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docs(i18n): PX4 guide translations (Crowdin) - ko (#26849)

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docs/ko/msg_docs/EscEepromRead.md
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---
pageClass: is-wide-page
---
# EscEepromRead (UORB message)
**TOPICS:** esc_eeprom_read
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| --------- | ----------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| firmware | `uint8` | | | ESC firmware type (see ESC_FIRMWARE enum in MAVLink) |
| index | `uint8` | | | Index of the ESC (0 = ESC1, 1 = ESC2, etc.) |
| length | `uint16` | | | Length of valid data |
| data | `uint8[48]` | | | Raw ESC EEPROM data |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ----------------------------------------------------------------------------------------- | ------- | ----- | -------------------------------- |
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 8 | To support 8 queued up responses |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscEepromRead.msg)
:::details
Click here to see original file
```c
uint64 timestamp # [us] Time since system start
uint8 firmware # [-] ESC firmware type (see ESC_FIRMWARE enum in MAVLink)
uint8 index # [-] Index of the ESC (0 = ESC1, 1 = ESC2, etc.)
uint16 length # [-] Length of valid data
uint8[48] data # [-] Raw ESC EEPROM data
uint8 ORB_QUEUE_LENGTH = 8 # To support 8 queued up responses
```
:::
docs/ko/msg_docs/EscEepromWrite.md
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---
pageClass: is-wide-page
---
# EscEepromWrite (UORB message)
**TOPICS:** esc_eeprom_write
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ------------------------------- | ----------- | ---------------------------------------------------------------- | ---------- | ----------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| firmware | `uint8` | | | ESC firmware type (see ESC_FIRMWARE enum in MAVLink) |
| index | `uint8` | | | Index of the ESC (0 = ESC1, 1 = ESC2, etc, 255 = All) |
| length | `uint16` | | | Length of valid data |
| data | `uint8[48]` | | | Raw ESC EEPROM data |
| write_mask | `uint32[2]` | | | Bitmask indicating which bytes in the data array should be written (max 48 values) |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ----------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------- |
| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 8 | To support 8 queued up requests |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EscEepromWrite.msg)
:::details
Click here to see original file
```c
uint64 timestamp # [us] Time since system start
uint8 firmware # [-] ESC firmware type (see ESC_FIRMWARE enum in MAVLink)
uint8 index # [-] Index of the ESC (0 = ESC1, 1 = ESC2, etc, 255 = All)
uint16 length # [-] Length of valid data
uint8[48] data # [-] Raw ESC EEPROM data
uint32[2] write_mask # [-] Bitmask indicating which bytes in the data array should be written (max 48 values)
uint8 ORB_QUEUE_LENGTH = 8 # To support 8 queued up requests
```
:::
docs/ko/msg_docs/EscReport.md
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## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| -------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | -------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| esc_errorcount | `uint32` | | | Number of reported errors by ESC - if supported |
| esc_rpm | `int32` | | | Motor RPM, negative for reverse rotation [RPM] - if supported |
| esc_voltage | `float32` | | | Voltage measured from current ESC [V] - if supported |
| esc_current | `float32` | | | Current measured from current ESC [A] - if supported |
| esc_temperature | `float32` | | | Temperature measured from current ESC [degC] - if supported |
| motor_temperature | `int16` | | | Temperature measured from current motor [degC] - if supported |
| esc_address | `uint8` | | | Address of current ESC (in most cases 1-8 / must be set by driver) |
| esc_cmdcount | `uint8` | | | Counter of number of commands |
| esc_state | `uint8` | | | State of ESC - depend on Vendor |
| actuator_function | `uint8` | | | actuator output function (one of Motor1...MotorN) |
| failures | `uint16` | | | Bitmask to indicate the internal ESC faults |
| esc_power | `int8` | | | Applied power 0-100 in % (negative values reserved) |
