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Message review; FOM removed

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This commit is contained in:
Pavel Kirienko 2014-08-21 23:10:12 +04:00
parent f809a9c4a3
commit d87a0fd4df
10 changed files with 7 additions and 30 deletions
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8
dsdl/uavcan/FigureOfMerit.uavcan
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@ -1,8 +0,0 @@
#
# Represents the quality of associated data, higher is better.
#
float16 UNKNOWN = -65504
float16 MIN = 0
float16 MAX = 65504
float16 value

2
dsdl/uavcan/equipment/actuator/265.ArrayCommand.uavcan
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@ -3,6 +3,4 @@
# The system supports up to 256 actuators; up to 31 of them can be commanded with one message.
#
uavcan.FigureOfMerit figure_of_merit
Command[<32] commands

2
dsdl/uavcan/equipment/esc/260.RawCommand.uavcan
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@ -5,8 +5,6 @@
# 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

2
dsdl/uavcan/equipment/esc/261.RPMCommand.uavcan
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@ -5,8 +5,6 @@
# 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

2
dsdl/uavcan/equipment/gimbal/390.AngularVelocityCommand.uavcan
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@ -2,6 +2,4 @@
# Generic gimbal control.
#
uavcan.FigureOfMerit figure_of_merit
float16[3] angular_velocity # rad/s, camera frame

2
dsdl/uavcan/equipment/gimbal/391.GeoPOICommand.uavcan
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@ -2,8 +2,6 @@
# 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)

2
dsdl/uavcan/equipment/gimbal/392.OrientationCommand.uavcan
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@ -2,8 +2,6 @@
# Generic gimbal control.
#
uavcan.FigureOfMerit figure_of_merit
float16[4] orientation_xyzw
uint2 REFERENCE_FRAME_FIXED = 0

4
dsdl/uavcan/equipment/manual/740.RemoteControlInput.uavcan
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@ -2,6 +2,4 @@
# Scaled remote control input for manual control/override.
#
uavcan.FigureOfMerit figure_of_merit # E.g. receiver RSSI
float16[<=32] channels # Normalized in range [-1, 1], NAN means no such channel
float16[<=32] channels # Normalized in range [-1, 1], NAN means no such channel

4
dsdl/uavcan/nav/540.AttitudeThrustCommand.uavcan
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@ -2,7 +2,5 @@
# Orientation and thrust setpoint for VTOL crafts.
#
uavcan.FigureOfMerit figure_of_merit
float16[4] orientation_xyzw
float16 thrust # Range [0; 1]
float16 thrust # Normal range [0, 1]; or [-1, 1] if thrust can be reversed

9
dsdl/uavcan/nav/762.PoseCommand.uavcan
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@ -1,9 +1,10 @@
#
# Target pose of the vehicle in fixed frame.
# Target pose of the vehicle in world fixed frame.
# Some components may be ignored on underactuated systems (i.e. pitch and roll on a quadrotor).
#
uavcan.FigureOfMerit figure_of_merit
float16[4] orientation_xyzw
float32[3] position
float64 position_x
float64 position_y
float32 position_z