diff --git a/docs/en/SUMMARY.md b/docs/en/SUMMARY.md index 456fc83df6..e6fd68673c 100644 --- a/docs/en/SUMMARY.md +++ b/docs/en/SUMMARY.md @@ -593,6 +593,7 @@ - [FollowTargetEstimator](msg_docs/FollowTargetEstimator.md) - [FollowTargetStatus](msg_docs/FollowTargetStatus.md) - [FuelTankStatus](msg_docs/FuelTankStatus.md) + - [GainCompression](msg_docs/GainCompression.md) - [GeneratorStatus](msg_docs/GeneratorStatus.md) - [GeofenceResult](msg_docs/GeofenceResult.md) - [GeofenceStatus](msg_docs/GeofenceStatus.md) @@ -743,8 +744,11 @@ - [ArmingCheckReplyV0](msg_docs/ArmingCheckReplyV0.md) - [ArmingCheckRequestV0](msg_docs/ArmingCheckRequestV0.md) - [BatteryStatusV0](msg_docs/BatteryStatusV0.md) + - [ConfigOverridesV0](msg_docs/ConfigOverridesV0.md) - [EventV0](msg_docs/EventV0.md) - [HomePositionV0](msg_docs/HomePositionV0.md) + - [RegisterExtComponentReplyV0](msg_docs/RegisterExtComponentReplyV0.md) + - [RegisterExtComponentRequestV0](msg_docs/RegisterExtComponentRequestV0.md) - [VehicleAttitudeSetpointV0](msg_docs/VehicleAttitudeSetpointV0.md) - [VehicleLocalPositionV0](msg_docs/VehicleLocalPositionV0.md) - [VehicleStatusV0](msg_docs/VehicleStatusV0.md) diff --git a/docs/en/_sidebar.md b/docs/en/_sidebar.md index 390114db6a..f450f72c6f 100644 --- a/docs/en/_sidebar.md +++ b/docs/en/_sidebar.md @@ -1,4 +1,5 @@ + - [Introduction](/index.md) - [Basic Concepts](/getting_started/px4_basic_concepts.md) @@ -57,11 +58,14 @@ - [DJI F450 (CUAV v5 nano)](/frames_multicopter/dji_f450_cuav_5nano.md) - [Planes (Fixed-Wing)](/frames_plane/index.md) + - [Features](/features_fw/index.md) + - [Gain compression](/features_fw/gain_compression.md) - [Assembly](/assembly/assembly_fw.md) - [Config/Tuning](/config_fw/index.md) - [Auto-tune](/config/autotune_fw.md) - [Rate/Attitude Controller Tuning Guide](/config_fw/pid_tuning_guide_fixedwing.md) - [Altitude/Position Controller Tuning Guide](/config_fw/position_tuning_guide_fixedwing.md) + - [Airspeed Scale Estimate Handling](/config_fw/airspeed_scale_handling.md) - [Weight & Altitude Tuning](/config_fw/weight_and_altitude_tuning.md) - [Trimming Guide](/config_fw/trimming_guide_fixedwing.md) - [Flying (Basics)](/flying/basic_flying_fw.md) @@ -183,11 +187,13 @@ - [Wiring Quickstart](/assembly/quick_start_durandal.md) - [Holybro Pix32 v5](/flight_controller/holybro_pix32_v5.md) - [Wiring Quickstart](/assembly/quick_start_holybro_pix32_v5.md) + - [MicoAir H743 Lite](/flight_controller/micoair743-lite.md) - [ModalAI VOXL 2](/flight_controller/modalai_voxl_2.md) - [mRo Control Zero F7](/flight_controller/mro_control_zero_f7.md) - [Radiolink PIX6](/flight_controller/radiolink_pix6.md) - [Sky-Drones AIRLink](/flight_controller/airlink.md) - [SPRacing SPRacingH7EXTREME](/flight_controller/spracingh7extreme.md) + - [SVehicle E2](/flight_controller/svehicle_e2.md) - [ThePeach FCC-K1](/flight_controller/thepeach_k1.md) - [ThePeach FCC-R1](/flight_controller/thepeach_r1.md) - [Experimental Autopilots](/flight_controller/autopilot_experimental.md) @@ -240,18 +246,22 @@ - [TFSlot Airspeed Sensor](/sensor/airspeed_tfslot.md) - [Barometers](/sensor/barometer.md) - [Distance Sensors \(Rangefinders\)](/sensor/rangefinders.md) + - [Ainstein US-D1 Standard Radar Altimeter](/sensor/ulanding_radar.md) + - [ARK DIST SR (CAN/UART)](/dronecan/ark_dist.md) + - [ARK DIST MR (CAN/UART)](/dronecan/ark_dist_mr.md) + - [Benewake TFmini Lidar](/sensor/tfmini.md) + - [LeddarOne Lidar](/sensor/leddar_one.md) + - [Lidar-Lite](/sensor/lidar_lite.md) - [Lightware Lidars (SF/LW)](/sensor/sfxx_lidar.md) - [Lightware SF45 Rotary Lidar](/sensor/sf45_rotating_lidar.md) - - [Ainstein US-D1 Standard Radar Altimeter](/sensor/ulanding_radar.md) - - [LeddarOne Lidar](/sensor/leddar_one.md) - - [Benewake TFmini Lidar](/sensor/tfmini.md) - - [Lidar-Lite](/sensor/lidar_lite.md) - [TeraRanger](/sensor/teraranger.md) - [✘ Lanbao PSK-CM8JL65-CC5](/sensor/cm8jl65_ir_distance_sensor.md) - [Avionics Anonymous Laser Altimeter UAVCAN Interface (CAN)](/dronecan/avanon_laser_interface.md) - [GNSS (GPS)](/gps_compass/index.md) - [ARK GPS (CAN)](/dronecan/ark_gps.md) + - [ARK DAN GPS](/gps_compass/ark_dan_gps.md) - [ARK SAM GPS](/gps_compass/ark_sam_gps.md) + - [ARK SAM GPS MINI](/gps_compass/ark_sam_gps_mini.md) - [ARK TESEO GPS](/dronecan/ark_teseo_gps.md) - [CUAV NEO 3 GPS](/gps_compass/gps_cuav_neo_3.md) - [CUAV NEO 3 Pro GPS (CAN)](/gps_compass/gps_cuav_neo_3pro.md) @@ -263,6 +273,8 @@ - [Sky-Drones SmartAP GPS](/gps_compass/gps_smartap.md) - [RTK GNSS](/gps_compass/rtk_gps.md) - [ARK RTK GPS (CAN)](/dronecan/ark_rtk_gps.md) + - [ARK RTK GPS L1 L5 (CAN)](/dronecan/ark_rtk_gps_l1_l2.md) + - [ARK X20 RTK GPS (CAN)](/dronecan/ark_x20_rtk_gps.md) - [ARK MOSAIC-X5 RTK GPS (CAN)](/dronecan/ark_mosaic__rtk_gps.md) - [RTK GPS Heading with Dual u-blox F9P](/gps_compass/u-blox_f9p_heading.md) - [CUAV C-RTK](/gps_compass/rtk_gps_cuav_c-rtk.md) @@ -285,6 +297,7 @@ - [CubePilot Here+ (Discontined)](/gps_compass/rtk_gps_hex_hereplus.md) - [INS (Inertial Navigation/GNSS)](/sensor/inertial_navigation_systems.md) - [InertialLabs](/sensor/inertiallabs.md) + - [MicroStrain](/sensor/microstrain.md) - [sbgECom](/sensor/sbgecom.md) - [VectorNav](/sensor/vectornav.md) - [Optical Flow](/sensor/optical_flow.md) @@ -339,13 +352,14 @@ - [Battery Estimation Tuning](/config/battery.md) - [Battery Chemistry Overview](/power_systems/battery_chemistry.md) - [Power Modules/PDB](/power_module/index.md) + - [ARK PAB Power Module](/power_module/ark_pab_power_module.md) + - [ARK 12S PAB Power Module](/power_module/ark_12s_pab_power_module.md) + - [ARK 12S Payload Power Module](/power_module/ark_12s_payload_power_module.md) - [CUAV