From d87a0fd4dfc68102010a6da7bb1fa6676d7ebd7d Mon Sep 17 00:00:00 2001 From: Pavel Kirienko Date: Thu, 21 Aug 2014 23:10:12 +0400 Subject: [PATCH] Message review; FOM removed --- dsdl/uavcan/FigureOfMerit.uavcan | 8 -------- dsdl/uavcan/equipment/actuator/265.ArrayCommand.uavcan | 2 -- dsdl/uavcan/equipment/esc/260.RawCommand.uavcan | 2 -- dsdl/uavcan/equipment/esc/261.RPMCommand.uavcan | 2 -- .../equipment/gimbal/390.AngularVelocityCommand.uavcan | 2 -- dsdl/uavcan/equipment/gimbal/391.GeoPOICommand.uavcan | 2 -- .../equipment/gimbal/392.OrientationCommand.uavcan | 2 -- .../equipment/manual/740.RemoteControlInput.uavcan | 4 +--- dsdl/uavcan/nav/540.AttitudeThrustCommand.uavcan | 4 +--- dsdl/uavcan/nav/762.PoseCommand.uavcan | 9 +++++---- 10 files changed, 7 insertions(+), 30 deletions(-) delete mode 100644 dsdl/uavcan/FigureOfMerit.uavcan diff --git a/dsdl/uavcan/FigureOfMerit.uavcan b/dsdl/uavcan/FigureOfMerit.uavcan deleted file mode 100644 index b3fb072657..0000000000 --- a/dsdl/uavcan/FigureOfMerit.uavcan +++ /dev/null @@ -1,8 +0,0 @@ -# -# Represents the quality of associated data, higher is better. -# - -float16 UNKNOWN = -65504 -float16 MIN = 0 -float16 MAX = 65504 -float16 value diff --git a/dsdl/uavcan/equipment/actuator/265.ArrayCommand.uavcan b/dsdl/uavcan/equipment/actuator/265.ArrayCommand.uavcan index b8c35a3de0..40949f1ce2 100644 --- a/dsdl/uavcan/equipment/actuator/265.ArrayCommand.uavcan +++ b/dsdl/uavcan/equipment/actuator/265.ArrayCommand.uavcan @@ -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 diff --git a/dsdl/uavcan/equipment/esc/260.RawCommand.uavcan b/dsdl/uavcan/equipment/esc/260.RawCommand.uavcan index db2cf0ccaf..7b487200e8 100644 --- a/dsdl/uavcan/equipment/esc/260.RawCommand.uavcan +++ b/dsdl/uavcan/equipment/esc/260.RawCommand.uavcan @@ -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 diff --git a/dsdl/uavcan/equipment/esc/261.RPMCommand.uavcan b/dsdl/uavcan/equipment/esc/261.RPMCommand.uavcan index 24564e062a..90ac85a125 100644 --- a/dsdl/uavcan/equipment/esc/261.RPMCommand.uavcan +++ b/dsdl/uavcan/equipment/esc/261.RPMCommand.uavcan @@ -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 diff --git a/dsdl/uavcan/equipment/gimbal/390.AngularVelocityCommand.uavcan b/dsdl/uavcan/equipment/gimbal/390.AngularVelocityCommand.uavcan index 8636341eff..72d48fdb7e 100644 --- a/dsdl/uavcan/equipment/gimbal/390.AngularVelocityCommand.uavcan +++ b/dsdl/uavcan/equipment/gimbal/390.AngularVelocityCommand.uavcan @@ -2,6 +2,4 @@ # Generic gimbal control. # -uavcan.FigureOfMerit figure_of_merit - float16[3] angular_velocity # rad/s, camera frame diff --git a/dsdl/uavcan/equipment/gimbal/391.GeoPOICommand.uavcan b/dsdl/uavcan/equipment/gimbal/391.GeoPOICommand.uavcan index d20901861b..a274646f30 100644 --- a/dsdl/uavcan/equipment/gimbal/391.GeoPOICommand.uavcan +++ b/dsdl/uavcan/equipment/gimbal/391.GeoPOICommand.uavcan @@ -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) diff --git a/dsdl/uavcan/equipment/gimbal/392.OrientationCommand.uavcan b/dsdl/uavcan/equipment/gimbal/392.OrientationCommand.uavcan index 7ff28149ec..0ad1b9a2db 100644 --- a/dsdl/uavcan/equipment/gimbal/392.OrientationCommand.uavcan +++ b/dsdl/uavcan/equipment/gimbal/392.OrientationCommand.uavcan @@ -2,8 +2,6 @@ # Generic gimbal control. # -uavcan.FigureOfMerit figure_of_merit - float16[4] orientation_xyzw uint2 REFERENCE_FRAME_FIXED = 0 diff --git a/dsdl/uavcan/equipment/manual/740.RemoteControlInput.uavcan b/dsdl/uavcan/equipment/manual/740.RemoteControlInput.uavcan index 206da8392b..24276d8e31 100644 --- a/dsdl/uavcan/equipment/manual/740.RemoteControlInput.uavcan +++ b/dsdl/uavcan/equipment/manual/740.RemoteControlInput.uavcan @@ -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 diff --git a/dsdl/uavcan/nav/540.AttitudeThrustCommand.uavcan b/dsdl/uavcan/nav/540.AttitudeThrustCommand.uavcan index 9275c61e71..cd4ce9ab50 100644 --- a/dsdl/uavcan/nav/540.AttitudeThrustCommand.uavcan +++ b/dsdl/uavcan/nav/540.AttitudeThrustCommand.uavcan @@ -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 diff --git a/dsdl/uavcan/nav/762.PoseCommand.uavcan b/dsdl/uavcan/nav/762.PoseCommand.uavcan index 8f34f82849..f7fd1484e3 100644 --- a/dsdl/uavcan/nav/762.PoseCommand.uavcan +++ b/dsdl/uavcan/nav/762.PoseCommand.uavcan @@ -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