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New Crowdin translations - zh-CN (#25402)
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
This commit is contained in:
PX4 Build Bot
@@ -1,27 +1,39 @@
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# ActionRequest (UORB message)
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Action request for the vehicle's main state
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Message represents actions requested by a PX4 internal component towards the main state machine such as a request to arm or switch mode.
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It allows mapping triggers from various external interfaces like RC channels or MAVLink to cause an action.
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Request are published by `manual_control` and subscribed by the `commander` and `vtol_att_control` modules.
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActionRequest.msg)
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```c
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uint64 timestamp # time since system start (microseconds)
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# Action request for the vehicle's main state
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#
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# Message represents actions requested by a PX4 internal component towards the main state machine such as a request to arm or switch mode.
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# It allows mapping triggers from various external interfaces like RC channels or MAVLink to cause an action.
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# Request are published by `manual_control` and subscribed by the `commander` and `vtol_att_control` modules.
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uint8 action # what action is requested
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uint8 ACTION_DISARM = 0
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uint8 ACTION_ARM = 1
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uint8 ACTION_TOGGLE_ARMING = 2
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uint8 ACTION_UNKILL = 3
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uint8 ACTION_KILL = 4
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uint8 ACTION_SWITCH_MODE = 5
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uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6
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uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7
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uint8 ACTION_TERMINATE = 8
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uint64 timestamp # [us] Time since system start
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uint8 source # how the request was triggered
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uint8 SOURCE_STICK_GESTURE = 0
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uint8 SOURCE_RC_SWITCH = 1
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uint8 SOURCE_RC_BUTTON = 2
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uint8 SOURCE_RC_MODE_SLOT = 3
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uint8 action # [@enum ACTION] Requested action
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uint8 ACTION_DISARM = 0 # Disarm vehicle
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uint8 ACTION_ARM = 1 # Arm vehicle
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uint8 ACTION_TOGGLE_ARMING = 2 # Toggle arming
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uint8 ACTION_UNKILL = 3 # Revert a kill action
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uint8 ACTION_KILL = 4 # Kill vehicle (instantly stop the motors)
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uint8 ACTION_SWITCH_MODE = 5 # Switch mode. The target mode is set in the `mode` field.
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uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6 # Transition to hover flight
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uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7 # Transition to fast forward flight
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uint8 ACTION_TERMINATION = 8 # Irreversably output failsafe values on all outputs, trigger parachute
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uint8 mode # for ACTION_SWITCH_MODE what mode is requested according to vehicle_status_s::NAVIGATION_STATE_*
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uint8 source # [@enum SOURCE] Request trigger type, such as a switch, button or gesture
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uint8 SOURCE_STICK_GESTURE = 0 # Triggered by holding the sticks in a certain position
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uint8 SOURCE_RC_SWITCH = 1 # Triggered by an RC switch moving into a certain position
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uint8 SOURCE_RC_BUTTON = 2 # Triggered by a momentary button on the RC being pressed or held
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uint8 SOURCE_RC_MODE_SLOT = 3 # Mode change through the RC mode selection mechanism
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uint8 mode # Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration.
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```
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@@ -9,8 +9,8 @@ bool armed # Set to true if system is armed
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bool prearmed # Set to true if the actuator safety is disabled but motors are not armed
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bool ready_to_arm # Set to true if system is ready to be armed
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bool lockdown # Set to true if actuators are forced to being disabled (due to emergency or HIL)
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bool manual_lockdown # Set to true if manual throttle kill switch is engaged
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bool force_failsafe # Set to true if the actuators are forced to the failsafe position
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bool kill # Set to true if manual throttle kill switch is engaged
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bool termination # Send out failsafe (by default same as disarmed) output
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bool in_esc_calibration_mode # IO/FMU should ignore messages from the actuator controls topics
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```
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@@ -1,33 +1,49 @@
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# AirspeedWind (UORB message)
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Wind estimate (from airspeed_selector)
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Contains wind estimation and airspeed innovation information estimated by the WindEstimator
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in the airspeed selector module.
