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Merge branch 'main' into pr-servo-pwm-trim

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docs/en/SUMMARY.md
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@@ -672,8 +672,6 @@
- [RoverSpeedStatus](msg_docs/RoverSpeedStatus.md)
- [RoverSteeringSetpoint](msg_docs/RoverSteeringSetpoint.md)
- [RoverThrottleSetpoint](msg_docs/RoverThrottleSetpoint.md)
- [RoverVelocitySetpoint](msg_docs/RoverVelocitySetpoint.md)
- [RoverVelocityStatus](msg_docs/RoverVelocityStatus.md)
- [Rpm](msg_docs/Rpm.md)
- [RtlStatus](msg_docs/RtlStatus.md)
- [RtlTimeEstimate](msg_docs/RtlTimeEstimate.md)
@@ -695,6 +693,7 @@
- [SensorOpticalFlow](msg_docs/SensorOpticalFlow.md)
- [SensorPreflightMag](msg_docs/SensorPreflightMag.md)
- [SensorSelection](msg_docs/SensorSelection.md)
- [SensorTemp](msg_docs/SensorTemp.md)
- [SensorUwb](msg_docs/SensorUwb.md)
- [SensorsStatus](msg_docs/SensorsStatus.md)
- [SensorsStatusImu](msg_docs/SensorsStatusImu.md)
docs/en/advanced_config/parameter_reference.md
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@@ -10,6 +10,48 @@ If a listed parameter is missing from the Firmware see: [Finding/Updating Parame
<!-- markdown generator: src/lib/parameters/px4params/markdownout.py -->
## ADC
### ADC_ADS7953_EN (`INT32`) {#ADC_ADS7953_EN}
Enable ADS7953.
Enable the driver for the ADS7953 board
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------------ | ---- |
| &check; | | | | Disabled (0) |
### ADC_ADS7953_REFV (`FLOAT`) {#ADC_ADS7953_REFV}
Applied reference Voltage.
The voltage applied to the ADS7953 board as reference
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 2.0 | 3.0 | 0.01 | 2.5 | V |
### ADC_TLA2528_EN (`INT32`) {#ADC_TLA2528_EN}
Enable TLA2528.
Enable the driver for the TLA2528
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------------ | ---- |
| &check; | | | | Disabled (0) |
### ADC_TLA2528_REFV (`FLOAT`) {#ADC_TLA2528_REFV}
Applied reference Voltage.
The voltage applied to the TLA2528 board as reference
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 2.0 | 3.0 | 0.01 | 2.5 | V |
## ADSB
### ADSB_CALLSIGN_1 (`INT32`) {#ADSB_CALLSIGN_1}
@@ -13955,9 +13997,9 @@ Scale of airspeed sensor 1.
This is the scale IAS --> CAS of the first airspeed sensor instance
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 0.5 | 2.0 | | 1.0 |
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.5 | 2.0 | | 1.0 |
### ASPD_SCALE_2 (`FLOAT`) {#ASPD_SCALE_2}
@@ -13965,9 +14007,9 @@ Scale of airspeed sensor 2.
This is the scale IAS --> CAS of the second airspeed sensor instance
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 0.5 | 2.0 | | 1.0 |
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.5 | 2.0 | | 1.0 |
### ASPD_SCALE_3 (`FLOAT`) {#ASPD_SCALE_3}
@@ -13975,9 +14017,9 @@ Scale of airspeed sensor 3.
This is the scale IAS --> CAS of the third airspeed sensor instance
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 0.5 | 2.0 | | 1.0 |
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.5 | 2.0 | | 1.0 |
### ASPD_SCALE_APPLY (`INT32`) {#ASPD_SCALE_APPLY}
@@ -17165,7 +17207,9 @@ Set bits in the following positions to enable: 0 : Longitude and latitude fusion
### EKF2_GPS_DELAY (`FLOAT`) {#EKF2_GPS_DELAY}
GPS measurement delay relative to IMU measurements.
GPS measurement delay relative to IMU measurement.
GPS measurement delay relative to IMU measurement if PPS time correction is not available/enabled (PPS_CAP_ENABLE).
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
@@ -17175,7 +17219,7 @@ GPS measurement delay relative to IMU measurements.
Fusion reset mode.
Automatic: reset on fusion timeout if no other source of position is available Dead-reckoning: reset on fusion timeout if no source of velocity is available
Automatic: reset on fusion timeout if no other source of position is available. Dead-reckoning: reset on fusion timeout if no source of velocity is available.
**Values:**
@@ -33105,6 +33149,14 @@ Maxbotix Sonar (mb12xx).
| ------- | -------- | -------- | --------- | ------------ | ---- |
| &check; | | | | Disabled (0) |
### SENS_EN_MCP9808 (`INT32`) {#SENS_EN_MCP9808}
Enable MCP9808 temperature sensor (external I2C).
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------------ | ---- |
| &check; | | | | Disabled (0) |
### SENS_EN_MPDT (`INT32`) {#SENS_EN_MPDT}
Enable Mappydot rangefinder (i2c).
@@ -39432,6 +39484,14 @@ Maximum time (in seconds) before resetting setpoint.
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 2.0 |
### UUV_STICK_MODE (`INT32`) {#UUV_STICK_MODE}
Stick mode selector (0=Heave/sway control, roll/pitch leveled; 1=Pitch/roll control).
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 1 | | 0 |
### UUV_THRUST_SAT (`FLOAT`) {#UUV_THRUST_SAT}
UUV Thrust setpoint Saturation.
@@ -40135,7 +40195,7 @@ Time in seconds it takes to tilt form VT_TILT_FW to VT_TILT_MC.
### VT_B_DEC_I (`FLOAT`) {#VT_B_DEC_I}
Backtransition deceleration setpoint to pitch I gain.
Backtransition deceleration setpoint to tilt I gain.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ------- |
@@ -40353,7 +40413,7 @@ During landing it can be beneficial to reduce the pitch angle to reduce the gene
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | -10.0 | 45.0 | 0.1 | -5.0 | deg |
| &nbsp; | -10.0 | 45.0 | 0.1 | 0.0 | deg |
### VT_PITCH_MIN (`FLOAT`) {#VT_PITCH_MIN}
@@ -40364,7 +40424,7 @@ VT_FWD_TRHUST_EN is set.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | -10.0 | 45.0 | 0.1 | -5.0 | deg |
| &nbsp; | -10.0 | 45.0 | 0.1 | 0.0 | deg |
### VT_PSHER_SLEW (`FLOAT`) {#VT_PSHER_SLEW}
docs/en/advanced_config/tuning_the_ecl_ekf.md
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@@ -348,6 +348,60 @@ The `hpos_drift_rate`, `vpos_drift_rate` and `hspd` are calculated over a period
Note that `ekf2_gps_drift` is not logged!