HV pm](/power_module/cuav_hv_pm.md) - [CUAV CAN PMU](/dronecan/cuav_can_pmu.md) - [Holybro PM02](/power_module/holybro_pm02.md) - [Holybro PM07](/power_module/holybro_pm07_pixhawk4_power_module.md) - [Holybro PM06 V2](/power_module/holybro_pm06_pixhawk4mini_power_module.md) - - [ARK PAB Power Module](/power_module/ark_pab_power_module.md) - - [ARK 12S PAB Power Module](/power_module/ark_12s_pab_power_module.md) - [Holybro PM02D (digital)](/power_module/holybro_pm02d.md) - [Holybro PM03D (digital)](/power_module/holybro_pm03d.md) - [Pomegranate Systems Power Module](/dronecan/pomegranate_systems_pm.md) @@ -483,6 +497,7 @@ - [UART/Serial Ports](/uart/index.md) - [Port-Configurable Serial Drivers](/uart/user_configurable_serial_driver.md) - [RTK GPS (Integration)](/advanced/rtk_gps.md) + - [PPS Time Synchronization](/advanced/pps_time_sync.md) - [Middleware](/middleware/index.md) - [uORB Messaging](/middleware/uorb.md) - [uORB Graph](/middleware/uorb_graph.md) @@ -579,6 +594,7 @@ - [FollowTargetEstimator](/msg_docs/FollowTargetEstimator.md) - [FollowTargetStatus](/msg_docs/FollowTargetStatus.md) - [FuelTankStatus](/msg_docs/FuelTankStatus.md) + - [GainCompression](/msg_docs/GainCompression.md) - [GeneratorStatus](/msg_docs/GeneratorStatus.md) - [GeofenceResult](/msg_docs/GeofenceResult.md) - [GeofenceStatus](/msg_docs/GeofenceStatus.md) @@ -669,8 +685,6 @@ - [RoverSpeedStatus](/msg_docs/RoverSpeedStatus.md) - [RoverSteeringSetpoint](/msg_docs/RoverSteeringSetpoint.md) - [RoverThrottleSetpoint](/msg_docs/RoverThrottleSetpoint.md) - - [RoverVelocitySetpoint](/msg_docs/RoverVelocitySetpoint.md) - - [RoverVelocityStatus](/msg_docs/RoverVelocityStatus.md) - [Rpm](/msg_docs/Rpm.md) - [RtlStatus](/msg_docs/RtlStatus.md) - [RtlTimeEstimate](/msg_docs/RtlTimeEstimate.md) @@ -682,6 +696,7 @@ - [SensorCombined](/msg_docs/SensorCombined.md) - [SensorCorrection](/msg_docs/SensorCorrection.md) - [SensorGnssRelative](/msg_docs/SensorGnssRelative.md) + - [SensorGnssStatus](/msg_docs/SensorGnssStatus.md) - [SensorGps](/msg_docs/SensorGps.md) - [SensorGyro](/msg_docs/SensorGyro.md) - [SensorGyroFft](/msg_docs/SensorGyroFft.md) @@ -691,6 +706,7 @@ - [SensorOpticalFlow](/msg_docs/SensorOpticalFlow.md) - [SensorPreflightMag](/msg_docs/SensorPreflightMag.md) - [SensorSelection](/msg_docs/SensorSelection.md) + - [SensorTemp](/msg_docs/SensorTemp.md) - [SensorUwb](/msg_docs/SensorUwb.md) - [SensorsStatus](/msg_docs/SensorsStatus.md) - [SensorsStatusImu](/msg_docs/SensorsStatusImu.md) @@ -729,8 +745,11 @@ - [ArmingCheckReplyV0](/msg_docs/ArmingCheckReplyV0.md) - [ArmingCheckRequestV0](/msg_docs/ArmingCheckRequestV0.md) - [BatteryStatusV0](/msg_docs/BatteryStatusV0.md) + - [ConfigOverridesV0](/msg_docs/ConfigOverridesV0.md) - [EventV0](/msg_docs/EventV0.md) - [HomePositionV0](/msg_docs/HomePositionV0.md) + - [RegisterExtComponentReplyV0](/msg_docs/RegisterExtComponentReplyV0.md) + - [RegisterExtComponentRequestV0](/msg_docs/RegisterExtComponentRequestV0.md) - [VehicleAttitudeSetpointV0](/msg_docs/VehicleAttitudeSetpointV0.md) - [VehicleLocalPositionV0](/msg_docs/VehicleLocalPositionV0.md) - [VehicleStatusV0](/msg_docs/VehicleStatusV0.md) @@ -743,6 +762,7 @@ - [Standard Modes Protocol](/mavlink/standard_modes.md) - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](/middleware/uxrce_dds.md) - [UORB Bridged to ROS 2](/middleware/dds_topics.md) + - [Zenoh (PX4 ROS 2)](/middleware/zenoh.md) - [Modules & Commands](/modules/modules_main.md) - [Autotune](/modules/modules_autotune.md) - [Commands](/modules/modules_command.md) @@ -760,6 +780,7 @@ - [Rpm Sensor](/modules/modules_driver_rpm_sensor.md) - [Radio Control](/modules/modules_driver_radio_control.md) - [Transponder](/modules/modules_driver_transponder.md) + - [adc](/modules/modules_driver_adc.md) - [Estimators](/modules/modules_estimator.md) - [Simulations](/modules/modules_simulation.md) - [System](/modules/modules_system.md) diff --git a/docs/en/advanced_config/parameter_reference.md b/docs/en/advanced_config/parameter_reference.md index 0c1a843a55..b140b398ab 100644 --- a/docs/en/advanced_config/parameter_reference.md +++ b/docs/en/advanced_config/parameter_reference.md @@ -2177,6 +2177,116 @@ output latency, or completely block I2C bus. | ------ | -------- | -------- | --------- | ------- | ---- | |   | 50.0 | 400.0 | | 50.0 | +### PWM_AUX_CENT1 (`INT32`) {#PWM_AUX_CENT1} + +PWM Aux 1 Center Value. + +Servo Center output value (when not disarmed). + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | -1 | 2200 | | -1 | + +### PWM_AUX_CENT10 (`INT32`) {#PWM_AUX_CENT10} + +PWM Capture 2 Center Value. + +Servo Center output value (when not disarmed). + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | -1 | 2200 | | -1 | + +### PWM_AUX_CENT11 (`INT32`) {#PWM_AUX_CENT11} + +PWM Capture 3 Center Value. + +Servo Center output value (when not disarmed). + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | -1 | 2200 | | -1 | + +### PWM_AUX_CENT2 (`INT32`) {#PWM_AUX_CENT2} + +PWM Aux 2 Center Value. + +Servo Center output value (when not disarmed). + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | -1 | 2200 | | -1 | + +### PWM_AUX_CENT3 (`INT32`) {#PWM_AUX_CENT3} + +PWM Aux 3 Center Value. + +Servo Center output value (when not disarmed). + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | -1 | 2200 | | -1 | + +### PWM_AUX_CENT4 (`INT32`) {#PWM_AUX_CENT4} + +PWM Aux 4 Center Value. + +Servo Center output value (when not disarmed). + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | -1 | 2200 | | -1 | + +### PWM_AUX_CENT5 (`INT32`) {#PWM_AUX_CENT5} + +PWM Aux 5 Center Value. + +Servo Center output value (when not