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New Crowdin translations - ko (#25588)
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
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9b6d07ee67
@ -7,6 +7,7 @@
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- [위치 모드 (멀티콥터)](flight_modes_mc/position.md)
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- [Position Slow Mode (MC)](flight_modes_mc/position_slow.md)
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- [고도 모드 (멀티콥터)](flight_modes_mc/altitude.md)
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- [Altitude Cruise Mode (MC)](flight_modes_mc/altitude_cruise.md)
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- [Stabilized Mode (MC)](flight_modes_mc/manual_stabilized.md)
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- [아크로 모드 (멀티콥터)](flight_modes_mc/acro.md)
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- [궤도 모드 (멀티콥터)](flight_modes_mc/orbit.md)
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@ -27,7 +27,7 @@ Order this module from:
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- Safety Button
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- 부저
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- Two Pixhawk Standard CAN Connectors (4 Pin JST GH)
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- F9P “UART 2” Connector
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- F9P `UART 2` Connector
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- 3 Pin JST GH
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- TX, RX, GND
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- Pixhawk Standard Debug Connector (6 Pin JST SH)
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@ -87,6 +87,25 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if
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- The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK RTK GPS from the vehicles centre of gravity.
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- Set [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) to `1` on the GPS if this it that last node on the CAN bus.
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### Setting Up Rover and Fixed Base
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Position of the rover is established using RTCM messages from the RTK base module (the base module is connected to QGC, which sends the RTCM information to PX4 via MAVLink).
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PX4 DroneCAN parameters:
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- [UAVCAN_PUB_RTCM](../advanced_config/parameter_reference.md#UAVCAN_PUB_RTCM):
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- Makes PX4 publish RTCM messages ([RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream)) to the bus (which it gets from the RTK base module via QGC).
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Rover module parameters (also [set using QGC](../dronecan/index.md#qgc-cannode-parameter-configuration)):
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- [CANNODE_SUB_RTCM](../advanced_config/parameter_reference.md#CANNODE_SUB_RTCM) tells the rover that it should subscribe to [RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream) RTCM messages on the bus (from the moving base).
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:::info
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Use [UAVCAN_PUB_MBD](../advanced_config/parameter_reference.md#UAVCAN_PUB_MBD) and [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD) instead if you want to implement moving base (see below) at the same time.
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:::
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For more information see [Rover and Fixed Base](../dronecan/index.md#rover-and-fixed-base) in the DroneCAN guide.
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### Setting Up Moving Baseline & GPS Heading
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The simplest way to set up moving baseline and GPS heading with two ARK RTK GPS modules is via CAN, though it can be done via UART to reduce traffic on the CAN bus if desired.
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@ -128,10 +147,11 @@ Setup via UART:
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- On the _Moving Base_, set the following:
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- [GPS_UBX_MODE](../advanced_config/parameter_reference.md#GPS_UBX_MODE) to `2`.
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For more information see [Rover and Moving Base](../dronecan/index.md#rover-and-moving-base) in the DroneCAN guide.
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## LED 신호의 의미
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- The GPS status lights are located to the right of the connectors
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- Blinking green is GPS fix
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- Blinking blue is received corrections and RTK Float
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- Solid blue is RTK Fixed
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@ -9,3 +9,18 @@ For more information, see the following articles for specific hardware/firmware:
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- [Vertiq](../peripherals/vertiq.md) (larger modules)
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- [VESC Project](../peripherals/vesc.md)
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- [RaccoonLab Cyphal and DroneCAN PWM nodes](raccoonlab_nodes.md)
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## 하드웨어 설정
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General DroneCAN hardware configuration is covered in [DroneCAN > Hardware Setup](../dronecan/index.md#hardware-setup).
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DroneCAN ESCs should be on their own dedicated CAN interface(s) because ESC messages can saturate the bus and starve other nodes of bandwidth.
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## PX4 설정
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DroneCAN peripherals are configured by following the procedure outlined in [DroneCAN](../dronecan/index.md).
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In addition to the general setup, such as setting `UAVCAN_ENABLE` to `3`:
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- Select the specific CAN interface(s) used for ESC data output using the [UAVCAN_ESC_IFACE](../advanced_config/parameter_reference.md#UAVCAN_ESC_IFACE) parameter (all that all interfaces are selected by default).
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- Configure the [motor order and servo outputs](../config/actuators.md).
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@ -276,6 +276,9 @@ PX4 DroneCAN parameters:
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[DroneCAN ESCs and servos](../dronecan/escs.md) require the [motor order and servo outputs](../config/actuators.md) to be configured.
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Select the specific CAN interface(s) used for ESC data output using the [UAVCAN_ESC_IFACE](../advanced_config/parameter_reference.md#UAVCAN_ESC_IFACE) parameter (all that all interfaces are selected by default).
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Note that DroneCAN ESCs should be on their own dedicated CAN interface(s) because ESC messages can saturate the bus and starve other nodes of bandwidth.
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## QGC CANNODE Parameter Configuration
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QGroundControl can inspect and modify parameters belonging to CAN devices attached to the flight controller, provided the device are connected to the flight controller before QGC is started.
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@ -313,7 +316,10 @@ If successful, the firmware binary will be removed from the root directory and t
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**Q**: The motors aren't spinning when armed.
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**A**: Make sure `UAVCAN_ENABLE` is set to `3` to enable DroneCAN ESC output.
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**A**:
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- Make sure `UAVCAN_ENABLE` is set to `3` to enable DroneCAN ESC output.
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- Make sure `UAVCAN_ESC_IFACE` is set to enable the CAN interface(s) used for ESCs.
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---
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@ -17,6 +17,8 @@ Manual-Easy:
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Airspeed is actively controlled if an airspeed sensor is installed.
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- [Altitude](../flight_modes_fw/altitude.md) — Easiest and safest _non-GPS_ manual mode.
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The only difference compared to _Position mode_ is that the pilot always directly controls the roll angle of the plane and there is no automatic course holding.
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- Altitude Cruise mode — It behaves exactly like _Altitude mode_, with the only difference being that the manual control failsafe can be disabled. This is done by setting the corresponding flag in [COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT). In that case the current altitude, airspeed and heading (by leveling out the roll angle) are kept until the manual control link is regained or the mode is exited.
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It is highly recommended to only disable the manual control loss failsafe for this mode if there is a stable data link connection to the vehicle at all times, or to enable the data link loss failsafe through [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT).
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- [Stabilized mode](../flight_modes_fw/stabilized.md) — The pilot directly commands the roll and pitch angle and the vehicle keeps the setpoint until the sticks are moved again.
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Thrust is directly set by the pilot.
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Turn coordination is still handled by the controller.
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@ -21,7 +21,7 @@ The diagram below shows the mode behaviour visually (for a [mode 2 transmitter](
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RC/manual mode like [Stabilized mode](../flight_modes_mc/manual_stabilized.md) but with _altitude stabilization_ (centred sticks level vehicle and hold it to fixed altitude).
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The horizontal position of the vehicle can move due to wind (or pre-existing momentum).
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- 중앙 스틱 (데드밴드 내부) :
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- Centered sticks:
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- RPY sticks levels vehicle.
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- 스로틀(~ 50 %)은 현재 고도를 바람에 대해 일정하게 유지합니다.
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- Outside center:
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45
docs/ko/flight_modes_mc/altitude_cruise.md
Normal file
45
docs/ko/flight_modes_mc/altitude_cruise.md
Normal file
@ -0,0 +1,45 @@
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# Altitude Cruise Mode (Multicopter)
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<img src="../../assets/site/difficulty_easy.png" title="Easy to fly" width="30px" /> <img src="../../assets/site/remote_control.svg" title="Manual/Remote control required" width="30px" /> <img src="../../assets/site/altitude_icon.svg" title="Altitude required (e.g. Baro, Rangefinder)" width="30px" />
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_Altitude Cruise mode_ is a _relatively_ easy-to-fly manual control mode in which roll and pitch sticks control vehicle movement in the left-right and forward-back directions (relative to the "front" of the vehicle), yaw stick controls rate of rotation over the horizontal plane, and throttle controls speed of ascent-descent.
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When the sticks are released/centered the vehicle will keep the current tilt and heading angle and maintain the current _altitude_.
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If moving in the horizontal plane the vehicle will accelerate until the wind resistance equals the acceleration caused by the set tilt angle.
