent_remaining # percentage of remaining fuel, UINT8_MAX if not provided
|
||||
float32 remaining_fuel # remaining fuel, NaN if not measured. Should not be inferred from the max fuel capacity
|
||||
|
||||
uint8 fuel_tank_id # identifier for the fuel tank. Must match ID of other messages for same fuel system. 0 by default when only a single tank exists
|
||||
|
||||
uint32 fuel_type # type of fuel based on MAV_FUEL_TYPE enum. Set to MAV_FUEL_TYPE_UNKNOWN if unknown or it does not fit the provided types
|
||||
uint8 MAV_FUEL_TYPE_UNKNOWN = 0 # fuel type not specified. Fuel levels are normalized (i.e., maximum is 1, and other levels are relative to 1).
|
||||
uint8 MAV_FUEL_TYPE_LIQUID = 1 # represents generic liquid fuels, such as gasoline or diesel. Fuel levels are measured in millilitres (ml), and flow rates in millilitres per second (ml/s).
|
||||
uint8 MAV_FUEL_TYPE_GAS = 2 # represents a gas fuel, such as hydrogen, methane, or propane. Fuel levels are in kilo-Pascal (kPa), and flow rates are in milliliters per second (ml/s).
|
||||
|
||||
float32 temperature # fuel temperature in Kelvin, NaN if not measured
|
||||
|
||||
```
|
||||
@@ -0,0 +1,51 @@
|
||||
# GeneratorStatus (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GeneratorStatus.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
|
||||
uint64 STATUS_FLAG_OFF = 1 # Generator is off.
|
||||
uint64 STATUS_FLAG_READY = 2 # Generator is ready to start generating power.
|
||||
uint64 STATUS_FLAG_GENERATING = 4 # Generator is generating power.
|
||||
uint64 STATUS_FLAG_CHARGING = 8 # Generator is charging the batteries (generating enough power to charge and provide the load).
|
||||
uint64 STATUS_FLAG_REDUCED_POWER = 16 # Generator is operating at a reduced maximum power.
|
||||
uint64 STATUS_FLAG_MAXPOWER = 32 # Generator is providing the maximum output.
|
||||
uint64 STATUS_FLAG_OVERTEMP_WARNING = 64 # Generator is near the maximum operating temperature, cooling is insufficient.
|
||||
uint64 STATUS_FLAG_OVERTEMP_FAULT = 128 # Generator hit the maximum operating temperature and shutdown.
|
||||
uint64 STATUS_FLAG_ELECTRONICS_OVERTEMP_WARNING = 256 # Power electronics are near the maximum operating temperature, cooling is insufficient.
|
||||
uint64 STATUS_FLAG_ELECTRONICS_OVERTEMP_FAULT = 512 # Power electronics hit the maximum operating temperature and shutdown.
|
||||
uint64 STATUS_FLAG_ELECTRONICS_FAULT = 1024 # Power electronics experienced a fault and shutdown.
|
||||
uint64 STATUS_FLAG_POWERSOURCE_FAULT = 2048 # The power source supplying the generator failed e.g. mechanical generator stopped, tether is no longer providing power, solar cell is in shade, hydrogen reaction no longer happening.
|
||||
uint64 STATUS_FLAG_COMMUNICATION_WARNING = 4096 # Generator controller having communication problems.
|
||||
uint64 STATUS_FLAG_COOLING_WARNING = 8192 # Power electronic or generator cooling system error.
|
||||
uint64 STATUS_FLAG_POWER_RAIL_FAULT = 16384 # Generator controller power rail experienced a fault.
|
||||
uint64 STATUS_FLAG_OVERCURRENT_FAULT = 32768 # Generator controller exceeded the overcurrent threshold and shutdown to prevent damage.
|
||||
uint64 STATUS_FLAG_BATTERY_OVERCHARGE_CURRENT_FAULT = 65536 # Generator controller detected a high current going into the batteries and shutdown to prevent battery damage. |
|
||||
uint64 STATUS_FLAG_OVERVOLTAGE_FAULT = 131072 # Generator controller exceeded it's overvoltage threshold and shutdown to prevent it exceeding the voltage rating.
|
||||
uint64 STATUS_FLAG_BATTERY_UNDERVOLT_FAULT = 262144 # Batteries are under voltage (generator will not start).
|
||||
uint64 STATUS_FLAG_START_INHIBITED = 524288 # Generator start is inhibited by e.g. a safety switch.
|
||||
uint64 STATUS_FLAG_MAINTENANCE_REQUIRED = 1048576 # Generator requires maintenance.
|
||||
uint64 STATUS_FLAG_WARMING_UP = 2097152 # Generator is not ready to generate yet.
|
||||
uint64 STATUS_FLAG_IDLE = 4194304 # Generator is idle.
|
||||
|
||||
uint64 status # Status flags
|
||||
|
||||
|
||||
float32 battery_current # [A] Current into/out of battery. Positive for out. Negative for in. NaN: field not provided.
|
||||
float32 load_current # [A] Current going to the UAV. If battery current not available this is the DC current from the generator. Positive for out. Negative for in. NaN: field not provided
|
||||
float32 power_generated # [W] The power being generated. NaN: field not provided
|
||||
float32 bus_voltage # [V] Voltage of the bus seen at the generator, or battery bus if battery bus is controlled by generator and at a different voltage to main bus.
|
||||
float32 bat_current_setpoint # [A] The target battery current. Positive for out. Negative for in. NaN: field not provided
|
||||
|
||||
uint32 runtime # [s] Seconds this generator has run since it was rebooted. UINT32_MAX: field not provided.