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| -------------------------------------- | --------- | ---------------------------------------------------------------- | ----------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| esc_errorcount | `uint32` | | | Number of reported errors by ESC - if supported |
| esc_rpm | `int32` | rpm | | Motor RPM, negative for reverse rotation - if supported |
| esc_voltage | `float32` | V | | Voltage measured from current ESC - if supported |
| esc_current | `float32` | A | | Current measured from current ESC - if supported |
| esc_temperature | `float32` | degC | | Temperature measured from current ESC - if supported |
| motor_temperature | `int16` | degC | | Temperature measured from current motor - if supported |
| esc_state | `uint8` | | | State of ESC - depend on Vendor |
| actuator_function | `uint8` | | | Actuator output function (one of Motor1...MotorN) |
| failures | `uint16` | | [FAILURE](#FAILURE) | Bitmask to indicate the internal ESC faults |
| esc_power | `int8` | % | [0 : 100] | Applied power (negative values reserved) |
## Constants
## Enums
### FAILURE {#FAILURE}
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------------------------------------------------------ | ------- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a id="#ACTUATOR_FUNCTION_MOTOR1"></a> ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | |
| <a id="#ACTUATOR_FUNCTION_MOTOR_MAX"></a> ACTUATOR_FUNCTION_MOTOR_MAX | `uint8` | 112 | output_functions.yaml Motor.start + Motor.count - 1 |
| <a id="#FAILURE_OVER_CURRENT"></a> FAILURE_OVER_CURRENT | `uint8` | 0 | (1 << 0) |
| <a id="#FAILURE_OVER_VOLTAGE"></a> FAILURE_OVER_VOLTAGE | `uint8` | 1 | (1 << 1) |
| <a id="#FAILURE_MOTOR_OVER_TEMPERATURE"></a> FAILURE_MOTOR_OVER_TEMPERATURE | `uint8` | 2 | (1 << 2) |
@@ -40,7 +38,14 @@ pageClass: is-wide-page
| <a id="#FAILURE_MOTOR_WARN_TEMPERATURE"></a> FAILURE_MOTOR_WARN_TEMPERATURE | `uint8` | 7 | (1 << 7) |
| <a id="#FAILURE_WARN_ESC_TEMPERATURE"></a> FAILURE_WARN_ESC_TEMPERATURE | `uint8` | 8 | (1 << 8) |
| <a id="#FAILURE_OVER_ESC_TEMPERATURE"></a> FAILURE_OVER_ESC_TEMPERATURE | `uint8` | 9 | (1 << 9) |
| <a id="#ESC_FAILURE_COUNT"></a> ESC_FAILURE_COUNT | `uint8` | 10 | Counter - keep it as last element! |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | ----- | ------------------------------------------------------------------------------------------------------------------------ |
| <a id="#ACTUATOR_FUNCTION_MOTOR1"></a> ACTUATOR_FUNCTION_MOTOR1 | `uint8` | 101 | |
| <a id="#ACTUATOR_FUNCTION_MOTOR_MAX"></a> ACTUATOR_FUNCTION_MOTOR_MAX | `uint8` | 112 | output_functions.yaml Motor.start + Motor.count - 1 |
| <a id="#ESC_FAILURE_COUNT"></a> ESC_FAILURE_COUNT | `uint8` | 10 | Counter - keep it as last element! |
## Source Message
@@ -50,36 +55,36 @@ pageClass: is-wide-page
Click here to see original file
```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
int16 motor_temperature # Temperature measured from current motor [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
uint64 timestamp # [us] Time since system start
uint8 esc_state # State of ESC - depend on Vendor
uint32 esc_errorcount # [-] Number of reported errors by ESC - if supported
int32 esc_rpm # [rpm] Motor RPM, negative for reverse rotation - if supported
float32 esc_voltage # [V] Voltage measured from current ESC - if supported
float32 esc_current # [A] Current measured from current ESC - if supported
float32 esc_temperature # [degC] Temperature measured from current ESC - if supported
int16 motor_temperature # [degC] Temperature measured from current motor - if supported
uint8 esc_state # [-] State of ESC - depend on Vendor
uint8 actuator_function # [-] Actuator output function (one of Motor1...MotorN)
uint8 actuator_function # actuator output function (one of Motor1...MotorN)
uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
uint8 ACTUATOR_FUNCTION_MOTOR_MAX = 112 # output_functions.yaml Motor.start + Motor.count - 1
uint16 failures # Bitmask to indicate the internal ESC faults
int8 esc_power # Applied power 0-100 in % (negative values reserved)
uint16 failures # [@enum FAILURE] Bitmask to indicate the internal ESC faults
int8 esc_power # [%] [@range 0,100] Applied power (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!