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The vehicle will then continue to move with a constant velocity (unlike for Altitude mode, in which the vehicle will eventually slow down and stop).
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If the wind blows the aircraft will drift in the direction of the wind even if flying perfectly level.
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:::tip
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_Altitude Cruise mode_ is intended for long distance flights where the same tilt angle is kept for a long period of time. It is just like [Altitude](../flight_modes_mc/altitude.md) mode but does not go back to level tilt when the sticks are released.
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:::
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The diagram below shows the mode behaviour visually (for a [mode 2 transmitter](../getting_started/rc_transmitter_receiver.md#transmitter_modes)).
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## Technical Summary
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A manual mode that is similar to [Altitude mode](../flight_modes_mc/altitude.md) but with different interpretation of roll and pitch sticks.
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- Centered sticks:
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- Roll/Pitch sticks: the current tilt is kept.
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- Yaw: the current heading is kept.
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- Throttle (~50%) holds current altitude.
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- Outside center:
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- Roll/Pitch sticks control the rate of change of the tilt angle, resulting in corresponding left-right and forward-back movement. A maximum stick deflection results in a tilting rate setpoint to go from level to max tilt within 0.5 seconds.
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- Yaw stick deflection rotates the tilt angle either left or right, causing the vehicle to change course. It is _not_ causing a direct rotation around the body yaw axis like in [Acro mode](../flight_modes_mc/acro.md).
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- 스로틀 스틱은 미리 정해진 최대 속도 (및 다른 축의 이동 속도)로 속도를 올리거나 내립니다.
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- 이륙:
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- 착륙했을 때 스로틀 스틱을 62.5 % (하단에서 전체 범위) 이상으로 올리면 기체가 이륙합니다.
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- Manual control input is required (such as RC control, joystick) to enter this mode. Other than in all other manual modes, it's though possible to disable the manual control loss failsafe by setting the corresponding flag in [COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT). In that case the current altitude, tilt and heading are kept until the manual control link is regained or the mode is exited.
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It is highly recommended to only disable the manual control loss failsafe for this mode if there is a stable data link connection to the vehicle at all times, and to enable the data link loss failsafe through [NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT).
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## 매개변수
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Most of the relevant parameters are already covered in the corresponding section in the [Altitude mode](../flight_modes_mc/altitude.md). Here a list of parameters of particular importance for Altitude Cruise.
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| 매개변수 | 설명 |
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| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="COM_RCL_EXCEPT"></a>[COM_RCL_EXCEPT](../advanced_config/parameter_reference.md#COM_RCL_EXCEPT) | The manual control failsafe can be disabled for Altitude Cruise by setting the corresponding bit in this parameter. |
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| <a id="NAV_DLL_ACT"></a>[NAV_DLL_ACT](../advanced_config/parameter_reference.md#NAV_DLL_ACT) | Data link lost failsafe action. Recommended to set if the manual control failsafe is disabled to avoid fly-aways. |
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| <a id="MPC_MAN_TILT_MAX"></a>[MPC_MAN_TILT_MAX](../advanced_config/parameter_reference.md#MPC_MAN_TILT_MAX) | The maximum tilt angle the vehicle will go to. At max stick deflection, it will take 0.5 seconds from level flight to this tilt angle. |
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@ -21,10 +21,12 @@ Manual-Easy:
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- [Stabilized mode](../flight_modes_mc/manual_stabilized.md) — Releasing the sticks levels and maintains the vehicle horizontal posture (but not altitude or position).
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The vehicle will continue to move with momentum, and both altitude and horizontal position may be affected by wind.
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This mode is also used if "Manual mode" is selected in a ground station.
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- [Altitude Cruise mode](../flight_modes_mc/altitude_cruise.md) — Very similar to _Altitude mode_, with the difference that when the roll and pitch sticks are released the vehicle does not level out but keeps the tilt until further inputs are given.
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Additionally it is possible to disable the manual control failsafe for this mode, having the vehicle continue on it's set path even if there are no new control inputs.
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Manual-Acrobatic
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- [Acro](../flight_modes_mc/acro.md) — Manual mode for performing acrobatic maneuvers, such as rolls and loops.
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- [Acro](../flight_modes_mc/acro.md) — Manual mode for performing acrobatic manoeuvrers, such as rolls and loops.
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Releasing the sticks stops the vehicle rotating in the roll, pitch, yaw axes, but does not otherwise stabilise the vehicle.
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Autonomous:
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@ -31,7 +31,7 @@ Throttle is rescaled (see [below](#params)) and passed directly to control alloc
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자동 조종 장치는 자세를 제어합니다. 즉, RC 스틱이 컨트롤러 데드 존 내부에 집중 될 때 롤과 피치 각을 제로로 조절합니다 (결과적으로 태도가 수평이 됨).
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자동 조종 장치는 바람 (또는 다른 원인)으로 인한 드리프트를 보상하지 않습니다.
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- 중앙 스틱 (데드밴드 내부) :
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- Centered sticks:
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- Roll/Pitch sticks level vehicle.
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- Outside center:
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- Roll/Pitch sticks control tilt angle in those orientations, resulting in corresponding left-right and forward-back movement.
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@ -43,7 +43,7 @@ While very rare on a well calibrated vehicle, sometimes there may be problems wi
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RC mode where roll, pitch, throttle (RPT) sticks control movement in corresponding axes/directions.
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Centered sticks level vehicle and hold it to fixed altitude and position against wind.
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- Centered roll, pitch, throttle sticks (within RC deadzone [MPC_HOLD_DZ](../advanced_config/parameter_reference.md#MPC_HOLD_DZ)) hold x, y, z position steady against any disturbance like wind.
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- Centered roll, pitch, throttle sticks (within RC deadzone [MAN_DEADZONE](#MAN_DEADZONE)) hold x, y, z position steady against any disturbance like wind.
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- Outside center:
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- Roll/Pitch sticks control horizontal acceleration over ground in the vehicle's left-right and forward-back directions (respectively).
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- Throttle stick controls speed of ascent-descent.
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@ -62,7 +62,7 @@ All the parameters in the [Multicopter Position Control](../advanced_config/para
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| 매개변수 | 설명 |
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| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="MPC_HOLD_DZ"></a>[MPC_HOLD_DZ](../advanced_config/parameter_reference.md#MPC_HOLD_DZ) | Deadzone of sticks where position hold is enabled. Default: 0.1 (10% of full stick range). |
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| <a id="MAN_DEADZONE"></a>[MAN_DEADZONE](../advanced_config/parameter_reference.md#MAN_DEADZONE) | Deadzone of sticks where position hold is enabled. Default: 0.1 (10% of full stick range). |
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| <a id="MPC_Z_VEL_MAX_UP"></a>[MPC_Z_VEL_MAX_UP](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_UP) | 최대 수직 상승 속도. 기본값: 3 m/s. |
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| <a id="MPC_Z_VEL_MAX_DN"></a>[MPC_Z_VEL_MAX_DN](../advanced_config/parameter_reference.md#MPC_Z_VEL_MAX_DN) | 최대 수직 하강 속도. 기본값: 1 m/s. |
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| <a id="MPC_LAND_ALT1"></a>[MPC_LAND_ALT1](../advanced_config/parameter_reference.md#MPC_LAND_ALT1) | Altitude for triggering first phase of slow landing. Below this altitude descending velocity gets limited to a value between [MPC_Z_VEL_MAX_DN](#MPC_Z_VEL_MAX_DN) (or `MPC_Z_V_AUTO_DN`) and [MPC_LAND_SPEED](#MPC_LAND_SPEED). Value needs to be higher than [MPC_LAND_ALT2](#MPC_LAND_ALT2). Default 10m. |
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@ -65,7 +65,7 @@ PX4 Micro XRCE-DDS Client is based on version `v2.x` which is not compatible wit
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On Ubuntu you can build from source and install the Agent standalone using the following commands:
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```sh
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git clone -b v2.4.2 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
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git clone -b v2.4.3 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
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cd Micro-XRCE-DDS-Agent
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mkdir build
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cd build
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@ -118,78 +118,78 @@ To build the agent within ROS:
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1. Create a workspace directory for the agent:
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```sh
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mkdir -p ~/px4_ros_uxrce_dds_ws/src
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```
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```sh
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mkdir -p ~/px4_ros_uxrce_dds_ws/src
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```
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2. Clone the source code for the eProsima [Micro-XRCE-DDS-Agent](https://github.com/eProsima/Micro-XRCE-DDS-Agent) to the `/src` directory (the `main` branch is cloned by default):
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```sh
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cd ~/px4_ros_uxrce_dds_ws/src
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git clone -b v2.4.2 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
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```
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```sh
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cd ~/px4_ros_uxrce_dds_ws/src
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git clone -b v2.4.3 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
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```
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3. Source the ROS 2 development environment, and compile the workspace using `colcon`:
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:::: tabs
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:::: tabs
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::: tab humble
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::: tab humble
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```sh
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source /opt/ros/humble/setup.bash
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colcon build
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```
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```sh
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source /opt/ros/humble/setup.bash
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colcon build
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```
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:::
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::: tab foxy
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::: tab foxy
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```sh
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source /opt/ros/foxy/setup.bash
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colcon build
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```
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```sh
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source /opt/ros/foxy/setup.bash
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colcon build
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```
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:::
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::::
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::::
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This builds all the folders under `/src` using the sourced toolchain.
