diff --git a/docs/en/middleware/dds_topics.md b/docs/en/middleware/dds_topics.md index 517c0cc622..0f2bc07d4b 100644 --- a/docs/en/middleware/dds_topics.md +++ b/docs/en/middleware/dds_topics.md @@ -94,201 +94,202 @@ They are not build into the module, and hence are neither published or subscribe ::: details See messages -- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md) -- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md) -- [RtlStatus](../msg_docs/RtlStatus.md) -- [DebugKeyValue](../msg_docs/DebugKeyValue.md) -- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md) -- [VehicleAirData](../msg_docs/VehicleAirData.md) -- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md) -- [VehicleRoi](../msg_docs/VehicleRoi.md) -- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md) -- [GeofenceStatus](../msg_docs/GeofenceStatus.md) -- [PowerButtonState](../msg_docs/PowerButtonState.md) -- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md) -- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md) -- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md) -- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md) -- [CameraStatus](../msg_docs/CameraStatus.md) -- [RaptorInput](../msg_docs/RaptorInput.md) -- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md) -- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md) -- [EscStatus](../msg_docs/EscStatus.md) -- [GpioOut](../msg_docs/GpioOut.md) -- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) -- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md) -- [GeneratorStatus](../msg_docs/GeneratorStatus.md) -- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md) -- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md) -- [QshellReq](../msg_docs/QshellReq.md) -- [TaskStackInfo](../msg_docs/TaskStackInfo.md) -- [UlogStreamAck](../msg_docs/UlogStreamAck.md) -- [OrbTestLarge](../msg_docs/OrbTestLarge.md) -- [ActuatorArmed](../msg_docs/ActuatorArmed.md) -- [SensorAccel](../msg_docs/SensorAccel.md) -- [CameraTrigger](../msg_docs/CameraTrigger.md) -- [RadioStatus](../msg_docs/RadioStatus.md) -- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md) -- [MavlinkLog](../msg_docs/MavlinkLog.md) -- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md) -- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md) -- [DifferentialPressure](../msg_docs/DifferentialPressure.md) -- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md) -- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md) -- [VehicleImu](../msg_docs/VehicleImu.md) -- [VelocityLimits](../msg_docs/VelocityLimits.md) -- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) -- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md) -- [SensorTemp](../msg_docs/SensorTemp.md) -- [OrbitStatus](../msg_docs/OrbitStatus.md) -- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md) -- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md) -- [VehicleConstraints](../msg_docs/VehicleConstraints.md) -- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md) -- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md) -- [EventV0](../msg_docs/EventV0.md) -- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md) -- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md) -- [QshellRetval](../msg_docs/QshellRetval.md) -- [IrlockReport](../msg_docs/IrlockReport.md) -- [InputRc](../msg_docs/InputRc.md) -- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md) -- [LandingTargetPose](../msg_docs/LandingTargetPose.md) +- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md) +- [ParameterUpdate](../msg_docs/ParameterUpdate.md) +- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md) - [NeuralControl](../msg_docs/NeuralControl.md) -- [GpsInjectData](../msg_docs/GpsInjectData.md) -- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md) -- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md) -- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md) -- [OrbTest](../msg_docs/OrbTest.md) -- [Rpm](../msg_docs/Rpm.md) -- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md) -- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md) -- [GpioIn](../msg_docs/GpioIn.md) -- [GainCompression](../msg_docs/GainCompression.md) -- [BatteryInfo](../msg_docs/BatteryInfo.md) -- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md) -- [ActionRequest](../msg_docs/ActionRequest.md) -- [Ping](../msg_docs/Ping.md) -- [LoggerStatus](../msg_docs/LoggerStatus.md) -- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md) -- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md) +- [IrlockReport](../msg_docs/IrlockReport.md) +- [PositionSetpoint](../msg_docs/PositionSetpoint.md) +- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md) +- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md) +- [AirspeedWind](../