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!
```
:::
docs/ko/msg_docs/EscStatus.md
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## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ---------------------------------------------------------- | -------------- | ---------------------------------------------------------------- | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| counter | `uint16` | | | incremented by the writing thread everytime new data is stored |
| esc_count | `uint8` | | | number of connected ESCs |
| esc_connectiontype | `uint8` | | | how ESCs connected to the system |
| esc_online_flags | `uint8` | | | Bitmask indicating which ESC is online/offline |
| esc_armed_flags | `uint8` | | | 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. |
| esc | `EscReport[8]` | | | |
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ---------------------------------------------------------- | --------------- | ---------------------------------------------------------------- | ------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------- |
| timestamp | `uint64` | us | | Time since system start |
| counter | `uint16` | | | Incremented by the writing thread everytime new data is stored |
| esc_count | `uint8` | | | Number of connected ESCs |
| esc_connectiontype | `uint8` | | [ESC_CONNECTION_TYPE](#ESC_CONNECTION_TYPE) | How ESCs connected to the system |
| esc_online_flags | `uint16` | | | Bitmask indicating which ESC is online/offline (in motor order) |
| esc_armed_flags | `uint16` | | | Bitmask indicating which ESC is armed (in motor order) |
| esc | `EscReport[12]` | | | |
## Enums
### ESC_CONNECTION_TYPE {#ESC_CONNECTION_TYPE}
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | ----- | ------------------------ |
| <a id="#ESC_CONNECTION_TYPE_PPM"></a> ESC_CONNECTION_TYPE_PPM | `uint8` | 0 | Traditional PPM ESC |
| <a id="#ESC_CONNECTION_TYPE_SERIAL"></a> ESC_CONNECTION_TYPE_SERIAL | `uint8` | 1 | Serial Bus connected ESC |
| <a id="#ESC_CONNECTION_TYPE_ONESHOT"></a> ESC_CONNECTION_TYPE_ONESHOT | `uint8` | 2 | One Shot PPM |
| <a id="#ESC_CONNECTION_TYPE_I2C"></a> ESC_CONNECTION_TYPE_I2C | `uint8` | 3 | I2C |
| <a id="#ESC_CONNECTION_TYPE_CAN"></a> ESC_CONNECTION_TYPE_CAN | `uint8` | 4 | CAN-Bus |
| <a id="#ESC_CONNECTION_TYPE_DSHOT"></a> ESC_CONNECTION_TYPE_DSHOT | `uint8` | 5 | DShot |
## Constants
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------------------------------------------------ | ------- | ----- | ---------------------------------------------------------------------------------------------------- |
| <a id="#CONNECTED_ESC_MAX"></a> CONNECTED_ESC_MAX | `uint8` | 8 | The number of ESCs supported. Current (Q2/2013) we support 8 ESCs |
| <a id="#ESC_CONNECTION_TYPE_PPM"></a> ESC_CONNECTION_TYPE_PPM | `uint8` | 0 | Traditional PPM ESC |
| <a id="#ESC_CONNECTION_TYPE_SERIAL"></a> ESC_CONNECTION_TYPE_SERIAL | `uint8` | 1 | Serial Bus connected ESC |
| <a id="#ESC_CONNECTION_TYPE_ONESHOT"></a> ESC_CONNECTION_TYPE_ONESHOT | `uint8` | 2 | One Shot PPM |
| <a id="#ESC_CONNECTION_TYPE_I2C"></a> ESC_CONNECTION_TYPE_I2C | `uint8` | 3 | I2C |
| <a id="#ESC_CONNECTION_TYPE_CAN"></a> ESC_CONNECTION_TYPE_CAN | `uint8` | 4 | CAN-Bus |
| <a id="#ESC_CONNECTION_TYPE_DSHOT"></a> ESC_CONNECTION_TYPE_DSHOT | `uint8` | 5 | DShot |
| 명칭 | 형식 | Value | 설명 |
