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Merge branch 'main' into pr_boat_decoupling

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This commit is contained in:
Tomas Twardzik
2025-03-06 10:47:56 +01:00
committed by GitHub
parent e907fb0aa2 ea8bcd9cef
commit af17bd75bd
317 changed files with 8729 additions and 8153 deletions
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msg/versioned/ArmingCheckReply.msg
-1
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@@ -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
msg/versioned/BatteryStatus.msg
+22 -22
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@@ -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
msg/versioned/VehicleStatus.msg
+6 -10
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@@ -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