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This builds all the folders under `/src` using the sourced toolchain.
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To run the micro XRCE-DDS agent in the workspace:
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1. Source the `local_setup.bash` to make the executables available in the terminal (also `setup.bash` if using a new terminal).
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:::: tabs
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:::: tabs
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::: tab humble
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::: tab humble
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```sh
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source /opt/ros/humble/setup.bash
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source install/local_setup.bash
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```
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```sh
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source /opt/ros/humble/setup.bash
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source install/local_setup.bash
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```
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:::
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::: tab foxy
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::: tab foxy
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```sh
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source /opt/ros/foxy/setup.bash
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source install/local_setup.bash
|
||||
```
|
||||
```sh
|
||||
source /opt/ros/foxy/setup.bash
|
||||
source install/local_setup.bash
|
||||
```
|
||||
|
||||
|
||||
:::
|
||||
|
||||
::::
|
||||
::::
|
||||
|
||||
1) Start the agent with settings for connecting to the uXRCE-DDS client running on the simulator:
|
||||
|
||||
```sh
|
||||
MicroXRCEAgent udp4 -p 8888
|
||||
```
|
||||
```sh
|
||||
MicroXRCEAgent udp4 -p 8888
|
||||
```
|
||||
|
||||
## Starting Agent and Client
|
||||
|
||||
@ -279,6 +279,9 @@ The configuration can be done using the [UXRCE-DDS parameters](../advanced_confi
|
||||
- [UXRCE_DDS_SYNCT](../advanced_config/parameter_reference.md#UXRCE_DDS_SYNCT): Bridge time synchronization enable.
|
||||
The uXRCE-DDS client module can synchronize the timestamp of the messages exchanged over the bridge.
|
||||
This is the default configuration. In certain situations, for example during [simulations](../ros2/user_guide.md#ros-gazebo-and-px4-time-synchronization), this feature may be disabled.
|
||||
- [`UXRCE_DDS_NS_IDX`](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX): Index-based namespace definition
|
||||
Setting this parameter to any value other than `-1` creates a namespace with the prefix `uav_` and the specified value, e.g. `uav_0`, `uav_1`, etc.
|
||||
See [namespace](#customizing-the-namespace) for methods to define richer or arbitrary namespaces.
|
||||
|
||||
:::info
|
||||
Many ports are already have a default configuration.
|
||||
@ -354,7 +357,7 @@ Therefore,
|
||||
|
||||
## Customizing the Namespace
|
||||
|
||||
Custom topic and service namespaces can be applied at build time (changing [dds_topics.yaml](../middleware/dds_topics.md)) or at runtime (which is useful for multi vehicle operations):
|
||||
Custom topic and service namespaces can be applied at build time (changing [dds_topics.yaml](../middleware/dds_topics.md)), at runtime, or through a parameter (which is useful for multi vehicle operations):
|
||||
|
||||
- One possibility is to use the `-n` option when starting the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) from command line.
|
||||
This technique can be used both in simulation and real vehicles.
|
||||
@ -383,6 +386,22 @@ will generate topics under the namespaces:
|
||||
|
||||
:::
|
||||
|
||||
- A simple index-based namespace can be applied by setting the parameter [`UXRCE_DDS_NS_IDX`](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX) to a value between 0 and 9999.
|
||||
This will generate a namespace such as `/uav_0`, `/uav_1`, and so on.
|
||||
This technique is ideal if vehicles must be persistently associated with namespaces because their clients are automatically started through PX4.
|
||||
|
||||
:::info
|
||||
PX4 parameters cannot carry rich text strings.
|
||||
Therefore, you cannot use [`UXRCE_DDS_NS_IDX`](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX) to automatically start a client with an arbitrary message namespace through PX4.
|
||||
You can however specify a namespace when starting the client, using the `-n` argument:
|
||||
|
||||
```sh
|
||||
# In etc/extras.txt on the MicroSD card
|
||||
uxrce_dds_client start -n fancy_uav
|
||||
```
|
||||
|
||||
This can be included in `etc/extras.txt` as part of a custom [System Startup](../concept/system_startup.md).
|
||||
|
||||
## PX4 ROS 2 QoS Settings
|
||||
|
||||
PX4 QoS settings for publishers are incompatible with the default QoS settings for ROS 2 subscribers.
|
||||
@ -466,15 +485,15 @@ Each (`topic`,`type`) pairs defines:
|
||||
|
||||
1. A new `publication`, `subscription`, or `subscriptions_multi`, depending on the list to which it is added.
|
||||
2. The topic _base name_, which **must** coincide with the desired uORB topic name that you want to publish/subscribe.
|
||||
It is identified by the last token in `topic:` that starts with `/` and does not contains any `/` in it.
|
||||
`vehicle_odometry`, `vehicle_status` and `offboard_control_mode` are examples of base names.
|
||||
It is identified by the last token in `topic:` that starts with `/` and does not contains any `/` in it.
|
||||
`vehicle_odometry`, `vehicle_status` and `offboard_control_mode` are examples of base names.
|
||||
3. The topic [namespace](https://design.ros2.org/articles/topic_and_service_names.html#namespaces).
|
||||
By default it is set to:
|
||||
- `/fmu/out/` for topics that are _published_ by PX4.
|
||||
- `/fmu/in/` for topics that are _subscribed_ by PX4.
|
||||
By default it is set to:
|
||||
- `/fmu/out/` for topics that are _published_ by PX4.
|
||||
- `/fmu/in/` for topics that are _subscribed_ by PX4.
|
||||
4. The message type (`VehicleOdometry`, `VehicleStatus`, `OffboardControlMode`, etc.) and the ROS 2 package (`px4_msgs`) that is expected to provide the message definition.
|
||||
5. **(Optional)**: An additional `rate_limit` field (only for publication entries), which specifies the maximum rate (Hz) at which messages will be published on this topic by PX4 to ROS 2.
|
||||
If left unspecified, the maximum publication rate limit is set to 100 Hz.
|
||||
If left unspecified, the maximum publication rate limit is set to 100 Hz.
|
||||
|
||||
`subscriptions` and `subscriptions_multi` allow us to choose the uORB topic instance that ROS 2 topics are routed to: either a shared instance that may also be getting updates from internal PX4 uORB publishers, or a separate instance that is reserved for ROS2 publications, respectively.
|
||||
Without this mechanism all ROS 2 messages would be routed to the _same_ uORB topic instance (because ROS 2 does not have the concept of [multiple topic instances](../middleware/uorb.md#multi-instance)), and it would not be possible for PX4 subscribers to differentiate between streams from ROS 2 or PX4 publishers.
|
||||
@ -516,7 +535,7 @@ For a list of services, details and examples see the [service documentation](../
|
||||
These guidelines explain how to migrate from using PX4 v1.13 [Fast-RTPS](../middleware/micrortps.md) middleware to PX4 v1.14 `uXRCE-DDS` middleware.
|
||||
These are useful if you have [ROS 2 applications written for PX4 v1.13](https://docs.px4.io/v1.13/en/ros/ros2_comm.html), or you have used Fast-RTPS to interface your applications to PX4 [directly](https://docs.px4.io/v1.13/en/middleware/micrortps.html#agent-in-an-offboard-fast-dds-interface-ros-independent).
