mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-16 10:23:34 +08:00
Merge branch 'main' into pr_boat_decoupling
This commit is contained in:
Tomas Twardzik
@@ -5,6 +5,4 @@ float32 indicated_airspeed_m_s # indicated airspeed in m/s
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float32 true_airspeed_m_s # true filtered airspeed in m/s
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float32 air_temperature_celsius # air temperature in degrees Celsius, -1000 if unknown
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float32 confidence # confidence value from 0 to 1 for this sensor
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@@ -1,8 +0,0 @@
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uint64 timestamp # time since system start (microseconds)
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uint8 len # length of data
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uint32 MAX_BUFLEN = 128
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uint8[128] data # data
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# TOPICS voxl2_io_data
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+2
-12
@@ -48,7 +48,6 @@ set(msg_files
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AirspeedValidated.msg
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AirspeedWind.msg
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AutotuneAttitudeControlStatus.msg
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Buffer128.msg
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ButtonEvent.msg
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CameraCapture.msg
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CameraStatus.msg
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@@ -114,6 +113,7 @@ set(msg_files
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HeaterStatus.msg
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HoverThrustEstimate.msg
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InputRc.msg
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InternalCombustionEngineControl.msg
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InternalCombustionEngineStatus.msg
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IridiumsbdStatus.msg
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IrlockReport.msg
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@@ -173,17 +173,11 @@ set(msg_files
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RcParameterMap.msg
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RoverAttitudeSetpoint.msg
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RoverAttitudeStatus.msg
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RoverVelocityStatus.msg
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RoverRateSetpoint.msg
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RoverRateStatus.msg
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RoverSteeringSetpoint.msg
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RoverThrottleSetpoint.msg
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RoverDifferentialGuidanceStatus.msg
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RoverDifferentialSetpoint.msg
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RoverDifferentialStatus.msg
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RoverMecanumGuidanceStatus.msg
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RoverMecanumSetpoint.msg
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RoverMecanumStatus.msg
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RoverVelocityStatus.msg
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Rpm.msg
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RtlStatus.msg
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RtlTimeEstimate.msg
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@@ -214,8 +208,6 @@ set(msg_files
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TelemetryStatus.msg
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TiltrotorExtraControls.msg
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TimesyncStatus.msg
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TrajectoryBezier.msg
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TrajectoryWaypoint.msg
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TransponderReport.msg
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TuneControl.msg
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UavcanParameterRequest.msg
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@@ -235,8 +227,6 @@ set(msg_files
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VehicleRoi.msg
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VehicleThrustSetpoint.msg
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VehicleTorqueSetpoint.msg
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VehicleTrajectoryBezier.msg
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VehicleTrajectoryWaypoint.msg
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VelocityLimits.msg
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WheelEncoders.msg
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Wind.msg
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@@ -20,3 +20,5 @@ float32[4] q
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float32 angular_velocity_x
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float32 angular_velocity_y
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float32 angular_velocity_z
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uint8 ORB_QUEUE_LENGTH = 2
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@@ -0,0 +1,8 @@
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uint64 timestamp # time since system start (microseconds)
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bool ignition_on # activate/deactivate ignition (Spark Plug)
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float32 throttle_control # [0,1] - Motor should idle with 0. Includes slew rate if enabled.
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float32 choke_control # [0,1] - 1 fully closes the air inlet.
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float32 starter_engine_control # [0,1] - control value for electric starter motor.