|
||||
|
||||
int32 time_until_maintenance # [s] Seconds until this generator requires maintenance. A negative value indicates maintenance is past-due. INT32_MAX: field not provided.
|
||||
|
||||
uint16 generator_speed # [rpm] Speed of electrical generator or alternator. UINT16_MAX: field not provided.
|
||||
|
||||
int16 rectifier_temperature # [degC] The temperature of the rectifier or power converter. INT16_MAX: field not provided.
|
||||
int16 generator_temperature # [degC] The temperature of the mechanical motor, fuel cell core or generator. INT16_MAX: field not provided.
|
||||
|
||||
```
|
||||
@@ -0,0 +1,20 @@
|
||||
# GeofenceResult (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GeofenceResult.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint8 GF_ACTION_NONE = 0 # no action on geofence violation
|
||||
uint8 GF_ACTION_WARN = 1 # critical mavlink message
|
||||
uint8 GF_ACTION_LOITER = 2 # switch to AUTO|LOITER
|
||||
uint8 GF_ACTION_RTL = 3 # switch to AUTO|RTL
|
||||
uint8 GF_ACTION_TERMINATE = 4 # flight termination
|
||||
uint8 GF_ACTION_LAND = 5 # switch to AUTO|LAND
|
||||
|
||||
bool geofence_max_dist_triggered # true the check for max distance from Home is triggered
|
||||
bool geofence_max_alt_triggered # true the check for max altitude above Home is triggered
|
||||
bool geofence_custom_fence_triggered # true the check for custom inclusion/exclusion geofence(s) is triggered
|
||||
|
||||
uint8 geofence_action # action to take when the geofence is breached
|
||||
|
||||
```
|
||||
@@ -0,0 +1,14 @@
|
||||
# GeofenceStatus (повідомлення UORB)
|
||||
|
||||
[вихідний файл](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GeofenceStatus.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint32 geofence_id # loaded geofence id
|
||||
uint8 status # Current geofence status
|
||||
|
||||
uint8 GF_STATUS_LOADING = 0
|
||||
uint8 GF_STATUS_READY = 1
|
||||
|
||||
```
|
||||
@@ -0,0 +1,14 @@
|
||||
# GimbalControls (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalControls.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint8 INDEX_ROLL = 0
|
||||
uint8 INDEX_PITCH = 1
|
||||
uint8 INDEX_YAW = 2
|
||||
|
||||
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
|
||||
float32[3] control
|
||||
|
||||
```
|
||||
@@ -0,0 +1,30 @@
|
||||
# GimbalDeviceAttitudeStatus (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalDeviceAttitudeStatus.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint8 target_system
|
||||
uint8 target_component
|
||||
uint16 device_flags
|
||||
|
||||
uint16 DEVICE_FLAGS_RETRACT = 1
|
||||
uint16 DEVICE_FLAGS_NEUTRAL = 2
|
||||
uint16 DEVICE_FLAGS_ROLL_LOCK = 4
|
||||
uint16 DEVICE_FLAGS_PITCH_LOCK = 8
|
||||
uint16 DEVICE_FLAGS_YAW_LOCK = 16
|
||||
|
||||
float32[4] q
|
||||
float32 angular_velocity_x
|
||||
float32 angular_velocity_y
|
||||
float32 angular_velocity_z
|
||||
|
||||
uint32 failure_flags
|
||||
float32 delta_yaw
|
||||
float32 delta_yaw_velocity
|
||||
uint8 gimbal_device_id
|
||||
|
||||
bool received_from_mavlink
|
||||
|
||||
```
|
||||
@@ -0,0 +1,43 @@
|
||||
# GimbalDeviceInformation (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalDeviceInformation.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint8[32] vendor_name
|
||||
uint8[32] model_name
|
||||
uint8[32] custom_name
|
||||
uint32 firmware_version
|
||||
uint32 hardware_version
|
||||
uint64 uid
|
||||
|
||||
uint16 cap_flags
|
||||
|
||||
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT = 1
|
||||
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL = 2
|
||||
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS = 4
|
||||
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW = 8
|
||||
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK = 16
|
||||
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS = 32
|
||||
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW = 64
|
||||
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK = 128
|
||||
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS = 256
|
||||
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW = 512
|
||||
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK = 1024
|
||||
uint32 GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW = 2048
|
||||
|
||||
uint16 custom_cap_flags
|
||||
|
||||
float32 roll_min # [rad]
|
||||
float32 roll_max # [rad]
|
||||
|
||||
float32 pitch_min # [rad]
|
||||
float32 pitch_max # [rad]
|
||||
|
||||
float32 yaw_min # [rad]
|
||||
float32 yaw_max # [rad]
|
||||
|
||||
uint8 gimbal_device_id
|
||||
|
||||
```
|
||||
@@ -0,0 +1,24 @@
|
||||
# GimbalDeviceSetAttitude (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalDeviceSetAttitude.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint8 target_system
|
||||
uint8 target_component
|
||||
|
||||
uint16 flags
|
||||
uint32 GIMBAL_DEVICE_FLAGS_RETRACT = 1
|
||||
uint32 GIMBAL_DEVICE_FLAGS_NEUTRAL = 2
|
||||
uint32 GIMBAL_DEVICE_FLAGS_ROLL_LOCK = 4
|
||||
uint32 GIMBAL_DEVICE_FLAGS_PITCH_LOCK = 8
|
||||
uint32 GIMBAL_DEVICE_FLAGS_YAW_LOCK = 16
|
||||
|
||||
float32[4] q
|
||||
|
||||
float32 angular_velocity_x
|
||||
float32 angular_velocity_y
|
||||
float32 angular_velocity_z
|
||||
|
||||
```
|
||||
@@ -0,0 +1,36 @@
|
||||
# GimbalManagerInformation (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerInformation.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint32 cap_flags
|