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This message is published by the airspeed selector for debugging purposes, and is not
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subscribed to by any other modules.
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/AirspeedWind.msg)
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```c
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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# Wind estimate (from airspeed_selector)
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#
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# Contains wind estimation and airspeed innovation information estimated by the WindEstimator
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# in the airspeed selector module.
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#
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# This message is published by the airspeed selector for debugging purposes, and is not
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# subscribed to by any other modules.
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float32 windspeed_north # Wind component in north / X direction (m/sec)
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float32 windspeed_east # Wind component in east / Y direction (m/sec)
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uint64 timestamp # [us] Time since system start
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uint64 timestamp_sample # [us] Timestamp of the raw data
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float32 variance_north # Wind estimate error variance in north / X direction (m/sec)**2 - set to zero (no uncertainty) if not estimated
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float32 variance_east # Wind estimate error variance in east / Y direction (m/sec)**2 - set to zero (no uncertainty) if not estimated
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float32 windspeed_north # [m/s] Wind component in north / X direction
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float32 windspeed_east # [m/s] Wind component in east / Y direction
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float32 tas_innov # True airspeed innovation
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float32 tas_innov_var # True airspeed innovation variance
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float32 variance_north # [(m/s)^2] [@invalid 0 if not estimated] Wind estimate error variance in north / X direction
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float32 variance_east # [(m/s)^2] [@invalid 0 if not estimated] Wind estimate error variance in east / Y direction
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float32 tas_scale_raw # Estimated true airspeed scale factor (not validated)
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float32 tas_scale_raw_var # True airspeed scale factor variance
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float32 tas_innov # [m/s] True airspeed innovation
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float32 tas_innov_var # [m/s] True airspeed innovation variance
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float32 tas_scale_validated # Estimated true airspeed scale factor after validation
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float32 tas_scale_raw # Estimated true airspeed scale factor (not validated)
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float32 tas_scale_raw_var # True airspeed scale factor variance
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float32 beta_innov # Sideslip measurement innovation
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float32 beta_innov_var # Sideslip measurement innovation variance
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float32 tas_scale_validated # Estimated true airspeed scale factor after validation
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uint8 source # source of wind estimate
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float32 beta_innov # [rad] Sideslip measurement innovation
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float32 beta_innov_var # [rad^2] Sideslip measurement innovation variance
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uint8 SOURCE_AS_BETA_ONLY = 0 # wind estimate only based on synthetic sideslip fusion
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uint8 SOURCE_AS_SENSOR_1 = 1 # combined synthetic sideslip and airspeed fusion (data from first airspeed sensor)
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uint8 SOURCE_AS_SENSOR_2 = 2 # combined synthetic sideslip and airspeed fusion (data from second airspeed sensor)
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uint8 SOURCE_AS_SENSOR_3 = 3 # combined synthetic sideslip and airspeed fusion (data from third airspeed sensor)
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uint8 source # source of wind estimate
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uint8 SOURCE_AS_BETA_ONLY = 0 # Wind estimate only based on synthetic sideslip fusion
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uint8 SOURCE_AS_SENSOR_1 = 1 # Combined synthetic sideslip and airspeed fusion (data from first airspeed sensor)
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uint8 SOURCE_AS_SENSOR_2 = 2 # Combined synthetic sideslip and airspeed fusion (data from second airspeed sensor)
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uint8 SOURCE_AS_SENSOR_3 = 3 # Combined synthetic sideslip and airspeed fusion (data from third airspeed sensor)
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```
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@@ -0,0 +1,26 @@
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# NeuralControl (UORB message)
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Neural control
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Debugging topic for the Neural controller, logs the inputs and output vectors of the neural network, and the time it takes to run
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Publisher: mc_nn_control
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Subscriber: logger
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/NeuralControl.msg)
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```c
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# Neural control
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#