:::
#### GNSS Fault Detection
PX4's GNSS fault detection protects against malicious or erroneous GNSS signals using selective fusion control based on measurement validation.
The fault detection logic depends on the GPS mode, and also operates differently for horizontal position and altitude measurements.
The mode is set using the [EKF2_GPS_MODE](../advanced_config/parameter_reference.md#EKF2_GPS_MODE) parameter:
- **Automatic (`0`)** (Default): Assumes that GNSS is generally reliable and is likely to be recovered.
EKF2 resets on fusion timeouts if no other source of position is available.
- **Dead-reckoning (`1`)**: Assumes that GNSS might be lost indefinitely, so resets should be avoided while we have other estimates of position data.
EKF2 may reset if no other sources of position or velocity are available.
If GNSS altitude OR horizontal position data drifts, the system disables fusion of both measurements simultaneously (even if one would still pass validation) and avoids performing resets.
##### Detection Logic
Horizontal Position:
- **Automatic mode**: Horizontal position resets to GNSS data if no other horizontal position source is currently being fused (e.g., Auxiliary Global Position - AGP).
- **Dead-reckoning mode**: Horizontal position resets to GNSS data only if no other horizontal position OR velocity source is currently being fused (e.g., AGP, airspeed, optical flow).
Altitude:
- The altitude logic is more complex due to the height reference sensor ([EKF2_HGT_REF](../advanced_config/parameter_reference.md#EKF2_HGT_REF)) parameter, which is typically set to GNSS or baro in GNSS-denied scenarios.
- If height reference is set to baro, GNSS-based height resets are prevented (except when baro fusion fails completely and height reference automatically switches to GNSS).
- When height reference is set to GNSS:
- **Automatic mode**: Resets occur on drifting GNSS altitude measurements.
- **Dead-reckoning mode**: When validation starts failing, the system prevents GNSS altitude resets and labels the GNSS data as faulty.
##### Faulty GNSS Data During Boot
The system cannot automatically detect faulty GNSS data during vehicle boot as no baseline comparison exists.
If GNSS fusion is enabled ([EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL)), operators will observe incorrect positions on maps and should disable GNSS fusion, then manually set the correct position via ground control station.
The global position gets corrected, and if [SENS_BAR_AUTOCAL](../advanced_config/parameter_reference.md#SENS_BAR_AUTOCAL) was enabled, baro offsets are automatically adjusted (through bias correction, not parameter changes).
##### Enabling GNSS Fusion Mid-Flight
With Faulty GNSS Data:
- **Automatic mode**: Vehicle will reset to faulty position - potentially dangerous.
- **Dead-reckoning mode**: Large measurement differences cause GNSS rejection and fault detection activation.
With Valid GNSS Data:
- **Automatic mode**: Vehicle will reset to GNSS measurements.
- **Dead-reckoning mode**: If estimated position/altitude is close enough to measurements, fusion resumes; if too far apart, data gets labeled as faulty.
##### Notes
- **Dual Detection**: Horizontal and altitude checks run completely separately but both lead to the same result when triggered - all GNSS fusion gets disabled.
- **Recovery**: Only the specific check that labeled data as invalid can re-enable fusion.
- **Alternative Sources**: Dead-reckoning mode provides enhanced protection by requiring absence of alternative navigation sources before allowing resets.
- **Boot Vulnerability**: Initial faulty GNSS data cannot be detected automatically; requires operator intervention and manual position correction.
### Range Finder
[Range finder](../sensor/rangefinders.md) distance to ground is used by a single state filter to estimate the vertical position of the terrain relative to the height datum.
docs/en/config_rover/basic_setup.md
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@@ -88,7 +88,7 @@ Navigate to [Parameters](../advanced_config/parameters.md) in QGroundControl and
One approach to determine an appropriate value is:
1. From a standstill, give the rover full throttle until it reaches the maximum speed.
2. Disarm the rover and plot the `measured_speed_body_x` from [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md).
2. Disarm the rover and plot the `measured_speed_body_x` from [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md).
3. Divide the maximum speed by the time it took to reach it and set this as the value for [RO_ACCEL_LIM](#RO_ACCEL_LIM).
Some RC rovers have enough torque to lift up if the maximum acceleration is not limited.
docs/en/config_rover/position_tuning.md
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@@ -19,7 +19,6 @@ To tune the position controller configure the [parameters](../advanced_config/pa
$v*{max} = v*{full throttle} \cdot (1 - \theta\_{normalized} \cdot k) $
with
- $v_{max}:$ Maximum speed
- $v_{full throttle}:$ Speed at maximum throttle [RO_MAX_THR_SPEED](../advanced_config/parameter_reference.md#RO_MAX_THR_SPEED).
- $\theta_{normalized}:$ Course error (Course - bearing setpoint) normalized from $[0\degree, 180\degree]$ to $[0, 1]$
@@ -34,14 +33,13 @@ To tune the position controller configure the [parameters](../advanced_config/pa
::: tip
Plan a mission for the rover to drive a square and observe how it slows down when approaching a waypoint:
- If the rover decelerates too quickly decrease the [RO_DECEL_LIM](../advanced_config/parameter_reference.md#RO_DECEL_LIM) parameter, if it starts slowing down too early increase the parameter.
- If you observe a jerking motion as the rover slows down, decrease the [RO_JERK_LIM](../advanced_config/parameter_reference.md#RO_JERK_LIM) parameter otherwise increase it as much as possible as it can interfere with the tuning of [RO_DECEL_LIM](../advanced_config/parameter_reference.md#RO_DECEL_LIM).
These two parameters have to be tuned as a pair, repeat until you are satisfied with the behaviour.
:::
3. Plot the `adjusted_speed_body_x_setpoint` and `measured_speed_body_x` from the [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md) message over each other.
3. Plot the `adjusted_speed_body_x_setpoint` and `measured_speed_body_x` from the [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) message over each other.
If the tracking of these setpoints is not satisfactory adjust the values for [RO_SPEED_P](../advanced_config/parameter_reference.md#RO_SPEED_P) and [RO_SPEED_I](../advanced_config/parameter_reference.md#RO_SPEED_I).
## Path Following
@@ -57,7 +55,6 @@ The following parameters are used to tune the algorithm:
Decreasing the parameter makes it more aggressive but can lead to oscillations.
To tune this:
1. Start with a value of 1 for [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN)
2. Put the rover in [Position mode](../flight_modes_rover/manual.md#position-mode) and while driving a straight line at approximately half the maximum speed observe its behaviour.