||||
|
||||
uint32 GIMBAL_MANAGER_CAP_FLAGS_HAS_RETRACT = 1
|
||||
uint32 GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRAL = 2
|
||||
uint32 GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_AXIS = 4
|
||||
uint32 GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_FOLLOW = 8
|
||||
uint32 GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCK = 16
|
||||
uint32 GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXIS = 32
|
||||
uint32 GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_FOLLOW = 64
|
||||
uint32 GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCK = 128
|
||||
uint32 GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXIS = 256
|
||||
uint32 GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_FOLLOW = 512
|
||||
uint32 GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCK = 1024
|
||||
uint32 GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_INFINITE_YAW = 2048
|
||||
uint32 GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_LOCAL = 65536
|
||||
uint32 GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBAL = 131072
|
||||
|
||||
uint8 gimbal_device_id
|
||||
|
||||
float32 roll_min # [rad]
|
||||
float32 roll_max # [rad]
|
||||
|
||||
float32 pitch_min # [rad]
|
||||
float32 pitch_max # [rad]
|
||||
|
||||
float32 yaw_min # [rad]
|
||||
float32 yaw_max # [rad]
|
||||
|
||||
```
|
||||
@@ -0,0 +1,31 @@
|
||||
# GimbalManagerSetAttitude (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerSetAttitude.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint8 origin_sysid
|
||||
uint8 origin_compid
|
||||
|
||||
uint8 target_system
|
||||
uint8 target_component
|
||||
|
||||
uint32 GIMBAL_MANAGER_FLAGS_RETRACT = 1
|
||||
uint32 GIMBAL_MANAGER_FLAGS_NEUTRAL = 2
|
||||
uint32 GIMBAL_MANAGER_FLAGS_ROLL_LOCK = 4
|
||||
uint32 GIMBAL_MANAGER_FLAGS_PITCH_LOCK = 8
|
||||
uint32 GIMBAL_MANAGER_FLAGS_YAW_LOCK = 16
|
||||
|
||||
uint32 flags
|
||||
uint8 gimbal_device_id
|
||||
|
||||
float32[4] q
|
||||
|
||||
float32 angular_velocity_x
|
||||
float32 angular_velocity_y
|
||||
float32 angular_velocity_z
|
||||
|
||||
uint8 ORB_QUEUE_LENGTH = 2
|
||||
|
||||
```
|
||||
@@ -0,0 +1,28 @@
|
||||
# GimbalManagerSetManualControl (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerSetManualControl.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint8 origin_sysid
|
||||
uint8 origin_compid
|
||||
|
||||
uint8 target_system
|
||||
uint8 target_component
|
||||
|
||||
uint32 GIMBAL_MANAGER_FLAGS_RETRACT = 1
|
||||
uint32 GIMBAL_MANAGER_FLAGS_NEUTRAL = 2
|
||||
uint32 GIMBAL_MANAGER_FLAGS_ROLL_LOCK = 4
|
||||
uint32 GIMBAL_MANAGER_FLAGS_PITCH_LOCK = 8
|
||||
uint32 GIMBAL_MANAGER_FLAGS_YAW_LOCK = 16
|
||||
|
||||
uint32 flags
|
||||
uint8 gimbal_device_id
|
||||
|
||||
float32 pitch # unitless -1..1, can be NAN
|
||||
float32 yaw # unitless -1..1, can be NAN
|
||||
float32 pitch_rate # unitless -1..1, can be NAN
|
||||
float32 yaw_rate # unitless -1..1, can be NAN
|
||||
|
||||
```
|
||||
@@ -0,0 +1,15 @@
|
||||
# GimbalManagerStatus (UORB message)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerStatus.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint32 flags
|
||||
uint8 gimbal_device_id
|
||||
uint8 primary_control_sysid
|
||||
uint8 primary_control_compid
|
||||
uint8 secondary_control_sysid
|
||||
uint8 secondary_control_compid
|
||||
|
||||
```
|
||||
@@ -0,0 +1,40 @@
|
||||
# GotoSetpoint (повідомлення UORB)
|
||||
|
||||
Задання положення та (опціонально) курсу з відповідними обмеженнями швидкості
|
||||
Заданi значення призначені для використання як вхідні дані для згладжувачів положення та курсу відповідно
|
||||
Задані значення не обов'язково повинні бути кінематично узгодженими
|
||||
Опціональні значення курсу можуть бути визначені як такі, що контролюються відповідним прапорцем
|
||||
Невстановлені опціональні значення не контролюються
|
||||
Невстановлені опціональні обмеження за замовчуванням відповідають специфікаціям транспортного засобу
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/GotoSetpoint.msg)
|
||||
|
||||
```c
|
||||
# Position and (optional) heading setpoints with corresponding speed constraints
|
||||
# Setpoints are intended as inputs to position and heading smoothers, respectively
|
||||
# Setpoints do not need to be kinematically consistent
|
||||
# Optional heading setpoints may be specified as controlled by the respective flag
|
||||
# Unset optional setpoints are not controlled
|
||||
# Unset optional constraints default to vehicle specifications
|
||||
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
# setpoints
|
||||
float32[3] position # [m] NED local world frame
|
||||
|
||||
bool flag_control_heading # true if heading is to be controlled
|
||||
float32 heading # (optional) [rad] [-pi,pi] from North
|
||||
|
||||
# constraints
|
||||
bool flag_set_max_horizontal_speed # true if setting a non-default horizontal speed limit
|
||||
float32 max_horizontal_speed # (optional) [m/s] maximum speed (absolute) in the NE-plane
|
||||
|
||||
bool flag_set_max_vertical_speed # true if setting a non-default vertical speed limit
|
||||
float32 max_vertical_speed # (optional) [m/s] maximum speed (absolute) in the D-axis
|
||||
|
||||
