DSDL messages in uavcan.equpment.*

dsdl/uavcan/equipment/actuator/265.ArrayCommand.uavcan

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+#
+# Actuator commands.
+# The system supports up to 256 actuators; up to 32 of them can be commanded with one message.
+#
+
+uavcan.FigureOfMerit figure_of_merit
+
+uint8[<=32] actuator_id      # Can be empty, in which case the ID is defined by the command index
+
+float16[<=32] command        # For a servo use [-1; 1]

dsdl/uavcan/equipment/actuator/600.Status.uavcan

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+#
+# Generic actuator feedback, if available.
+#
+
+uint8 actuator_id
+
+float16 position
+
+float16 power        # Watt; negative if unknown
+
+uint7 POWER_RATE_PCT_UNKNOWN = 127
+uint7 power_rate_pct

dsdl/uavcan/equipment/altitude_agl/290.AltitudeAGL.uavcan

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+#
+# Altitude above ground level.
+# A single node can publish the measurements from different sensors concurrently.
+#
+
+uavcan.Timestamp timestamp
+
+float16 altitude_agl             # +inf - too far, -inf - too close
+float16 altitude_agl_variance    # +inf if too close or too far
+
+float16 sensor_max_range
+float16 sensor_min_range
+
+uint4 SENSOR_UNKNOWN = 0
+uint4 SENSOR_SONAR   = 1
+uint4 SENSOR_LASER   = 2
+uint4 SENSOR_RADAR   = 3
+uint4 SENSOR_CV      = 4
+uint4 sensor_type

dsdl/uavcan/equipment/camera/740.TakePhoto.uavcan

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+#
+# Take a photo.
+#
+
+uint8[<128] description     # To be associated with photo
+
+---
+
+ResultCode result

dsdl/uavcan/equipment/camera/741.Configure.uavcan

@@ -0,0 +1,12 @@
+#
+# Generic camera settings.
+#
+
+CaptureSettings recording
+CaptureSettings transmission
+
+float32 transmitter_power    # Watts, useful for obey regulatory power; NAN if undefined
+
+---
+
+ResultCode result

dsdl/uavcan/equipment/camera/CaptureSettings.uavcan

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+#
+# Nested type.
+# Generic camera capture settings.
+#
+
+float16 fps
+
+uint8 compression_level    # 0 - raw (no compression), 255 - max compression

dsdl/uavcan/equipment/camera/ResultCode.uavcan

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+#
+# Nested type.
+# Camera operation result.
+#
+
+uint8 OK = 0
+uint8 INVALID_PARAMS = 1
+uint8 OUT_OF_STORAGE = 2
+uint8 INTERNAL_ERROR = 255
+uint8 code

dsdl/uavcan/equipment/esc/260.RawCommand.uavcan

@@ -0,0 +1,13 @@
+#
+# Raw ESC command.
+# 0 - disarmed, 1+ - armed.
+# 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.
+#
+
+uavcan.FigureOfMerit figure_of_merit
+
+uint12 CMD_DISARM = 0
+uint12 CMD_MIN    = 1
+uint12 CMD_MAX    = 4095
+uint12[<16] cmd

dsdl/uavcan/equipment/esc/261.RPMCommand.uavcan

@@ -0,0 +1,12 @@
+#
+# Simple RPM setpoint.
+# 0 - disarmed, 1+ - armed.
+# 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.
+#
+
+uavcan.FigureOfMerit figure_of_merit
+
+uint16 RPM_DISARM = 0
+uint16 RPM_MIN    = 1
+uint16[<16] rpm

dsdl/uavcan/equipment/esc/601.Status.uavcan

@@ -0,0 +1,13 @@
+#
+# Generic ESC status.
+#
+
+uint4 index
+
+uint16 rpm
+float16 power               # Watt, NAN if unknown. Can be negative in case of a regenerative braking.
+float16 temperature         # Celsius, NAN if unknown
+
+uint7 power_rate_pct        # Percent of maximum power
+
+uint33 error_count          # Since the motor started

dsdl/uavcan/equipment/gimbal/390.AngularVelocityCommand.uavcan

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+#
+# Generic gimbal control.
+#
+
+uavcan.FigureOfMerit figure_of_merit
+
+float16[3] angular_velocity

dsdl/uavcan/equipment/gimbal/391.GeoPOICommand.uavcan

@@ -0,0 +1,9 @@
+#
+# Generic gimbal control.
+#
+
+uavcan.FigureOfMerit figure_of_merit
+
+int32 lon_1e7   # 1 LSB = 1e-7 deg
+int32 lat_1e7
+int24 alt_1e2   # 1 LSB = 1e-2 meters (10 mm)

dsdl/uavcan/equipment/gimbal/392.OrientationCommand.uavcan

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+#
+# Generic gimbal control.
+#
+
+uavcan.FigureOfMerit figure_of_merit
+
+float16[4] orientation_xyzw
+
+uint2 REFERENCE_FRAME_FIXED = 0
+uint2 REFERENCE_FRAME_BODY  = 1
+uint2 reference_frame