3. If the rover does not drive in a straight line, reduce the value of the parameter, if it oscillates around the path increase the value.
docs/en/config_rover/velocity_tuning.md
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@@ -23,11 +23,10 @@ To tune the velocity controller configure the following [parameters](../advanced
::: tip
To further tune this parameter:
1. Set [RO_SPEED_P](#RO_SPEED_P) and [RO_SPEED_I](#RO_SPEED_I) to zero.
This way the speed is only controlled by the feed-forward term, which makes it easier to tune.
2. Put the rover in [Position mode](../flight_modes_rover/manual.md#position-mode) and then move the left stick of your controller up and/or down and hold it at a few different levels for a couple of seconds each.
3. Disarm the rover and from the flight log plot the `adjusted_speed_body_x_setpoint` and the `measured_speed_body_x` from the [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md) message over each other.
3. Disarm the rover and from the flight log plot the `adjusted_speed_body_x_setpoint` and the `measured_speed_body_x` from the [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) message over each other.
4. If the actual speed of the rover is higher than the speed setpoint, increase [RO_MAX_THR_SPEED](#RO_MAX_THR_SPEED).
If it is the other way around decrease the parameter and repeat until you are satisfied with the setpoint tracking.
@@ -64,7 +63,6 @@ These steps are only necessary if you are tuning/want to unlock the manual [Posi
Decreasing the parameter makes it more aggressive but can lead to oscillations.
To tune this:
1. Start with a value of 1 for [PP_LOOKAHD_GAIN](#PP_LOOKAHD_GAIN)
2. Put the rover in [Position mode](../flight_modes_rover/manual.md#position-mode) and while driving a straight line at approximately half the maximum speed observe its behaviour.
3. If the rover does not drive in a straight line, reduce the value of the parameter, if it oscillates around the path increase the value.
docs/en/dev_log/ulog_file_format.md
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@@ -215,7 +215,7 @@ Predefined information messages are:
| `char[value_len] ver_sw_branch` | git branch | "master" |
| `uint32_t ver_sw_release` | Software version (see below) | 0x010401ff |
| `char[value_len] sys_os_name` | Operating System Name | "Linux" |
| `char[value_len] sys_os_ve`r | OS version (git tag) | "9f82919" |
| `char[value_len] sys_os_ver` | OS version (git tag) | "9f82919" |
| `uint32_t ver_os_release` | OS version (see below) | 0x010401ff |
| `char[value_len] sys_toolchain` | Toolchain Name | "GNU GCC" |
| `char[value_len] sys_toolchain_ver` | Toolchain Version | "6.2.1" |
docs/en/middleware/dds_topics.md
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@@ -4,75 +4,84 @@
This document is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
:::
The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) and/or [zenoh](../modules/modules_driver.md#zenoh) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default).
The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default).
This document shows a markdown-rendered version of [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), listing the publications, subscriptions, and so on.
## Publications
Topic | Type| Rate Limit
--- | --- | ---
`/fmu/out/register_ext_component_reply` | [px4_msgs::msg::RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md) |
`/fmu/out/arming_check_request` | [px4_msgs::msg::ArmingCheckRequest](../msg_docs/ArmingCheckRequest.md) | 5.0
`/fmu/out/mode_completed` | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) | 50.0
`/fmu/out/battery_status` | [px4_msgs::msg::BatteryStatus](../msg_docs/BatteryStatus.md) | 1.0
`/fmu/out/collision_constraints` | [px4_msgs::msg::CollisionConstraints](../msg_docs/CollisionConstraints.md) | 50.0
`/fmu/out/estimator_status_flags` | [px4_msgs::msg::EstimatorStatusFlags](../msg_docs/EstimatorStatusFlags.md) | 5.0
`/fmu/out/failsafe_flags` | [px4_msgs::msg::FailsafeFlags](../msg_docs/FailsafeFlags.md) | 5.0
`/fmu/out/manual_control_setpoint` | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md) | 25.0
`/fmu/out/message_format_response` | [px4_msgs::msg::MessageFormatResponse](../msg_docs/MessageFormatResponse.md) |
`/fmu/out/position_setpoint_triplet` | [px4_msgs::msg::PositionSetpointTriplet](../msg_docs/PositionSetpointTriplet.md) | 5.0
`/fmu/out/sensor_combined` | [px4_msgs::msg::SensorCombined](../msg_docs/SensorCombined.md) |
`/fmu/out/timesync_status` | [px4_msgs::msg::TimesyncStatus](../msg_docs/TimesyncStatus.md) | 10.0
`/fmu/out/vehicle_land_detected` | [px4_msgs::msg::VehicleLandDetected](../msg_docs/VehicleLandDetected.md) | 5.0
`/fmu/out/vehicle_attitude` | [px4_msgs::msg::VehicleAttitude](../msg_docs/VehicleAttitude.md) |
`/fmu/out/vehicle_control_mode` | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md) | 50.0
`/fmu/out/vehicle_command_ack` | [px4_msgs::msg::VehicleCommandAck](../msg_docs/VehicleCommandAck.md) |
`/fmu/out/vehicle_global_position` | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) | 50.0
`/fmu/out/vehicle_gps_position` | [px4_msgs::msg::SensorGps](../msg_docs/SensorGps.md) | 50.0
`/fmu/out/vehicle_local_position` | [px4_msgs::msg::VehicleLocalPosition](../msg_docs/VehicleLocalPosition.md) | 50.0
`/fmu/out/vehicle_odometry` | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) |
`/fmu/out/vehicle_status` | [px4_msgs::msg::VehicleStatus](../msg_docs/VehicleStatus.md) | 5.0
`/fmu/out/airspeed_validated` | [px4_msgs::msg::AirspeedValidated](../msg_docs/AirspeedValidated.md) | 50.0
`/fmu/out/vtol_vehicle_status` | [px4_msgs::msg::VtolVehicleStatus](../msg_docs/VtolVehicleStatus.md) |
`/fmu/out/home_position` | [px4_msgs::msg::HomePosition](../msg_docs/HomePosition.md) | 5.0
| Topic | Type | Rate Limit |
| ---------------------------------------- | -------------------------------------------------------------------------------------- | ---------- |
| `/fmu/out/register_ext_component_reply` | [px4_msgs::msg::RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md) |
| `/fmu/out/arming_check_request` | [px4_msgs::msg::ArmingCheckRequest](../msg_docs/ArmingCheckRequest.md) | 5.0 |
| `/fmu/out/mode_completed` | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) | 50.0 |
| `/fmu/out/battery_status` | [px4_msgs::msg::BatteryStatus](../msg_docs/BatteryStatus.md) | 1.0 |
| `/fmu/out/collision_constraints` | [px4_msgs::msg::CollisionConstraints](../msg_docs/CollisionConstraints.md) | 50.0 |
| `/fmu/out/estimator_status_flags` | [px4_msgs::msg::EstimatorStatusFlags](../msg_docs/EstimatorStatusFlags.md) | 5.0 |
| `/fmu/out/failsafe_flags` | [px4_msgs::msg::FailsafeFlags](../msg_docs/FailsafeFlags.md) | 5.0 |
| `/fmu/out/manual_control_setpoint` | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md) | 25.0 |
| `/fmu/out/message_format_response` | [px4_msgs::msg::MessageFormatResponse](../msg_docs/MessageFormatResponse.md) |