bool flag_set_max_heading_rate # true if setting a non-default heading rate limit
|
||||
float32 max_heading_rate # (optional) [rad/s] maximum heading rate (absolute)
|
||||
|
||||
```
|
||||
@@ -0,0 +1,37 @@
|
||||
# GpioConfig (повідомлення UORB)
|
||||
|
||||
Конфігурація GPIO
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioConfig.msg)
|
||||
|
||||
```c
|
||||
# GPIO configuration
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint32 device_id # Device id
|
||||
|
||||
uint32 mask # Pin mask
|
||||
uint32 state # Initial pin output state
|
||||
|
||||
# Configuration Mask
|
||||
# Bit 0-3: Direction: 0=Input, 1=Output
|
||||
# Bit 4-7: Input Config: 0=Floating, 1=PullUp, 2=PullDown
|
||||
# Bit 8-12: Output Config: 0=PushPull, 1=OpenDrain
|
||||
# Bit 13-31: Reserved
|
||||
uint32 INPUT = 0 # 0x0000
|
||||
uint32 OUTPUT = 1 # 0x0001
|
||||
uint32 PULLUP = 16 # 0x0010
|
||||
uint32 PULLDOWN = 32 # 0x0020
|
||||
uint32 OPENDRAIN = 256 # 0x0100
|
||||
|
||||
uint32 INPUT_FLOATING = 0 # 0x0000
|
||||
uint32 INPUT_PULLUP = 16 # 0x0010
|
||||
uint32 INPUT_PULLDOWN = 32 # 0x0020
|
||||
|
||||
uint32 OUTPUT_PUSHPULL = 0 # 0x0000
|
||||
uint32 OUTPUT_OPENDRAIN = 256 # 0x0100
|
||||
uint32 OUTPUT_OPENDRAIN_PULLUP = 272 # 0x0110
|
||||
|
||||
uint32 config
|
||||
|
||||
```
|
||||
@@ -0,0 +1,15 @@
|
||||
# GpioIn (повідомлення UORB)
|
||||
|
||||
Маска та стан GPIO
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioIn.msg)
|
||||
|
||||
```c
|
||||
# GPIO mask and state
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint32 device_id # Device id
|
||||
|
||||
uint32 state # pin state mask
|
||||
|
||||
```
|
||||
@@ -0,0 +1,16 @@
|
||||
# GpioOut (повідомлення UORB)
|
||||
|
||||
Маска та стан GPIO
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioOut.msg)
|
||||
|
||||
```c
|
||||
# GPIO mask and state
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint32 device_id # Device id
|
||||
|
||||
uint32 mask # pin mask
|
||||
uint32 state # pin state mask
|
||||
|
||||
```
|
||||
@@ -0,0 +1,13 @@
|
||||
# GpioRequest (повідомлення UORB)
|
||||
|
||||
Запит на зчитування маски GPIO
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpioRequest.msg)
|
||||
|
||||
```c
|
||||
# Request GPIO mask to be read
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint32 device_id # Device id
|
||||
|
||||
```
|
||||
@@ -0,0 +1,19 @@
|
||||
# GpsDump (повідомлення UORB)
|
||||
|
||||
This message is used to dump the raw gps communication to the log.
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpsDump.msg)
|
||||
|
||||
```c
|
||||
# This message is used to dump the raw gps communication to the log.
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint8 instance # Instance of GNSS receiver
|
||||
uint8 len # length of data, MSB bit set = message to the gps device,
|
||||
# clear = message from the device
|
||||
uint8[79] data # data to write to the log
|
||||
|
||||
uint8 ORB_QUEUE_LENGTH = 8
|
||||
|
||||
```
|
||||
@@ -0,0 +1,18 @@
|
||||
# GpsInjectData (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GpsInjectData.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
|
||||
|
||||
uint16 len # length of data
|
||||
uint8 flags # LSB: 1=fragmented
|
||||
uint8[300] data # data to write to GPS device (RTCM message)
|
||||
|
||||
uint8 ORB_QUEUE_LENGTH = 8
|
||||
|
||||
uint8 MAX_INSTANCES = 2
|
||||
|
||||
```
|
||||
@@ -0,0 +1,16 @@
|
||||
# Gripper (повідомлення UORB)
|
||||
|
||||
# Використовується для виклику активації в захоплювачі, яка відображена на конкретний вихід в модулі розподілу керування
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Gripper.msg)
|
||||
|
||||
```c
|
||||
## Used to command an actuation in the gripper, which is mapped to a specific output in the control allocation module
|
||||
|
||||
uint64 timestamp
|
||||
|
||||
int8 command # Commanded state for the gripper
|
||||
int8 COMMAND_GRAB = 0
|
||||
int8 COMMAND_RELEASE = 1
|
||||
|
||||
```
|
||||
@@ -0,0 +1,19 @@
|
||||
# HealthReport (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/HealthReport.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint64 can_arm_mode_flags # bitfield for each flight mode (NAVIGATION_STATE_*) if arming is possible
|
||||
uint64 can_run_mode_flags # bitfield for each flight mode if it can run
|
||||
|
||||
uint64 health_is_present_flags # flags for each health_component_t
|
||||
uint64 health_warning_flags
|
||||
uint64 health_error_flags
|
||||
# A component is required but missing, if present==0 and error==1
|
||||
|
||||
uint64 arming_check_warning_flags
|
||||
uint64 arming_check_error_flags
|
||||
|
||||
```
|
||||
@@ -0,0 +1,27 @@
|
||||
# HeaterStatus (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/HeaterStatus.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint32 device_id
|
||||
|
||||
bool heater_on
|
||||
bool temperature_target_met
|
||||
|
||||
float32 temperature_sensor
|
||||
float32 temperature_target
|
||||
|
||||
uint32 controller_period_usec
|
||||
uint32 controller_time_on_usec
|
||||
|
||||
float32 proportional_value
|
||||
float32 integrator_value
|
||||
float32 feed_forward_value
|
||||
|
||||
uint8 MODE_GPIO = 1
|
||||
uint8 MODE_PX4IO = 2
|
||||
uint8 mode
|
||||
|
||||
```
|
||||
@@ -0,0 +1,32 @@
|
||||
# HomePosition (повідомлення UORB)
|
||||
|
||||
Домашнє GPS положення в координатах WGS84.
