mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-12 19:07:35 +08:00
Merge branch 'master'
This commit is contained in:
TSC21
@@ -0,0 +1,8 @@
|
||||
# Filtered bottom flow in bodyframe.
|
||||
uint64 timestamp # time of this estimate, in microseconds since system start
|
||||
|
||||
float32 sumx # Integrated bodyframe x flow in meters
|
||||
float32 sumy # Integrated bodyframe y flow in meters
|
||||
|
||||
float32 vx # Flow bodyframe x speed, m/s
|
||||
float32 vy # Flow bodyframe y Speed, m/s
|
||||
@@ -0,0 +1,10 @@
|
||||
# GPS home position in WGS84 coordinates.
|
||||
uint64 timestamp # Timestamp (microseconds since system boot)
|
||||
|
||||
float64 lat # Latitude in degrees
|
||||
float64 lon # Longitude in degrees
|
||||
float32 alt # Altitude in meters (AMSL)
|
||||
|
||||
float32 x # X coordinate in meters
|
||||
float32 y # Y coordinate in meters
|
||||
float32 z # Z coordinate in meters
|
||||
@@ -0,0 +1,17 @@
|
||||
# Optical flow in NED body frame in SI units.
|
||||
# @see http://en.wikipedia.org/wiki/International_System_of_Units
|
||||
|
||||
uint64 timestamp # in microseconds since system start
|
||||
uint8 sensor_id # id of the sensor emitting the flow value
|
||||
float32 pixel_flow_x_integral # accumulated optical flow in radians around x axis
|
||||
float32 pixel_flow_y_integral # accumulated optical flow in radians around y axis
|
||||
float32 gyro_x_rate_integral # accumulated gyro value in radians around x axis
|
||||
float32 gyro_y_rate_integral # accumulated gyro value in radians around y axis
|
||||
float32 gyro_z_rate_integral # accumulated gyro value in radians around z axis
|
||||
float32 ground_distance_m # Altitude / distance to ground in meters
|
||||
uint32 integration_timespan # accumulation timespan in microseconds
|
||||
uint32 time_since_last_sonar_update # time since last sonar update in microseconds
|
||||
uint16 frame_count_since_last_readout # number of accumulated frames in timespan
|
||||
int16 gyro_temperature # Temperature * 100 in centi-degrees Celsius
|
||||
uint8 quality # Average of quality of accumulated frames, 0: bad quality, 255: maximum quality
|
||||
|
||||
@@ -0,0 +1,13 @@
|
||||
int16 RANGE_FINDER_TYPE_LASER = 0
|
||||
|
||||
# range finder report structure. Reads from the device must be in multiples of this
|
||||
# structure.
|
||||
uint64 timestamp
|
||||
uint64 error_count
|
||||
uint16 type # type, following RANGE_FINDER_TYPE enum
|
||||
float32 distance # in meters
|
||||
float32 minimum_distance # minimum distance the sensor can measure
|
||||
float32 maximum_distance # maximum distance the sensor can measure
|
||||
uint8 valid # 1 == within sensor range, 0 = outside sensor range
|
||||
float32[12] distance_vector # in meters length should match MB12XX_MAX_RANGEFINDERS