| `/fmu/out/position_setpoint_triplet` | [px4_msgs::msg::PositionSetpointTriplet](../msg_docs/PositionSetpointTriplet.md) | 5.0 |
| `/fmu/out/sensor_combined` | [px4_msgs::msg::SensorCombined](../msg_docs/SensorCombined.md) |
| `/fmu/out/timesync_status` | [px4_msgs::msg::TimesyncStatus](../msg_docs/TimesyncStatus.md) | 10.0 |
| `/fmu/out/transponder_report` | [px4_msgs::msg::TransponderReport](../msg_docs/TransponderReport.md) |
| `/fmu/out/vehicle_land_detected` | [px4_msgs::msg::VehicleLandDetected](../msg_docs/VehicleLandDetected.md) | 5.0 |
| `/fmu/out/vehicle_attitude` | [px4_msgs::msg::VehicleAttitude](../msg_docs/VehicleAttitude.md) | 50.0 |
| `/fmu/out/vehicle_control_mode` | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md) | 50.0 |
| `/fmu/out/vehicle_command_ack` | [px4_msgs::msg::VehicleCommandAck](../msg_docs/VehicleCommandAck.md) |
| `/fmu/out/vehicle_global_position` | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) | 50.0 |
| `/fmu/out/vehicle_gps_position` | [px4_msgs::msg::SensorGps](../msg_docs/SensorGps.md) | 50.0 |
| `/fmu/out/vehicle_local_position` | [px4_msgs::msg::VehicleLocalPosition](../msg_docs/VehicleLocalPosition.md) | 50.0 |
| `/fmu/out/vehicle_odometry` | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) | 100.0 |
| `/fmu/out/vehicle_status` | [px4_msgs::msg::VehicleStatus](../msg_docs/VehicleStatus.md) | 5.0 |
| `/fmu/out/airspeed_validated` | [px4_msgs::msg::AirspeedValidated](../msg_docs/AirspeedValidated.md) | 50.0 |
| `/fmu/out/vtol_vehicle_status` | [px4_msgs::msg::VtolVehicleStatus](../msg_docs/VtolVehicleStatus.md) |
| `/fmu/out/home_position` | [px4_msgs::msg::HomePosition](../msg_docs/HomePosition.md) | 5.0 |
| `/fmu/out/wind` | [px4_msgs::msg::Wind](../msg_docs/Wind.md) | 1.0 |
| `/fmu/out/gimbal_device_attitude_status` | [px4_msgs::msg::GimbalDeviceAttitudeStatus](../msg_docs/GimbalDeviceAttitudeStatus.md) | 20.0 |
## Subscriptions
Topic | Type
--- | ---
/fmu/in/register_ext_component_request | [px4_msgs::msg::RegisterExtComponentRequest](../msg_docs/RegisterExtComponentRequest.md)
/fmu/in/unregister_ext_component | [px4_msgs::msg::UnregisterExtComponent](../msg_docs/UnregisterExtComponent.md)
/fmu/in/config_overrides_request | [px4_msgs::msg::ConfigOverrides](../msg_docs/ConfigOverrides.md)
/fmu/in/arming_check_reply | [px4_msgs::msg::ArmingCheckReply](../msg_docs/ArmingCheckReply.md)
/fmu/in/message_format_request | [px4_msgs::msg::MessageFormatRequest](../msg_docs/MessageFormatRequest.md)
/fmu/in/mode_completed | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md)
/fmu/in/config_control_setpoints | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md)
/fmu/in/distance_sensor | [px4_msgs::msg::DistanceSensor](../msg_docs/DistanceSensor.md)
/fmu/in/manual_control_input | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md)
/fmu/in/offboard_control_mode | [px4_msgs::msg::OffboardControlMode](../msg_docs/OffboardControlMode.md)
/fmu/in/onboard_computer_status | [px4_msgs::msg::OnboardComputerStatus](../msg_docs/OnboardComputerStatus.md)
/fmu/in/obstacle_distance | [px4_msgs::msg::ObstacleDistance](../msg_docs/ObstacleDistance.md)
/fmu/in/sensor_optical_flow | [px4_msgs::msg::SensorOpticalFlow](../msg_docs/SensorOpticalFlow.md)
/fmu/in/goto_setpoint | [px4_msgs::msg::GotoSetpoint](../msg_docs/GotoSetpoint.md)
/fmu/in/telemetry_status | [px4_msgs::msg::TelemetryStatus](../msg_docs/TelemetryStatus.md)
/fmu/in/trajectory_setpoint | [px4_msgs::msg::TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md)
/fmu/in/vehicle_attitude_setpoint | [px4_msgs::msg::VehicleAttitudeSetpoint](../msg_docs/VehicleAttitudeSetpoint.md)
/fmu/in/vehicle_mocap_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md)
/fmu/in/vehicle_rates_setpoint | [px4_msgs::msg::VehicleRatesSetpoint](../msg_docs/VehicleRatesSetpoint.md)
/fmu/in/vehicle_visual_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md)
/fmu/in/vehicle_command | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md)
/fmu/in/vehicle_command_mode_executor | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md)
/fmu/in/vehicle_thrust_setpoint | [px4_msgs::msg::VehicleThrustSetpoint](../msg_docs/VehicleThrustSetpoint.md)
/fmu/in/vehicle_torque_setpoint | [px4_msgs::msg::VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md)
/fmu/in/actuator_motors | [px4_msgs::msg::ActuatorMotors](../msg_docs/ActuatorMotors.md)
/fmu/in/actuator_servos | [px4_msgs::msg::ActuatorServos](../msg_docs/ActuatorServos.md)
/fmu/in/aux_global_position | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md)
/fmu/in/fixed_wing_longitudinal_setpoint | [px4_msgs::msg::FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md)
/fmu/in/fixed_wing_lateral_setpoint | [px4_msgs::msg::FixedWingLateralSetpoint](../msg_docs/FixedWingLateralSetpoint.md)
/fmu/in/longitudinal_control_configuration | [px4_msgs::msg::LongitudinalControlConfiguration](../msg_docs/LongitudinalControlConfiguration.md)
/fmu/in/lateral_control_configuration | [px4_msgs::msg::LateralControlConfiguration](../msg_docs/LateralControlConfiguration.md)
| Topic | Type |
| ------------------------------------------ | -------------------------------------------------------------------------------------------------- |
| /fmu/in/register_ext_component_request | [px4_msgs::msg::RegisterExtComponentRequest](../msg_docs/RegisterExtComponentRequest.md) |
| /fmu/in/unregister_ext_component | [px4_msgs::msg::UnregisterExtComponent](../msg_docs/UnregisterExtComponent.md) |
| /fmu/in/config_overrides_request | [px4_msgs::msg::ConfigOverrides](../msg_docs/ConfigOverrides.md) |
| /fmu/in/arming_check_reply | [px4_msgs::msg::ArmingCheckReply](../msg_docs/ArmingCheckReply.md) |
| /fmu/in/message_format_request | [px4_msgs::msg::MessageFormatRequest](../msg_docs/MessageFormatRequest.md) |
| /fmu/in/mode_completed | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) |
| /fmu/in/config_control_setpoints | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md) |
| /fmu/in/distance_sensor | [px4_msgs::msg::DistanceSensor](../msg_docs/DistanceSensor.md) |
| /fmu/in/manual_control_input | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md) |
| /fmu/in/offboard_control_mode | [px4_msgs::msg::OffboardControlMode](../msg_docs/OffboardControlMode.md) |
| /fmu/in/onboard_computer_status | [px4_msgs::msg::OnboardComputerStatus](../msg_docs/OnboardComputerStatus.md) |
| /fmu/in/obstacle_distance | [px4_msgs::msg::ObstacleDistance](../msg_docs/ObstacleDistance.md) |
| /fmu/in/sensor_optical_flow | [px4_msgs::msg::SensorOpticalFlow](../msg_docs/SensorOpticalFlow.md) |
| /fmu/in/goto_setpoint | [px4_msgs::msg::GotoSetpoint](../msg_docs/GotoSetpoint.md) |
| /fmu/in/telemetry_status | [px4_msgs::msg::TelemetryStatus](../msg_docs/TelemetryStatus.md) |
| /fmu/in/trajectory_setpoint | [px4_msgs::msg::TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md) |
| /fmu/in/vehicle_attitude_setpoint | [px4_msgs::msg::VehicleAttitudeSetpoint](../msg_docs/VehicleAttitudeSetpoint.md) |