msg_docs/AirspeedWind.md) - [ButtonEvent](../msg_docs/ButtonEvent.md) -- [SensorCorrection](../msg_docs/SensorCorrection.md) -- [SensorHygrometer](../msg_docs/SensorHygrometer.md) +- [UlogStreamAck](../msg_docs/UlogStreamAck.md) +- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md) +- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md) +- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md) - [VehicleAcceleration](../msg_docs/VehicleAcceleration.md) -- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md) -- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md) -- [DebugVect](../msg_docs/DebugVect.md) +- [DebugValue](../msg_docs/DebugValue.md) +- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md) +- [SensorGyro](../msg_docs/SensorGyro.md) +- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md) +- [DebugKeyValue](../msg_docs/DebugKeyValue.md) - [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md) -- [LogMessage](../msg_docs/LogMessage.md) -- [MissionResult](../msg_docs/MissionResult.md) -- [DebugArray](../msg_docs/DebugArray.md) - [Vtx](../msg_docs/Vtx.md) -- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md) -- [HomePositionV0](../msg_docs/HomePositionV0.md) -- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md) -- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md) -- [GpioRequest](../msg_docs/GpioRequest.md) -- [EstimatorStatus](../msg_docs/EstimatorStatus.md) -- [GimbalControls](../msg_docs/GimbalControls.md) +- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md) +- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md) - [Mission](../msg_docs/Mission.md) +- [EstimatorStates](../msg_docs/EstimatorStates.md) +- [MountOrientation](../msg_docs/MountOrientation.md) +- [Event](../msg_docs/Event.md) +- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md) +- [CameraTrigger](../msg_docs/CameraTrigger.md) +- [TecsStatus](../msg_docs/TecsStatus.md) +- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md) +- [PowerMonitor](../msg_docs/PowerMonitor.md) +- [VehicleAirData](../msg_docs/VehicleAirData.md) +- [NavigatorStatus](../msg_docs/NavigatorStatus.md) +- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md) +- [WheelEncoders](../msg_docs/WheelEncoders.md) +- [Rpm](../msg_docs/Rpm.md) +- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md) - [CellularStatus](../msg_docs/CellularStatus.md) -- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md) -- [SensorGyroFft](../msg_docs/SensorGyroFft.md) +- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md) +- [SensorHygrometer](../msg_docs/SensorHygrometer.md) +- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md) +- [GpioConfig](../msg_docs/GpioConfig.md) +- [LoggerStatus](../msg_docs/LoggerStatus.md) +- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md) +- [RaptorInput](../msg_docs/RaptorInput.md) +- [TakeoffStatus](../msg_docs/TakeoffStatus.md) +- [GainCompression](../msg_docs/GainCompression.md) +- [LogMessage](../msg_docs/LogMessage.md) +- [TaskStackInfo](../msg_docs/TaskStackInfo.md) - [TuneControl](../msg_docs/TuneControl.md) -- [LedControl](../msg_docs/LedControl.md) +- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md) +- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md) +- [GeofenceResult](../msg_docs/GeofenceResult.md) +- [RcChannels](../msg_docs/RcChannels.md) +- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md) +- [CameraCapture](../msg_docs/CameraCapture.md) - [ActuatorTest](../msg_docs/ActuatorTest.md) +- [LandingGearWheel](../msg_docs/LandingGearWheel.md) +- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md) +- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md) +- [OrbTestMedium](../msg_docs/OrbTestMedium.md) +- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md) +- [SensorAccel](../msg_docs/SensorAccel.md) +- [RoverRateStatus](../msg_docs/RoverRateStatus.md) +- [FollowTarget](../msg_docs/FollowTarget.md) +- [Gripper](../msg_docs/Gripper.md) +- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md) +- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md) +- [GpioIn](../msg_docs/GpioIn.md) +- [EventV0](../msg_docs/EventV0.md) +- [EscStatus](../msg_docs/EscStatus.md) +- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md) +- [RadioStatus](../msg_docs/RadioStatus.md) +- [DatamanRequest](../msg_docs/DatamanRequest.md) +- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) +- [Airspeed](../msg_docs/Airspeed.md) +- [QshellReq](../msg_docs/QshellReq.md) +- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md) +- [FigureEightStatus](../msg_docs/FigureEightStatus.md) +- [PpsCapture](../msg_docs/PpsCapture.md) +- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md) +- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md) +- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