disarmed). + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | -1 | 2200 | | -1 | + +### PWM_AUX_CENT6 (`INT32`) {#PWM_AUX_CENT6} + +PWM Aux 6 Center Value. + +Servo Center output value (when not disarmed). + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | -1 | 2200 | | -1 | + +### PWM_AUX_CENT7 (`INT32`) {#PWM_AUX_CENT7} + +PWM Aux 7 Center Value. + +Servo Center output value (when not disarmed). + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | -1 | 2200 | | -1 | + +### PWM_AUX_CENT8 (`INT32`) {#PWM_AUX_CENT8} + +PWM Aux 8 Center Value. + +Servo Center output value (when not disarmed). + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | -1 | 2200 | | -1 | + +### PWM_AUX_CENT9 (`INT32`) {#PWM_AUX_CENT9} + +PWM Capture 1 Center Value. + +Servo Center output value (when not disarmed). + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | -1 | 2200 | | -1 | + ### PWM_AUX_DIS1 (`INT32`) {#PWM_AUX_DIS1} PWM Aux 1 Disarmed Value. @@ -15346,8 +15456,7 @@ disabled, warn only or deny arming. Arm switch is a momentary button. 0: Arming/disarming triggers on switch transition. -1: Arming/disarming triggers when holding the momentary button down -for COM_RC_ARM_HYST like the stick gesture. +1: Arming/disarming triggers when holding the momentary button down like the stick gesture. | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------------ | ---- | @@ -15355,15 +15464,17 @@ for COM_RC_ARM_HYST like the stick gesture. ### COM_ARM_WO_GPS (`INT32`) {#COM_ARM_WO_GPS} -GPS preflight check. +Arming without GNSS configuration. -Measures taken when a check defined by EKF2_GPS_CHECK is failing. +Configures whether arming is allowed without GNSS, for modes that require a global position +(specifically, in those modes when a check defined by EKF2_GPS_CHECK fails). +The settings deny arming and warn, allow arming and warn, or silently allow arming. **Values:** - `0`: Deny arming -- `1`: Warning only -- `2`: Disabled +- `1`: Allow arming (with warning) +- `2`: Allow arming (no warning) | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------- | ---- | @@ -16152,16 +16263,6 @@ External modes requiring stick input will still failsafe. | ------ | -------- | -------- | --------- | ------- | ---- | |   | 0 | 31 | | 0 | -### COM_RC_ARM_HYST (`INT32`) {#COM_RC_ARM_HYST} - -Manual control input arm/disarm command duration. - -The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second. - -| Reboot | minValue | maxValue | increment | default | unit | -| ------ | -------- | -------- | --------- | ------- | ---- | -|   | 100 | 1500 | | 1000 | ms | - ### COM_RC_IN_MODE (`INT32`) {#COM_RC_IN_MODE} Manual control input source configuration. @@ -19347,6 +19448,24 @@ This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN. | ------ | -------- | -------- | --------- | ------- | ---- | |   | -0.5 | 0.5 | 0.01 | 0.0 | +### FW_GC_EN (`INT32`) {#FW_GC_EN} + +Enable rate gain compression. + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ----------- | ---- | +|   | | | | Enabled (1) | + +### FW_GC_GAIN_MIN (`FLOAT`) {#FW_GC_GAIN_MIN} + +Compression gain lower limit. + +The range of the compression gain is between this parameter and 1.0 + +| Reboot | minValue | maxValue | increment | default | unit | +| ------ | -------- | -------- | --------- | ------- | ---- | +|   | 0.0 | 1.0 | 0.01 | 0.3 | + ### FW_MAN_P_SC (`FLOAT`) {#FW_MAN_P_SC} Manual pitch scale. @@ -21989,6 +22108,8 @@ Control Surface 0 configuration as spoiler. Control Surface 0 trim. Can be used to add an offset to the servo control. +NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead. +This parameter can only be set if all PWM Center parameters are set to default. | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------- | ---- | @@ -22069,6 +22190,8 @@ Control Surface 1 configuration as spoiler. Control Surface 1 trim. Can be used to add an offset to the servo control. +NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead. +This parameter can only be set if all PWM Center parameters are set to default. | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------- | ---- | @@ -22149,6 +22272,8 @@ Control Surface 2 configuration as spoiler. Control Surface 2 trim. Can be used to add an offset to the servo control. +NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead. +This parameter can only be set if all PWM Center parameters are set to default. | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------- | ---- | @@ -22229,6 +22354,8 @@ Control Surface 3 configuration as spoiler. Control Surface 3 trim. Can be used to add an offset to the servo control. +NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead. +This parameter can only be set if all PWM Center parameters are set to default. | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------- | ---- | @@ -22309,6 +22436,8 @@ Control Surface 4 configuration as spoiler. Control Surface 4 trim. Can be used to add an offset to the servo control. +NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead. +This parameter can only be set if all PWM Center parameters are set to default. | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------- | ---- | @@ -22389,6 +22518,8 @@ Control Surface 5 configuration as spoiler. Control Surface 5 trim. Can be used to add an offset to the servo control. +NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead. +This parameter can only be set if all PWM Center parameters are set to default. | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------- | ---- | @@ -22469,6 +22600,8 @@ Control Surface 6 configuration as spoiler. Control Surface 6 trim. Can be used to add an offset to the servo