| ------------------------------------------------------------------------------------------- | ------- | ----- | ---------------------------------------------------------------- |
| <a id="#CONNECTED_ESC_MAX"></a> CONNECTED_ESC_MAX | `uint8` | 12 | The number of ESCs supported (Motor1-Motor12) |
## Source Message
@@ -38,34 +45,38 @@ pageClass: is-wide-page
Click here to see original file
```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
uint64 timestamp # [us] Time since system start
uint8 CONNECTED_ESC_MAX = 12 # The number of ESCs supported (Motor1-Motor12)
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
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
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_count # [-] Number of connected ESCs
uint8 esc_connectiontype # [@enum ESC_CONNECTION_TYPE] 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
uint16 esc_online_flags # Bitmask indicating which ESC is online/offline (in motor order)
# esc_online_flags bit 0 : Set to 1 if Motor1 is online
# esc_online_flags bit 1 : Set to 1 if Motor2 is online
# esc_online_flags bit 2 : Set to 1 if Motor3 is online
# esc_online_flags bit 3 : Set to 1 if Motor4 is online
# esc_online_flags bit 4 : Set to 1 if Motor5 is online
# esc_online_flags bit 5 : Set to 1 if Motor6 is online
# esc_online_flags bit 6 : Set to 1 if Motor7 is online
# esc_online_flags bit 7 : Set to 1 if Motor8 is online
# esc_online_flags bit 8 : Set to 1 if Motor9 is online
# esc_online_flags bit 9 : Set to 1 if Motor10 is online
# esc_online_flags bit 10: Set to 1 if Motor11 is online
# esc_online_flags bit 11: Set to 1 if Motor12 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.
uint16 esc_armed_flags # [-] Bitmask indicating which ESC is armed (in motor order)
EscReport[8] esc
EscReport[12] esc
```
:::
docs/ko/msg_docs/SensorGps.md
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@@ -10,45 +10,48 @@ GPS position in WGS84 coordinates. the field 'timestamp' is for the position & v
## Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ----------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_sample | `uint64` | | | |
| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| latitude_deg | `float64` | | | Latitude in degrees, allows centimeter level RTK precision |
| longitude_deg | `float64` | | | Longitude in degrees, allows centimeter level RTK precision |
| altitude_msl_m | `float64` | | | Altitude above MSL, meters |
| altitude_ellipsoid_m | `float64` | | | Altitude above Ellipsoid, meters |
| s_variance_m_s | `float32` | | | GPS speed accuracy estimate, (metres/sec) |
| c_variance_rad | `float32` | | | GPS course accuracy estimate, (radians) |
| fix_type | `uint8` | | | Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. |
| eph | `float32` | | | GPS horizontal position accuracy (metres) |
| epv | `float32` | | | GPS vertical position accuracy (metres) |
| hdop | `float32` | | | Horizontal dilution of precision |
| vdop | `float32` | | | Vertical dilution of precision |
| noise_per_ms | `int32` | | | GPS noise per millisecond |
| automatic_gain_control | `uint16` | | | Automatic gain control monitor |
| jamming_state | `uint8` | | | indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected |
| jamming_indicator | `int32` | | | indicates jamming is occurring |
| spoofing_state | `uint8` | | | indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected |
| authentication_state | `uint8` | | | GPS signal authentication state |
| vel_m_s | `float32` | | | GPS ground speed, (metres/sec) |
| vel_n_m_s | `float32` | | | GPS North velocity, (metres/sec) |
| vel_e_m_s | `float32` | | | GPS East velocity, (metres/sec) |
| vel_d_m_s | `float32` | | | GPS Down velocity, (metres/sec) |
| cog_rad | `float32` | | | Course over ground (NOT heading, but direction of movement), -PI..PI, (radians) |
| vel_ned_valid | `bool` | | | True if NED velocity is valid |
| timestamp_time_relative | `int32` | | | timestamp + timestamp_time_relative = Time of the UTC timestamp since system start, (microseconds) |
| time_utc_usec | `uint64` | | | Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 |
| satellites_used | `uint8` | | | Number of satellites used |
| system_error | `uint32` | | | General errors with the connected GPS receiver |
| heading | `float32` | | | heading angle of XYZ body frame rel to NED. Set to NaN if not available and updated (used for dual antenna GPS), (rad, [-PI, PI]) |
| heading_offset | `float32` | | | heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI]) |
| heading_accuracy | `float32` | | | heading accuracy (rad, [0, 2PI]) |
| rtcm_injection_rate | `float32` | | | RTCM message injection rate Hz |
| selected_rtcm_instance | `uint8` | | | uorb instance that is being used for RTCM corrections |
| rtcm_crc_failed | `bool` | | | RTCM message CRC failure detected |
| rtcm_msg_used | `uint8` | | | Indicates if the RTCM message was used successfully by the receiver |
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
| ----------------------------------------------------------------------------- | --------- | ---------------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_sample | `uint64` | | | |
| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| latitude_deg | `float64` | | | Latitude in degrees, allows centimeter level RTK precision |
| longitude_deg | `float64` | | | Longitude in degrees, allows centimeter level RTK precision |
| altitude_msl_m | `float64` | | | Altitude above MSL, meters |
| altitude_ellipsoid_m | `float64` | | | Altitude above Ellipsoid, meters |
| s_variance_m_s | `float32` | | | GPS speed accuracy estimate, (metres/sec) |
| c_variance_rad | `float32` | | | GPS course accuracy estimate, (radians) |
| fix_type | `uint8` | | | Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. |
| eph | `float32` | | | GPS horizontal position accuracy (metres) |
| epv | `float32` | | | GPS vertical position accuracy (metres) |
| hdop | `float32` | | | Horizontal dilution of precision |
| vdop | `float32` | | | Vertical dilution of precision |
| noise_per_ms | `int32` | | | GPS noise per millisecond |
| automatic_gain_control | `uint16` | | | Automatic gain control monitor |
| jamming_state | `uint8` | | | indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected |
| jamming_indicator | `int32` | | | indicates jamming is occurring |
| spoofing_state | `uint8` | | | indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected |
| authentication_state | `uint8` | | | GPS signal authentication state |
| vel_m_s | `float32` | | | GPS ground speed, (metres/sec) |
| vel_n_m_s | `float32` | | | GPS North velocity, (metres/sec) |
| vel_e_m_s | `float32` | | | GPS East velocity, (metres/sec) |