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uint8 user_request # user intent for the ICE being on/off
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@@ -18,3 +18,6 @@ uint8 target_system # System ID (can be 0 for broadcast, but this is discou
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uint8 target_component # Component ID (can be 0 for broadcast, but this is discouraged)
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uint8 payload_length # Length of the data transported in payload
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uint8[128] payload # Data itself
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# Topic aliases for known payload types
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# TOPICS mavlink_tunnel esc_serial_passthru
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@@ -7,6 +7,4 @@ float32 target_bearing # Bearing angle from aircraft to current target [rad]
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float32 xtrack_error # Signed track error [m]
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float32 wp_dist # Distance to active (next) waypoint [m]
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float32 acceptance_radius # Current horizontal acceptance radius [m]
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float32 yaw_acceptance # Yaw acceptance error[rad]
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float32 altitude_acceptance # Current vertical acceptance error [m]
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uint8 type # Current (applied) position setpoint type (see PositionSetpoint.msg)
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@@ -1,7 +0,0 @@
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uint64 timestamp # time since system start (microseconds)
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float32 lookahead_distance # [m] Lookahead distance of pure the pursuit controller
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float32 heading_error_deg # [deg] Heading error of the pure pursuit controller
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uint8 state_machine # Driving state of the rover [0: SPOT_TURNING, 1: DRIVING, 2: GOAL_REACHED]
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# TOPICS rover_differential_guidance_status
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@@ -1,9 +0,0 @@
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uint64 timestamp # time since system start (microseconds)
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float32 forward_speed_setpoint # [m/s] Desired forward speed for the rover
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float32 forward_speed_setpoint_normalized # [-1, 1] Normalized forward speed for the rover
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float32 yaw_rate_setpoint # [rad/s] Desired yaw rate for the rover (Overriden by yaw controller if yaw_setpoint is used)
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float32 speed_diff_setpoint_normalized # [-1, 1] Normalized speed difference between the left and right wheels
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float32 yaw_setpoint # [rad] Desired yaw (heading) for the rover
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# TOPICS rover_differential_setpoint
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@@ -1,14 +0,0 @@
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uint64 timestamp # time since system start (microseconds)
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float32 measured_forward_speed # [m/s] Measured speed in body x direction. Forwards: positiv, Backwards: negativ
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float32 adjusted_forward_speed_setpoint # [m/s] Speed setpoint after applying slew rate
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float32 measured_yaw # [rad] Measured yaw
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float32 adjusted_yaw_setpoint # [rad] Yaw setpoint after applying slew rate
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float32 clyaw_yaw_rate_setpoint # [rad/s] Yaw rate setpoint output by the closed loop yaw controller
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float32 measured_yaw_rate # [rad/s] Measured yaw rate
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float32 adjusted_yaw_rate_setpoint # [rad/s] Yaw rate setpoint from the closed loop yaw controller
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float32 pid_yaw_integral # Integral of the PID for the closed loop yaw controller
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float32 pid_yaw_rate_integral # Integral of the PID for the closed loop yaw rate controller
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float32 pid_throttle_integral # Integral of the PID for the closed loop speed controller
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# TOPICS rover_differential_status
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@@ -1,7 +0,0 @@
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uint64 timestamp # time since system start (microseconds)
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float32 lookahead_distance # [m] Lookahead distance of pure the pursuit controller
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float32 heading_error # [rad] Heading error of the pure pursuit controller
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float32 desired_speed # [m/s] Desired velocity magnitude (speed)
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# TOPICS rover_mecanum_guidance_status
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@@ -1,11 +0,0 @@
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uint64 timestamp # time since system start (microseconds)
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||||
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float32 forward_speed_setpoint # [m/s] Desired forward speed
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float32 forward_speed_setpoint_normalized # [-1, 1] Desired normalized forward speed
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float32 lateral_speed_setpoint # [m/s] Desired lateral speed
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float32 lateral_speed_setpoint_normalized # [-1, 1] Desired normalized lateral speed
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float32 yaw_rate_setpoint # [rad/s] Desired yaw rate
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||||
float32 speed_diff_setpoint_normalized # [-1, 1] Normalized speed difference between the left and right wheels
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float32 yaw_setpoint # [rad] Desired yaw (heading)
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# TOPICS rover_mecanum_setpoint
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@@ -1,17 +0,0 @@
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uint64 timestamp # time since system start (microseconds)
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float32 measured_forward_speed # [m/s] Measured speed in body x direction. Positiv: forwards, Negativ: backwards
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float32 adjusted_forward_speed_setpoint # [m/s] Speed setpoint after applying slew rate
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float32 measured_lateral_speed # [m/s] Measured speed in body y direction. Positiv: right, Negativ: left
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float32 adjusted_lateral_speed_setpoint # [m/s] Speed setpoint after applying slew rate
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float32 measured_yaw_rate # [rad/s] Measured yaw rate
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float32 clyaw_yaw_rate_setpoint # [rad/s] Yaw rate setpoint output by the closed loop yaw controller
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float32 adjusted_yaw_rate_setpoint # [rad/s] Yaw rate setpoint from the closed loop yaw controller
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float32 measured_yaw # [rad] Measured yaw
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float32 adjusted_yaw_setpoint # [rad] Yaw setpoint after applying slew rate
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float32 pid_yaw_rate_integral # Integral of the PID for the closed loop yaw rate controller
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float32 pid_yaw_integral # Integral of the PID for the closed loop yaw controller
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float32 pid_forward_throttle_integral # Integral of the PID for the closed loop forward speed controller
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float32 pid_lateral_throttle_integral # Integral of the PID for the closed loop lateral speed controller
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# TOPICS rover_mecanum_status
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@@ -3,7 +3,7 @@ uint64 timestamp_sample
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uint32 device_id # unique device ID for the sensor that does not change between power cycles
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float32[2] pixel_flow # (radians) optical flow in radians where a positive value is produced by a RH rotation about the body axis
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float32[2] pixel_flow # (radians) optical flow in radians where a positive value is produced by a RH rotation of the sensor about the body axis
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float32[3] delta_angle # (radians) accumulated gyro radians where a positive value is produced by a RH rotation about the body axis. Set to NaN if flow sensor does not have 3-axis gyro data.