md) +- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md) +- [VehicleImu](../msg_docs/VehicleImu.md) +- [MissionResult](../msg_docs/MissionResult.md) +- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md) +- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md) +- [Ping](../msg_docs/Ping.md) +- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md) +- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md) +- [GeofenceStatus](../msg_docs/GeofenceStatus.md) +- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md) +- [DatamanResponse](../msg_docs/DatamanResponse.md) +- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md) +- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md) +- [OrbitStatus](../msg_docs/OrbitStatus.md) +- [EstimatorBias](../msg_docs/EstimatorBias.md) +- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md) +- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md) +- [DifferentialPressure](../msg_docs/DifferentialPressure.md) +- [PowerButtonState](../msg_docs/PowerButtonState.md) +- [SensorUwb](../msg_docs/SensorUwb.md) +- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md) +- [MagWorkerData](../msg_docs/MagWorkerData.md) +- [SystemPower](../msg_docs/SystemPower.md) +- [SensorGyroFft](../msg_docs/SensorGyroFft.md) +- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md) +- [MavlinkLog](../msg_docs/MavlinkLog.md) +- [DeviceInformation](../msg_docs/DeviceInformation.md) +- [SensorAirflow](../msg_docs/SensorAirflow.md) +- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md) +- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md) +- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md) +- [EscReport](../msg_docs/EscReport.md) +- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md) +- [LedControl](../msg_docs/LedControl.md) +- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md) +- [SatelliteInfo](../msg_docs/SatelliteInfo.md) +- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) +- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md) +- [BatteryInfo](../msg_docs/BatteryInfo.md) +- [PwmInput](../msg_docs/PwmInput.md) +- [GimbalControls](../msg_docs/GimbalControls.md) +- [OrbTestLarge](../msg_docs/OrbTestLarge.md) +- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md) +- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md) +- [VelocityLimits](../msg_docs/VelocityLimits.md) +- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md) +- [VehicleConstraints](../msg_docs/VehicleConstraints.md) +- [GpsDump](../msg_docs/GpsDump.md) +- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md) +- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md) +- [SensorCorrection](../msg_docs/SensorCorrection.md) +- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md) +- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md) +- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md) +- [SensorBaro](../msg_docs/SensorBaro.md) +- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md) +- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md) +- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md) +- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md) +- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md) +- [UlogStream](../msg_docs/UlogStream.md) +- [GpioRequest](../msg_docs/GpioRequest.md) +- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md) +- [InputRc](../msg_docs/InputRc.md) +- [DebugVect](../msg_docs/DebugVect.md) +- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md) +- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md) +- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md) +- [ActionRequest](../msg_docs/ActionRequest.md) +- [ActuatorArmed](../msg_docs/ActuatorArmed.md) +- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md) +- [GpsInjectData](../msg_docs/GpsInjectData.md) +- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md) +- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md) +- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md) +- [QshellRetval](../msg_docs/QshellRetval.md) +- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md) - [AdcReport](../msg_docs/AdcReport.md) - [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md) -- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md) -- [PowerMonitor](../msg_docs/PowerMonitor.md) -- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md) -- [SensorMag](../msg_docs/SensorMag.md) -- [EstimatorBias](../msg_docs/EstimatorBias.md) -- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md) -- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md) -- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md) -- [EstimatorStates](../msg_docs/EstimatorStates.md) -- [SensorsStatus](../msg_docs/SensorsStatus.md) -- [GpsDump](../msg_docs/GpsDump.md) -- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md) -- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md) -- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md) -- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md) -- [SensorSelection](../msg_docs/SensorSelection.md) -- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md) -- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md) -- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md) -- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md) -- [SystemPower](../msg_docs/SystemPower.md) -- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md) -- [Px4ioStatus](../msg_docs/Px4ioStatus.md) -- [RcChannels](../msg_docs/RcChannels.md) -- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md) -- [SensorUwb](../msg_docs/SensorUwb.md) -- [MountOrientation](../msg_docs/MountOrientation.md) +- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md) - [SensorGnssRelative](../msg_docs/SensorGnssRelative.md) -- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md) -- [Gripper](../msg_docs/Gripper.md) -- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md) -- [GeofenceResult](../msg_docs/GeofenceResult.md) -- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md) -- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md) -- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md) -- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md) -- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md) -- [LandingGearWheel](../msg_docs/LandingGearWheel.md) -- [SensorAirflow](../msg_docs/SensorAirflow.md) -- [RoverRateStatus](../msg_docs/RoverRateStatus.md) -- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md) -- [DeviceInformation](../msg_docs/DeviceInformation.md) -- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md) -- [Event](../msg_docs/Event.md) -- [DatamanResponse](../msg_docs/DatamanResponse.md) -- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md) -- [OrbTestMedium](../msg_docs/OrbTestMedium.md) -- [FigureEightStatus](../msg_docs/FigureEightStatus.md) -- [MagWorkerData](../msg_docs/MagWorkerData.md) -- [PpsCapture](../msg_docs/PpsCapture.md) -- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md) -- [SensorBaro](../msg_docs/SensorBaro.md) -- [RcParameterMap](../msg_docs/RcParameterMap.md) -- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md) +- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md) +- [GeneratorStatus](../msg_docs/GeneratorStatus.md) - [Cpuload](../msg_docs/Cpuload.md) -- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md) -- [ParameterUpdate](../msg_docs/ParameterUpdate.md) -- [SatelliteInfo](../msg_docs/SatelliteInfo.md) -- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md) +- [GpioOut](../msg_docs/GpioOut.md) +- [RcParameterMap](../msg_docs/RcParameterMap.md) +- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md) +- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md) - [HealthReport](../msg_docs/HealthReport.md) -- [NavigatorStatus](../msg_docs/NavigatorStatus.md) -- [EscReport](../msg_docs/EscReport.md) -- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md) -- [PwmInput](../msg_docs/PwmInput.md) -- [Airspeed](../msg_docs/Airspeed.md) -- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md) -- [WheelEncoders](../msg_docs/WheelEncoders.md) -- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md) -- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md) -- [FollowTarget](../msg_docs/FollowTarget.md) -- [SensorGyro](../msg_docs/SensorGyro.md) -- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md) -- [PositionSetpoint](../msg_docs/PositionSetpoint.md) -- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md) -- [AirspeedWind](../msg_docs/AirspeedWind.md) -- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md) -- [FuelTankStatus](../msg_docs/FuelTankStatus.md) -- [TakeoffStatus](../msg_docs/TakeoffStatus.md) -- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md) -- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md) -- [RaptorStatus](../msg_docs/RaptorStatus.md) -- [DebugValue](../msg_docs/DebugValue.md) -- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md) -- [HeaterStatus](../msg_docs/HeaterStatus.md) -- [DatamanRequest](../msg_docs/DatamanRequest.md) -- [TecsStatus](../msg_docs/TecsStatus.md) -- [GpioConfig](../msg_docs/GpioConfig.md) -- [CameraCapture](../msg_docs/CameraCapture.md) -- [UlogStream](../msg_docs/UlogStream.md) +- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md) +- [CameraStatus](../msg_docs/CameraStatus.md) +- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md) - [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md) -- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md) +- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