|
||||
uint8 just_updated # number of the most recent measurement sensor
|
||||
@@ -0,0 +1,100 @@
|
||||
# Definition of the sensor_combined uORB topic.
|
||||
|
||||
int32 MAGNETOMETER_MODE_NORMAL = 0
|
||||
int32 MAGNETOMETER_MODE_POSITIVE_BIAS = 1
|
||||
int32 MAGNETOMETER_MODE_NEGATIVE_BIAS = 2
|
||||
|
||||
# Sensor readings in raw and SI-unit form.
|
||||
#
|
||||
# These values are read from the sensors. Raw values are in sensor-specific units,
|
||||
# the scaled values are in SI-units, as visible from the ending of the variable
|
||||
# or the comments. The use of the SI fields is in general advised, as these fields
|
||||
# are scaled and offset-compensated where possible and do not change with board
|
||||
# revisions and sensor updates.
|
||||
#
|
||||
# Actual data, this is specific to the type of data which is stored in this struct
|
||||
# A line containing L0GME will be added by the Python logging code generator to the logged dataset.
|
||||
#
|
||||
# NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only
|
||||
|
||||
uint64 timestamp # Timestamp in microseconds since boot, from gyro
|
||||
#
|
||||
int16[3] gyro_raw # Raw sensor values of angular velocity
|
||||
float32[3] gyro_rad_s # Angular velocity in radian per seconds
|
||||
uint32 gyro_errcount # Error counter for gyro 0
|
||||
float32 gyro_temp # Temperature of gyro 0
|
||||
|
||||
int16[3] accelerometer_raw # Raw acceleration in NED body frame
|
||||
float32[3] accelerometer_m_s2 # Acceleration in NED body frame, in m/s^2
|
||||
int16 accelerometer_mode # Accelerometer measurement mode
|
||||
float32 accelerometer_range_m_s2 # Accelerometer measurement range in m/s^2
|
||||
uint64 accelerometer_timestamp # Accelerometer timestamp
|
||||
uint32 accelerometer_errcount # Error counter for accel 0
|
||||
float32 accelerometer_temp # Temperature of accel 0
|
||||
|
||||
int16[3] magnetometer_raw # Raw magnetic field in NED body frame
|
||||
float32[3] magnetometer_ga # Magnetic field in NED body frame, in Gauss
|
||||
int16 magnetometer_mode # Magnetometer measurement mode
|
||||
float32 magnetometer_range_ga # measurement range in Gauss
|
||||
float32 magnetometer_cuttoff_freq_hz # Internal analog low pass frequency of sensor
|
||||
uint64 magnetometer_timestamp # Magnetometer timestamp
|
||||
uint32 magnetometer_errcount # Error counter for mag 0
|
||||
float32 magnetometer_temp # Temperature of mag 0
|
||||
|
||||
int16[3] gyro1_raw # Raw sensor values of angular velocity
|
||||
float32[3] gyro1_rad_s # Angular velocity in radian per seconds
|
||||
uint64 gyro1_timestamp # Gyro timestamp
|
||||
uint32 gyro1_errcount # Error counter for gyro 1
|
||||
float32 gyro1_temp # Temperature of gyro 1
|
||||
|
||||
int16[3] accelerometer1_raw # Raw acceleration in NED body frame
|
||||
float32[3] accelerometer1_m_s2 # Acceleration in NED body frame, in m/s^2
|
||||
uint64 accelerometer1_timestamp # Accelerometer timestamp
|
||||
uint32 accelerometer1_errcount # Error counter for accel 1
|
||||
float32 accelerometer1_temp # Temperature of accel 1
|
||||
|
||||
int16[3] magnetometer1_raw # Raw magnetic field in NED body frame
|
||||
float32[3] magnetometer1_ga # Magnetic field in NED body frame, in Gauss
|
||||
uint64 magnetometer1_timestamp # Magnetometer timestamp
|
||||
uint32 magnetometer1_errcount # Error counter for mag 1
|
||||
float32 magnetometer1_temp # Temperature of mag 1
|
||||
|
||||
int16[3] gyro2_raw # Raw sensor values of angular velocity
|
||||
float32[3] gyro2_rad_s # Angular velocity in radian per seconds
|
||||
uint64 gyro2_timestamp # Gyro timestamp
|
||||
uint32 gyro2_errcount # Error counter for gyro 1
|
||||
float32 gyro2_temp # Temperature of gyro 1
|
||||
|
||||
int16[3] accelerometer2_raw # Raw acceleration in NED body frame
|
||||
float32[3] accelerometer2_m_s2 # Acceleration in NED body frame, in m/s^2
|
||||
uint64 accelerometer2_timestamp # Accelerometer timestamp
|
||||
uint32 accelerometer2_errcount # Error counter for accel 2
|
||||
float32 accelerometer2_temp # Temperature of accel 2
|
||||
|
||||
int16[3] magnetometer2_raw # Raw magnetic field in NED body frame
|
||||
float32[3] magnetometer2_ga # Magnetic field in NED body frame, in Gauss
|
||||
uint64 magnetometer2_timestamp # Magnetometer timestamp
|
||||
uint32 magnetometer2_errcount # Error counter for mag 2
|
||||
float32 magnetometer2_temp # Temperature of mag 2
|
||||
|
||||
float32 baro_pres_mbar # Barometric pressure, already temp. comp.