control. +NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead. +This parameter can only be set if all PWM Center parameters are set to default. | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------- | ---- | @@ -22549,6 +22682,8 @@ Control Surface 7 configuration as spoiler. Control Surface 7 trim. Can be used to add an offset to the servo control. +NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead. +This parameter can only be set if all PWM Center parameters are set to default. | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------- | ---- | @@ -23162,6 +23297,7 @@ Engine start/stop input source. - `0`: On arming - disarming - `1`: Aux1 - `2`: Aux2 +- `3`: On Vtol Transitions | Reboot | minValue | maxValue | increment | default | unit | | ------ | -------- | -------- | --------- | ------- | ---- | diff --git a/docs/en/modules/modules_driver_radio_control.md b/docs/en/modules/modules_driver_radio_control.md index 3cfb312593..1a2b5da0c0 100644 --- a/docs/en/modules/modules_driver_radio_control.md +++ b/docs/en/modules/modules_driver_radio_control.md @@ -16,8 +16,6 @@ crsf_rc [arguments...] start [-d ] RC device values: , default: /dev/ttyS3 - [-b ] RC baudrate - default: 420000 inject Inject frame data bytes (for testing) diff --git a/docs/en/msg_docs/ConfigOverrides.md b/docs/en/msg_docs/ConfigOverrides.md index 37f88d4923..caa4d0816b 100644 --- a/docs/en/msg_docs/ConfigOverrides.md +++ b/docs/en/msg_docs/ConfigOverrides.md @@ -7,7 +7,7 @@ Configurable overrides by (external) modes or mode executors ```c # Configurable overrides by (external) modes or mode executors -uint32 MESSAGE_VERSION = 0 +uint32 MESSAGE_VERSION = 1 uint64 timestamp # time since system start (microseconds) @@ -15,7 +15,7 @@ bool disable_auto_disarm # Prevent the drone from automatically disarmin bool defer_failsafes # Defer all failsafes that can be deferred (until the flag is cleared) int16 defer_failsafes_timeout_s # Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout - +bool disable_auto_set_home # Prevent the drone from automatically setting the home position on arm or takeoff int8 SOURCE_TYPE_MODE = 0 int8 SOURCE_TYPE_MODE_EXECUTOR = 1 diff --git a/docs/en/msg_docs/ConfigOverridesV0.md b/docs/en/msg_docs/ConfigOverridesV0.md new file mode 100644 index 0000000000..91e2cf5b48 --- /dev/null +++ b/docs/en/msg_docs/ConfigOverridesV0.md @@ -0,0 +1,30 @@ +# ConfigOverridesV0 (UORB message) + +Configurable overrides by (external) modes or mode executors + +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ConfigOverridesV0.msg) + +```c +# Configurable overrides by (external) modes or mode executors + +uint32 MESSAGE_VERSION = 0 + +uint64 timestamp # time since system start (microseconds) + +bool disable_auto_disarm # Prevent the drone from automatically disarming after landing (if configured) + +bool defer_failsafes # Defer all failsafes that can be deferred (until the flag is cleared) +int16 defer_failsafes_timeout_s # Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout + + +int8 SOURCE_TYPE_MODE = 0 +int8 SOURCE_TYPE_MODE_EXECUTOR = 1 +int8 source_type + +uint8 source_id # ID depending on source_type + +uint8 ORB_QUEUE_LENGTH = 4 + +# TOPICS config_overrides config_overrides_request + +``` diff --git a/docs/en/msg_docs/GainCompression.md b/docs/en/msg_docs/GainCompression.md new file mode 100644 index 0000000000..e26c1e8fcc --- /dev/null +++ b/docs/en/msg_docs/GainCompression.md @@ -0,0 +1,12 @@ +# GainCompression (UORB message) + +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GainCompression.msg) + +```c +uint64 timestamp # Time since system start (microseconds) + +float32[3] compression_gains # [-] [@frame FRD] [@range 0, 1] Multiplicative gain to modify the output of the controller per axis +float32[3] spectral_damper_hpf # [-] [@frame FRD] Squared output of spectral damper high-pass filter +float32[3] spectral_damper_out # [-] [@frame FRD] Spectral damper output squared + +``` diff --git a/docs/en/msg_docs/RegisterExtComponentReply.md b/docs/en/msg_docs/RegisterExtComponentReply.md index 31b1b8b00d..119703472a 100644 --- a/docs/en/msg_docs/RegisterExtComponentReply.md +++ b/docs/en/msg_docs/RegisterExtComponentReply.md @@ -1,11 +1,9 @@ # RegisterExtComponentReply (UORB message) - - [source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/RegisterExtComponentReply.msg) ```c -uint32 MESSAGE_VERSION = 0 +uint32 MESSAGE_VERSION = 1 uint64 timestamp # time since system start (microseconds) @@ -19,6 +17,8 @@ int8 arming_check_id # arming check registration ID (-1 if invalid) int8 mode_id # assigned mode ID (-1 if invalid) int8 mode_executor_id # assigned mode executor ID (-1 if invalid) +bool not_user_selectable # mode cannot be selected by the user + uint8 ORB_QUEUE_LENGTH = 2 ``` diff --git a/docs/en/msg_docs/RegisterExtComponentReplyV0.md b/docs/en/msg_docs/RegisterExtComponentReplyV0.md new file mode 100644 index 0000000000..cceec88d5c --- /dev/null +++ b/docs/en/msg_docs/RegisterExtComponentReplyV0.md @@ -0,0 +1,22 @@ +# RegisterExtComponentReplyV0 (UORB message) + +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/RegisterExtComponentReplyV0.msg) + +```c +uint32 MESSAGE_VERSION = 0 + +uint64 timestamp # time since system start (microseconds) + +uint64 request_id # ID from the request +char[25] name # name from the request + +uint16 px4_ros2_api_version + +bool success +int8 arming_check_id # arming check registration ID (-1 if invalid) +int8 mode_id # assigned mode ID (-1 if invalid) +int8 mode_executor_id # assigned mode executor ID (-1 if invalid) + +uint8 ORB_QUEUE_LENGTH = 2 + +``` diff --git a/docs/en/msg_docs/RegisterExtComponentRequest.md