md) +- [RaptorStatus](../msg_docs/RaptorStatus.md) +- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md) +- [FuelTankStatus](../msg_docs/FuelTankStatus.md) +- [OrbTest](../msg_docs/OrbTest.md) +- [HomePositionV0](../msg_docs/HomePositionV0.md) +- [SensorMag](../msg_docs/SensorMag.md) +- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md) +- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md) +- [LandingTargetPose](../msg_docs/LandingTargetPose.md) +- [HeaterStatus](../msg_docs/HeaterStatus.md) +- [SensorTemp](../msg_docs/SensorTemp.md) +- [RtlStatus](../msg_docs/RtlStatus.md) +- [EstimatorStatus](../msg_docs/EstimatorStatus.md) +- [Px4ioStatus](../msg_docs/Px4ioStatus.md) +- [VehicleRoi](../msg_docs/VehicleRoi.md) +- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md) +- [SensorSelection](../msg_docs/SensorSelection.md) +- [SensorsStatus](../msg_docs/SensorsStatus.md) +- [DebugArray](../msg_docs/DebugArray.md) ::: diff --git a/docs/en/msg_docs/VehicleCommandAck.md b/docs/en/msg_docs/VehicleCommandAck.md index 7a2f4b27c6..65c2751ebf 100644 --- a/docs/en/msg_docs/VehicleCommandAck.md +++ b/docs/en/msg_docs/VehicleCommandAck.md @@ -4,42 +4,55 @@ pageClass: is-wide-page # VehicleCommandAck (UORB message) -Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition. +Vehicle Command Acknowledgement uORB message. + +Used for acknowledging the vehicle command being received. +Follows the MAVLink COMMAND_ACK message definition **TOPICS:** vehicle_command_ack ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | -------- | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| command | `uint32` | | | Command that is being acknowledged | -| result | `uint8` | | | Command result | -| result_param1 | `uint8` | | | Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS | -| result_param2 | `int32` | | | Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied. | -| target_system | `uint8` | | | -| target_component | `uint16` | | | Target component / mode executor | -| from_external | `bool` | | | Indicates if the command came from an external source | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ---------------- | -------- | --------------------------- | ----------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | time since system start | +| command | `uint32` | | | Command that is being acknowledged | +| result | `uint8` | | [VEHICLE_CMD_RESULT](#VEHICLE_CMD_RESULT) | Command result | +| result_param1 | `uint8` | | | Can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS (%) | +| result_param2 | `int32` | enum ARM_AUTH_DENIED_REASON | | Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied, or what ARM_AUTH_DENIED_REASON | +| target_system | `uint8` | | | Target system | +| target_component | `uint16` | | | Target component / mode executor | +| from_external | `bool` | | | Indicates if the command came from an external source | + +## Enums + +### VEHICLE_CMD_RESULT {#VEHICLE_CMD_RESULT} + +| Name | Type | Value | Description | +| ------------------------------------------------------------------------------------------------- | ------- | ----- | ---------------------------------------------------- | +| VEHICLE_CMD_RESULT_ACCEPTED | `uint8` | 0 | Command ACCEPTED and EXECUTED | +| VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED | `uint8` | 1 | Command TEMPORARY REJECTED/DENIED | +| VEHICLE_CMD_RESULT_DENIED | `uint8` | 2 | Command PERMANENTLY DENIED | +| VEHICLE_CMD_RESULT_UNSUPPORTED | `uint8` | 3 | Command UNKNOWN/UNSUPPORTED | +| VEHICLE_CMD_RESULT_FAILED | `uint8` | 4 | Command executed, but failed | +| VEHICLE_CMD_RESULT_IN_PROGRESS | `uint8` | 5 | Command being executed | +| VEHICLE_CMD_RESULT_CANCELLED | `uint8` | 6 | Command Canceled | +| VEHICLE_CMD_RESULT_COMMAND_LONG_ONLY | `uint8` | 7 | Command is only accepted when sent as a COMMAND_LONG | +| VEHICLE_CMD_RESULT_COMMAND_INT_ONLY | `uint8` | 8 | Command is only accepted when sent as a COMMAND_INT | +| VEHICLE_CMD_RESULT_UNSUPPORTED_MAV_FRAME | `uint8` | 9 | Command does not support specified frame | ## Constants -| Name | Type | Value | Description | -| --------------------------------------------------------------------------------------------- | -------- | ----- | --------------------------------- | -| MESSAGE_VERSION | `uint32` | 0 | -| VEHICLE_CMD_RESULT_ACCEPTED | `uint8` | 0 | Command ACCEPTED and EXECUTED | -| VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED | `uint8` | 1 | Command TEMPORARY REJECTED/DENIED | -| VEHICLE_CMD_RESULT_DENIED | `uint8` | 2 | Command PERMANENTLY DENIED | -| VEHICLE_CMD_RESULT_UNSUPPORTED | `uint8` | 3 | Command UNKNOWN/UNSUPPORTED | -| VEHICLE_CMD_RESULT_FAILED | `uint8` | 4 | Command executed, but failed | -| VEHICLE_CMD_RESULT_IN_PROGRESS | `uint8` | 