| vel_d_m_s | `float32` | | | GPS Down velocity, (metres/sec) |
| cog_rad | `float32` | | | Course over ground (NOT heading, but direction of movement), -PI..PI, (radians) |
| vel_ned_valid | `bool` | | | True if NED velocity is valid |
| timestamp_time_relative | `int32` | | | timestamp + timestamp_time_relative = Time of the UTC timestamp since system start, (microseconds) |
| time_utc_usec | `uint64` | | | Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 |
| satellites_used | `uint8` | | | Number of satellites used |
| system_error | `uint32` | | | General errors with the connected GPS receiver |
| heading | `float32` | | | heading angle of XYZ body frame rel to NED. Set to NaN if not available and updated (used for dual antenna GPS), (rad, [-PI, PI]) |
| heading_offset | `float32` | | | heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI]) |
| heading_accuracy | `float32` | | | heading accuracy (rad, [0, 2PI]) |
| rtcm_injection_rate | `float32` | | | RTCM message injection rate Hz |
| selected_rtcm_instance | `uint8` | | | uorb instance that is being used for RTCM corrections |
| rtcm_crc_failed | `bool` | | | RTCM message CRC failure detected |
| rtcm_msg_used | `uint8` | | | Indicates if the RTCM message was used successfully by the receiver |
| antenna_offset_x | `float32` | m [body frame FRD] | | X Position of GNSS antenna |
| antenna_offset_y | `float32` | m [body frame FRD] | | Y Position of GNSS antenna |
| antenna_offset_z | `float32` | m [body frame FRD] | | Z Position of GNSS antenna |
## Constants
@@ -183,6 +186,10 @@ uint8 RTCM_MSG_USED_NOT_USED = 1
uint8 RTCM_MSG_USED_USED = 2
uint8 rtcm_msg_used # Indicates if the RTCM message was used successfully by the receiver
float32 antenna_offset_x # [m] [@frame body frame FRD] X Position of GNSS antenna
float32 antenna_offset_y # [m] [@frame body frame FRD] Y Position of GNSS antenna
float32 antenna_offset_z # [m] [@frame body frame FRD] Z Position of GNSS antenna
# TOPICS sensor_gps vehicle_gps_position
```
docs/ko/msg_docs/VehicleCommand.md
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@@ -1052,6 +1052,20 @@ Actuator configuration command.
| 6 | | | ? |
| 7 | | | ? |
### VEHICLE_CMD_ESC_REQUEST_EEPROM (312)
Request EEPROM data from an ESC.
| Param | 단위 | Range/Enum | 설명 |
| ----- | -- | ---------- | ------------- |
| 1 | | | ESC Index |
| 2 | | | Firmware Type |
| 3 | | | Unused |
| 4 | | | Unused |
| 5 | | | Unused |
| 6 | | | ? |
| 7 | | | ? |
### VEHICLE_CMD_COMPONENT_ARM_DISARM (400)
Arms / Disarms a component.
@@ -1536,6 +1550,12 @@ Change mode by specifying nav_state directly.
| <a id="#VEHICLE_MOUNT_MODE_RC_TARGETING"></a> VEHICLE_MOUNT_MODE_RC_TARGETING | `uint8` | 3 | Load neutral position and start RC Roll,Pitch,Yaw control with stabilization. |
| <a id="#VEHICLE_MOUNT_MODE_GPS_POINT"></a> VEHICLE_MOUNT_MODE_GPS_POINT | `uint8` | 4 | Load neutral position and start to point to Lat,Lon,Alt. |
| <a id="#VEHICLE_MOUNT_MODE_ENUM_END"></a> VEHICLE_MOUNT_MODE_ENUM_END | `uint8` | 5 | |
| <a id="#ACTUATOR_CONFIGURATION_NONE"></a> ACTUATOR_CONFIGURATION_NONE | `uint8` | 0 | Do nothing. |
| <a id="#ACTUATOR_CONFIGURATION_BEEP"></a> ACTUATOR_CONFIGURATION_BEEP | `uint8` | 1 | Command the actuator to beep now. |
| <a id="#ACTUATOR_CONFIGURATION_3D_MODE_ON"></a> ACTUATOR_CONFIGURATION_3D_MODE_ON | `uint8` | 2 | Permanently set the actuator (ESC) to 3D mode (reversible thrust). |