|
||||
float32 baro_alt_meter # Altitude, already temp. comp.
|
||||
float32 baro_temp_celcius # Temperature in degrees celsius
|
||||
uint64 baro_timestamp # Barometer timestamp
|
||||
|
||||
float32 baro1_pres_mbar # Barometric pressure, already temp. comp.
|
||||
float32 baro1_alt_meter # Altitude, already temp. comp.
|
||||
float32 baro1_temp_celcius # Temperature in degrees celsius
|
||||
uint64 baro1_timestamp # Barometer timestamp
|
||||
|
||||
float32[10] adc_voltage_v # ADC voltages of ADC Chan 10/11/12/13 or -1
|
||||
uint16[10] adc_mapping # Channel indices of each of these values
|
||||
float32 mcu_temp_celcius # Internal temperature measurement of MCU
|
||||
|
||||
float32 differential_pressure_pa # Airspeed sensor differential pressure
|
||||
uint64 differential_pressure_timestamp # Last measurement timestamp
|
||||
float32 differential_pressure_filtered_pa # Low pass filtered airspeed sensor differential pressure reading
|
||||
|
||||
float32 differential_pressure1_pa # Airspeed sensor differential pressure
|
||||
uint64 differential_pressure1_timestamp # Last measurement timestamp
|
||||
float32 differential_pressure1_filtered_pa # Low pass filtered airspeed sensor differential pressure reading
|
||||
@@ -0,0 +1,20 @@
|
||||
# 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.
|
||||
#
|
||||
uint64 timestamp # Time of this estimate, in microseconds since system start
|
||||
uint64 time_utc_usec # GPS UTC timestamp in microseconds
|
||||
float64 lat # Latitude in degrees
|
||||
float64 lon # Longitude in degrees
|
||||
float32 alt # Altitude AMSL in meters
|
||||
float32 vel_n # Ground north velocity, m/s
|
||||
float32 vel_e # Ground east velocity, m/s
|
||||
float32 vel_d # Ground downside velocity, m/s
|
||||
float32 yaw # Yaw in radians -PI..+PI.
|
||||
float32 eph # Standard deviation of position estimate horizontally
|
||||
float32 epv # Standard deviation of position vertically
|
||||
float32 terrain_alt # Terrain altitude in m, WGS84
|
||||
bool terrain_alt_valid # Terrain altitude estimate is valid
|
||||
bool dead_reckoning # True if this position is estimated through dead-reckoning
|
||||
@@ -0,0 +1,29 @@
|
||||
# GPS position in WGS84 coordinates.
|
||||
uint64 timestamp_position # Timestamp for position information
|
||||
int32 lat # Latitude in 1E-7 degrees
|
||||
int32 lon # Longitude in 1E-7 degrees
|
||||
int32 alt # Altitude in 1E-3 meters (millimeters) above MSL
|
||||
|
||||
uint64 timestamp_variance
|
||||
float32 s_variance_m_s # speed accuracy estimate m/s
|
||||
float32 c_variance_rad # course accuracy estimate rad
|
||||
uint8 fix_type # 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
|
||||
|
||||
float32 eph # GPS HDOP horizontal dilution of position in m
|
||||
float32 epv # GPS VDOP horizontal dilution of position in m
|
||||
|
||||
int32 noise_per_ms # GPS noise per millisecond
|
||||
int32 jamming_indicator # indicates jamming is occurring
|
||||
|
||||
uint64 timestamp_velocity # Timestamp for velocity informations
|
||||
float32 vel_m_s # GPS ground speed (m/s)
|
||||
float32 vel_n_m_s # GPS ground speed in m/s
|
||||
float32 vel_e_m_s # GPS ground speed in m/s
|
||||
float32 vel_d_m_s # GPS ground speed in m/s
|
||||
float32 cog_rad # Course over ground (NOT heading, but direction of movement) in rad, -PI..PI
|
||||
bool vel_ned_valid # Flag to indicate if NED speed is valid
|
||||
|
||||
uint64 timestamp_time # Timestamp for time information
|
||||
uint64 time_utc_usec # Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0
|
||||
|
||||
uint8 satellites_used # Number of satellites used
|
||||
Reference in New Issue
Block a user