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# Debugging topic for the Neural controller, logs the inputs and output vectors of the neural network, and the time it takes to run
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# Publisher: mc_nn_control
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# Subscriber: logger
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uint64 timestamp # [us] Time since system start
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float32[15] observation # Observation vector (pos error (3), att (6d), lin vel (3), ang vel (3))
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float32[4] network_output # Output from neural network
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int32 controller_time # [us] Time spent from input to output
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int32 inference_time # [us] Time spent for NN inference
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```
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@@ -31,10 +31,10 @@ float64 lon # longitude, in deg
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float32 alt # altitude AMSL, in m
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float32 yaw # yaw (only in hover), in rad [-PI..PI), NaN = leave to flight task
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float32 loiter_radius # loiter major axis radius in m
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float32 loiter_minor_radius # loiter minor axis radius (used for non-circular loiter shapes) in m
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float32 loiter_radius # [m] [@range 0, INF] loiter major axis radius
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float32 loiter_minor_radius # [m] [@range 0, INF] loiter minor axis radius (used for non-circular loiter shapes)
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bool loiter_direction_counter_clockwise # loiter direction is clockwise by default and can be changed using this field
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float32 loiter_orientation # Orientation of the major axis with respect to true north in rad [-pi,pi)
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float32 loiter_orientation # [rad] [@range -pi, pi] orientation of the major axis with respect to true north
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uint8 loiter_pattern # loitern pattern to follow
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float32 acceptance_radius # horizontal acceptance_radius (meters)
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@@ -34,7 +34,7 @@ bool alarm_rc_lost
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bool arming_failsafe_custom
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bool arming_fmu_armed
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bool arming_fmu_prearmed
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bool arming_force_failsafe
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bool arming_termination
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bool arming_io_arm_ok
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bool arming_lockdown
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bool arming_termination_failsafe
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@@ -9,7 +9,7 @@ The coordinate system origin is the vehicle position at the time when the EKF2-m
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# Fused local position in NED.
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# The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
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uint32 MESSAGE_VERSION = 0
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uint32 MESSAGE_VERSION = 1
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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@@ -0,0 +1,96 @@
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# VehicleLocalPositionV0 (UORB message)
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Fused local position in NED.
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The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/VehicleLocalPositionV0.msg)
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```c
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# Fused local position in NED.
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# The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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bool xy_valid # true if x and y are valid
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bool z_valid # true if z is valid
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bool v_xy_valid # true if vx and vy are valid
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bool v_z_valid # true if vz is valid
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# Position in local NED frame
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float32 x # North position in NED earth-fixed frame, (metres)
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float32 y # East position in NED earth-fixed frame, (metres)
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float32 z # Down position (negative altitude) in NED earth-fixed frame, (metres)
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# Position reset delta
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float32[2] delta_xy # Amount of lateral shift of position estimate in latest reset (in x and y) [m]
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uint8 xy_reset_counter # Index of latest lateral position estimate reset
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float32 delta_z # Amount of vertical shift of position estimate in latest reset [m]
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uint8 z_reset_counter # Index of latest vertical position estimate reset
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# Velocity in NED frame
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float32 vx # North velocity in NED earth-fixed frame, (metres/sec)
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float32 vy # East velocity in NED earth-fixed frame, (metres/sec)
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float32 vz # Down velocity in NED earth-fixed frame, (metres/sec)
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float32 z_deriv # Down position time derivative in NED earth-fixed frame, (metres/sec)