5 | Command being executed | -| VEHICLE_CMD_RESULT_CANCELLED | `uint8` | 6 | Command Canceled | +| Name | Type | Value | Description | +| --------------------------------------------------------------------------------------------- | -------- | ----- | ----------- | +| MESSAGE_VERSION | `uint32` | 1 | +| ORB_QUEUE_LENGTH | `uint8` | 8 | | ARM_AUTH_DENIED_REASON_GENERIC | `uint16` | 0 | | ARM_AUTH_DENIED_REASON_NONE | `uint16` | 1 | | ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT | `uint16` | 2 | | ARM_AUTH_DENIED_REASON_TIMEOUT | `uint16` | 3 | | ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE | `uint16` | 4 | | ARM_AUTH_DENIED_REASON_BAD_WEATHER | `uint16` | 5 | -| ORB_QUEUE_LENGTH | `uint8` | 8 | ## Source Message @@ -48,23 +61,35 @@ Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle ::: details Click here to see original file ```c -# Vehicle Command Ackonwledgement uORB message. +# Vehicle Command Acknowledgement uORB message. +# # Used for acknowledging the vehicle command being received. # Follows the MAVLink COMMAND_ACK message definition -uint32 MESSAGE_VERSION = 0 +uint32 MESSAGE_VERSION = 1 -uint64 timestamp # time since system start (microseconds) +uint64 timestamp # [us] time since system start -# Result cases. This follows the MAVLink MAV_RESULT enum definition -uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED | -uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED | -uint8 VEHICLE_CMD_RESULT_DENIED = 2 # Command PERMANENTLY DENIED | -uint8 VEHICLE_CMD_RESULT_UNSUPPORTED = 3 # Command UNKNOWN/UNSUPPORTED | -uint8 VEHICLE_CMD_RESULT_FAILED = 4 # Command executed, but failed | -uint8 VEHICLE_CMD_RESULT_IN_PROGRESS = 5 # Command being executed | -uint8 VEHICLE_CMD_RESULT_CANCELLED = 6 # Command Canceled +uint8 ORB_QUEUE_LENGTH = 8 +uint32 command # [-] Command that is being acknowledged + +uint8 result # [@enum VEHICLE_CMD_RESULT] Command result +# VEHICLE_CMD_RESULT Result cases. Follows the MAVLink MAV_RESULT enum definition +uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED +uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED +uint8 VEHICLE_CMD_RESULT_DENIED = 2 # Command PERMANENTLY DENIED +uint8 VEHICLE_CMD_RESULT_UNSUPPORTED = 3 # Command UNKNOWN/UNSUPPORTED +uint8 VEHICLE_CMD_RESULT_FAILED = 4 # Command executed, but failed +uint8 VEHICLE_CMD_RESULT_IN_PROGRESS = 5 # Command being executed +uint8 VEHICLE_CMD_RESULT_CANCELLED = 6 # Command Canceled +uint8 VEHICLE_CMD_RESULT_COMMAND_LONG_ONLY = 7 # Command is only accepted when sent as a COMMAND_LONG +uint8 VEHICLE_CMD_RESULT_COMMAND_INT_ONLY = 8 # Command is only accepted when sent as a COMMAND_INT +uint8 VEHICLE_CMD_RESULT_UNSUPPORTED_MAV_FRAME = 9 # Command does not support specified frame + +uint8 result_param1 # [-] Can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS (%) + +int32 result_param2 # [enum ARM_AUTH_DENIED_REASON] Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied, or what ARM_AUTH_DENIED_REASON # Arming denied specific cases uint16 ARM_AUTH_DENIED_REASON_GENERIC = 0 uint16 ARM_AUTH_DENIED_REASON_NONE = 1 @@ -73,16 +98,10 @@ uint16 ARM_AUTH_DENIED_REASON_TIMEOUT = 3 uint16 ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE = 4 uint16 ARM_AUTH_DENIED_REASON_BAD_WEATHER = 5 -uint8 ORB_QUEUE_LENGTH = 8 +uint8 target_system # [-] Target system +uint16 target_component # Target component / mode executor -uint32 command # Command that is being acknowledged -uint8 result # Command result -uint8 result_param1 # Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS -int32 result_param2 # Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied. -uint8 target_system -uint16 target_component # Target component / mode executor - -bool from_external # Indicates if the command came from an external source +bool from_external # Indicates if the command came from an external source ``` ::: diff --git a/docs/en/msg_docs/VehicleCommandAckV0.md b/docs/en/msg_docs/VehicleCommandAckV0.md new file mode 100644 index 0000000000..89a638853a --- /dev/null +++ b/docs/en/msg_docs/VehicleCommandAckV0.md @@ -0,0 +1,88 @@ +--- +pageClass: is-wide-page +--- + +# VehicleCommandAckV0 (UORB message) + +Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition. + +**TOPICS:** vehicle_command_ack_v0 + +## Fields + +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ---------------- | -------- | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| command | `uint32` | | | Command that is being acknowledged | +| result | `uint8` | | | Command result | +| result_param1 | `uint8` | | | Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS | +| result_param2 | `int32` | | | Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied. | +| target_system | `uint8` | | | +| target_component | `uint16` | | | Target