| /fmu/in/vehicle_mocap_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) |
| /fmu/in/vehicle_rates_setpoint | [px4_msgs::msg::VehicleRatesSetpoint](../msg_docs/VehicleRatesSetpoint.md) |
| /fmu/in/vehicle_visual_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) |
| /fmu/in/vehicle_command | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md) |
| /fmu/in/vehicle_command_mode_executor | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md) |
| /fmu/in/vehicle_thrust_setpoint | [px4_msgs::msg::VehicleThrustSetpoint](../msg_docs/VehicleThrustSetpoint.md) |
| /fmu/in/vehicle_torque_setpoint | [px4_msgs::msg::VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md) |
| /fmu/in/actuator_motors | [px4_msgs::msg::ActuatorMotors](../msg_docs/ActuatorMotors.md) |
| /fmu/in/actuator_servos | [px4_msgs::msg::ActuatorServos](../msg_docs/ActuatorServos.md) |
| /fmu/in/aux_global_position | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) |
| /fmu/in/fixed_wing_longitudinal_setpoint | [px4_msgs::msg::FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md) |
| /fmu/in/fixed_wing_lateral_setpoint | [px4_msgs::msg::FixedWingLateralSetpoint](../msg_docs/FixedWingLateralSetpoint.md) |
| /fmu/in/longitudinal_control_configuration | [px4_msgs::msg::LongitudinalControlConfiguration](../msg_docs/LongitudinalControlConfiguration.md) |
| /fmu/in/lateral_control_configuration | [px4_msgs::msg::LateralControlConfiguration](../msg_docs/LateralControlConfiguration.md) |
| /fmu/in/rover_position_setpoint | [px4_msgs::msg::RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md) |
| /fmu/in/rover_speed_setpoint | [px4_msgs::msg::RoverSpeedSetpoint](../msg_docs/RoverSpeedSetpoint.md) |
| /fmu/in/rover_attitude_setpoint | [px4_msgs::msg::RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md) |
| /fmu/in/rover_rate_setpoint | [px4_msgs::msg::RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md) |
| /fmu/in/rover_throttle_setpoint | [px4_msgs::msg::RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md) |
| /fmu/in/rover_steering_setpoint | [px4_msgs::msg::RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md) |
| /fmu/in/landing_gear | [px4_msgs::msg::LandingGear](../msg_docs/LandingGear.md) |
## Subscriptions Multi
@@ -85,192 +94,191 @@ They are not build into the module, and hence are neither published or subscribe
::: details See messages
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [EventV0](../msg_docs/EventV0.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
- [GimbalDeviceAttitudeStatus](../msg_docs/GimbalDeviceAttitudeStatus.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md)
- [InputRc](../msg_docs/InputRc.md)
- [GpioIn](../msg_docs/GpioIn.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [Event](../msg_docs/Event.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [BatteryInfo](../msg_docs/BatteryInfo.md)
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md)
- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [CameraCapture](../msg_docs/CameraCapture.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [Ping](../msg_docs/Ping.md)
- [LedControl](../msg_docs/LedControl.md)
- [Wind](../msg_docs/Wind.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [Gripper](../msg_docs/Gripper.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [DebugValue](../msg_docs/DebugValue.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [LandingGear](../msg_docs/LandingGear.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md)
- [LogMessage](../msg_docs/LogMessage.md)
- [RoverVelocitySetpoint](../msg_docs/RoverVelocitySetpoint.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [GpioOut](../msg_docs/GpioOut.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [Gripper](../msg_docs/Gripper.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
- [TuneControl](../msg_docs/TuneControl.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [HomePositionV0](../msg_docs/HomePositionV0.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [Mission](../msg_docs/Mission.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [Rpm](../msg_docs/Rpm.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [Ping](../msg_docs/Ping.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [LedControl](../msg_docs/LedControl.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md)
- [Event](../msg_docs/Event.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [GpioIn](../msg_docs/GpioIn.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [VelocityLimits](../msg_docs/VelocityLimits.md)
- [MagWorkerData](../msg_docs/MagWorkerData.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [Rpm](../msg_docs/Rpm.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [Cpuload](../msg_docs/Cpuload.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [EscReport](../msg_docs/EscReport.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [CameraStatus](../msg_docs/CameraStatus.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [TransponderReport](../msg_docs/TransponderReport.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [MavlinkLog](../msg_docs/MavlinkLog.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [Mission](../msg_docs/Mission.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md)
- [FollowTarget](../msg_docs/FollowTarget.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [CameraTrigger](../msg_docs/CameraTrigger.md)
- [SensorTemp](../msg_docs/SensorTemp.md)
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [IrlockReport](../msg_docs/IrlockReport.md)
- [HeaterStatus](../msg_docs/HeaterStatus.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [TuneControl](../msg_docs/TuneControl.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [LogMessage](../msg_docs/LogMessage.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [NeuralControl](../msg_docs/NeuralControl.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [CameraStatus](../msg_docs/CameraStatus.md)
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
:::
- [FollowTarget](../msg_docs/FollowTarget.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [DebugValue](../msg_docs/DebugValue.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [HeaterStatus](../msg_docs/HeaterStatus.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [InputRc](../msg_docs/InputRc.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [CameraTrigger](../msg_docs/CameraTrigger.md)
- [EscReport](../msg_docs/EscReport.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [EventV0](../msg_docs/EventV0.md)
- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
- [IrlockReport](../msg_docs/IrlockReport.md)
:::
docs/en/modules/modules_driver.md
+25 -60
View File
@@ -2,6 +2,7 @@
Subcategories:
- [Adc](modules_driver_adc.md)
- [Airspeed Sensor](modules_driver_airspeed_sensor.md)
- [Baro](modules_driver_baro.md)
- [Camera](modules_driver_camera.md)
@@ -46,66 +47,6 @@ MCP23009 <command> [arguments...]