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# Velocity reset delta
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float32[2] delta_vxy # Amount of lateral shift of velocity estimate in latest reset (in x and y) [m/s]
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uint8 vxy_reset_counter # Index of latest vertical velocity estimate reset
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float32 delta_vz # Amount of vertical shift of velocity estimate in latest reset [m/s]
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uint8 vz_reset_counter # Index of latest vertical velocity estimate reset
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# Acceleration in NED frame
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float32 ax # North velocity derivative in NED earth-fixed frame, (metres/sec^2)
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float32 ay # East velocity derivative in NED earth-fixed frame, (metres/sec^2)
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float32 az # Down velocity derivative in NED earth-fixed frame, (metres/sec^2)
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float32 heading # Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians)
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float32 heading_var
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float32 unaided_heading # Same as heading but generated by integrating corrected gyro data only
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float32 delta_heading # Heading delta caused by latest heading reset [rad]
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uint8 heading_reset_counter # Index of latest heading reset
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bool heading_good_for_control
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float32 tilt_var
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# Position of reference point (local NED frame origin) in global (GPS / WGS84) frame
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bool xy_global # true if position (x, y) has a valid global reference (ref_lat, ref_lon)
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bool z_global # true if z has a valid global reference (ref_alt)
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uint64 ref_timestamp # Time when reference position was set since system start, (microseconds)
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float64 ref_lat # Reference point latitude, (degrees)
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float64 ref_lon # Reference point longitude, (degrees)
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float32 ref_alt # Reference altitude AMSL, (metres)
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# Distance to surface
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bool dist_bottom_valid # true if distance to bottom surface is valid
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float32 dist_bottom # Distance from from bottom surface to ground, (metres)
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float32 dist_bottom_var # terrain estimate variance (m^2)
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float32 delta_dist_bottom # Amount of vertical shift of dist bottom estimate in latest reset [m]
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uint8 dist_bottom_reset_counter # Index of latest dist bottom estimate reset
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uint8 dist_bottom_sensor_bitfield # bitfield indicating what type of sensor is used to estimate dist_bottom
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uint8 DIST_BOTTOM_SENSOR_NONE = 0
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uint8 DIST_BOTTOM_SENSOR_RANGE = 1 # (1 << 0) a range sensor is used to estimate dist_bottom field
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uint8 DIST_BOTTOM_SENSOR_FLOW = 2 # (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case)
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float32 eph # Standard deviation of horizontal position error, (metres)
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float32 epv # Standard deviation of vertical position error, (metres)
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float32 evh # Standard deviation of horizontal velocity error, (metres/sec)
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float32 evv # Standard deviation of vertical velocity error, (metres/sec)
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bool dead_reckoning # True if this position is estimated through dead-reckoning
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# estimator specified vehicle limits
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float32 vxy_max # maximum horizontal speed - set to 0 when limiting not required (meters/sec)
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float32 vz_max # maximum vertical speed - set to 0 when limiting not required (meters/sec)
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float32 hagl_min # minimum height above ground level - set to 0 when limiting not required (meters)
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float32 hagl_max # maximum height above ground level - set to 0 when limiting not required (meters)
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# TOPICS vehicle_local_position vehicle_local_position_groundtruth external_ins_local_position
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# TOPICS estimator_local_position
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```
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+23
-11
@@ -1,22 +1,34 @@
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# Wind (UORB message)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Wind.msg)
|
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Wind estimate (from EKF2)
|
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|
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Contains the system-wide estimate of horizontal wind velocity and its variance.
|
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Published by the navigation filter (EKF2) for use by other flight modules and libraries.
|
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/Wind.msg)
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|
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```c
|
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uint64 timestamp # time since system start (microseconds)
