DSDL comments update

2026-10-14 07:33:34 +08:00 · 2015-02-03 14:56:28 +03:00
parent 8a1942d906
commit 9f63356c42
13 changed files with 33 additions and 26 deletions
@@ -1,6 +1,6 @@
 #
 # Generic actuator feedback, if available.
-# Unknown components should be NAN.
+# Unknown fields should be set to NAN.
 #

 uint8 actuator_id
@@ -4,4 +4,12 @@
 #

 uint8 actuator_id
-float16 command     # Any units. For a generic servo use [-1; 1].
+
+#
+# Recommended units are, either:
+#  - Unitless [-1; 1]
+#  - Angular position in radians
+#  - Linear position in meters
+# Status report should normally use the same units.
+#
+float16 command
@@ -1,5 +1,5 @@
 #
-# True airspeed.
+# True airspeed in meters per second.
 #

 float16 true_airspeed
@@ -1,13 +1,12 @@
 #
-# Pressure altitude and barometric climb rate.
-# Barometer nodes should publish this message.
+# Pressure altitude in meters and barometric climb rate in meters per second.
 #

 uavcan.Timestamp timestamp

-float32 pressure_altitude
-float16 pressure_altitude_variance
+float32 pressure_altitude               # m
+float16 pressure_altitude_variance      # m^2

 # Positive if climbing up
-float16 climb_rate
-float16 climb_rate_variance
+float16 climb_rate                      # m/s
+float16 climb_rate_variance             # m^2/s^2
@@ -1,10 +1,10 @@
 #
-# Angle of attack.
+# Angle of attack in radians.
 #

 uint8 SENSOR_ID_LEFT = 254
 uint8 SENSOR_ID_RIGHT = 255
 uint8 sensor_id

-float16 aoa
-float16 aoa_variance
+float16 aoa             # Radians
+float16 aoa_variance    # Radians^2
@@ -3,5 +3,5 @@
 # Yaw right: +, yaw left: -
 #

-float16 sideslip_angle
-float16 sideslip_angle_variance
+float16 sideslip_angle          # Radians
+float16 sideslip_angle_variance # Radians^2
@@ -1,7 +1,6 @@
 #
 # Raw ESC command.
-# Direct transition from disarmed state to high thrust should be rejected by the ESC.
-# Non-zero setpoint value below minimum should be interpreted as min valid setpoint.
+# Non-zero setpoint value below minimum should be interpreted as min valid setpoint for the given motor.
 # Negative values indicate reverse rotation.
 #

@@ -1,12 +1,13 @@
 #
 # Generic ESC status.
+# Unknown fields should be set to NAN.
 #

-uint32 error_count          # Since the motor started; normally should not overflow
+uint32 error_count          # Resets when the motor restarts

-float16 voltage             # Volt, NAN if unknown
-float16 current             # Ampere, NAN if unknown. Can be negative in case of a regenerative braking.
-float16 temperature         # Kelvin, NAN if unknown
+float16 voltage             # Volt
+float16 current             # Ampere. Can be negative in case of a regenerative braking.
+float16 temperature         # Kelvin

 int18 rpm                   # Negative value indicates reverse rotation

@@ -8,8 +8,8 @@ uint4 MODE_ORIENTATION_BODY_FRAME  = 2
 uint4 MODE_GEO_POI                 = 3
 uint4 mode

+#
 # Camera axis orientation in body frame (not in fixed frame).
-# In case if the gimbal can only measure orientation relative to the fixed frame (e.g. using a dedicated IMU),
-# it shall transform the orientation into the body frame automatically.
+#
 float16[4] body_frame_orientation_xyzw
 float16[<=9] body_frame_orientation_covariance   # +inf for non-existent axes
@@ -1,6 +1,6 @@
 #
 # Nested type.
-# RGB color in 5-6-5 16-bit palette.
+# RGB color in the standard 5-6-5 16-bit palette.
 # Monocolor lights should interpret this as brightness setpoint: from zero (0, 0, 0) to full brightness (31, 63, 31).
 #

@@ -1,6 +1,6 @@
 #
 # Nested type.
-# Controls single light source, color of monochrome.
+# Controls single light source, color or monochrome.
 #

 uint8 light_id
@@ -1,5 +1,5 @@
 #
-# X/Y velocities estimated by simple downward looking optical flow sensor.
+# X/Y velocities estimated by a simple downward looking optical flow sensor.
 #

 uavcan.Timestamp timestamp
@@ -1,6 +1,6 @@
 #
 # Altitude above ground level.
-# A single node can publish the measurements from different sensors concurrently.
+# A single node can publish measurements from different sensors concurrently.
 #

 uavcan.Timestamp timestamp