status print status info
```
## adc
Source: [drivers/adc/board_adc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/board_adc)
### Description
ADC driver.
### Usage {#adc_usage}
```
adc <command> [arguments...]
Commands:
start
test
[-n] Do not publish ADC report, only system power
stop
status print status info
```
## ads1115
Source: [drivers/adc/ads1115](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/ads1115)
### Description
Driver to enable an external [ADS1115](https://www.adafruit.com/product/1085) ADC connected via I2C.
The driver is included by default in firmware for boards that do not have an internal analog to digital converter,
such as [PilotPi](../flight_controller/raspberry_pi_pilotpi.md) or [CUAV Nora](../flight_controller/cuav_nora.md)
(search for `CONFIG_DRIVERS_ADC_ADS1115` in board configuration files).
It is enabled/disabled using the
[ADC_ADS1115_EN](../advanced_config/parameter_reference.md#ADC_ADS1115_EN)
parameter, and is disabled by default.
If enabled, internal ADCs are not used.
### Usage {#ads1115_usage}
```
ads1115 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 72
stop
status print status info
```
## atxxxx
Source: [drivers/osd/atxxxx](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/osd/atxxxx)
@@ -808,6 +749,30 @@ lsm303agr <command> [arguments...]
status print status info
```
## mcp9808
Source: [drivers/temperature_sensor/mcp9808](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/temperature_sensor/mcp9808)
### Usage {#mcp9808_usage}
```
mcp9808 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 24
stop
status print status info
```
## msp_osd
Source: [drivers/osd/msp_osd](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/osd/msp_osd)
docs/en/modules/modules_driver_adc.md
+107
View File
@@ -0,0 +1,107 @@
# Modules Reference: Adc (Driver)
## TLA2528
Source: [drivers/adc/tla2528](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/tla2528)
### Usage {#TLA2528_usage}
```
TLA2528 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
stop
status print status info
```
## adc
Source: [drivers/adc/board_adc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/board_adc)
### Description
ADC driver.
### Usage {#adc_usage}
```
adc <command> [arguments...]
Commands:
start
test
[-n] Do not publish ADC report, only system power
stop
status print status info
```
## ads1115
Source: [drivers/adc/ads1115](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/ads1115)
### Description
Driver to enable an external [ADS1115](https://www.adafruit.com/product/1085) ADC connected via I2C.
The driver is included by default in firmware for boards that do not have an internal analog to digital converter,
such as [PilotPi](../flight_controller/raspberry_pi_pilotpi.md) or [CUAV Nora](../flight_controller/cuav_nora.md)
(search for `CONFIG_DRIVERS_ADC_ADS1115` in board configuration files).
It is enabled/disabled using the
[ADC_ADS1115_EN](../advanced_config/parameter_reference.md#ADC_ADS1115_EN)
parameter, and is disabled by default.
If enabled, internal ADCs are not used.
### Usage {#ads1115_usage}
```
ads1115 <command> [arguments...]
Commands:
start
[-I] Internal I2C bus(es)
[-X] External I2C bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
[-a <val>] I2C address
default: 72
stop
status print status info
```
## ads7953
Source: [drivers/adc/ads7953](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/adc/ads7953)
### Usage {#ads7953_usage}
```
ads7953 <command> [arguments...]
Commands:
start
[-s] Internal SPI bus(es)
[-S] External SPI bus(es)
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
(default=1))
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
[-m <val>] SPI mode
[-f <val>] bus frequency in kHz
[-q] quiet startup (no message if no device found)
stop
status print status info
```
docs/en/modules/modules_driver_radio_control.md
+10 -10
View File
@@ -4,10 +4,9 @@
Source: [drivers/rc/crsf_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/crsf_rc)
### Description
This module parses the CRSF RC uplink protocol and generates CRSF downlink telemetry data
This module parses the CRSF RC uplink protocol and generates CRSF downlink telemetry data
### Usage {#crsf_rc_usage}
@@ -17,6 +16,10 @@ crsf_rc <command> [arguments...]
start
[-d <val>] RC device
values: <file:dev>, default: /dev/ttyS3
[-b <val>] RC baudrate
default: 420000
inject Inject frame data bytes (for testing)
stop
@@ -27,10 +30,9 @@ crsf_rc <command> [arguments...]
Source: [drivers/rc/dsm_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/dsm_rc)
### Description
This module does Spektrum DSM RC input parsing.
This module does Spektrum DSM RC input parsing.
### Usage {#dsm_rc_usage}
@@ -52,10 +54,9 @@ dsm_rc <command> [arguments...]
Source: [drivers/rc/ghst_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/ghst_rc)
### Description
This module does Ghost (GHST) RC input parsing.
This module does Ghost (GHST) RC input parsing.
### Usage {#ghst_rc_usage}
@@ -75,9 +76,10 @@ ghst_rc <command> [arguments...]