b/docs/en/msg_docs/RegisterExtComponentRequest.md index 545737c64a..814ea6e51b 100644 --- a/docs/en/msg_docs/RegisterExtComponentRequest.md +++ b/docs/en/msg_docs/RegisterExtComponentRequest.md @@ -7,7 +7,7 @@ Request to register an external component ```c # Request to register an external component -uint32 MESSAGE_VERSION = 0 +uint32 MESSAGE_VERSION = 1 uint64 timestamp # time since system start (microseconds) @@ -26,7 +26,7 @@ bool register_mode_executor # registering an executor also requires a mod bool enable_replace_internal_mode # set to true if an internal mode should be replaced uint8 replace_internal_mode # vehicle_status::NAVIGATION_STATE_* bool activate_mode_immediately # switch to the registered mode (can only be set in combination with an executor) - +bool not_user_selectable # mode cannot be selected by the user uint8 ORB_QUEUE_LENGTH = 2 diff --git a/docs/en/msg_docs/RegisterExtComponentRequestV0.md b/docs/en/msg_docs/RegisterExtComponentRequestV0.md new file mode 100644 index 0000000000..58e99a484e --- /dev/null +++ b/docs/en/msg_docs/RegisterExtComponentRequestV0.md @@ -0,0 +1,33 @@ +# RegisterExtComponentRequestV0 (UORB message) + +Request to register an external component + +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/RegisterExtComponentRequestV0.msg) + +```c +# Request to register an external component + +uint32 MESSAGE_VERSION = 0 + +uint64 timestamp # time since system start (microseconds) + +uint64 request_id # ID, set this to a random value +char[25] name # either the requested mode name, or component name + +uint16 LATEST_PX4_ROS2_API_VERSION = 1 # API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change. + +uint16 px4_ros2_api_version # Set to LATEST_PX4_ROS2_API_VERSION + +# Components to be registered +bool register_arming_check +bool register_mode # registering a mode also requires arming_check to be set +bool register_mode_executor # registering an executor also requires a mode to be registered (which is the owned mode by the executor) + +bool enable_replace_internal_mode # set to true if an internal mode should be replaced +uint8 replace_internal_mode # vehicle_status::NAVIGATION_STATE_* +bool activate_mode_immediately # switch to the registered mode (can only be set in combination with an executor) + + +uint8 ORB_QUEUE_LENGTH = 2 + +``` diff --git a/docs/en/msg_docs/index.md b/docs/en/msg_docs/index.md index 1df0fa98f1..ed723276e8 100644 --- a/docs/en/msg_docs/index.md +++ b/docs/en/msg_docs/index.md @@ -140,6 +140,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [FollowTargetEstimator](FollowTargetEstimator.md) - [FollowTargetStatus](FollowTargetStatus.md) - [FuelTankStatus](FuelTankStatus.md) +- [GainCompression](GainCompression.md) - [GeneratorStatus](GeneratorStatus.md) - [GeofenceResult](GeofenceResult.md) - [GeofenceStatus](GeofenceStatus.md) @@ -305,9 +306,12 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [ArmingCheckReplyV0](ArmingCheckReplyV0.md) - [ArmingCheckRequestV0](ArmingCheckRequestV0.md) — Arming check request. - [BatteryStatusV0](BatteryStatusV0.md) — Battery status +- [ConfigOverridesV0](ConfigOverridesV0.md) — Configurable overrides by (external) modes or mode executors - [EventV0](EventV0.md) — this message is required here in the msg_old folder because other msg are depending on it Events interface - [HomePositionV0](HomePositionV0.md) — GPS home position in WGS84 coordinates. +- [RegisterExtComponentReplyV0](RegisterExtComponentReplyV0.md) +- [RegisterExtComponentRequestV0](RegisterExtComponentRequestV0.md) — Request to register an external component - [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. diff --git a/docs/ko/_sidebar.md b/docs/ko/_sidebar.md index 3455e4ecec..d0d8d7b773 100644 --- a/docs/ko/_sidebar.md +++ b/docs/ko/_sidebar.md @@ -57,11 +57,14 @@ - [DJI F450 (CUAV v5 nano)](/frames_multicopter/dji_f450_cuav_5nano.md) - [Planes (Fixed-Wing)](/frames_plane/index.md) + - [Features](/features_fw/index.md) + - [Gain compression](/features_fw/gain_compression.md) - [Assembly](/assembly/assembly_fw.md) - [Config/Tuning](/config_fw/index.md) - [Auto-tune](/config/autotune_fw.md) - [Rate/Attitude Controller Tuning Guide](/config_fw/pid_tuning_guide_fixedwing.md) - [Altitude/Position Controller Tuning Guide](/config_fw/position_tuning_guide_fixedwing.md) + - [Airspeed Scale Estimate Handling](/config_fw/airspeed_scale_handling.md) - [Weight & Altitude Tuning](/config_fw/weight_and_altitude_tuning.md) - [Trimming Guide](/config_fw/trimming_guide_fixedwing.md) - [Flying (Basics)](/flying/basic_flying_fw.md) @@ -183,11 +186,13 @@ - [Wiring Quickstart](/assembly/quick_start_durandal.md) - [Holybro Pix32 v5](/flight_controller/holybro_pix32_v5.md) - [Wiring Quickstart](/assembly/quick_start_holybro_pix32_v5.md) + - [MicoAir H743 Lite](/flight_controller/micoair743-lite.md) - [ModalAI VOXL 2](/flight_controller/modalai_voxl_2.md) - [mRo Control Zero F7](/flight_controller/mro_control_zero_f7.md) - [Radiolink PIX6](/flight_controller/radiolink_pix6.md) - [Sky-Drones AIRLink](/flight_controller/airlink.md) - [SPRacing SPRacingH7EXTREME](/flight_controller/spracingh7extreme.md) + - [SVehicle E2](/flight_controller/svehicle_e2.md) - [ThePeach FCC-K1](/flight_controller/thepeach_k1.md) - [ThePeach FCC-R1](/flight_controller/thepeach_r1.md) - [Experimental Autopilots](/flight_controller/autopilot_experimental.md) @@ -287,6 +292,7 @@ - [CubePilot Here+ (Discontined)](/gps_compass/rtk_gps_hex_hereplus.md) - [INS (Inertial Navigation/GNSS)](/sensor/inertial_navigation_systems.md) - [InertialLabs](/sensor/inertiallabs.md) + - [MicroStrain](/sensor/microstrain.md) - [sbgECom](/sensor/sbgecom.md) - [VectorNav](/sensor/vectornav.md) - [광류 