|
||||
|
||||
:::info
|
||||
::: info
|
||||
This section contains migration-specific information.
|
||||
You should also read the rest of this page to properly understand uXRCE-DDS.
|
||||
:::
|
||||
|
||||
@ -125,6 +125,31 @@ ilabs <command> [arguments...]
|
||||
status Print driver status
|
||||
```
|
||||
|
||||
## sbgecom
|
||||
|
||||
Source: [drivers/ins/sbgecom](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/sbgecom)
|
||||
|
||||
Description du module
|
||||
|
||||
### Usage {#sbgecom_usage}
|
||||
|
||||
```
|
||||
sbgecom <command> [arguments...]
|
||||
Commands:
|
||||
start Start driver
|
||||
[-d <val>] Serial device
|
||||
default: /dev/ttyS0
|
||||
[-b <val>] Baudrate device
|
||||
default: 921600
|
||||
[-f <val>] Config JSON file path
|
||||
default: /etc/extras/sbg_settings\.json
|
||||
[-s <val>] Config JSON string
|
||||
|
||||
status Driver status
|
||||
|
||||
stop Stop driver
|
||||
```
|
||||
|
||||
## vectornav
|
||||
|
||||
Source: [drivers/ins/vectornav](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/ins/vectornav)
|
||||
|
||||
@ -140,9 +140,9 @@ commander <command> [arguments...]
|
||||
transition VTOL transition
|
||||
|
||||
mode Change flight mode
|
||||
manual|acro|offboard|stabilized|altctl|posctl|position:slow|auto:mission|au
|
||||
to:loiter|auto:rtl|auto:takeoff|auto:land|auto:precland|ext1
|
||||
Flight mode
|
||||
manual|acro|offboard|stabilized|altctl|posctl|altitude_cruise|position:slow
|
||||
|auto:mission|auto:loiter|auto:rtl|auto:takeoff|auto:land|auto:
|
||||
precland|ext1 Flight mode
|
||||
|
||||
pair
|
||||
|
||||
@ -154,6 +154,9 @@ commander <command> [arguments...]
|
||||
|
||||
lat|lon|alt Origin latitude longitude altitude
|
||||
|
||||
set_heading Set current heading
|
||||
heading degrees from True North [0 360]
|
||||
|
||||
poweroff Power off board (if supported)
|
||||
|
||||
stop
|
||||
@ -1062,7 +1065,9 @@ uxrce_dds_client <command> [arguments...]
|
||||
values: <IP>
|
||||
[-p <val>] Agent listening port. If not provided, defaults to
|
||||
UXRCE_DDS_PRT
|
||||
[-n <val>] Client DDS namespace
|
||||
[-n <val>] Client DDS namespace. If not provided but UXRCE_DDS_NS_IDX is
|
||||
between 0 and 9999 inclusive, then uav_ + UXRCE_DDS_NS_IDX will
|
||||
be used
|
||||
|
||||
stop
|
||||
|
||||
|
||||
@ -18,11 +18,11 @@ uint32 MESSAGE_VERSION = 0
|
||||
uint64 timestamp # [us] Time since system start
|
||||
uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
|
||||
|
||||
uint16 reversible_flags # Bitset indicating which motors are configured to be reversible
|
||||
uint16 reversible_flags # [-] Bitset indicating which motors are configured to be reversible
|
||||
|
||||
uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 #
|
||||
|
||||
uint8 NUM_CONTROLS = 12 #
|
||||
float32[12] control # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)
|
||||
float32[12] control # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)
|
||||
|
||||
```
|
||||
|
||||
@ -19,6 +19,6 @@ uint64 timestamp # [us] Time since system start
|
||||
uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
|
||||
|
||||
uint8 NUM_CONTROLS = 8 #
|
||||
float32[8] control # [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
|
||||
float32[8] control # [-] [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
|
||||
|
||||
```
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
# ArmingCheckReply (UORB message)
|
||||
|
||||
Arming check reply.
|
||||
Arming check reply
|
||||
|
||||
This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
|
||||
The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station).
|
||||
@ -12,7 +12,7 @@ The message is not used by internal/FMU components, as their mode requirements a
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg)
|
||||
|
||||
```c
|
||||
# Arming check reply.
|
||||
# Arming check reply
|
||||
#
|
||||
# This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
|
||||
# The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station).
|
||||
@ -25,33 +25,33 @@ uint32 MESSAGE_VERSION = 1
|
||||
|
||||
uint64 timestamp # [us] Time since system start.
|
||||
|
||||
uint8 request_id # Id of ArmingCheckRequest for which this is a response.
|
||||
uint8 registration_id # Id of external component emitting this response.
|
||||
uint8 request_id # [-] Id of ArmingCheckRequest for which this is a response
|
||||
uint8 registration_id # [-] Id of external component emitting this response
|
||||
|
||||
uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies.
|
||||
uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies
|
||||
|
||||
uint8 health_component_index # [@enum HEALTH_COMPONENT_INDEX]
|
||||
bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json).
|
||||
bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json).
|
||||
bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json).
|
||||
bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json)
|
||||
bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json)
|
||||
bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json)
|
||||
|
||||
bool can_arm_and_run # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed.
|
||||
bool can_arm_and_run # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed
|
||||
|
||||
uint8 num_events # Number of queued failure messages (Event) in the events field.
|
||||
uint8 num_events # Number of queued failure messages (Event) in the events field
|
||||
|
||||
Event[5] events # Arming failure reasons (Queue of events to report to GCS).
|
||||
Event[5] events # Arming failure reasons (Queue of events to report to GCS)
|
||||
|
||||
# Mode requirements
|
||||
bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope).
|
||||
bool mode_req_attitude # Requires an attitude estimate.
|
||||
bool mode_req_local_alt # Requires a local altitude estimate.
|
||||
bool mode_req_local_position # Requires a local position estimate.
|
||||
bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate.
|
||||
bool mode_req_global_position # Requires a global position estimate.
|
||||
bool mode_req_global_position_relaxed # Requires a relaxed global position estimate.
|
||||
bool mode_req_mission # Requires an uploaded mission.
|
||||
bool mode_req_home_position # Requires a home position (such as RTL/Return mode).
|
||||
bool mode_req_prevent_arming # Prevent arming (such as in Land mode).
|
||||
bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope)
|
||||
bool mode_req_attitude # Requires an attitude estimate
|
||||
bool mode_req_local_alt # Requires a local altitude estimate
|
||||
bool mode_req_local_position # Requires a local position estimate
|
||||
bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate
|
||||
bool mode_req_global_position # Requires a global position estimate
|
||||
bool mode_req_global_position_relaxed # Requires a relaxed global position estimate
|
||||
bool mode_req_mission # Requires an uploaded mission
|
||||
bool mode_req_home_position # Requires a home position (such as RTL/Return mode)
|
||||
bool mode_req_prevent_arming # Prevent arming (such as in Land mode)
|
||||
bool mode_req_manual_control # Requires a manual controller
|
||||
|
||||
uint8 ORB_QUEUE_LENGTH = 4
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
# ArmingCheckRequest (UORB message)
|
||||
|
||||
Arming check request.
|
||||
Arming check request
|
||||
|
||||
Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
|
||||
All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
|
||||
@ -12,7 +12,7 @@ The reply will also include the registration_id for each external component, pro
|
||||
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg)
|
||||
|
||||
```c
|
||||
# Arming check request.
|
||||
# Arming check request
|
||||
#
|
||||
# Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
|
||||
# All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
|
||||
@ -23,10 +23,10 @@ The reply will also include the registration_id for each external component, pro
|
||||
|
||||
uint32 MESSAGE_VERSION = 1
|
||||
|
||||
uint64 timestamp # [us] Time since system start.
|
||||
uint64 timestamp # [us] Time since system start
|
||||
|
||||
uint8 request_id # Id of this request. Allows correlation with associated ArmingCheckReply messages.
|
||||
uint8 request_id # [-] Id of this request. Allows correlation with associated ArmingCheckReply messages.
|
||||
|
||||
uint32 valid_registrations_mask # Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
|
||||
uint32 valid_registrations_mask # [-] Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
|
||||
|
||||
```
|
||||
|
||||
@ -16,76 +16,77 @@ Battery instance information is also logged and streamed in MAVLink telemetry.