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bool delta_angle_available
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@@ -51,13 +51,11 @@ bool heartbeat_type_open_drone_id # MAV_TYPE_ODID
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bool heartbeat_component_telemetry_radio # MAV_COMP_ID_TELEMETRY_RADIO
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bool heartbeat_component_log # MAV_COMP_ID_LOG
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bool heartbeat_component_osd # MAV_COMP_ID_OSD
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bool heartbeat_component_obstacle_avoidance # MAV_COMP_ID_OBSTACLE_AVOIDANCE
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bool heartbeat_component_vio # MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY
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bool heartbeat_component_pairing_manager # MAV_COMP_ID_PAIRING_MANAGER
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bool heartbeat_component_udp_bridge # MAV_COMP_ID_UDP_BRIDGE
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bool heartbeat_component_uart_bridge # MAV_COMP_ID_UART_BRIDGE
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# Misc component health
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bool avoidance_system_healthy
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bool open_drone_id_system_healthy
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bool parachute_system_healthy
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@@ -1,8 +0,0 @@
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# Bezier Trajectory description. See also Mavlink TRAJECTORY msg
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# The topic trajectory_bezier describe each waypoint defined in vehicle_trajectory_bezier
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uint64 timestamp # time since system start (microseconds)
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float32[3] position # local position x,y,z (metres)
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float32 yaw # yaw angle (rad)
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float32 delta # time it should take to get to this waypoint, if this is the final waypoint (seconds)
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@@ -1,13 +0,0 @@
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# Waypoint Trajectory description. See also Mavlink TRAJECTORY msg
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# The topic trajectory_waypoint describe each waypoint defined in vehicle_trajectory_waypoint
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uint64 timestamp # time since system start (microseconds)
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float32[3] position
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float32[3] velocity
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float32[3] acceleration
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float32 yaw
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float32 yaw_speed
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bool point_valid
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uint8 type
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@@ -6,10 +6,10 @@ uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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uint32 baro_device_id # unique device ID for the selected barometer
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float32 baro_alt_meter # Altitude above MSL calculated from temperature compensated baro sensor data using an ISA corrected for sea level pressure SENS_BARO_QNH.
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float32 baro_temp_celcius # Temperature in degrees Celsius
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float32 baro_pressure_pa # Absolute pressure in Pascals
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float32 ambient_temperature # Abient temperature in degrees Celsius
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uint8 temperature_source # Source of temperature data: 0: Default Temperature (15°C), 1: External Baro, 2: Airspeed
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float32 rho # air density
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float32 eas2tas # equivalent airspeed to true airspeed conversion factor
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uint8 calibration_count # Calibration changed counter. Monotonically increases whenever calibration changes.
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@@ -7,7 +7,7 @@ uint32 device_id # unique device ID for the sensor that does not c
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float32[2] pixel_flow # (radians) accumulated optical flow in radians where a positive value is produced by a RH rotation about the body axis
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float32[3] delta_angle # (radians) accumulated gyro radians where a positive value is produced by a RH rotation about the body axis. (NAN if unavailable)
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float32[3] delta_angle # (radians) accumulated gyro radians where a positive value is produced by a RH rotation of the sensor about the body axis. (NAN if unavailable)
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float32 distance_m # (meters) Distance to the center of the flow field (NAN if unavailable)
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@@ -1,18 +0,0 @@
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# Vehicle Waypoints Trajectory description. See also MAVLink MAV_TRAJECTORY_REPRESENTATION msg
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# The topic vehicle_trajectory_bezier is used to send a smooth flight path from the
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# companion computer / avoidance module to the position controller.
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uint64 timestamp # time since system start (microseconds)
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uint8 POINT_0 = 0
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uint8 POINT_1 = 1
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uint8 POINT_2 = 2
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uint8 POINT_3 = 3
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uint8 POINT_4 = 4
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uint8 NUMBER_POINTS = 5
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TrajectoryBezier[5] control_points
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uint8 bezier_order
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# TOPICS vehicle_trajectory_bezier
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@@ -1,21 +0,0 @@
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# Vehicle Waypoints Trajectory description. See also MAVLink MAV_TRAJECTORY_REPRESENTATION msg
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# The topic vehicle_trajectory_waypoint_desired is used to send the user desired waypoints from the position controller to the companion computer / avoidance module.
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# The topic vehicle_trajectory_waypoint is used to send the adjusted waypoints from the companion computer / avoidance module to the position controller.