Source: [drivers/rc_input](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc_input)
### Description
This module does the RC input parsing and auto-selecting the method. Supported methods are:
- PPM
- SBUS
- DSM
@@ -85,7 +87,6 @@ This module does the RC input parsing and auto-selecting the method. Supported m
- ST24
- TBS Crossfire (CRSF)
### Usage {#rc_input_usage}
```
@@ -106,10 +107,9 @@ rc_input <command> [arguments...]
Source: [drivers/rc/sbus_rc](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/rc/sbus_rc)
### Description
This module does SBUS RC input parsing.
This module does SBUS RC input parsing.
### Usage {#sbus_rc_usage}
docs/en/msg_docs/AdcReport.md
+12 -6
View File
@@ -1,15 +1,21 @@
# AdcReport (UORB message)
ADC raw data.
Communicates raw data from an analog-to-digital converter (ADC) to other modules, such as battery status.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AdcReport.msg)
```c
uint64 timestamp # time since system start (microseconds)
uint32 device_id # unique device ID for the sensor that does not change between power cycles
int16[12] channel_id # ADC channel IDs, negative for non-existent, TODO: should be kept same as array index
int32[12] raw_data # ADC channel raw value, accept negative value, valid if channel ID is positive
uint32 resolution # ADC channel resolution
float32 v_ref # ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution)
# ADC raw data.
#
# Communicates raw data from an analog-to-digital converter (ADC) to other modules, such as battery status.
uint64 timestamp # [us] Time since system start
uint32 device_id # [-] unique device ID for the sensor that does not change between power cycles
int16[16] channel_id # [-] ADC channel IDs, negative for non-existent, TODO: should be kept same as array index
int32[16] raw_data # [-] ADC channel raw value, accept negative value, valid if channel ID is positive
uint32 resolution # [-] ADC channel resolution
float32 v_ref # [V] ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution)
```
docs/en/msg_docs/EscReport.md
+13 -2
View File
@@ -1,7 +1,5 @@
# EscReport (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscReport.msg)
```c
@@ -18,6 +16,19 @@ uint8 esc_state # State of ESC - depend on Vendor
uint8 actuator_function # actuator output function (one of Motor1...MotorN)
uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
uint8 ACTUATOR_FUNCTION_MOTOR2 = 102
uint8 ACTUATOR_FUNCTION_MOTOR3 = 103
uint8 ACTUATOR_FUNCTION_MOTOR4 = 104
uint8 ACTUATOR_FUNCTION_MOTOR5 = 105
uint8 ACTUATOR_FUNCTION_MOTOR6 = 106
uint8 ACTUATOR_FUNCTION_MOTOR7 = 107
uint8 ACTUATOR_FUNCTION_MOTOR8 = 108
uint8 ACTUATOR_FUNCTION_MOTOR9 = 109
uint8 ACTUATOR_FUNCTION_MOTOR10 = 110
uint8 ACTUATOR_FUNCTION_MOTOR11 = 111
uint8 ACTUATOR_FUNCTION_MOTOR12 = 112
uint16 failures # Bitmask to indicate the internal ESC faults
int8 esc_power # Applied power 0-100 in % (negative values reserved)
docs/en/msg_docs/InputRc.md
+2 -2
View File
@@ -1,7 +1,5 @@
# InputRc (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/InputRc.msg)
```c
@@ -39,11 +37,13 @@ bool rc_lost # RC receiver connection status: True,if no frame has arrived in
uint16 rc_lost_frame_count # Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality.
uint16 rc_total_frame_count # Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality.
uint16 rc_ppm_frame_length # Length of a single PPM frame. Zero for non-PPM systems
uint16 rc_frame_rate # RC frame rate in msg/second. 0 = invalid
uint8 input_source # Input source
uint16[18] values # measured pulse widths for each of the supported channels
int8 link_quality # link quality. Percentage 0-100%. -1 = invalid
float32 rssi_dbm # Actual rssi in units of dBm. NaN = invalid
int8 link_snr # link signal to noise ratio in units of dB. -1 = invalid
```
docs/en/msg_docs/RoverVelocitySetpoint.md
-15
View File
@@ -1,15 +0,0 @@
# RoverVelocitySetpoint (UORB message)
Rover Velocity Setpoint
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverVelocitySetpoint.msg)
```c
# Rover Velocity Setpoint
uint64 timestamp # [us] Time since system start
float32 speed # [m/s] [@range -inf (Backwards), inf (Forwards)] Speed setpoint
float32 bearing # [rad] [@range -pi,pi] [@frame NED] [@invalid: NaN, speed is defined in body x direction] Bearing setpoint
float32 yaw # [rad] [@range -pi, pi] [@frame NED] [@invalid NaN, Defaults to vehicle yaw] Mecanum only: Yaw setpoint
```
docs/en/msg_docs/RoverVelocityStatus.md
-18
View File
@@ -1,18 +0,0 @@
# RoverVelocityStatus (UORB message)
Rover Velocity Status
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverVelocityStatus.msg)
```c
# Rover Velocity Status
uint64 timestamp # [us] Time since system start
float32 measured_speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Measured speed in body x direction
float32 adjusted_speed_body_x_setpoint # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction that is being tracked (Applied slew rates)
float32 pid_throttle_body_x_integral # [] [@range -1, 1] Integral of the PID for the closed loop controller of the speed in body x direction
float32 measured_speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Measured speed in body y direction
float32 adjusted_speed_body_y_setpoint # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates)
float32 pid_throttle_body_y_integral # [] [@range -1, 1] [@invalid NaN If not mecanum] Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction
```
docs/en/msg_docs/SensorTemp.md
+11
View File
@@ -0,0 +1,11 @@
# SensorTemp (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/SensorTemp.msg)
```c
uint64 timestamp # time since system start (microseconds)
uint32 device_id # unique device ID for the sensor that does not change between power cycles
float32 temperature # Temperature provided by sensor (Celsius)
```
docs/en/msg_docs/VehicleCommand.md
+1 -1
View File
@@ -28,7 +28,7 @@ uint16 VEHICLE_CMD_DO_ORBIT = 34 # Start orbiting on the circumference of a circ
uint16 VEHICLE_CMD_DO_FIGUREEIGHT = 35 # Start flying on the outline of a figure eight defined by the parameters. |[m] Major radius|[m] Minor radius|[m/s] Velocity|Orientation|Latitude/X|Longitude/Y|Altitude/Z|
uint16 VEHICLE_CMD_NAV_ROI = 80 # Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |[@enum VEHICLE_ROI] Region of interest mode.|MISSION index/ target ID.|ROI index (allows a vehicle to manage multiple ROI's)|Unused|x the location of the fixed ROI (see MAV_FRAME)|y|z|
uint16 VEHICLE_CMD_NAV_PATHPLANNING = 81 # Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning|0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid|Unused|[deg] [@range 0, 360] Yaw angle at goal, in compass degrees|Latitude/X of goal|Longitude/Y of goal|Altitude/Z of goal|
uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84 # Takeoff from ground / hand and transition to fixed wing. |Minimum pitch (if airspeed sensor present), desired pitch without sensor|Unused|Unused|Yaw angle (if magnetometer present), ignored without magnetometer|Latitude|Longitude|Altitude|
uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84 # Takeoff from ground / hand and transition to fixed wing. |Minimum pitch (if airspeed sensor present), desired pitch without sensor|Transition heading, 0: Default, 3: Use specified transition heading|Unused|Yaw angle (if magnetometer present), ignored without magnetometer|Latitude|Longitude|Altitude|
uint16 VEHICLE_CMD_NAV_VTOL_LAND = 85 # Transition to MC and land at location. |Unused|Unused|Unused|Desired yaw angle.|Latitude|Longitude|Altitude|
uint16 VEHICLE_CMD_NAV_GUIDED_LIMITS = 90 # Set limits for external control. |[s] Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout|[m] Absolute altitude min AMSL - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit|[m] Absolute altitude max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit|[m] Horizontal move limit (AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit|Unused|Unused|Unused|
uint16 VEHICLE_CMD_NAV_GUIDED_MASTER = 91 # Set id of master controller. |System ID|Component ID|Unused|Unused|Unused|Unused|Unused|
docs/en/msg_docs/index.md
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@@ -84,7 +84,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [ActuatorOutputs](ActuatorOutputs.md)
- [ActuatorServosTrim](ActuatorServosTrim.md) — Servo trims, added as offset to servo outputs
- [ActuatorTest](ActuatorTest.md)
- [AdcReport](AdcReport.md)
- [AdcReport](AdcReport.md) — ADC raw data.
- [Airspeed](Airspeed.md) — Airspeed data from sensors
- [AirspeedWind](AirspeedWind.md) — Wind estimate (from airspeed_selector)
- [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md) — Autotune attitude control status
@@ -259,6 +259,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
The topic will not be updated when the vehicle is armed
- [SensorSelection](SensorSelection.md) — Sensor ID's for the voted sensors output on the sensor_combined topic.
Will be updated on startup of the sensor module and when sensor selection changes
- [SensorTemp](SensorTemp.md)
- [SensorUwb](SensorUwb.md) — UWB distance contains the distance information measured by an ultra-wideband positioning system,
such as Pozyx or NXP Rddrone.
- [SensorsStatus](SensorsStatus.md) — Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
docs/en/releases/main.md
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@@ -76,6 +76,10 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
- TBD
### RC
- Parse ELRS Status and Link Statistics TX messages in the CRSF parser.
### Multi-Rotor
- Removed parameters `MPC_{XY/Z/YAW}_MAN_EXPO` and use default value instead, as they were not deemed necessary anymore. ([PX4-Autopilot#25435: Add new flight mode: Altitude Cruise](https://github.com/PX4/PX4-Autopilot/pull/25435)).
docs/en/sensor/barometer.md
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@@ -30,17 +30,51 @@ If needed, you can:
- Change the selection order of barometers using the [CAL_BAROx_PRIO](../advanced_config/parameter_reference.md#CAL_BARO0_PRIO) parameters for each barometer.
- Disable a barometer by setting its [CAL_BAROx_PRIO](../advanced_config/parameter_reference.md#CAL_BARO0_PRIO) value to `0`.
## Calibration
## Baro Auto-Calibration (Developers)
Barometers don't require calibration.
::: tip
This section documents the automated calibration mechanisms that ensure accurate altitude measurements throughout flight operations.
It is intended primarily for a developer audience who want to understand the underlying mechanisms.
:::
<!-- Notes:
- Absolute value isn't important since we just use the difference in altitude between "now" and the value when initializing EKF2
- There is usually a scale factor error but it's compensated by the GNSS altitude using a bias estimator in EKF2 (we don't provide a way to calibrate that). This method is fine as long as the height change of the drone isn't too fast (below 200-300km/h probably; don't have real data on that).
- The baro readings can be corrected using a param SENS_BARO_QNH (https://en.wikipedia.org/wiki/Altimeter_setting) parameter, but again, it is only necessary to adjust it if the absolute barometric altitude is required by the pilot.
-->
The system implements two complementary calibration approaches that work together to maintain altitude measurement precision.
Both calibrations are initiated at the beginning after a system boot.
Relative calibration is performed first, followed by GNSS-barometric calibration.
## Developer Information
### Relative Calibration
Relative baro calibration is **always enabled** and operates automatically during system initialization.
This calibration establishes offset corrections for all secondary baro sensors relative to the primary (selected) sensor.
This calibration:
- Eliminates altitude jumps when switching between baro sensors during flight.
- Ensures consistent altitude readings across all available baro sensors.
- Maintains seamless sensor redundancy and failover capability.
### GNSS-Baro Calibration
::: info
GNSS-baro calibration requires an operational GNSS receiver with vertical accuracy (EPV) ≤ 8 meters.
Relative calibration must already have completed.
:::
GNSS-baro calibration adjusts baro sensor offsets to align with absolute altitude measurements from the GNSS receiver.
This calibration is controlled by the [SENS_BAR_AUTOCAL](../advanced_config/parameter_reference.md#SENS_BAR_AUTOCAL) parameter (enabled by default).
The algorithm monitors GNSS quality, collects altitude differences over a 2-second filtered window, and verifies stability within 4m tolerance.
Once stable, it uses binary search to calculate pressure offsets that align baro altitude with GNSS altitude (0.1m precision), then applies the offset to all sensors and saves the parameters.
Notes:
- **EKF Independence**: GNSS-baro calibration operates independently of EKF2 altitude fusion settings.
- **Execution Timing**: Calibration runs even when [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) altitude fusion is disabled.
- **One-Time Process**: Each calibration session completes once per system startup.
- **Persistence**: Calibration offsets are saved to parameters and persist across reboots.
- **Faulty GNSS Vulnerability**: If GNSS data is faulty during boot, the calibration will use incorrect altitude reference.
See [Faulty GNSS Data During Boot](../advanced_config/tuning_the_ecl_ekf.md#faulty-gnss-data-during-boot) for mitigation strategies.
## See Also
- [Baro driver source code](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer)
- [Modules Reference: Baro (Driver)](../modules/modules_driver_baro.md) documentation.