|
||||
# Battery instance information is also logged and streamed in MAVLink telemetry.
|
||||
|
||||
uint32 MESSAGE_VERSION = 1
|
||||
uint8 MAX_INSTANCES = 4
|
||||
uint8 MAX_INSTANCES = 3
|
||||
|
||||
uint64 timestamp # [us] Time since system start
|
||||
bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
|
||||
float32 voltage_v # [V] [@invalid 0] Battery voltage
|
||||
float32 current_a # [A] [@invalid -1] Battery current
|
||||
float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight)
|
||||
float32 discharged_mah # [mAh] [@invalid -1] Discharged amount
|
||||
float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity
|
||||
float32 scale # [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
|
||||
float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
|
||||
float32 temperature # [°C] [@invalid NaN] Temperature of the battery
|
||||
uint8 cell_count # [@invalid 0] Number of cells
|
||||
uint64 timestamp # [us] Time since system start
|
||||
|
||||
bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
|
||||
float32 voltage_v # [V] [@invalid 0] Battery voltage
|
||||
float32 current_a # [A] [@invalid -1] Battery current
|
||||
float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight)
|
||||
float32 discharged_mah # [mAh] [@invalid -1] Discharged amount
|
||||
float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity
|
||||
float32 scale # [-] [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
|
||||
float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
|
||||
float32 temperature # [°C] [@invalid NaN] Temperature of the battery
|
||||
uint8 cell_count # [-] [@invalid 0] Number of cells
|
||||
|
||||
|
||||
uint8 source # [@enum SOURCE] Battery source
|
||||
uint8 SOURCE_POWER_MODULE = 0 # Power module
|
||||
uint8 SOURCE_EXTERNAL = 1 # External
|
||||
uint8 SOURCE_ESCS = 2 # ESCs
|
||||
uint8 source # [@enum SOURCE] Battery source
|
||||
uint8 SOURCE_POWER_MODULE = 0 # Power module
|
||||
uint8 SOURCE_EXTERNAL = 1 # External
|
||||
uint8 SOURCE_ESCS = 2 # ESCs
|
||||
|
||||
uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
|
||||
uint16 capacity # [mAh] Capacity of the battery when fully charged
|
||||
uint16 cycle_count # Number of discharge cycles the battery has experienced
|
||||
uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
|
||||
uint16 manufacture_date # Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
|
||||
uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
|
||||
uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
|
||||
uint8 id # ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
|
||||
uint16 interface_error # Interface error counter
|
||||
uint8 priority # [-] Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
|
||||
uint16 capacity # [mAh] Capacity of the battery when fully charged
|
||||
uint16 cycle_count # [-] Number of discharge cycles the battery has experienced
|
||||
uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
|
||||
uint16 manufacture_date # [-] Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
|
||||
uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
|
||||
uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
|
||||
uint8 id # [-] ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
|
||||
uint16 interface_error # [-] Interface error counter
|
||||
|
||||
float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages
|
||||
float32 max_cell_voltage_delta # Max difference between individual cell voltages
|
||||
float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages
|
||||
float32 max_cell_voltage_delta # [V] Max difference between individual cell voltages
|
||||
|
||||
bool is_powering_off # Power off event imminent indication, false if unknown
|
||||
bool is_required # Set if the battery is explicitly required before arming
|
||||
bool is_powering_off # Power off event imminent indication, false if unknown
|
||||
bool is_required # Set if the battery is explicitly required before arming
|
||||
|
||||
uint8 warning # [@enum WARNING STATE] Current battery warning
|
||||
uint8 WARNING_NONE = 0 # No battery low voltage warning active
|
||||
uint8 WARNING_LOW = 1 # Low voltage warning
|
||||
uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
|
||||
uint8 WARNING_EMERGENCY = 3 # Immediate landing required
|
||||
uint8 WARNING_FAILED = 4 # Battery has failed completely
|
||||
uint8 STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field
|
||||
uint8 STATE_CHARGING = 7 # Battery is charging
|
||||
uint8 warning # [@enum WARNING STATE] Current battery warning
|
||||
uint8 WARNING_NONE = 0 # No battery low voltage warning active
|
||||
uint8 WARNING_LOW = 1 # Low voltage warning
|
||||
uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
|
||||
uint8 WARNING_EMERGENCY = 3 # Immediate landing required
|
||||
uint8 WARNING_FAILED = 4 # Battery has failed completely
|
||||
uint8 STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field
|
||||
uint8 STATE_CHARGING = 7 # Battery is charging
|
||||
|
||||
uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication
|
||||
uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
|
||||
uint8 FAULT_SPIKES = 1 # Voltage spikes
|
||||
uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed
|
||||
uint8 FAULT_OVER_CURRENT = 3 # Over-current
|
||||
uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature
|
||||
uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
|
||||
uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
|
||||
uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
|
||||
uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
|
||||
uint8 FAULT_HARDWARE_FAILURE = 9 # Hardware problem
|
||||
uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
|
||||
uint8 FAULT_COUNT = 11 # Counter. Keep this as last element
|
||||
uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication
|
||||
uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
|
||||
uint8 FAULT_SPIKES = 1 # Voltage spikes
|
||||
uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed
|
||||
uint8 FAULT_OVER_CURRENT = 3 # Over-current
|
||||
uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature
|
||||
uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
|
||||
uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
|
||||
uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
|
||||
uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
|
||||
uint8 FAULT_HARDWARE_FAILURE = 9 # Hardware problem
|
||||
uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
|
||||
uint8 FAULT_COUNT = 11 # Counter. Keep this as last element
|
||||
|
||||
float32 full_charge_capacity_wh # [Wh] Compensated battery capacity
|
||||
float32 remaining_capacity_wh # [Wh] Compensated battery capacity remaining
|
||||
uint16 over_discharge_count # Number of battery overdischarge
|
||||
float32 nominal_voltage # [V] Nominal voltage of the battery pack
|
||||
float32 full_charge_capacity_wh # [Wh] Compensated battery capacity
|
||||
float32 remaining_capacity_wh # [Wh] Compensated battery capacity remaining
|
||||
uint16 over_discharge_count # [-] Number of battery overdischarge
|
||||
float32 nominal_voltage # [V] Nominal voltage of the battery pack
|
||||
|
||||
float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
|
||||
float32 ocv_estimate # [V] Open circuit voltage estimate
|
||||
float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate
|
||||
float32 volt_based_soc_estimate # [@range 0, 1] Normalized volt based state of charge estimate
|
||||
float32 voltage_prediction # [V] Predicted voltage
|
||||
float32 prediction_error # [V] Prediction error
|
||||
float32 estimation_covariance_norm # Norm of the covariance matrix
|
||||
float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
|
||||
float32 ocv_estimate # [V] Open circuit voltage estimate
|
||||
float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate
|
||||
float32 volt_based_soc_estimate # [-] [@range 0, 1] Normalized volt based state of charge estimate
|
||||
float32 voltage_prediction # [V] Predicted voltage
|
||||
float32 prediction_error # [V] Prediction error
|
||||
float32 estimation_covariance_norm # [-] Norm of the covariance matrix
|
||||
|
||||
```
|
||||
|
||||
@ -52,7 +52,9 @@ uint8 CS_SYNTHETIC_MAG_Z = 25 # 25 - true when we are using a synthesized measur
|
||||
uint8 CS_VEHICLE_AT_REST = 26 # 26 - true when the vehicle is at rest
|
||||
uint8 CS_GPS_YAW_FAULT = 27 # 27 - true when the GNSS heading has been declared faulty and is no longer being used
|
||||
uint8 CS_RNG_FAULT = 28 # 28 - true when the range finder has been declared faulty and is no longer being used