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uint64 timestamp # time since system start (microseconds)
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uint8 MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS = 0
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uint8 type # Type from MAV_TRAJECTORY_REPRESENTATION enum.
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uint8 POINT_0 = 0
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uint8 POINT_1 = 1
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uint8 POINT_2 = 2
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uint8 POINT_3 = 3
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||||
uint8 POINT_4 = 4
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||||
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uint8 NUMBER_POINTS = 5
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||||
|
||||
TrajectoryWaypoint[5] waypoints
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||||
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||||
# TOPICS vehicle_trajectory_waypoint vehicle_trajectory_waypoint_desired
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||||
@@ -0,0 +1,140 @@
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# Encodes the system state of the vehicle published by commander
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||||
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uint32 MESSAGE_VERSION = 0
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||||
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||||
uint64 timestamp # time since system start (microseconds)
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||||
|
||||
uint64 armed_time # Arming timestamp (microseconds)
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||||
uint64 takeoff_time # Takeoff timestamp (microseconds)
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||||
|
||||
uint8 arming_state
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||||
uint8 ARMING_STATE_DISARMED = 1
|
||||
uint8 ARMING_STATE_ARMED = 2
|
||||
|
||||
uint8 latest_arming_reason
|
||||
uint8 latest_disarming_reason
|
||||
uint8 ARM_DISARM_REASON_TRANSITION_TO_STANDBY = 0
|
||||
uint8 ARM_DISARM_REASON_STICK_GESTURE = 1
|
||||
uint8 ARM_DISARM_REASON_RC_SWITCH = 2
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||||
uint8 ARM_DISARM_REASON_COMMAND_INTERNAL = 3
|
||||
uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4
|
||||
uint8 ARM_DISARM_REASON_MISSION_START = 5
|
||||
uint8 ARM_DISARM_REASON_SAFETY_BUTTON = 6
|
||||
uint8 ARM_DISARM_REASON_AUTO_DISARM_LAND = 7
|
||||
uint8 ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT = 8
|
||||
uint8 ARM_DISARM_REASON_KILL_SWITCH = 9
|
||||
uint8 ARM_DISARM_REASON_LOCKDOWN = 10
|
||||
uint8 ARM_DISARM_REASON_FAILURE_DETECTOR = 11
|
||||
uint8 ARM_DISARM_REASON_SHUTDOWN = 12
|
||||
uint8 ARM_DISARM_REASON_UNIT_TEST = 13
|
||||
|
||||
uint64 nav_state_timestamp # time when current nav_state activated
|
||||
|
||||
uint8 nav_state_user_intention # Mode that the user selected (might be different from nav_state in a failsafe situation)
|
||||
|
||||
uint8 nav_state # Currently active mode
|
||||
uint8 NAVIGATION_STATE_MANUAL = 0 # Manual mode
|
||||
uint8 NAVIGATION_STATE_ALTCTL = 1 # Altitude control mode
|
||||
uint8 NAVIGATION_STATE_POSCTL = 2 # Position control mode
|
||||
uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode
|
||||
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_FREE3 = 9
|
||||
uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
|
||||
uint8 NAVIGATION_STATE_FREE2 = 11
|
||||
uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control)
|
||||
uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode
|
||||
uint8 NAVIGATION_STATE_OFFBOARD = 14
|
||||
uint8 NAVIGATION_STATE_STAB = 15 # Stabilized mode
|
||||
uint8 NAVIGATION_STATE_FREE1 = 16
|
||||
uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17 # Takeoff
|
||||
uint8 NAVIGATION_STATE_AUTO_LAND = 18 # Land
|
||||
uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19 # Auto Follow
|
||||
uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20 # Precision land with landing target
|
||||
uint8 NAVIGATION_STATE_ORBIT = 21 # Orbit in a circle
|
||||