component / mode executor | +| from_external | `bool` | | | Indicates if the command came from an external source | + +## Constants + +| Name | Type | Value | Description | +| --------------------------------------------------------------------------------------------- | -------- | ----- | --------------------------------- | +| MESSAGE_VERSION | `uint32` | 0 | +| VEHICLE_CMD_RESULT_ACCEPTED | `uint8` | 0 | Command ACCEPTED and EXECUTED | +| VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED | `uint8` | 1 | Command TEMPORARY REJECTED/DENIED | +| VEHICLE_CMD_RESULT_DENIED | `uint8` | 2 | Command PERMANENTLY DENIED | +| VEHICLE_CMD_RESULT_UNSUPPORTED | `uint8` | 3 | Command UNKNOWN/UNSUPPORTED | +| VEHICLE_CMD_RESULT_FAILED | `uint8` | 4 | Command executed, but failed | +| VEHICLE_CMD_RESULT_IN_PROGRESS | `uint8` | 5 | Command being executed | +| VEHICLE_CMD_RESULT_CANCELLED | `uint8` | 6 | Command Canceled | +| ARM_AUTH_DENIED_REASON_GENERIC | `uint16` | 0 | +| ARM_AUTH_DENIED_REASON_NONE | `uint16` | 1 | +| ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT | `uint16` | 2 | +| ARM_AUTH_DENIED_REASON_TIMEOUT | `uint16` | 3 | +| ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE | `uint16` | 4 | +| ARM_AUTH_DENIED_REASON_BAD_WEATHER | `uint16` | 5 | +| ORB_QUEUE_LENGTH | `uint8` | 8 | + +## Source Message + +[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleCommandAckV0.msg) + +::: details Click here to see original file + +```c +# Vehicle Command Ackonwledgement uORB message. +# Used for acknowledging the vehicle command being received. +# Follows the MAVLink COMMAND_ACK message definition + +uint32 MESSAGE_VERSION = 0 + +uint64 timestamp # time since system start (microseconds) + +# Result cases. This follows the MAVLink MAV_RESULT enum definition +uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED | +uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED | +uint8 VEHICLE_CMD_RESULT_DENIED = 2 # Command PERMANENTLY DENIED | +uint8 VEHICLE_CMD_RESULT_UNSUPPORTED = 3 # Command UNKNOWN/UNSUPPORTED | +uint8 VEHICLE_CMD_RESULT_FAILED = 4 # Command executed, but failed | +uint8 VEHICLE_CMD_RESULT_IN_PROGRESS = 5 # Command being executed | +uint8 VEHICLE_CMD_RESULT_CANCELLED = 6 # Command Canceled + +# Arming denied specific cases +uint16 ARM_AUTH_DENIED_REASON_GENERIC = 0 +uint16 ARM_AUTH_DENIED_REASON_NONE = 1 +uint16 ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT = 2 +uint16 ARM_AUTH_DENIED_REASON_TIMEOUT = 3 +uint16 ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE = 4 +uint16 ARM_AUTH_DENIED_REASON_BAD_WEATHER = 5 + +uint8 ORB_QUEUE_LENGTH = 8 + +uint32 command # Command that is being acknowledged +uint8 result # Command result +uint8 result_param1 # Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS +int32 result_param2 # Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied. +uint8 target_system +uint16 target_component # Target component / mode executor + +bool from_external # Indicates if the command came from an external source +``` + +::: diff --git a/docs/en/msg_docs/index.md b/docs/en/msg_docs/index.md index e0129b2216..f02822e4e8 100644 --- a/docs/en/msg_docs/index.md +++ b/docs/en/msg_docs/index.md @@ -40,7 +40,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [VehicleAttitude](VehicleAttitude.md) — This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use. The quaternion uses the Hamilton convention, and the order is q(w, x, y, z). - [VehicleAttitudeSetpoint](VehicleAttitudeSetpoint.md) - [VehicleCommand](VehicleCommand.md) — Vehicle Command uORB message. Used for commanding a mission / action / etc. Follows the MAVLink COMMAND_INT / COMMAND_LONG definition. -- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition. +- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Acknowledgement uORB message. - [VehicleControlMode](VehicleControlMode.md) - [VehicleGlobalPosition](VehicleGlobalPosition.md) — Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation. - [VehicleLandDetected](VehicleLandDetected.md) @@ -268,6 +268,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [RegisterExtComponentReplyV0](RegisterExtComponentReplyV0.md) - [RegisterExtComponentRequestV0](RegisterExtComponentRequestV0.md) — Request to register an external component. - [VehicleAttitudeSetpointV0](VehicleAttitudeSetpointV0.md) +- [VehicleCommandAckV0](VehicleCommandAckV0.md) — Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition. - [VehicleGlobalPositionV0](VehicleGlobalPositionV0.md) — Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation. - [VehicleLocalPositionV0](VehicleLocalPositionV0.md) — Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started. - [VehicleStatusV0](VehicleStatusV0.md) — Encodes the system state of the vehicle published by commander.