|
||||
uint8 CS_GNSS_VEL = 44 # 44 - true if GNSS velocity measurements are being fused
|
||||
uint8 CS_GNSS_VEL = 44 # 44 - true if GNSS velocity measurement fusion is intended
|
||||
uint8 CS_GNSS_FAULT = 45 # 45 - true if GNSS measurements have been declared faulty and are no longer used
|
||||
uint8 CS_YAW_MANUAL = 46 # 46 - true if yaw has been set manually
|
||||
|
||||
uint32 filter_fault_flags # Bitmask to indicate EKF internal faults
|
||||
# 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error
|
||||
|
||||
@ -54,6 +54,8 @@ bool cs_valid_fake_pos # 41 - true if a valid constant position is bein
|
||||
bool cs_constant_pos # 42 - true if the vehicle is at a constant position
|
||||
bool cs_baro_fault # 43 - true when the current baro has been declared faulty and is no longer being used
|
||||
bool cs_gnss_vel # 44 - true if GNSS velocity measurement fusion is intended
|
||||
bool cs_gnss_fault # 45 - true if GNSS measurements have been declared faulty and are no longer used
|
||||
bool cs_yaw_manual # 46 - true if yaw has been set manually
|
||||
|
||||
# fault status
|
||||
uint32 fault_status_changes # number of filter fault status (fs) changes
|
||||
|
||||
@ -7,11 +7,11 @@ Pure pursuit status
|
||||
```c
|
||||
# Pure pursuit status
|
||||
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 lookahead_distance # [m] [@range 0, inf] Lookahead distance of pure the pursuit controller
|
||||
float32 target_bearing # [rad] [@range -pi, pi] [@frame NED] Target bearing calculated by the pure pursuit controller
|
||||
float32 crosstrack_error # [m] [@range -inf (Left of the path), inf (Right of the path)] Shortest distance from the vehicle to the path
|
||||
float32 distance_to_waypoint # [m] [@range -inf, inf]Distance from the vehicle to the current waypoint
|
||||
float32 bearing_to_waypoint # [rad] [@range -pi, pi] [@frame NED]Bearing towards current waypoint
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 lookahead_distance # [m] [@range 0, inf] Lookahead distance of pure the pursuit controller
|
||||
float32 target_bearing # [rad] [@range -pi, pi] [@frame NED] Target bearing calculated by the pure pursuit controller
|
||||
float32 crosstrack_error # [m] [@range -inf (Left of the path), inf (Right of the path)] Shortest distance from the vehicle to the path
|
||||
float32 distance_to_waypoint # [m] [@range -inf, inf]Distance from the vehicle to the current waypoint
|
||||
float32 bearing_to_waypoint # [rad] [@range -pi, pi] [@frame NED]Bearing towards current waypoint
|
||||
|
||||
```
|
||||
|
||||
@ -7,7 +7,7 @@ Rover Attitude Setpoint
|
||||
```c
|
||||
# Rover Attitude Setpoint
|
||||
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 yaw_setpoint # [rad] [@range -inf, inf] [@frame NED] Yaw setpoint
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 yaw_setpoint # [rad] [@range -inf, inf] [@frame NED] Yaw setpoint
|
||||
|
||||
```
|
||||
|
||||
@ -7,8 +7,8 @@ Rover Attitude Status
|
||||
```c
|
||||
# Rover Attitude Status
|
||||
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 measured_yaw # [rad] [@range -pi, pi] [@frame NED]Measured yaw
|
||||
float32 adjusted_yaw_setpoint # [rad] [@range -pi, pi] [@frame NED] Yaw setpoint that is being tracked (Applied slew rates)
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 measured_yaw # [rad] [@range -pi, pi] [@frame NED]Measured yaw
|
||||
float32 adjusted_yaw_setpoint # [rad] [@range -pi, pi] [@frame NED] Yaw setpoint that is being tracked (Applied slew rates)
|
||||
|
||||
```
|
||||
|
||||
@ -7,11 +7,11 @@ Rover Position Setpoint
|
||||
```c
|
||||
# Rover Position Setpoint
|
||||
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32[2] position_ned # [m] [@range -inf, inf] [@frame NED] Target position
|
||||
float32[2] start_ned # [m] [@range -inf, inf] [@frame NED] [@invalid NaN Defaults to vehicle position] Start position which specifies a line for the rover to track
|
||||
float32 cruising_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to maximum speed] Cruising speed
|
||||
float32 arrival_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to 0] Speed the rover should arrive at the target with
|
||||
float32 yaw # [rad] [@range -pi,pi] [@frame NED] [@invalid NaN Defaults to vehicle yaw] Mecanum only: Specify vehicle yaw during travel
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32[2] position_ned # [m] [@range -inf, inf] [@frame NED] Target position
|
||||
float32[2] start_ned # [m] [@range -inf, inf] [@frame NED] [@invalid NaN Defaults to vehicle position] Start position which specifies a line for the rover to track
|
||||
float32 cruising_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to maximum speed] Cruising speed
|
||||
float32 arrival_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to 0] Speed the rover should arrive at the target with
|
||||
float32 yaw # [rad] [@range -pi,pi] [@frame NED] [@invalid NaN Defaults to vehicle yaw] Mecanum only: Specify vehicle yaw during travel
|
||||
|
||||
```
|
||||
|
||||
@ -7,7 +7,7 @@ Rover Rate setpoint
|
||||
```c
|
||||
# Rover Rate setpoint
|
||||
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 yaw_rate_setpoint # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 yaw_rate_setpoint # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint
|
||||
|
||||
```
|
||||
|
||||
@ -7,9 +7,9 @@ Rover Rate Status
|
||||
```c
|
||||
# Rover Rate Status
|
||||
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 measured_yaw_rate # [rad/s] [@range -inf, inf] [@frame NED] Measured yaw rate
|
||||
float32 adjusted_yaw_rate_setpoint # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint that is being tracked (Applied slew rates)
|
||||
float32 pid_yaw_rate_integral # [] [@range -1, 1] Integral of the PID for the closed loop yaw rate controller
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 measured_yaw_rate # [rad/s] [@range -inf, inf] [@frame NED] Measured yaw rate
|
||||
float32 adjusted_yaw_rate_setpoint # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint that is being tracked (Applied slew rates)
|
||||
float32 pid_yaw_rate_integral # [-] [@range -1, 1] Integral of the PID for the closed loop yaw rate controller
|
||||
|
||||
```
|
||||
|
||||
@ -7,8 +7,8 @@ Rover Speed Setpoint
|
||||
```c
|
||||
# Rover Speed Setpoint
|
||||
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction
|
||||
float32 speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction
|
||||
float32 speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction
|
||||
|
||||
```
|
||||
|
||||
@ -7,12 +7,12 @@ Rover Velocity Status
|
||||
```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
|
||||
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
|
||||
|
||||
```
|
||||
|
||||
@ -7,7 +7,7 @@ Rover Steering setpoint
|
||||
```c
|
||||
# Rover Steering setpoint
|
||||
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 normalized_steering_setpoint # [@range -1 (Left), 1 (Right)] [@frame Body] Ackermann: Normalized steering angle, Differential/Mecanum: Normalized speed difference between the left and right wheels
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 normalized_steering_setpoint # [-] [@range -1 (Left), 1 (Right)] [@frame Body] Ackermann: Normalized steering angle, Differential/Mecanum: Normalized speed difference between the left and right wheels
|
||||
|
||||
```
|
||||
|
||||
@ -7,8 +7,8 @@ Rover Throttle setpoint
|
||||
```c
|
||||
# Rover Throttle setpoint
|
||||
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 throttle_body_x # [] [@range -1 (Backwards), 1 (Forwards)] [@frame Body] Throttle setpoint along body X axis
|
||||
float32 throttle_body_y # [] [@range -1 (Left), 1 (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Throttle setpoint along body Y axis
|
||||
uint64 timestamp # [us] Time since system start
|
||||
float32 throttle_body_x # [-] [@range -1 (Backwards), 1 (Forwards)] [@frame Body] Throttle setpoint along body X axis
|
||||
float32 throttle_body_y # [-] [@range -1 (Left), 1 (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Throttle setpoint along body Y axis
|
||||
|
||||
```
|
||||
|
||||
@ -96,6 +96,7 @@ uint16 VEHICLE_CMD_REQUEST_CAMERA_INFORMATION = 521 # Request camera information
|
||||
uint16 VEHICLE_CMD_SET_CAMERA_MODE = 530 # Set camera capture mode (photo, video, etc.).
|
||||
uint16 VEHICLE_CMD_SET_CAMERA_ZOOM = 531 # Set camera zoom.
|
||||
uint16 VEHICLE_CMD_SET_CAMERA_FOCUS = 532
|
||||
uint16 VEHICLE_CMD_EXTERNAL_ATTITUDE_ESTIMATE = 620 # Set an external estimate of vehicle attitude in degrees.