uint8 NAVIGATION_STATE_AUTO_VTOL_TAKEOFF = 22 # Takeoff, transition, establish loiter
|
||||
uint8 NAVIGATION_STATE_EXTERNAL1 = 23
|
||||
uint8 NAVIGATION_STATE_EXTERNAL2 = 24
|
||||
uint8 NAVIGATION_STATE_EXTERNAL3 = 25
|
||||
uint8 NAVIGATION_STATE_EXTERNAL4 = 26
|
||||
uint8 NAVIGATION_STATE_EXTERNAL5 = 27
|
||||
uint8 NAVIGATION_STATE_EXTERNAL6 = 28
|
||||
uint8 NAVIGATION_STATE_EXTERNAL7 = 29
|
||||
uint8 NAVIGATION_STATE_EXTERNAL8 = 30
|
||||
uint8 NAVIGATION_STATE_MAX = 31
|
||||
|
||||
uint8 executor_in_charge # Current mode executor in charge (0=Autopilot)
|
||||
|
||||
uint32 valid_nav_states_mask # Bitmask for all valid nav_state values
|
||||
uint32 can_set_nav_states_mask # Bitmask for all modes that a user can select
|
||||
|
||||
# Bitmask of detected failures
|
||||
uint16 failure_detector_status
|
||||
uint16 FAILURE_NONE = 0
|
||||
uint16 FAILURE_ROLL = 1 # (1 << 0)
|
||||
uint16 FAILURE_PITCH = 2 # (1 << 1)
|
||||
uint16 FAILURE_ALT = 4 # (1 << 2)
|
||||
uint16 FAILURE_EXT = 8 # (1 << 3)
|
||||
uint16 FAILURE_ARM_ESC = 16 # (1 << 4)
|
||||
uint16 FAILURE_BATTERY = 32 # (1 << 5)
|
||||
uint16 FAILURE_IMBALANCED_PROP = 64 # (1 << 6)
|
||||
uint16 FAILURE_MOTOR = 128 # (1 << 7)
|
||||
|
||||
uint8 hil_state
|
||||
uint8 HIL_STATE_OFF = 0
|
||||
uint8 HIL_STATE_ON = 1
|
||||
|
||||
# If it's a VTOL, then the value will be VEHICLE_TYPE_ROTARY_WING while flying as a multicopter, and VEHICLE_TYPE_FIXED_WING when flying as a fixed-wing
|
||||
uint8 vehicle_type
|
||||
uint8 VEHICLE_TYPE_UNKNOWN = 0
|
||||
uint8 VEHICLE_TYPE_ROTARY_WING = 1
|
||||
uint8 VEHICLE_TYPE_FIXED_WING = 2
|
||||
uint8 VEHICLE_TYPE_ROVER = 3
|
||||
uint8 VEHICLE_TYPE_AIRSHIP = 4
|
||||
|
||||
uint8 FAILSAFE_DEFER_STATE_DISABLED = 0
|
||||
uint8 FAILSAFE_DEFER_STATE_ENABLED = 1
|
||||
uint8 FAILSAFE_DEFER_STATE_WOULD_FAILSAFE = 2 # Failsafes deferred, but would trigger a failsafe
|
||||
|
||||
bool failsafe # true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...)
|
||||
bool failsafe_and_user_took_over # true if system is in failsafe state but the user took over control
|
||||
uint8 failsafe_defer_state # one of FAILSAFE_DEFER_STATE_*
|
||||
|
||||
# Link loss
|
||||
bool gcs_connection_lost # datalink to GCS lost
|
||||
uint8 gcs_connection_lost_counter # counts unique GCS connection lost events
|
||||
bool high_latency_data_link_lost # Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost
|
||||
|
||||
# VTOL flags
|
||||
bool is_vtol # True if the system is VTOL capable
|
||||
bool is_vtol_tailsitter # True if the system performs a 90° pitch down rotation during transition from MC to FW
|
||||
bool in_transition_mode # True if VTOL is doing a transition
|
||||
bool in_transition_to_fw # True if VTOL is doing a transition from MC to FW
|
||||
|
||||
# MAVLink identification
|
||||
uint8 system_type # system type, contains mavlink MAV_TYPE
|
||||
uint8 system_id # system id, contains MAVLink's system ID field
|
||||
uint8 component_id # subsystem / component id, contains MAVLink's component ID field
|
||||
|
||||
bool safety_button_available # Set to true if a safety button is connected
|
||||
bool safety_off # Set to true if safety is off
|
||||
|
||||
bool power_input_valid # set if input power is valid
|
||||
bool usb_connected # set to true (never cleared) once telemetry received from usb link
|
||||
|
||||
bool open_drone_id_system_present
|
||||
bool open_drone_id_system_healthy
|
||||
|
||||
bool parachute_system_present
|
||||
bool parachute_system_healthy
|
||||
|
||||
bool avoidance_system_required # Set to true if avoidance system is enabled via COM_OBS_AVOID parameter
|
||||
bool avoidance_system_valid # Status of the obstacle avoidance system
|
||||
|
||||
bool rc_calibration_in_progress
|
||||
bool calibration_enabled
|
||||
|
||||
bool pre_flight_checks_pass # true if all checks necessary to arm pass
|
||||
@@ -9,3 +9,5 @@
|
||||
//#include "example_translation_direct_v1.h"
|
||||
//#include "example_translation_multi_v2.h"
|
||||
//#include "example_translation_service_v1.h"
|
||||
|
||||
#include "translation_vehicle_status_v1.h"
|
||||
|
||||
@@ -0,0 +1,110 @@
|
||||
/****************************************************************************
|
||||
* Copyright (c) 2025 PX4 Development Team.