센서](/sensor/optical_flow.md) @@ -503,6 +509,7 @@ - [UART/Serial 포트](/uart/index.md) - [포트 설정 가능 시리얼 드라이버](/uart/user_configurable_serial_driver.md) - [RTK GPS (통합)](/advanced/rtk_gps.md) + - [PPS Time Synchronization](/advanced/pps_time_sync.md) - [미들웨어](/middleware/index.md) - [uORB 메시지 전송](/middleware/uorb.md) - [uORB 그라프](/middleware/uorb_graph.md) @@ -689,8 +696,6 @@ - [RoverSpeedStatus](/msg_docs/RoverSpeedStatus.md) - [RoverSteeringSetpoint](/msg_docs/RoverSteeringSetpoint.md) - [RoverThrottleSetpoint](/msg_docs/RoverThrottleSetpoint.md) - - [RoverVelocitySetpoint](/msg_docs/RoverVelocitySetpoint.md) - - [RoverVelocityStatus](/msg_docs/RoverVelocityStatus.md) - [Rpm](/msg_docs/Rpm.md) - [RtlStatus](/msg_docs/RtlStatus.md) - [RtlTimeEstimate](/msg_docs/RtlTimeEstimate.md) @@ -702,6 +707,7 @@ - [SensorCombined](/msg_docs/SensorCombined.md) - [SensorCorrection](/msg_docs/SensorCorrection.md) - [SensorGnssRelative](/msg_docs/SensorGnssRelative.md) + - [SensorGnssStatus](/msg_docs/SensorGnssStatus.md) - [SensorGps](/msg_docs/SensorGps.md) - [SensorGyro](/msg_docs/SensorGyro.md) - [SensorGyroFft](/msg_docs/SensorGyroFft.md) @@ -711,6 +717,7 @@ - [SensorOpticalFlow](/msg_docs/SensorOpticalFlow.md) - [SensorPreflightMag](/msg_docs/SensorPreflightMag.md) - [SensorSelection](/msg_docs/SensorSelection.md) + - [SensorTemp](/msg_docs/SensorTemp.md) - [SensorUwb](/msg_docs/SensorUwb.md) - [SensorsStatus](/msg_docs/SensorsStatus.md) - [SensorsStatusImu](/msg_docs/SensorsStatusImu.md) @@ -763,6 +770,7 @@ - [Standard Modes Protocol](/mavlink/standard_modes.md) - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](/middleware/uxrce_dds.md) - [UORB Bridged to ROS 2](/middleware/dds_topics.md) + - [Zenoh (PX4 ROS 2)](/middleware/zenoh.md) - [모듈과 명령어](/modules/modules_main.md) - [자동 튜닝](/modules/modules_autotune.md) - [명령어](/modules/modules_command.md) @@ -780,6 +788,7 @@ - [Rpm Sensor](/modules/modules_driver_rpm_sensor.md) - [Radio Control](/modules/modules_driver_radio_control.md) - [Transponder](/modules/modules_driver_transponder.md) + - [adc](/modules/modules_driver_adc.md) - [추정기](/modules/modules_estimator.md) - [시뮬레이션](/modules/modules_simulation.md) - [시스템](/modules/modules_system.md) diff --git a/docs/ko/msg_docs/RoverVelocitySetpoint.md b/docs/ko/msg_docs/RoverVelocitySetpoint.md deleted file mode 100644 index 65103082b8..0000000000 --- a/docs/ko/msg_docs/RoverVelocitySetpoint.md +++ /dev/null @@ -1,15 +0,0 @@ -# RoverVelocitySetpoint (UORB message) - -Rover Velocity Setpoint - -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverVelocitySetpoint.msg) - -```c -# Rover Velocity Setpoint - -uint64 timestamp # [us] Time since system start -float32 speed # [m/s] [@range -inf (Backwards), inf (Forwards)] Speed setpoint -float32 bearing # [rad] [@range -pi,pi] [@frame NED] [@invalid: NaN, speed is defined in body x direction] Bearing setpoint -float32 yaw # [rad] [@range -pi, pi] [@frame NED] [@invalid NaN, Defaults to vehicle yaw] Mecanum only: Yaw setpoint - -``` diff --git a/docs/ko/msg_docs/RoverVelocityStatus.md b/docs/ko/msg_docs/RoverVelocityStatus.md deleted file mode 100644 index dfd7756afa..0000000000 --- a/docs/ko/msg_docs/RoverVelocityStatus.md +++ /dev/null @@ -1,18 +0,0 @@ -# RoverVelocityStatus (UORB message) - -Rover Velocity Status - -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverVelocityStatus.msg) - -```c -# Rover Velocity Status - -uint64 timestamp # [us] Time since system start -float32 measured_speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Measured speed in body x direction -float32 adjusted_speed_body_x_setpoint # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction that is being tracked (Applied slew rates) -float32 pid_throttle_body_x_integral # [] [@range -1, 1] Integral of the PID for the closed loop controller of the speed in body x direction -float32 measured_speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Measured speed in body y direction -float32 adjusted_speed_body_y_setpoint # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates) -float32 pid_throttle_body_y_integral # [] [@range -1, 1] [@invalid NaN If not mecanum] Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction - -``` diff --git a/docs/uk/_sidebar.md b/docs/uk/_sidebar.md index 07336221de..19a3cb9440 100644 --- a/docs/uk/_sidebar.md +++ b/docs/uk/_sidebar.md @@ -57,11 +57,14 @@ - [DJI F450 (CUAV v5 nano)](/frames_multicopter/dji_f450_cuav_5nano.md) - [Літаки (з фіксованим крилом)](/frames_plane/index.md) + - [Features](/features_fw/index.md) + - [Gain compression](/features_fw/gain_compression.md) - [Збірка](/assembly/assembly_fw.md) - [Конфігурація/підлаштування](/config_fw/index.md) - [Auto-tune](/config/autotune_fw.md) - [Rate/Attitude Controller Tuning Guide](/config_fw/pid_tuning_guide_fixedwing.md) - [Altitude/Position Controller Tuning Guide](/config_fw/position_tuning_guide_fixedwing.md) + - [Airspeed Scale Estimate Handling](/config_fw/airspeed_scale_handling.md) - [Weight & Altitude Tuning](/config_fw/weight_and_altitude_tuning.md) - [Trimming Guide](/config_fw/trimming_guide_fixedwing.md) - [Flying (Basics)](/flying/basic_flying_fw.md) @@ -183,11 +186,13 @@ - [Wiring Quickstart](/assembly/quick_start_durandal.md) - [Holybro Pix32 v5](/flight_controller/holybro_pix32_v5.md) - [Wiring Quickstart](/assembly/quick_start_holybro_pix32_v5.md) + - [MicoAir H743 Lite](/flight_controller/micoair743-lite.md) - [ModalAI VOXL 2](/flight_controller/modalai_voxl_2.md) - [mRo Control Zero F7](/flight_controller/mro_control_zero_f7.md) - [Radiolink PIX6](/flight_controller/radiolink_pix6.md) - [Sky-Drones