|
||||
uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW = 1000 # Setpoint to be sent to a gimbal manager to set a gimbal pitch and yaw.
|
||||
uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE = 1001 # Gimbal configuration to set which sysid/compid is in primary and secondary control.
|
||||
uint16 VEHICLE_CMD_IMAGE_START_CAPTURE = 2000 # Start image capture sequence.
|
||||
|
||||
@ -48,7 +48,7 @@ uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode
|
||||
uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode
|
||||
uint8 NAVIGATION_STATE_POSITION_SLOW = 6
|
||||
uint8 NAVIGATION_STATE_FREE5 = 7
|
||||
uint8 NAVIGATION_STATE_FREE4 = 8
|
||||
uint8 NAVIGATION_STATE_ALTITUDE_CRUISE = 8 # Altitude with Cruise mode
|
||||
uint8 NAVIGATION_STATE_FREE3 = 9
|
||||
uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
|
||||
uint8 NAVIGATION_STATE_FREE2 = 11
|
||||
|
||||
@ -16,8 +16,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
|
||||
- [ActuatorMotors](ActuatorMotors.md) — Motor control message
|
||||
- [ActuatorServos](ActuatorServos.md) — Servo control message
|
||||
- [AirspeedValidated](AirspeedValidated.md)
|
||||
- [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply.
|
||||
- [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request.
|
||||
- [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply
|
||||
- [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request
|
||||
- [BatteryStatus](BatteryStatus.md) — Battery status
|
||||
- [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors
|
||||
- [Event](Event.md) — Events interface
|
||||
|
||||
@ -44,7 +44,9 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
|
||||
|
||||
### 제어
|
||||
|
||||
- TBD
|
||||
- Added new flight mode(s): [Altitude Cruise (MC)](../flight_modes_mc/altitude_cruise.md), Altitude Cruise (FW).
|
||||
For fixed-wing the mode behaves the same as Altitude mode but you can disable the manual control loss failsafe. (PX4-Autopilot#25435: Add new flight mode: Altitude Cruise
|
||||
).
|
||||
|
||||
### Estimation
|
||||
|
||||
@ -72,7 +74,8 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
|
||||
|
||||
### Multi-Rotor
|
||||
|
||||
- TBD
|
||||
- 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)).
|
||||
- Renamed `MPC_HOLD_DZ` to `MAN_DEADZONE` to have it globally available in modes that allow for a dead zone. ([PX4-Autopilot#25435: Add new flight mode: Altitude Cruise](https://github.com/PX4/PX4-Autopilot/pull/25435)).
|
||||
|
||||
### 수직이착륙기(VTOL)
|
||||
|
||||
|
||||
@ -97,48 +97,48 @@ To install ROS 2 and its dependencies:
|
||||
|
||||
1. Install ROS 2.
|
||||
|
||||
:::: tabs
|
||||
:::: tabs
|
||||
|
||||
::: tab humble
|
||||
To install ROS 2 "Humble" on Ubuntu 22.04:
|
||||
::: tab humble
|
||||
To install ROS 2 "Humble" on Ubuntu 22.04:
|
||||
|
||||
```sh
|
||||
sudo apt update && sudo apt install locales
|
||||
sudo locale-gen en_US en_US.UTF-8
|
||||
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
|
||||
export LANG=en_US.UTF-8
|
||||
sudo apt install software-properties-common
|
||||
sudo add-apt-repository universe
|
||||
sudo apt update && sudo apt install curl -y
|
||||
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
|
||||
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
|
||||
sudo apt update && sudo apt upgrade -y
|
||||
sudo apt install ros-humble-desktop
|
||||
sudo apt install ros-dev-tools
|
||||
source /opt/ros/humble/setup.bash && echo "source /opt/ros/humble/setup.bash" >> .bashrc
|
||||
```
|
||||
```sh
|
||||
sudo apt update && sudo apt install locales
|
||||
sudo locale-gen en_US en_US.UTF-8
|
||||
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
|
||||
export LANG=en_US.UTF-8
|
||||
sudo apt install software-properties-common
|
||||
sudo add-apt-repository universe
|
||||
sudo apt update && sudo apt install curl -y
|
||||
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
|
||||
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
|
||||
sudo apt update && sudo apt upgrade -y
|
||||
sudo apt install ros-humble-desktop
|
||||
sudo apt install ros-dev-tools
|
||||
source /opt/ros/humble/setup.bash && echo "source /opt/ros/humble/setup.bash" >> .bashrc
|
||||
```
|
||||
|
||||
The instructions above are reproduced from the official installation guide: [Install ROS 2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html).
|
||||
You can install _either_ the desktop (`ros-humble-desktop`) _or_ bare-bones versions (`ros-humble-ros-base`), _and_ the development tools (`ros-dev-tools`).
|
||||
The instructions above are reproduced from the official installation guide: [Install ROS 2 Humble](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html).
|
||||
You can install _either_ the desktop (`ros-humble-desktop`) _or_ bare-bones versions (`ros-humble-ros-base`), _and_ the development tools (`ros-dev-tools`).
|
||||
|
||||
:::
|
||||
|
||||
::: tab foxy
|
||||
To install ROS 2 "Foxy" on Ubuntu 20.04:
|
||||
::: tab foxy
|
||||
To install ROS 2 "Foxy" on Ubuntu 20.04:
|
||||
|
||||
- Follow the official installation guide: [Install ROS 2 Foxy](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html).
|
||||
- Follow the official installation guide: [Install ROS 2 Foxy](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html).
|
||||
|
||||
You can install _either_ the desktop (`ros-foxy-desktop`) _or_ bare-bones versions (`ros-foxy-ros-base`), _and_ the development tools (`ros-dev-tools`).
|
||||
You can install _either_ the desktop (`ros-foxy-desktop`) _or_ bare-bones versions (`ros-foxy-ros-base`), _and_ the development tools (`ros-dev-tools`).
|
||||
|
||||
:::
|
||||
|
||||
::::
|
||||
::::
|
||||
|
||||
2. Some Python dependencies must also be installed (using **`pip`** or **`apt`**):
|
||||
|
||||
```sh
|
||||
pip install --user -U empy==3.3.4 pyros-genmsg setuptools
|
||||
```
|
||||
```sh
|
||||
pip install --user -U empy==3.3.4 pyros-genmsg setuptools
|
||||
```
|
||||
|
||||
### Setup Micro XRCE-DDS Agent & Client
|
||||
|
||||
@ -155,22 +155,22 @@ To setup and start the agent:
|
||||
|
||||
2. Enter the following commands to fetch and build the agent from source:
|
||||
|
||||
```sh
|
||||
git clone -b v2.4.2 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
|
||||
cd Micro-XRCE-DDS-Agent
|
||||
mkdir build
|
||||
cd build
|
||||
cmake ..
|
||||
make
|
||||
sudo make install
|
||||
sudo ldconfig /usr/local/lib/
|
||||
```
|
||||
```sh
|
||||
git clone -b v2.4.3 https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
|
||||
cd Micro-XRCE-DDS-Agent
|
||||
mkdir build
|
||||
cd build
|
||||
cmake ..
|
||||
make
|
||||
sudo make install
|
||||
sudo ldconfig /usr/local/lib/
|
||||
```
|
||||
|
||||
3. Start the agent with settings for connecting to the uXRCE-DDS client running on the simulator:
|
||||
|
||||
```sh
|
||||
MicroXRCEAgent udp4 -p 8888
|
||||
```
|
||||
```sh
|
||||
MicroXRCEAgent udp4 -p 8888
|
||||
```
|
||||
|
||||
The agent is now running, but you won't see much until we start PX4 (in the next step).