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/HomePosition.msg)
|
||||
|
||||
```c
|
||||
# GPS home position in WGS84 coordinates.
|
||||
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
float64 lat # Latitude in degrees
|
||||
float64 lon # Longitude in degrees
|
||||
float32 alt # Altitude in meters (AMSL)
|
||||
|
||||
float32 x # X coordinate in meters
|
||||
float32 y # Y coordinate in meters
|
||||
float32 z # Z coordinate in meters
|
||||
|
||||
float32 yaw # Yaw angle in radians
|
||||
|
||||
bool valid_alt # true when the altitude has been set
|
||||
bool valid_hpos # true when the latitude and longitude have been set
|
||||
bool valid_lpos # true when the local position (xyz) has been set
|
||||
|
||||
bool manual_home # true when home position was set manually
|
||||
|
||||
uint32 update_count # update counter of the home position
|
||||
|
||||
```
|
||||
@@ -0,0 +1,20 @@
|
||||
# HoverThrustEstimate (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/HoverThrustEstimate.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample # time of corresponding sensor data last used for this estimate
|
||||
|
||||
float32 hover_thrust # estimated hover thrust [0.1, 0.9]
|
||||
float32 hover_thrust_var # estimated hover thrust variance
|
||||
|
||||
float32 accel_innov # innovation of the last acceleration fusion
|
||||
float32 accel_innov_var # innovation variance of the last acceleration fusion
|
||||
float32 accel_innov_test_ratio # normalized innovation squared test ratio
|
||||
|
||||
float32 accel_noise_var # vertical acceleration noise variance estimated form innovation residual
|
||||
|
||||
bool valid
|
||||
|
||||
```
|
||||
@@ -0,0 +1,47 @@
|
||||
# InputRc (Повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/InputRc.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint8 RC_INPUT_SOURCE_UNKNOWN = 0
|
||||
uint8 RC_INPUT_SOURCE_PX4FMU_PPM = 1
|
||||
uint8 RC_INPUT_SOURCE_PX4IO_PPM = 2
|
||||
uint8 RC_INPUT_SOURCE_PX4IO_SPEKTRUM = 3
|
||||
uint8 RC_INPUT_SOURCE_PX4IO_SBUS = 4
|
||||
uint8 RC_INPUT_SOURCE_PX4IO_ST24 = 5
|
||||
uint8 RC_INPUT_SOURCE_MAVLINK = 6
|
||||
uint8 RC_INPUT_SOURCE_QURT = 7
|
||||
uint8 RC_INPUT_SOURCE_PX4FMU_SPEKTRUM = 8
|
||||
uint8 RC_INPUT_SOURCE_PX4FMU_SBUS = 9
|
||||
uint8 RC_INPUT_SOURCE_PX4FMU_ST24 = 10
|
||||
uint8 RC_INPUT_SOURCE_PX4FMU_SUMD = 11
|
||||
uint8 RC_INPUT_SOURCE_PX4FMU_DSM = 12
|
||||
uint8 RC_INPUT_SOURCE_PX4IO_SUMD = 13
|
||||
uint8 RC_INPUT_SOURCE_PX4FMU_CRSF = 14
|
||||
uint8 RC_INPUT_SOURCE_PX4FMU_GHST = 15
|
||||
|
||||
uint8 RC_INPUT_MAX_CHANNELS = 18 # Maximum number of R/C input channels in the system. S.Bus has up to 18 channels.
|
||||
|
||||
uint64 timestamp_last_signal # last valid reception time
|
||||
|
||||
uint8 channel_count # number of channels actually being seen
|
||||
|
||||
int8 RSSI_MAX = 100
|
||||
int32 rssi # receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 100: full reception
|
||||
|
||||
bool rc_failsafe # explicit failsafe flag: true on TX failure or TX out of range , false otherwise. Only the true state is reliable, as there are some (PPM) receivers on the market going into failsafe without telling us explicitly.
|
||||
bool rc_lost # RC receiver connection status: True,if no frame has arrived in the expected time, false otherwise. True usually means that the receiver has been disconnected, but can also indicate a radio link loss on "stupid" systems. Will remain false, if a RX with failsafe option continues to transmit frames after a link loss.
|
||||
|
||||
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
|
||||
|
||||
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
|
||||
|
||||
```
|
||||
@@ -0,0 +1,15 @@
|
||||
# InternalCombustionEngineControl (UORB message)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/InternalCombustionEngineControl.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
bool ignition_on # activate/deactivate ignition (Spark Plug)
|
||||
float32 throttle_control # [0,1] - Motor should idle with 0. Includes slew rate if enabled.