AIRLink](/flight_controller/airlink.md) - [SPRacing SPRacingH7EXTREME](/flight_controller/spracingh7extreme.md) + - [SVehicle E2](/flight_controller/svehicle_e2.md) - [ThePeach FCC-K1](/flight_controller/thepeach_k1.md) - [ThePeach FCC-R1](/flight_controller/thepeach_r1.md) - [Калібрування рівня горизонту](/flight_controller/autopilot_experimental.md) @@ -287,6 +292,7 @@ - [CubePilot Here+ (Discontined)](/gps_compass/rtk_gps_hex_hereplus.md) - [INS (Інерціальна навігація/GNSS)](/sensor/inertial_navigation_systems.md) - [InertialLabs](/sensor/inertiallabs.md) + - [MicroStrain](/sensor/microstrain.md) - [sbgECom](/sensor/sbgecom.md) - [VectorNav](/sensor/vectornav.md) - [Optical Flow](/sensor/optical_flow.md) @@ -503,6 +509,7 @@ - [UART/Послідовний порт](/uart/index.md) - [Драйвери послідовного порту і їх налаштування](/uart/user_configurable_serial_driver.md) - [RTK GPS (Інтеграція)](/advanced/rtk_gps.md) + - [PPS Time Synchronization](/advanced/pps_time_sync.md) - [Проміжне програмне забезпечення](/middleware/index.md) - [Повідомлення uORB](/middleware/uorb.md) - [Граф uORB](/middleware/uorb_graph.md) @@ -689,8 +696,6 @@ - [RoverSpeedStatus](/msg_docs/RoverSpeedStatus.md) - [RoverSteeringSetpoint](/msg_docs/RoverSteeringSetpoint.md) - [RoverThrottleSetpoint](/msg_docs/RoverThrottleSetpoint.md) - - [RoverVelocitySetpoint](/msg_docs/RoverVelocitySetpoint.md) - - [RoverVelocityStatus](/msg_docs/RoverVelocityStatus.md) - [Rpm](/msg_docs/Rpm.md) - [RtlStatus](/msg_docs/RtlStatus.md) - [RtlTimeEstimate](/msg_docs/RtlTimeEstimate.md) @@ -702,6 +707,7 @@ - [SensorCombined](/msg_docs/SensorCombined.md) - [SensorCorrection](/msg_docs/SensorCorrection.md) - [SensorGnssRelative](/msg_docs/SensorGnssRelative.md) + - [SensorGnssStatus](/msg_docs/SensorGnssStatus.md) - [SensorGps](/msg_docs/SensorGps.md) - [SensorGyro](/msg_docs/SensorGyro.md) - [SensorGyroFft](/msg_docs/SensorGyroFft.md) @@ -711,6 +717,7 @@ - [SensorOpticalFlow](/msg_docs/SensorOpticalFlow.md) - [SensorPreflightMag](/msg_docs/SensorPreflightMag.md) - [SensorSelection](/msg_docs/SensorSelection.md) + - [SensorTemp](/msg_docs/SensorTemp.md) - [SensorUwb](/msg_docs/SensorUwb.md) - [SensorsStatus](/msg_docs/SensorsStatus.md) - [SensorsStatusImu](/msg_docs/SensorsStatusImu.md) @@ -763,6 +770,7 @@ - [Standard Modes Protocol](/mavlink/standard_modes.md) - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](/middleware/uxrce_dds.md) - [UORB Bridged to ROS 2](/middleware/dds_topics.md) + - [Zenoh (PX4 ROS 2)](/middleware/zenoh.md) - [Модулі & Команди](/modules/modules_main.md) - [Автоматичне підлаштування](/modules/modules_autotune.md) - [Команди](/modules/modules_command.md) @@ -780,6 +788,7 @@ - [Датчик швидкості обертання](/modules/modules_driver_rpm_sensor.md) - [Radio Control](/modules/modules_driver_radio_control.md) - [Транспондер](/modules/modules_driver_transponder.md) + - [adc](/modules/modules_driver_adc.md) - [Естіматори](/modules/modules_estimator.md) - [Симуляції](/modules/modules_simulation.md) - [Система](/modules/modules_system.md) diff --git a/docs/uk/msg_docs/RoverVelocitySetpoint.md b/docs/uk/msg_docs/RoverVelocitySetpoint.md deleted file mode 100644 index 65103082b8..0000000000 --- a/docs/uk/msg_docs/RoverVelocitySetpoint.md +++ /dev/null @@ -1,15 +0,0 @@ -# RoverVelocitySetpoint (UORB message) - -Rover Velocity Setpoint - -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverVelocitySetpoint.msg) - -```c -# Rover Velocity Setpoint - -uint64 timestamp # [us] Time since system start -float32 speed # [m/s] [@range -inf (Backwards), inf (Forwards)] Speed setpoint -float32 bearing # [rad] [@range -pi,pi] [@frame NED] [@invalid: NaN, speed is defined in body x direction] Bearing setpoint -float32 yaw # [rad] [@range -pi, pi] [@frame NED] [@invalid NaN, Defaults to vehicle yaw] Mecanum only: Yaw setpoint - -``` diff --git a/docs/uk/msg_docs/RoverVelocityStatus.md b/docs/uk/msg_docs/RoverVelocityStatus.md deleted file mode 100644 index dfd7756afa..0000000000 --- a/docs/uk/msg_docs/RoverVelocityStatus.md +++ /dev/null @@ -1,18 +0,0 @@ -# RoverVelocityStatus (UORB message) - -Rover Velocity Status - -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverVelocityStatus.msg) - -```c -# Rover Velocity Status - -uint64 timestamp # [us] Time since system start -float32 measured_speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Measured speed in body x direction -float32 adjusted_speed_body_x_setpoint # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction that is being tracked (Applied slew rates) -float32 pid_throttle_body_x_integral # [] [@range -1, 1] Integral of the PID for the closed loop controller of the speed in body x direction -float32 measured_speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Measured speed in body y direction -float32 adjusted_speed_body_y_setpoint # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates) -float32 pid_throttle_body_y_integral # [] [@range -1, 1] [@invalid NaN If not mecanum] Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction - -``` diff --git a/docs/zh/_sidebar.md b/docs/zh/_sidebar.md index cb4c6eba8e..29cb23eca6 100644 --- a/docs/zh/_sidebar.md +++ b/docs/zh/_sidebar.md @@ -57,11 +57,14 @@ - [DJI F450 (CUAV v5 nano)](/frames_multicopter/dji_f450_cuav_5nano.md) - [Planes (Fixed-Wing)](/frames_plane/index.md) + - [Features](/features_fw/index.md) + - [Gain compression](/features_fw/gain_compression.md) - [Assembly](/assembly/assembly_fw.md) - [Config/Tuning](/config_fw/index.md) - [Auto-tune](/config/autotune_fw.md) - [Rate/Attitude Controller Tuning Guide](/config_fw/pid_tuning_guide_fixedwing.md) - [Altitude/Position