|
||||
* SPDX-License-Identifier: BSD-3-Clause
|
||||
****************************************************************************/
|
||||
#pragma once
|
||||
|
||||
// Translate VehicleStatus v0 <--> v1
|
||||
#include <px4_msgs_old/msg/vehicle_status_v0.hpp>
|
||||
#include <px4_msgs/msg/vehicle_status.hpp>
|
||||
|
||||
class VehicleStatusV1Translation {
|
||||
public:
|
||||
using MessageOlder = px4_msgs_old::msg::VehicleStatusV0;
|
||||
static_assert(MessageOlder::MESSAGE_VERSION == 0);
|
||||
|
||||
using MessageNewer = px4_msgs::msg::VehicleStatus;
|
||||
static_assert(MessageNewer::MESSAGE_VERSION == 1);
|
||||
|
||||
static constexpr const char* kTopic = "fmu/out/vehicle_status";
|
||||
|
||||
static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
|
||||
// Set msg_newer from msg_older
|
||||
msg_newer.timestamp = msg_older.timestamp;
|
||||
msg_newer.armed_time = msg_older.armed_time;
|
||||
msg_newer.takeoff_time = msg_older.takeoff_time;
|
||||
msg_newer.arming_state = msg_older.arming_state;
|
||||
msg_newer.latest_arming_reason = msg_older.latest_arming_reason;
|
||||
msg_newer.latest_disarming_reason = msg_older.latest_disarming_reason;
|
||||
msg_newer.nav_state_timestamp = msg_older.nav_state_timestamp;
|
||||
msg_newer.nav_state_user_intention = msg_older.nav_state_user_intention;
|
||||
msg_newer.nav_state = msg_older.nav_state;
|
||||
msg_newer.executor_in_charge = msg_older.executor_in_charge;
|
||||
msg_newer.valid_nav_states_mask = msg_older.valid_nav_states_mask;
|
||||
msg_newer.can_set_nav_states_mask = msg_older.can_set_nav_states_mask;
|
||||
msg_newer.failure_detector_status = msg_older.failure_detector_status;
|
||||
msg_newer.hil_state = msg_older.hil_state;
|
||||
msg_newer.vehicle_type = msg_older.vehicle_type;
|
||||
msg_newer.failsafe = msg_older.failsafe;
|
||||
msg_newer.failsafe_and_user_took_over = msg_older.failsafe_and_user_took_over;
|
||||
msg_newer.failsafe_defer_state = msg_older.failsafe_defer_state;
|
||||
msg_newer.gcs_connection_lost = msg_older.gcs_connection_lost;
|
||||
msg_newer.gcs_connection_lost_counter = msg_older.gcs_connection_lost_counter;
|
||||
msg_newer.high_latency_data_link_lost = msg_older.high_latency_data_link_lost;
|
||||
msg_newer.is_vtol = msg_older.is_vtol;
|
||||
msg_newer.is_vtol_tailsitter = msg_older.is_vtol_tailsitter;
|
||||
msg_newer.in_transition_mode = msg_older.in_transition_mode;
|
||||
msg_newer.in_transition_to_fw = msg_older.in_transition_to_fw;
|
||||
msg_newer.system_type = msg_older.system_type;
|
||||
msg_newer.system_id = msg_older.system_id;
|
||||
msg_newer.component_id = msg_older.component_id;
|
||||
msg_newer.safety_button_available = msg_older.safety_button_available;
|
||||
msg_newer.safety_off = msg_older.safety_off;
|
||||
msg_newer.power_input_valid = msg_older.power_input_valid;
|
||||
msg_newer.usb_connected = msg_older.usb_connected;
|
||||
msg_newer.open_drone_id_system_present = msg_older.open_drone_id_system_present;
|
||||
msg_newer.open_drone_id_system_healthy = msg_older.open_drone_id_system_healthy;
|
||||
msg_newer.parachute_system_present = msg_older.parachute_system_present;
|
||||
msg_newer.parachute_system_healthy = msg_older.parachute_system_healthy;
|
||||
msg_newer.rc_calibration_in_progress = msg_older.rc_calibration_in_progress;
|
||||
msg_newer.calibration_enabled = msg_older.calibration_enabled;
|
||||
msg_newer.pre_flight_checks_pass = msg_older.pre_flight_checks_pass;
|
||||
}
|
||||
|
||||
static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
|
||||
// Set msg_older from msg_newer
|
||||
msg_older.timestamp = msg_newer.timestamp;
|
||||
msg_older.armed_time = msg_newer.armed_time;
|
||||