|
||||
|
||||
@ -187,31 +187,31 @@ To start the simulator (and client):
|
||||
|
||||
1. Open a new terminal in the root of the **PX4 Autopilot** repo that was installed above.
|
||||
|
||||
:::: tabs
|
||||
:::: tabs
|
||||
|
||||
::: tab humble
|
||||
::: tab humble
|
||||
|
||||
- Start a PX4 [Gazebo](../sim_gazebo_gz/index.md) simulation using:
|
||||
- Start a PX4 [Gazebo](../sim_gazebo_gz/index.md) simulation using:
|
||||
|
||||
```sh
|
||||
make px4_sitl gz_x500
|
||||
```
|
||||
```sh
|
||||
make px4_sitl gz_x500
|
||||
```
|
||||
|
||||
|
||||
:::
|
||||
|
||||
::: tab foxy
|
||||
::: tab foxy
|
||||
|
||||
- Start a PX4 [Gazebo Classic](../sim_gazebo_classic/index.md) simulation using:
|
||||
- Start a PX4 [Gazebo Classic](../sim_gazebo_classic/index.md) simulation using:
|
||||
|
||||
```sh
|
||||
make px4_sitl gazebo-classic
|
||||
```
|
||||
```sh
|
||||
make px4_sitl gazebo-classic
|
||||
```
|
||||
|
||||
|
||||
:::
|
||||
|
||||
::::
|
||||
::::
|
||||
|
||||
The agent and client are now running they should connect.
|
||||
|
||||
@ -261,52 +261,52 @@ To create and build the workspace:
|
||||
|
||||
2. Create and navigate into a new workspace directory using:
|
||||
|
||||
```sh
|
||||
mkdir -p ~/ws_sensor_combined/src/
|
||||
cd ~/ws_sensor_combined/src/
|
||||
```
|
||||
```sh
|
||||
mkdir -p ~/ws_sensor_combined/src/
|
||||
cd ~/ws_sensor_combined/src/
|
||||
```
|
||||
|
||||
::: info
|
||||
A naming convention for workspace folders can make it easier to manage workspaces.
|
||||
::: info
|
||||
A naming convention for workspace folders can make it easier to manage workspaces.
|
||||
|
||||
:::
|
||||
|
||||
3. Clone the example repository and [px4_msgs](https://github.com/PX4/px4_msgs) to the `/src` directory (the `main` branch is cloned by default, which corresponds to the version of PX4 we are running):
|
||||
|
||||
```sh
|
||||
git clone https://github.com/PX4/px4_msgs.git
|
||||
git clone https://github.com/PX4/px4_ros_com.git
|
||||
```
|
||||
```sh
|
||||
git clone https://github.com/PX4/px4_msgs.git
|
||||
git clone https://github.com/PX4/px4_ros_com.git
|
||||
```
|
||||
|
||||
4. Source the ROS 2 development environment into the current terminal and compile the workspace using `colcon`:
|
||||
|
||||
:::: tabs
|
||||
:::: tabs
|
||||
|
||||
::: tab humble
|
||||
::: tab humble
|
||||
|
||||
```sh
|
||||
cd ..
|
||||
source /opt/ros/humble/setup.bash
|
||||
colcon build
|
||||
```
|
||||
```sh
|
||||
cd ..
|
||||
source /opt/ros/humble/setup.bash
|
||||
colcon build
|
||||
```
|
||||
|
||||
|
||||
:::
|
||||
|
||||
::: tab foxy
|
||||
::: tab foxy
|
||||
|
||||
```sh
|
||||
cd ..
|
||||
source /opt/ros/foxy/setup.bash
|
||||
colcon build
|
||||
```
|
||||
```sh
|
||||
cd ..
|
||||
source /opt/ros/foxy/setup.bash
|
||||
colcon build
|
||||
```
|
||||
|
||||
|
||||
:::
|
||||
|
||||
::::
|
||||
::::
|
||||
|
||||
This builds all the folders under `/src` using the sourced toolchain.
|
||||
This builds all the folders under `/src` using the sourced toolchain.
|
||||
|
||||
#### Running the Example
|
||||
|
||||
@ -322,42 +322,42 @@ In a new terminal:
|
||||
|
||||
1. Navigate into the top level of your workspace directory and source the ROS 2 environment (in this case "Humble"):
|
||||
|
||||
:::: tabs
|
||||
:::: tabs
|
||||
|
||||
::: tab humble
|
||||
::: tab humble
|
||||
|
||||
```sh
|
||||
cd ~/ws_sensor_combined/
|
||||
source /opt/ros/humble/setup.bash
|
||||
```
|
||||
```sh
|
||||
cd ~/ws_sensor_combined/
|
||||
source /opt/ros/humble/setup.bash
|
||||
```
|
||||
|
||||
|
||||
:::
|
||||
|
||||
::: tab foxy
|
||||
::: tab foxy
|
||||
|
||||
```sh
|
||||
cd ~/ws_sensor_combined/
|
||||
source /opt/ros/foxy/setup.bash
|
||||
```
|
||||
```sh
|
||||
cd ~/ws_sensor_combined/
|
||||
source /opt/ros/foxy/setup.bash
|
||||
```
|
||||
|
||||
|
||||
:::
|
||||
|
||||
::::
|
||||
::::
|
||||
|
||||
2. Source the `local_setup.bash`.
|
||||
|
||||
```sh
|
||||
source install/local_setup.bash
|
||||
```
|
||||
```sh
|
||||
source install/local_setup.bash
|
||||
```
|
||||
|
||||
3. Now launch the example.
|
||||
Note here that we use `ros2 launch`, which is described below.
|
||||
Note here that we use `ros2 launch`, which is described below.
|
||||
|
||||
```sh
|
||||
ros2 launch px4_ros_com sensor_combined_listener.launch.py
|
||||
```
|
||||
```sh
|
||||
ros2 launch px4_ros_com sensor_combined_listener.launch.py
|
||||
```
|
||||
|
||||
If this is working you should see data being printed on the terminal/console where you launched the ROS listener:
|
||||
|
||||
@ -385,18 +385,18 @@ If you were to use incompatible [message versions](../middleware/uorb.md#message
|
||||
|
||||
1. Include the [Message Translation Node](../ros2/px4_ros2_msg_translation_node.md) into the example workspace or a separate workspace by running the following script:
|
||||
|
||||
```sh
|
||||
cd /path/to/ros_ws
|
||||
/path/to/PX4-Autopilot/Tools/copy_to_ros_ws.sh .
|
||||
```
|
||||
```sh
|
||||
cd /path/to/ros_ws
|
||||
/path/to/PX4-Autopilot/Tools/copy_to_ros_ws.sh .
|
||||
```
|
||||
|
||||
2. Build and run the translation node:
|
||||
|
||||
```sh
|
||||
colcon build
|
||||
source install/local_setup.bash
|
||||
ros2 run translation_node translation_node_bin
|
||||
```
|
||||
```sh
|
||||
colcon build
|
||||
source install/local_setup.bash
|
||||
ros2 run translation_node translation_node_bin
|
||||
```
|
||||
|
||||
## Controlling a Vehicle
|
||||
|
||||
|
||||
@ -84,7 +84,6 @@ To use the sbgECom driver:
|
||||
If you don't want to have this fallback mechanism, you must disable unwanted sensors.
|
||||
|
||||
:::
|
||||
|
||||
4. If using the sbgECom as an INS, disable EKF2 using [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN).
|
||||
|
||||
6. Restart PX4.
|
||||
@ -96,7 +95,7 @@ IMU data should be published at 200Hz.
|
||||
|
||||
All High Performance and Ellipse 3.0 and higher SBG Systems INS can be configured directly from PX4 firmware:
|
||||
|
||||
1. Enable [SBG_CONFIGURATION_EN](../advanced_config/parameter_reference.md#SBG_CONFIGURATION_EN)
|
||||
1. Enable [SBG_CONFIGURE_EN](../advanced_config/parameter_reference.md#SBG_CONFIGURE_EN).
|
||||
|
||||
2. Provide a JSON file `sbg_settings.json` containing SBG Systems INS settings to be applied in your PX4 board `extras` directory (ex: `boards/px4/fmu-v5/extras`). The settings JSON file will be installed in `/etc/extras/sbg_settings.json` on the board.
|
||||
|
||||
@ -111,7 +110,6 @@ All High Performance and Ellipse 3.0 and higher SBG Systems INS can be configure
|
||||
:::
|
||||
|
||||
3. For testing purpose, it's also possible to modify SBG Systems INS settings on the fly:
|
||||
|
||||
- By passing a JSON file path as argument when starting sbgecom driver (ex: `sbgecom start -f /fs/microsd/new_sbg_settings.json`)
|
||||
- By passing a JSON string as argument when starting sbgecom driver: (ex: `sbgecom start -s {"output":{"comA":{"messages":{"airData":"onChange"}}}}`)
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user