|
||||
float32 choke_control # [0,1] - 1 fully closes the air inlet.
|
||||
float32 starter_engine_control # [0,1] - control value for electric starter motor.
|
||||
|
||||
uint8 user_request # user intent for the ICE being on/off
|
||||
|
||||
```
|
||||
@@ -0,0 +1,71 @@
|
||||
# InternalCombustionEngineStatus (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/InternalCombustionEngineStatus.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint8 STATE_STOPPED = 0 # The engine is not running. This is the default state.
|
||||
uint8 STATE_STARTING = 1 # The engine is starting. This is a transient state.
|
||||
uint8 STATE_RUNNING = 2 # The engine is running normally.
|
||||
uint8 STATE_FAULT = 3 # The engine can no longer function.
|
||||
uint8 state
|
||||
|
||||
uint32 FLAG_GENERAL_ERROR = 1 # General error.
|
||||
|
||||
uint32 FLAG_CRANKSHAFT_SENSOR_ERROR_SUPPORTED = 2 # Error of the crankshaft sensor. This flag is optional.
|
||||
uint32 FLAG_CRANKSHAFT_SENSOR_ERROR = 4
|
||||
|
||||
uint32 FLAG_TEMPERATURE_SUPPORTED = 8 # Temperature levels. These flags are optional
|
||||
uint32 FLAG_TEMPERATURE_BELOW_NOMINAL = 16 # Under-temperature warning
|
||||
uint32 FLAG_TEMPERATURE_ABOVE_NOMINAL = 32 # Over-temperature warning
|
||||
uint32 FLAG_TEMPERATURE_OVERHEATING = 64 # Critical overheating
|
||||
uint32 FLAG_TEMPERATURE_EGT_ABOVE_NOMINAL = 128 # Exhaust gas over-temperature warning
|
||||
|
||||
uint32 FLAG_FUEL_PRESSURE_SUPPORTED = 256 # Fuel pressure. These flags are optional
|
||||
uint32 FLAG_FUEL_PRESSURE_BELOW_NOMINAL = 512 # Under-pressure warning
|
||||
uint32 FLAG_FUEL_PRESSURE_ABOVE_NOMINAL = 1024 # Over-pressure warning
|
||||
|
||||
uint32 FLAG_DETONATION_SUPPORTED = 2048 # Detonation warning. This flag is optional.
|
||||
uint32 FLAG_DETONATION_OBSERVED = 4096 # Detonation condition observed warning
|
||||
|
||||
uint32 FLAG_MISFIRE_SUPPORTED = 8192 # Misfire warning. This flag is optional.
|
||||
uint32 FLAG_MISFIRE_OBSERVED = 16384 # Misfire condition observed warning
|
||||
|
||||
uint32 FLAG_OIL_PRESSURE_SUPPORTED = 32768 # Oil pressure. These flags are optional
|
||||
uint32 FLAG_OIL_PRESSURE_BELOW_NOMINAL = 65536 # Under-pressure warning
|
||||
uint32 FLAG_OIL_PRESSURE_ABOVE_NOMINAL = 131072 # Over-pressure warning
|
||||
|
||||
uint32 FLAG_DEBRIS_SUPPORTED = 262144 # Debris warning. This flag is optional
|
||||
uint32 FLAG_DEBRIS_DETECTED = 524288 # Detection of debris warning
|
||||
uint32 flags
|
||||
|
||||
uint8 engine_load_percent # Engine load estimate, percent, [0, 127]
|
||||
uint32 engine_speed_rpm # Engine speed, revolutions per minute
|
||||
float32 spark_dwell_time_ms # Spark dwell time, millisecond
|
||||
float32 atmospheric_pressure_kpa # Atmospheric (barometric) pressure, kilopascal
|
||||
float32 intake_manifold_pressure_kpa # Engine intake manifold pressure, kilopascal
|
||||
float32 intake_manifold_temperature # Engine intake manifold temperature, kelvin
|
||||
float32 coolant_temperature # Engine coolant temperature, kelvin
|
||||
float32 oil_pressure # Oil pressure, kilopascal
|
||||
float32 oil_temperature # Oil temperature, kelvin
|
||||
float32 fuel_pressure # Fuel pressure, kilopascal
|
||||
float32 fuel_consumption_rate_cm3pm # Instant fuel consumption estimate, (centimeter^3)/minute
|
||||
float32 estimated_consumed_fuel_volume_cm3 # Estimate of the consumed fuel since the start of the engine, centimeter^3
|
||||
uint8 throttle_position_percent # Throttle position, percent
|
||||
uint8 ecu_index # The index of the publishing ECU
|
||||
|
||||
|
||||
uint8 SPARK_PLUG_SINGLE = 0
|
||||
uint8 SPARK_PLUG_FIRST_ACTIVE = 1
|
||||
uint8 SPARK_PLUG_SECOND_ACTIVE = 2
|
||||
uint8 SPARK_PLUG_BOTH_ACTIVE = 3
|
||||
uint8 spark_plug_usage # Spark plug activity report.