msg_older.takeoff_time = msg_newer.takeoff_time;
|
||||
msg_older.arming_state = msg_newer.arming_state;
|
||||
msg_older.latest_arming_reason = msg_newer.latest_arming_reason;
|
||||
msg_older.latest_disarming_reason = msg_newer.latest_disarming_reason;
|
||||
msg_older.nav_state_timestamp = msg_newer.nav_state_timestamp;
|
||||
msg_older.nav_state_user_intention = msg_newer.nav_state_user_intention;
|
||||
msg_older.nav_state = msg_newer.nav_state;
|
||||
msg_older.executor_in_charge = msg_newer.executor_in_charge;
|
||||
msg_older.valid_nav_states_mask = msg_newer.valid_nav_states_mask;
|
||||
msg_older.can_set_nav_states_mask = msg_newer.can_set_nav_states_mask;
|
||||
msg_older.failure_detector_status = msg_newer.failure_detector_status;
|
||||
msg_older.hil_state = msg_newer.hil_state;
|
||||
msg_older.vehicle_type = msg_newer.vehicle_type;
|
||||
msg_older.failsafe = msg_newer.failsafe;
|
||||
msg_older.failsafe_and_user_took_over = msg_newer.failsafe_and_user_took_over;
|
||||
msg_older.failsafe_defer_state = msg_newer.failsafe_defer_state;
|
||||
msg_older.gcs_connection_lost = msg_newer.gcs_connection_lost;
|
||||
msg_older.gcs_connection_lost_counter = msg_newer.gcs_connection_lost_counter;
|
||||
msg_older.high_latency_data_link_lost = msg_newer.high_latency_data_link_lost;
|
||||
msg_older.is_vtol = msg_newer.is_vtol;
|
||||
msg_older.is_vtol_tailsitter = msg_newer.is_vtol_tailsitter;
|
||||
msg_older.in_transition_mode = msg_newer.in_transition_mode;
|
||||
msg_older.in_transition_to_fw = msg_newer.in_transition_to_fw;
|
||||
msg_older.system_type = msg_newer.system_type;
|
||||
msg_older.system_id = msg_newer.system_id;
|
||||
msg_older.component_id = msg_newer.component_id;
|
||||
msg_older.safety_button_available = msg_newer.safety_button_available;
|
||||
msg_older.safety_off = msg_newer.safety_off;
|
||||
msg_older.power_input_valid = msg_newer.power_input_valid;
|
||||
msg_older.usb_connected = msg_newer.usb_connected;
|
||||
msg_older.open_drone_id_system_present = msg_newer.open_drone_id_system_present;
|
||||
msg_older.open_drone_id_system_healthy = msg_newer.open_drone_id_system_healthy;
|
||||
msg_older.parachute_system_present = msg_newer.parachute_system_present;
|
||||
msg_older.parachute_system_healthy = msg_newer.parachute_system_healthy;
|
||||
msg_older.avoidance_system_required = false;
|
||||
msg_older.avoidance_system_valid = false;
|
||||
msg_older.rc_calibration_in_progress = msg_newer.rc_calibration_in_progress;
|
||||
msg_older.calibration_enabled = msg_newer.calibration_enabled;
|
||||
msg_older.pre_flight_checks_pass = msg_newer.pre_flight_checks_pass;
|
||||
}
|
||||
};
|
||||
|
||||
REGISTER_TOPIC_TRANSLATION_DIRECT(VehicleStatusV1Translation);
|
||||
@@ -6,7 +6,6 @@ uint8 request_id
|
||||
uint8 registration_id
|
||||
|
||||
uint8 HEALTH_COMPONENT_INDEX_NONE = 0
|
||||
uint8 HEALTH_COMPONENT_INDEX_AVOIDANCE = 19
|
||||
|
||||
uint8 health_component_index # HEALTH_COMPONENT_INDEX_*
|
||||
bool health_component_is_present
|
||||
|
||||
@@ -12,9 +12,9 @@ float32 time_remaining_s # predicted time in seconds remaining until battery i
|
||||
float32 temperature # Temperature of the battery in degrees Celcius, NaN if unknown
|
||||
uint8 cell_count # Number of cells, 0 if unknown
|
||||
|
||||
uint8 BATTERY_SOURCE_POWER_MODULE = 0
|
||||
uint8 BATTERY_SOURCE_EXTERNAL = 1
|
||||
uint8 BATTERY_SOURCE_ESCS = 2
|
||||
uint8 SOURCE_POWER_MODULE = 0
|
||||
uint8 SOURCE_EXTERNAL = 1
|
||||
uint8 SOURCE_ESCS = 2
|
||||
uint8 source # Battery source
|
||||
uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
|
||||
uint16 capacity # actual capacity of the battery
|
||||