| <a id="#ACTUATOR_CONFIGURATION_3D_MODE_OFF"></a> ACTUATOR_CONFIGURATION_3D_MODE_OFF | `uint8` | 3 | Permanently set the actuator (ESC) to non 3D mode (non-reversible thrust). |
| <a id="#ACTUATOR_CONFIGURATION_SPIN_DIRECTION1"></a> ACTUATOR_CONFIGURATION_SPIN_DIRECTION1 | `uint8` | 4 | Permanently set the actuator (ESC) to spin direction 1 (which can be clockwise or counter-clockwise). |
| <a id="#ACTUATOR_CONFIGURATION_SPIN_DIRECTION2"></a> ACTUATOR_CONFIGURATION_SPIN_DIRECTION2 | `uint8` | 5 | Permanently set the actuator (ESC) to spin direction 2 (opposite of direction 1). |
| <a id="#PARACHUTE_ACTION_DISABLE"></a> PARACHUTE_ACTION_DISABLE | `uint8` | 0 | |
| <a id="#PARACHUTE_ACTION_ENABLE"></a> PARACHUTE_ACTION_ENABLE | `uint8` | 1 | |
| <a id="#PARACHUTE_ACTION_RELEASE"></a> PARACHUTE_ACTION_RELEASE | `uint8` | 2 | |
@@ -1661,6 +1681,7 @@ uint16 VEHICLE_CMD_GIMBAL_DEVICE_INFORMATION = 283 # Command to ask information
uint16 VEHICLE_CMD_MISSION_START = 300 # Start running a mission. |first_item: the first mission item to run|last_item: the last mission item to run (after this item is run, the mission ends)|
uint16 VEHICLE_CMD_ACTUATOR_TEST = 310 # Actuator testing command. |[@range -1,1] value|[s] timeout|Unused|Unused|output function|
uint16 VEHICLE_CMD_CONFIGURE_ACTUATOR = 311 # Actuator configuration command. |configuration|Unused|Unused|Unused|output function|
uint16 VEHICLE_CMD_ESC_REQUEST_EEPROM = 312 # Request EEPROM data from an ESC. |ESC Index|Firmware Type|Unused|Unused|Unused|
uint16 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400 # Arms / Disarms a component. |1 to arm, 0 to disarm.
uint16 VEHICLE_CMD_RUN_PREARM_CHECKS = 401 # Instructs a target system to run pre-arm checks.
uint16 VEHICLE_CMD_INJECT_FAILURE = 420 # Inject artificial failure for testing purposes.
@@ -1710,6 +1731,13 @@ uint8 VEHICLE_ROI_LOCATION = 3 # Point toward fixed location.
uint8 VEHICLE_ROI_TARGET = 4 # Point toward target.
uint8 VEHICLE_ROI_ENUM_END = 5
uint8 ACTUATOR_CONFIGURATION_NONE = 0 # Do nothing.
uint8 ACTUATOR_CONFIGURATION_BEEP = 1 # Command the actuator to beep now.
uint8 ACTUATOR_CONFIGURATION_3D_MODE_ON = 2 # Permanently set the actuator (ESC) to 3D mode (reversible thrust).
uint8 ACTUATOR_CONFIGURATION_3D_MODE_OFF = 3 # Permanently set the actuator (ESC) to non 3D mode (non-reversible thrust).
uint8 ACTUATOR_CONFIGURATION_SPIN_DIRECTION1 = 4 # Permanently set the actuator (ESC) to spin direction 1 (which can be clockwise or counter-clockwise).
uint8 ACTUATOR_CONFIGURATION_SPIN_DIRECTION2 = 5 # Permanently set the actuator (ESC) to spin direction 2 (opposite of direction 1).
uint8 PARACHUTE_ACTION_DISABLE = 0
uint8 PARACHUTE_ACTION_ENABLE = 1
uint8 PARACHUTE_ACTION_RELEASE = 2
docs/ko/msg_docs/index.md
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@@ -85,6 +85,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [DistanceSensorModeChangeRequest](DistanceSensorModeChangeRequest.md)
- [DronecanNodeStatus](DronecanNodeStatus.md)
- [Ekf2Timestamps](Ekf2Timestamps.md) — this message contains the (relative) timestamps of the sensor inputs used by EKF2. It can be used for reproducible replay.
- [EscEepromRead](EscEepromRead.md)
- [EscEepromWrite](EscEepromWrite.md)
- [EscReport](EscReport.md)
- [EscStatus](EscStatus.md)
- [EstimatorAidSource1d](EstimatorAidSource1d.md)