|
||||
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
|
||||
# Wind estimate (from EKF2)
|
||||
#
|
||||
# Contains the system-wide estimate of horizontal wind velocity and its variance.
|
||||
# Published by the navigation filter (EKF2) for use by other flight modules and libraries.
|
||||
|
||||
float32 windspeed_north # Wind component in north / X direction (m/sec)
|
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float32 windspeed_east # Wind component in east / Y direction (m/sec)
|
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uint32 MESSAGE_VERSION = 0
|
||||
|
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float32 variance_north # Wind estimate error variance in north / X direction (m/sec)**2 - set to zero (no uncertainty) if not estimated
|
||||
float32 variance_east # Wind estimate error variance in east / Y direction (m/sec)**2 - set to zero (no uncertainty) if not estimated
|
||||
uint64 timestamp # [us] Time since system start
|
||||
uint64 timestamp_sample # [us] Timestamp of the raw data
|
||||
|
||||
float32 tas_innov # True airspeed innovation
|
||||
float32 tas_innov_var # True airspeed innovation variance
|
||||
float32 windspeed_north # [m/s] Wind component in north / X direction
|
||||
float32 windspeed_east # [m/s] Wind component in east / Y direction
|
||||
|
||||
float32 beta_innov # Sideslip measurement innovation
|
||||
float32 beta_innov_var # Sideslip measurement innovation variance
|
||||
float32 variance_north # [(m/s)^2] [@invalid 0 if not estimated] Wind estimate error variance in north / X direction
|
||||
float32 variance_east # [(m/s)^2] [@invalid 0 if not estimated] Wind estimate error variance in east / Y direction
|
||||
|
||||
float32 tas_innov # [m/s] True airspeed innovation
|
||||
float32 tas_innov_var # [(m/s)^2] True airspeed innovation variance
|
||||
|
||||
float32 beta_innov # [rad] Sideslip measurement innovation
|
||||
float32 beta_innov_var # [rad^2] Sideslip measurement innovation variance
|
||||
|
||||
# TOPICS wind estimator_wind
|
||||
|
||||
|
||||
@@ -74,10 +74,11 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
|
||||
- [VehicleRatesSetpoint](VehicleRatesSetpoint.md)
|
||||
- [VehicleStatus](VehicleStatus.md) — Encodes the system state of the vehicle published by commander
|
||||
- [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE
|
||||
- [Wind](Wind.md) — Wind estimate (from EKF2)
|
||||
|
||||
## Unversioned Messages
|
||||
|
||||
- [ActionRequest](ActionRequest.md)
|
||||
- [ActionRequest](ActionRequest.md) — Action request for the vehicle's main state
|
||||
- [ActuatorArmed](ActuatorArmed.md)
|
||||
- [ActuatorControlsStatus](ActuatorControlsStatus.md)
|
||||
- [ActuatorOutputs](ActuatorOutputs.md)
|
||||
@@ -85,7 +86,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
|
||||
- [ActuatorTest](ActuatorTest.md)
|
||||
- [AdcReport](AdcReport.md)
|
||||
- [Airspeed](Airspeed.md) — Airspeed data from sensors
|
||||
- [AirspeedWind](AirspeedWind.md)
|
||||
- [AirspeedWind](AirspeedWind.md) — Wind estimate (from airspeed_selector)
|
||||
- [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md)
|
||||
- [BatteryInfo](BatteryInfo.md) — Battery information
|
||||
- [ButtonEvent](ButtonEvent.md)
|
||||
@@ -187,6 +188,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
|
||||
- [NavigatorMissionItem](NavigatorMissionItem.md)
|
||||
- [NavigatorStatus](NavigatorStatus.md) — Current status of a Navigator mode
|
||||
The possible values of nav_state are defined in the VehicleStatus msg.
|
||||
- [NeuralControl](NeuralControl.md) — Neural control
|
||||
- [NormalizedUnsignedSetpoint](NormalizedUnsignedSetpoint.md)
|
||||
- [ObstacleDistance](ObstacleDistance.md) — Obstacle distances in front of the sensor.
|
||||
- [OffboardControlMode](OffboardControlMode.md) — Off-board control mode
|
||||
@@ -296,7 +298,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
|
||||
- [VehicleTorqueSetpoint](VehicleTorqueSetpoint.md)
|
||||
- [VelocityLimits](VelocityLimits.md) — Velocity and yaw rate limits for a multicopter position slow mode only
|
||||
- [WheelEncoders](WheelEncoders.md)
|
||||
- [Wind](Wind.md)
|
||||
- [YawEstimatorStatus](YawEstimatorStatus.md)
|
||||
- [AirspeedValidatedV0](AirspeedValidatedV0.md)
|
||||
- [ArmingCheckReplyV0](ArmingCheckReplyV0.md)
|
||||
@@ -305,4 +306,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
|
||||
Events interface
|
||||
- [HomePositionV0](HomePositionV0.md) — GPS home position in WGS84 coordinates.
|
||||
- [VehicleAttitudeSetpointV0](VehicleAttitudeSetpointV0.md)
|
||||
- [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
|
||||
|
||||
Reference in New Issue
Block a user