@@ -34,26 +34,26 @@ 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 BATTERY_WARNING_NONE = 0 # no battery low voltage warning active
|
||||
uint8 BATTERY_WARNING_LOW = 1 # warning of low voltage
|
||||
uint8 BATTERY_WARNING_CRITICAL = 2 # critical voltage, return / abort immediately
|
||||
uint8 BATTERY_WARNING_EMERGENCY = 3 # immediate landing required
|
||||
uint8 BATTERY_WARNING_FAILED = 4 # the battery has failed completely
|
||||
uint8 BATTERY_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 BATTERY_STATE_CHARGING = 7 # Battery is charging
|
||||
uint8 WARNING_NONE = 0 # no battery low voltage warning active
|
||||
uint8 WARNING_LOW = 1 # warning of low voltage
|
||||
uint8 WARNING_CRITICAL = 2 # critical voltage, return / abort immediately
|
||||
uint8 WARNING_EMERGENCY = 3 # immediate landing required
|
||||
uint8 WARNING_FAILED = 4 # the 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 BATTERY_FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
|
||||
uint8 BATTERY_FAULT_SPIKES = 1 # Voltage spikes
|
||||
uint8 BATTERY_FAULT_CELL_FAIL= 2 # One or more cells have failed
|
||||
uint8 BATTERY_FAULT_OVER_CURRENT = 3 # Over-current
|
||||
uint8 BATTERY_FAULT_OVER_TEMPERATURE = 4 # Over-temperature
|
||||
uint8 BATTERY_FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
|
||||
uint8 BATTERY_FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage).
|
||||
uint8 BATTERY_FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
|
||||
uint8 BATTERY_FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
|
||||
uint8 BATTERY_FAULT_HARDWARE_FAILURE = 9 # hardware problem
|
||||
uint8 BATTERY_FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
|
||||
uint8 BATTERY_FAULT_COUNT = 11 # Counter - keep it as last element!
|
||||
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 it as last element!
|
||||
|
||||
uint16 faults # Smart battery supply status/fault flags (bitmask) for health indication.
|
||||
uint8 warning # Current battery warning
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
# Encodes the system state of the vehicle published by commander
|
||||
|
||||
uint32 MESSAGE_VERSION = 0
|
||||
uint32 MESSAGE_VERSION = 1
|
||||
|
||||
uint64 timestamp # time since system start (microseconds)
|
||||
|
||||
@@ -87,15 +87,14 @@ uint8 hil_state
|
||||
uint8 HIL_STATE_OFF = 0
|
||||
uint8 HIL_STATE_ON = 1
|
||||
|
||||
# If it's a VTOL, then the value will be VEHICLE_TYPE_ROTARY_WING while flying as a multicopter, and VEHICLE_TYPE_FIXED_WING when flying as a fixed-wing
|
||||
# Current vehicle locomotion method. A vehicle can have different methods (e.g. VTOL transitions from RW to FW method)
|
||||
uint8 vehicle_type
|
||||
uint8 VEHICLE_TYPE_UNKNOWN = 0
|
||||
uint8 VEHICLE_TYPE_ROTARY_WING = 1
|
||||
uint8 VEHICLE_TYPE_FIXED_WING = 2
|
||||
uint8 VEHICLE_TYPE_ROVER = 3
|
||||
uint8 VEHICLE_TYPE_AIRSHIP = 4
|
||||
uint8 VEHICLE_TYPE_ROTARY_WING = 0
|
||||
uint8 VEHICLE_TYPE_FIXED_WING = 1
|
||||
uint8 VEHICLE_TYPE_ROVER = 2
|
||||
uint8 VEHICLE_TYPE_BOAT = 5
|
||||
|
||||
|
||||
uint8 FAILSAFE_DEFER_STATE_DISABLED = 0
|
||||
uint8 FAILSAFE_DEFER_STATE_ENABLED = 1
|
||||
uint8 FAILSAFE_DEFER_STATE_WOULD_FAILSAFE = 2 # Failsafes deferred, but would trigger a failsafe
|
||||
@@ -132,9 +131,6 @@ bool open_drone_id_system_healthy
|
||||
bool parachute_system_present
|
||||
bool parachute_system_healthy
|
||||
|
||||
bool avoidance_system_required # Set to true if avoidance system is enabled via COM_OBS_AVOID parameter
|
||||
bool avoidance_system_valid # Status of the obstacle avoidance system
|
||||
|
||||
bool rc_calibration_in_progress
|
||||
bool calibration_enabled
|
||||
|
||||
|
||||
Reference in New Issue
Block a user