|
||||
|
||||
float32 ignition_timing_deg # Cylinder ignition timing, angular degrees of the crankshaft
|
||||
float32 injection_time_ms # Fuel injection time, millisecond
|
||||
float32 cylinder_head_temperature # Cylinder head temperature (CHT), kelvin
|
||||
float32 exhaust_gas_temperature # Exhaust gas temperature (EGT), kelvin
|
||||
float32 lambda_coefficient # Estimated lambda coefficient, dimensionless ratio
|
||||
|
||||
```
|
||||
@@ -0,0 +1,22 @@
|
||||
# IridiumsbdStatus (UORB повідомлення)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/IridiumsbdStatus.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 last_at_ok_timestamp # timestamp of the last "OK" received after the "AT" command
|
||||
uint16 tx_buf_write_index # current size of the tx buffer
|
||||
uint16 rx_buf_read_index # the rx buffer is parsed up to that index
|
||||
uint16 rx_buf_end_index # current size of the rx buffer
|
||||
uint16 failed_sbd_sessions # number of failed sbd sessions
|
||||
uint16 successful_sbd_sessions # number of successful sbd sessions
|
||||
uint16 num_tx_buf_reset # number of times the tx buffer was reset
|
||||
uint8 signal_quality # current signal quality, 0 is no signal, 5 the best
|
||||
uint8 state # current state of the driver, see the satcom_state of IridiumSBD.h for the definition
|
||||
bool ring_pending # indicates if a ring call is pending
|
||||
bool tx_buf_write_pending # indicates if a tx buffer write is pending
|
||||
bool tx_session_pending # indicates if a tx session is pending
|
||||
bool rx_read_pending # indicates if a rx read is pending
|
||||
bool rx_session_pending # indicates if a rx session is pending
|
||||
|
||||
```
|
||||
@@ -0,0 +1,20 @@
|
||||
# IrlockReport (повідомлення UORB)
|
||||
|
||||
Дані повідомлення IRLOCK_REPORT
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/IrlockReport.msg)
|
||||
|
||||
```c
|
||||
# IRLOCK_REPORT message data
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint16 signature
|
||||
|
||||
# When looking along the optical axis of the camera, x points right, y points down, and z points along the optical axis.
|
||||
float32 pos_x # tan(theta), where theta is the angle between the target and the camera center of projection in camera x-axis
|
||||
float32 pos_y # tan(theta), where theta is the angle between the target and the camera center of projection in camera y-axis
|
||||
float32 size_x #/** size of target along camera x-axis in units of tan(theta) **/
|
||||
float32 size_y #/** size of target along camera y-axis in units of tan(theta) **/
|
||||
|
||||
```
|
||||
@@ -0,0 +1,14 @@
|
||||
# LandingGear (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LandingGear.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
int8 GEAR_UP = 1 # landing gear up
|
||||
int8 GEAR_DOWN = -1 # landing gear down
|
||||
int8 GEAR_KEEP = 0 # keep the current state
|
||||
|
||||
int8 landing_gear
|
||||
|
||||
```
|
||||
@@ -0,0 +1,10 @@
|
||||
# LandingGearWheel (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LandingGearWheel.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
float32 normalized_wheel_setpoint # negative is turning left, positive turning right [-1, 1]
|
||||
|
||||
```
|
||||
@@ -0,0 +1,15 @@
|
||||
# LandingTargetInnovations (повідомлення UORB)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LandingTargetInnovations.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
# Innovation of landing target position estimator
|
||||
float32 innov_x
|
||||
float32 innov_y
|
||||
|
||||
# Innovation covariance of landing target position estimator
|
||||
float32 innov_cov_x
|
||||
float32 innov_cov_y
|
||||
|
||||
```
|
||||
@@ -0,0 +1,35 @@
|
||||
# LandingTargetPose (повідомлення UORB)
|
||||
|
||||
Відносне положення цільової точки з високою точністю в навігаційних кадрах (тіло фіксоване, орієнтоване на північ, NED) та інерційних (фіксовані на світі, орієнтовані на північ, NED) кадрах
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LandingTargetPose.msg)
|
||||
|
||||
```c
|
||||
# Relative position of precision land target in navigation (body fixed, north aligned, NED) and inertial (world fixed, north aligned, NED) frames
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
bool is_static # Flag indicating whether the landing target is static or moving with respect to the ground
|
||||
|
||||
bool rel_pos_valid # Flag showing whether relative position is valid
|
||||
bool rel_vel_valid # Flag showing whether relative velocity is valid
|
||||
|
||||
float32 x_rel # X/north position of target, relative to vehicle (navigation frame) [meters]
|
||||
float32 y_rel # Y/east position of target, relative to vehicle (navigation frame) [meters]
|
||||
float32 z_rel # Z/down position of target, relative to vehicle (navigation frame) [meters]
|
||||
|
||||
float32 vx_rel # X/north velocity of target, relative to vehicle (navigation frame) [meters/second]
|
||||
float32 vy_rel # Y/east velocity of target, relative to vehicle (navigation frame) [meters/second]
|
||||
|
||||
float32 cov_x_rel # X/north position variance [meters^2]
|
||||
float32 cov_y_rel # Y/east position variance [meters^2]
|
||||
|
||||
float32 cov_vx_rel # X/north velocity variance [(meters/second)^2]
|
||||
float32 cov_vy_rel # Y/east velocity variance [(meters/second)^2]
|
||||
|
||||
bool abs_pos_valid # Flag showing whether absolute position is valid
|
||||
float32 x_abs # X/north position of target, relative to origin (navigation frame) [meters]
|
||||
float32 y_abs # Y/east position of target, relative to origin (navigation frame) [meters]
|
||||
float32 z_abs # Z/down position of target, relative to origin (navigation frame) [meters]
|
||||
|
||||
```
|
||||
@@ -0,0 +1,18 @@
|
||||
# LaunchDetectionStatus (повідомлення UORB)
|
||||
|
||||
Стан машини виявлення запуску (тільки фіксованокрил)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LaunchDetectionStatus.msg)
|
||||
|
||||
```c
|
||||
# Status of the launch detection state machine (fixed-wing only)
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint8 STATE_WAITING_FOR_LAUNCH = 0 # waiting for launch
|
||||
uint8 STATE_LAUNCH_DETECTED_DISABLED_MOTOR = 1 # launch detected, but keep motor(s) disabled (e.g. because it can't spin freely while on catapult)
|
||||
uint8 STATE_FLYING = 2 # launch detected, use normal takeoff/flying configuration
|
||||
|
||||
uint8 launch_detection_state
|
||||
|
||||
```
|
||||
@@ -0,0 +1,47 @@
|
||||
# LedControl (повідомлення UORB)
|
||||
|
||||
Керування світлодіодами: керування одним чи кількома світлодіодами.