dsdl/uavcan/equipment/gimbal/393.Status.uavcan

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+#
+# Generic gimbal status.
+#
+
+float16[4] orientation_xyzw
+float16[<=9] orientation_covariance   # +inf for non-existent axes
+
+uint4 MODE_ANGULAR_VELOCITY        = 0
+uint4 MODE_ORIENTATION_FIXED_FRAME = 1
+uint4 MODE_ORIENTATION_BODY_FRAME  = 2
+uint4 MODE_GEO_POI                 = 3
+uint4 mode

dsdl/uavcan/equipment/indication/742.BeepCommand.uavcan

@@ -0,0 +1,7 @@
+#
+# Nodes that are capable of making noise (e.g. ESC) should obey.
+# Use case: pre-arm warning sound, error indication.
+#
+
+float16 frequency  # Hz
+float16 duration   # Sec

dsdl/uavcan/equipment/indication/743.LightsCommand.uavcan

@@ -0,0 +1,5 @@
+#
+# Lights control command.
+#
+
+SingleLightCommand[<=32] commands

dsdl/uavcan/equipment/indication/RGB565.uavcan

@@ -0,0 +1,9 @@
+#
+# Nested type.
+# RGB color in 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).
+#
+
+uint5 red
+uint6 green
+uint5 blue

dsdl/uavcan/equipment/indication/SingleLightCommand.uavcan

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+#
+# Nested type.
+# Controls single light source, color of monochrome.
+#
+
+uint8 light_id
+
+RGB565 color      # Monocolor lights should interpret this as brightness

dsdl/uavcan/equipment/manual/740.RemoteControlInput.uavcan

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+#
+# Scaled RC input for manual control/override.
+#
+
+uavcan.FigureOfMerit figure_of_merit  # E.g. receiver RSSI
+
+uint10 CHANNEL_MAX_VALUE = 1023
+uint10[<=16] channels                 # Normalized in range [0; CHANNEL_MAX_VALUE]

dsdl/uavcan/equipment/manual/741.MasterSwitchStatus.uavcan

@@ -0,0 +1,6 @@
+#
+# Some nodes may refuse to operate unless some other node publishes this message with correct value.
+# ESC should obey.
+#
+
+bool enable

dsdl/uavcan/equipment/optical_flow/291.OpticalFlow.uavcan

@@ -0,0 +1,9 @@
+#
+# X/Y velocities estimated by simple optical flow sensor.
+#
+
+uavcan.Timestamp timestamp
+
+float16 linear_velocity_x
+float16 linear_velocity_y
+float16 linear_velocity_variance

dsdl/uavcan/equipment/power/710.PowerStatus.uavcan

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+#
+# Info for all battery packs of the primary power supply.
+#
+
+bool external_power_connected
+
+BatteryStatus[<16] batteries

dsdl/uavcan/equipment/power/711.CircuitStatus.uavcan

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+#
+# Generic electrical circuit info.
+#
+
+uint8 circuit_id
+
+float16 voltage
+float16 current

dsdl/uavcan/equipment/power/BatteryStatus.uavcan

@@ -0,0 +1,20 @@
+#
+# Nested type.
+# Energy and capacity are expressed in watt hours (Joules are infeasible because of range limitations).
+# Unknown values should be represented as NAN.
+#
+
+uint8 battery_id
+
+uint8 MASK_IN_USE   = 1
+uint8 MASK_CHARGING = 2
+uint8 MASK_CHARGED  = 4
+uint8 mask
+
+float16 voltage
+float16 power
+float16 consumed_wh
+float16 capacity_wh   # NAN if unknown
+
+uint7 CHARGE_PCT_UNKNOWN = 127
+uint7 charge_pct

dsdl/uavcan/equipment/range_sensor/292.RangeMeasurement.uavcan

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+#
+# Generic narrow-beam range sensor data.
+#
+
+uavcan.Timestamp timestamp                  # Time when the probe signal was reflected from the target
+
+uint8 sensor_id
+
+uavcan.equipment.CoarseOrientation beam_orientation   # In body frame
+
+float16 field_of_view                # Radians
+
+uint4 SENSOR_TYPE_UNDEFINED = 0
+uint4 SENSOR_TYPE_SONAR     = 1
+uint4 SENSOR_TYPE_LIDAR     = 2
+uint4 SENSOR_TYPE_RADAR     = 3
+uint4 sensor_type
+
+uint4 READING_TYPE_UNDEFINED   = 0   # Range is unknown
+uint4 READING_TYPE_VALID_RANGE = 1   # Range field contains valid distance
+uint4 READING_TYPE_TOO_CLOSE   = 2   # Range field contains min range for the sensor
+uint4 READING_TYPE_TOO_FAR     = 3   # Range field contains max range for the sensor
+uint4 reading_type
+
+float16 range                        # Meters

dsdl/uavcan/equipment/rotor/602.Status.uavcan

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+#
+# Generic rotor status.
+# If the aircraft has one motor per rotor, rotor_index must match motor index.
+#
+
+uint4 index
+
+uint16 rpm