diff --git a/dsdl/uavcan/equipment/actuator/600.Status.uavcan b/dsdl/uavcan/equipment/actuator/600.Status.uavcan index 6e81e095fb..16a4125447 100644 --- a/dsdl/uavcan/equipment/actuator/600.Status.uavcan +++ b/dsdl/uavcan/equipment/actuator/600.Status.uavcan @@ -1,6 +1,6 @@ # # Generic actuator feedback, if available. -# Unknown components should be NAN. +# Unknown fields should be set to NAN. # uint8 actuator_id diff --git a/dsdl/uavcan/equipment/actuator/Command.uavcan b/dsdl/uavcan/equipment/actuator/Command.uavcan index 4be40ebdf1..2728d682c3 100644 --- a/dsdl/uavcan/equipment/actuator/Command.uavcan +++ b/dsdl/uavcan/equipment/actuator/Command.uavcan @@ -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 diff --git a/dsdl/uavcan/equipment/air_data/280.Airspeed.uavcan b/dsdl/uavcan/equipment/air_data/280.Airspeed.uavcan index 781c0911c1..ee366fcb55 100644 --- a/dsdl/uavcan/equipment/air_data/280.Airspeed.uavcan +++ b/dsdl/uavcan/equipment/air_data/280.Airspeed.uavcan @@ -1,5 +1,5 @@ # -# True airspeed. +# True airspeed in meters per second. # float16 true_airspeed diff --git a/dsdl/uavcan/equipment/air_data/281.AltitudeAndClimbRate.uavcan b/dsdl/uavcan/equipment/air_data/281.AltitudeAndClimbRate.uavcan index 5740b53cb7..dc43c54aed 100644 --- a/dsdl/uavcan/equipment/air_data/281.AltitudeAndClimbRate.uavcan +++ b/dsdl/uavcan/equipment/air_data/281.AltitudeAndClimbRate.uavcan @@ -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 diff --git a/dsdl/uavcan/equipment/air_data/282.AngleOfAttack.uavcan b/dsdl/uavcan/equipment/air_data/282.AngleOfAttack.uavcan index de7574beec..89aef90848 100644 --- a/dsdl/uavcan/equipment/air_data/282.AngleOfAttack.uavcan +++ b/dsdl/uavcan/equipment/air_data/282.AngleOfAttack.uavcan @@ -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 diff --git a/dsdl/uavcan/equipment/air_data/283.Sideslip.uavcan b/dsdl/uavcan/equipment/air_data/283.Sideslip.uavcan index 776c047056..daabace7c3 100644 --- a/dsdl/uavcan/equipment/air_data/283.Sideslip.uavcan +++ b/dsdl/uavcan/equipment/air_data/283.Sideslip.uavcan @@ -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 diff --git a/dsdl/uavcan/equipment/esc/260.RawCommand.uavcan b/dsdl/uavcan/equipment/esc/260.RawCommand.uavcan index fbacc1b812..b76393c1e8 100644 --- a/dsdl/uavcan/equipment/esc/260.RawCommand.uavcan +++ b/dsdl/uavcan/equipment/esc/260.RawCommand.uavcan @@ -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. # diff --git a/dsdl/uavcan/equipment/esc/601.Status.uavcan b/dsdl/uavcan/equipment/esc/601.Status.uavcan index cb57d25847..af6800f0ba 100644 --- a/dsdl/uavcan/equipment/esc/601.Status.uavcan +++ b/dsdl/uavcan/equipment/esc/601.Status.uavcan @@ -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 diff --git a/dsdl/uavcan/equipment/gimbal/393.Status.uavcan b/dsdl/uavcan/equipment/gimbal/393.Status.uavcan index 2d4942be0a..a0c0dd0bee 100644 --- a/dsdl/uavcan/equipment/gimbal/393.Status.uavcan +++ b/dsdl/uavcan/equipment/gimbal/393.Status.uavcan @@ -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 diff --git a/dsdl/uavcan/equipment/indication/RGB565.uavcan b/dsdl/uavcan/equipment/indication/RGB565.uavcan index 7c6c92b0a2..474c2688aa 100644 --- a/dsdl/uavcan/equipment/indication/RGB565.uavcan +++ b/dsdl/uavcan/equipment/indication/RGB565.uavcan @@ -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). # diff --git a/dsdl/uavcan/equipment/indication/SingleLightCommand.uavcan b/dsdl/uavcan/equipment/indication/SingleLightCommand.uavcan index babc62af5b..09a7ab9627 100644 --- a/dsdl/uavcan/equipment/indication/SingleLightCommand.uavcan +++ b/dsdl/uavcan/equipment/indication/SingleLightCommand.uavcan @@ -1,6 +1,6 @@ # # Nested type. -# Controls single light source, color of monochrome. +# Controls single light source, color or monochrome. # uint8 light_id diff --git a/dsdl/uavcan/equipment/optical_flow/291.OpticalFlow.uavcan b/dsdl/uavcan/equipment/optical_flow/291.OpticalFlow.uavcan index d53f07add0..c6089fe696 100644 --- a/dsdl/uavcan/equipment/optical_flow/291.OpticalFlow.uavcan +++ b/dsdl/uavcan/equipment/optical_flow/291.OpticalFlow.uavcan @@ -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 diff --git a/dsdl/uavcan/equipment/range_sensor/290.AltitudeAGL.uavcan b/dsdl/uavcan/equipment/range_sensor/290.AltitudeAGL.uavcan index 5231a9fd09..7ff1af2766 100644 --- a/dsdl/uavcan/equipment/range_sensor/290.AltitudeAGL.uavcan +++ b/dsdl/uavcan/equipment/range_sensor/290.AltitudeAGL.uavcan @@ -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