|
||||
Це зовнішні світлодіоди, а не світлодіоди плати
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LedControl.msg)
|
||||
|
||||
```c
|
||||
# LED control: control a single or multiple LED's.
|
||||
# These are the externally visible LED's, not the board LED's
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
# colors
|
||||
uint8 COLOR_OFF = 0 # this is only used in the drivers
|
||||
uint8 COLOR_RED = 1
|
||||
uint8 COLOR_GREEN = 2
|
||||
uint8 COLOR_BLUE = 3
|
||||
uint8 COLOR_YELLOW = 4
|
||||
uint8 COLOR_PURPLE = 5
|
||||
uint8 COLOR_AMBER = 6
|
||||
uint8 COLOR_CYAN = 7
|
||||
uint8 COLOR_WHITE = 8
|
||||
|
||||
# LED modes definitions
|
||||
uint8 MODE_OFF = 0 # turn LED off
|
||||
uint8 MODE_ON = 1 # turn LED on
|
||||
uint8 MODE_DISABLED = 2 # disable this priority (switch to lower priority setting)
|
||||
uint8 MODE_BLINK_SLOW = 3
|
||||
uint8 MODE_BLINK_NORMAL = 4
|
||||
uint8 MODE_BLINK_FAST = 5
|
||||
uint8 MODE_BREATHE = 6 # continuously increase & decrease brightness (solid color if driver does not support it)
|
||||
uint8 MODE_FLASH = 7 # two fast blinks (on/off) with timing as in MODE_BLINK_FAST and then off for a while
|
||||
|
||||
uint8 MAX_PRIORITY = 2 # maximum priority (minimum is 0)
|
||||
|
||||
|
||||
uint8 led_mask # bitmask which LED(s) to control, set to 0xff for all
|
||||
uint8 color # see COLOR_*
|
||||
uint8 mode # see MODE_*
|
||||
uint8 num_blinks # how many times to blink (number of on-off cycles if mode is one of MODE_BLINK_*) . Set to 0 for infinite
|
||||
# in MODE_FLASH it is the number of cycles. Max number of blinks: 122 and max number of flash cycles: 20
|
||||
uint8 priority # priority: higher priority events will override current lower priority events (see MAX_PRIORITY)
|
||||
|
||||
uint8 ORB_QUEUE_LENGTH = 8 # needs to match BOARD_MAX_LEDS
|
||||
|
||||
```
|
||||
@@ -0,0 +1,17 @@
|
||||
# LogMessage (повідомлення UORB)
|
||||
|
||||
Повідомлення логування, що виводиться з PX4_WARN, PX4_ERR, PX4_INFO
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LogMessage.msg)
|
||||
|
||||
```c
|
||||
# A logging message, output with PX4_WARN, PX4_ERR, PX4_INFO
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint8 severity # log level (same as in the linux kernel, starting with 0)
|
||||
char[127] text
|
||||
|
||||
uint8 ORB_QUEUE_LENGTH = 4
|
||||
|
||||
```
|
||||
@@ -0,0 +1,30 @@
|
||||
# LoggerStatus (UORB message)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/LoggerStatus.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
uint8 LOGGER_TYPE_FULL = 0 # Normal, full size log
|
||||
uint8 LOGGER_TYPE_MISSION = 1 # reduced mission log (e.g. for geotagging)
|
||||
uint8 type
|
||||
|
||||
uint8 BACKEND_FILE = 1
|
||||
uint8 BACKEND_MAVLINK = 2
|
||||
uint8 BACKEND_ALL = 3
|
||||
uint8 backend
|
||||
|
||||
bool is_logging
|
||||
|
||||
float32 total_written_kb # total written to log in kiloBytes
|
||||
float32 write_rate_kb_s # write rate in kiloBytes/s
|
||||
|
||||
uint32 dropouts # number of failed buffer writes due to buffer overflow
|
||||
uint32 message_gaps # messages misssed
|
||||
|
||||
uint32 buffer_used_bytes # current buffer fill in Bytes
|
||||
uint32 buffer_size_bytes # total buffer size in Bytes
|
||||
|
||||
uint8 num_messages
|
||||
|
||||
```
|
||||
@@ -0,0 +1,20 @@
|
||||
# MagWorkerData (UORB message)
|
||||
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MagWorkerData.msg)
|
||||
|
||||
```c
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample
|
||||
|
||||
uint8 MAX_MAGS = 4
|
||||
|
||||
uint32 done_count
|
||||
uint32 calibration_points_perside
|
||||
uint64 calibration_interval_perside_us
|
||||
uint32[4] calibration_counter_total
|
||||
bool[4] side_data_collected
|
||||
float32[4] x
|
||||
float32[4] y
|
||||
float32[4] z
|
||||
|
||||
```
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user