Controller Tuning Guide](/config_fw/position_tuning_guide_fixedwing.md) + - [Airspeed Scale Estimate Handling](/config_fw/airspeed_scale_handling.md) - [Weight & Altitude Tuning](/config_fw/weight_and_altitude_tuning.md) - [Trimming Guide](/config_fw/trimming_guide_fixedwing.md) - [Flying (Basics)](/flying/basic_flying_fw.md) @@ -183,11 +186,13 @@ - [Wiring Quickstart](/assembly/quick_start_durandal.md) - [Holybro Pix32 v5](/flight_controller/holybro_pix32_v5.md) - [Wiring Quickstart](/assembly/quick_start_holybro_pix32_v5.md) + - [MicoAir H743 Lite](/flight_controller/micoair743-lite.md) - [ModalAI VOXL 2](/flight_controller/modalai_voxl_2.md) - [mRo Control Zero F7](/flight_controller/mro_control_zero_f7.md) - [Radiolink PIX6](/flight_controller/radiolink_pix6.md) - [Sky-Drones AIRLink](/flight_controller/airlink.md) - [SPRacing SPRacingH7EXTREME](/flight_controller/spracingh7extreme.md) + - [SVehicle E2](/flight_controller/svehicle_e2.md) - [ThePeach FCC-K1](/flight_controller/thepeach_k1.md) - [ThePeach FCC-R1](/flight_controller/thepeach_r1.md) - [Experimental Autopilots](/flight_controller/autopilot_experimental.md) @@ -287,6 +292,7 @@ - [CubePilot Here+ (Discontined)](/gps_compass/rtk_gps_hex_hereplus.md) - [INS (Inertial Navigation/GNSS)](/sensor/inertial_navigation_systems.md) - [InertialLabs](/sensor/inertiallabs.md) + - [MicroStrain](/sensor/microstrain.md) - [sbgECom](/sensor/sbgecom.md) - [VectorNav](/sensor/vectornav.md) - [光流](/sensor/optical_flow.md) @@ -503,6 +509,7 @@ - [UART/串口](/uart/index.md) - [可配置的串口驱动](/uart/user_configurable_serial_driver.md) - [RTK GPS (集成)](/advanced/rtk_gps.md) + - [PPS Time Synchronization](/advanced/pps_time_sync.md) - [中间件](/middleware/index.md) - [uORB 通讯](/middleware/uorb.md) - [uORB 图](/middleware/uorb_graph.md) @@ -689,8 +696,6 @@ - [RoverSpeedStatus](/msg_docs/RoverSpeedStatus.md) - [RoverSteeringSetpoint](/msg_docs/RoverSteeringSetpoint.md) - [RoverThrottleSetpoint](/msg_docs/RoverThrottleSetpoint.md) - - [RoverVelocitySetpoint](/msg_docs/RoverVelocitySetpoint.md) - - [RoverVelocityStatus](/msg_docs/RoverVelocityStatus.md) - [Rpm](/msg_docs/Rpm.md) - [RtlStatus](/msg_docs/RtlStatus.md) - [RtlTimeEstimate](/msg_docs/RtlTimeEstimate.md) @@ -702,6 +707,7 @@ - [SensorCombined](/msg_docs/SensorCombined.md) - [SensorCorrection](/msg_docs/SensorCorrection.md) - [SensorGnssRelative](/msg_docs/SensorGnssRelative.md) + - [SensorGnssStatus](/msg_docs/SensorGnssStatus.md) - [SensorGps](/msg_docs/SensorGps.md) - [SensorGyro](/msg_docs/SensorGyro.md) - [SensorGyroFft](/msg_docs/SensorGyroFft.md) @@ -711,6 +717,7 @@ - [SensorOpticalFlow](/msg_docs/SensorOpticalFlow.md) - [SensorPreflightMag](/msg_docs/SensorPreflightMag.md) - [SensorSelection](/msg_docs/SensorSelection.md) + - [SensorTemp](/msg_docs/SensorTemp.md) - [SensorUwb](/msg_docs/SensorUwb.md) - [SensorsStatus](/msg_docs/SensorsStatus.md) - [SensorsStatusImu](/msg_docs/SensorsStatusImu.md) @@ -763,6 +770,7 @@ - [Standard Modes Protocol](/mavlink/standard_modes.md) - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](/middleware/uxrce_dds.md) - [UORB Bridged to ROS 2](/middleware/dds_topics.md) + - [Zenoh (PX4 ROS 2)](/middleware/zenoh.md) - [模块 & 命令](/modules/modules_main.md) - [自动调参](/modules/modules_autotune.md) - [命令](/modules/modules_command.md) @@ -780,6 +788,7 @@ - [Rpm Sensor](/modules/modules_driver_rpm_sensor.md) - [Radio Control](/modules/modules_driver_radio_control.md) - [Transponder](/modules/modules_driver_transponder.md) + - [adc](/modules/modules_driver_adc.md) - [估计器](/modules/modules_estimator.md) - [仿真](/modules/modules_simulation.md) - [系统](/modules/modules_system.md) diff --git a/docs/zh/msg_docs/RoverVelocitySetpoint.md b/docs/zh/msg_docs/RoverVelocitySetpoint.md deleted file mode 100644 index 65103082b8..0000000000 --- a/docs/zh/msg_docs/RoverVelocitySetpoint.md +++ /dev/null @@ -1,15 +0,0 @@ -# RoverVelocitySetpoint (UORB message) - -Rover Velocity Setpoint - -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverVelocitySetpoint.msg) - -```c -# Rover Velocity Setpoint - -uint64 timestamp # [us] Time since system start -float32 speed # [m/s] [@range -inf (Backwards), inf (Forwards)] Speed setpoint -float32 bearing # [rad] [@range -pi,pi] [@frame NED] [@invalid: NaN, speed is defined in body x direction] Bearing setpoint -float32 yaw # [rad] [@range -pi, pi] [@frame NED] [@invalid NaN, Defaults to vehicle yaw] Mecanum only: Yaw setpoint - -``` diff --git a/docs/zh/msg_docs/RoverVelocityStatus.md b/docs/zh/msg_docs/RoverVelocityStatus.md deleted file mode 100644 index dfd7756afa..0000000000 --- a/docs/zh/msg_docs/RoverVelocityStatus.md +++ /dev/null @@ -1,18 +0,0 @@ -# RoverVelocityStatus (UORB message) - -Rover Velocity Status - -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RoverVelocityStatus.msg) - -```c -# Rover Velocity Status - -uint64 timestamp # [us] Time since system start -float32 measured_speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Measured speed in body x direction -float32 adjusted_speed_body_x_setpoint # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction that is being tracked (Applied slew rates) -float32 pid_throttle_body_x_integral # [] [@range -1, 1] Integral of the PID for the closed loop controller of the speed in body x direction -float32 measured_speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Measured speed in body y direction -float32 adjusted_speed_body_y_setpoint # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates) -float32 pid_throttle_body_y_integral # [] [@range -1, 1] [@invalid NaN If not mecanum] Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction - -```