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Merge remote-tracking branch 'upstream/main' into pr-remove_scale_from_fifo_msgs
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mcsauder
@@ -18,4 +18,4 @@ float32 value # range: [-1, 1], where 1 means maximum positive output,
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# and NaN maps to disarmed (stop the motors)
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uint32 timeout_ms # timeout in ms after which to exit test mode (if 0, do not time out)
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uint8 ORB_QUEUE_LENGTH = 12 # same as MAX_NUM_MOTORS to support code in esc_calibration
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uint8 ORB_QUEUE_LENGTH = 16 # >= MAX_NUM_MOTORS to support code in esc_calibration
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+8
-3
@@ -60,6 +60,8 @@ set(msg_files
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CollisionReport.msg
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ControlAllocatorStatus.msg
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Cpuload.msg
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DatamanRequest.msg
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DatamanResponse.msg
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DebugArray.msg
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DebugKeyValue.msg
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DebugValue.msg
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@@ -90,6 +92,7 @@ set(msg_files
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FollowTargetStatus.msg
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GeneratorStatus.msg
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GeofenceResult.msg
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GimbalControls.msg
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GimbalDeviceAttitudeStatus.msg
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GimbalDeviceInformation.msg
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GimbalDeviceSetAttitude.msg
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@@ -97,9 +100,12 @@ set(msg_files
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GimbalManagerSetAttitude.msg
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GimbalManagerSetManualControl.msg
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GimbalManagerStatus.msg
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GpioConfig.msg
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GpioIn.msg
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GpioOut.msg
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GpioRequest.msg
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GpsDump.msg
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GpsInjectData.msg
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GimbalControls.msg
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Gripper.msg
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HealthReport.msg
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HeaterStatus.msg
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@@ -174,6 +180,7 @@ set(msg_files
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SensorSelection.msg
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SensorsStatus.msg
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SensorsStatusImu.msg
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SensorUwb.msg
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SystemPower.msg
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TakeoffStatus.msg
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TaskStackInfo.msg
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@@ -190,8 +197,6 @@ set(msg_files
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UavcanParameterValue.msg
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UlogStream.msg
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UlogStreamAck.msg
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UwbDistance.msg
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UwbGrid.msg
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VehicleAcceleration.msg
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VehicleAirData.msg
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VehicleAngularAccelerationSetpoint.msg
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@@ -0,0 +1,8 @@
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uint64 timestamp # time since system start (microseconds)
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uint8 client_id
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uint8 request_type # id/read/write/clear
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uint8 item # dm_item_t
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uint32 index
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uint8[56] data
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uint32 data_length
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@@ -0,0 +1,15 @@
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uint64 timestamp # time since system start (microseconds)
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uint8 client_id
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uint8 request_type # id/read/write/clear
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uint8 item # dm_item_t
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uint32 index
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uint8[56] data
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uint8 STATUS_SUCCESS = 0
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uint8 STATUS_FAILURE_ID_ERR = 1
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uint8 STATUS_FAILURE_NO_DATA = 2
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uint8 STATUS_FAILURE_READ_FAILED = 3
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uint8 STATUS_FAILURE_WRITE_FAILED = 4
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uint8 STATUS_FAILURE_CLEAR_FAILED = 5
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uint8 status
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@@ -14,7 +14,6 @@ float32 innovation
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float32 innovation_variance
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float32 test_ratio
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bool fusion_enabled # true when measurements are being fused
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bool innovation_rejected # true if the observation has been rejected
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bool fused # true if the sample was successfully fused
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@@ -22,3 +21,4 @@ bool fused # true if the sample was successfully fused
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# TOPICS estimator_aid_src_airspeed estimator_aid_src_sideslip
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# TOPICS estimator_aid_src_fake_hgt
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# TOPICS estimator_aid_src_mag_heading estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw
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# TOPICS estimator_aid_src_terrain_range_finder
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@@ -14,7 +14,6 @@ float32[2] innovation
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float32[2] innovation_variance
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float32[2] test_ratio
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bool fusion_enabled # true when measurements are being fused
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bool innovation_rejected # true if the observation has been rejected
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bool fused # true if the sample was successfully fused
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@@ -14,7 +14,6 @@ float32[3] innovation
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float32[3] innovation_variance
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float32[3] test_ratio
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bool fusion_enabled # true when measurements are being fused
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bool innovation_rejected # true if the observation has been rejected
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bool fused # true if the sample was successfully fused
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@@ -127,3 +127,8 @@ uint32 mag_device_id
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# legacy local position estimator (LPE) flags
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uint8 health_flags # Bitmask to indicate sensor health states (vel, pos, hgt)
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uint8 timeout_flags # Bitmask to indicate timeout flags (vel, pos, hgt)
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float32 mag_inclination_deg
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float32 mag_inclination_ref_deg
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float32 mag_strength_gs
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float32 mag_strength_ref_gs
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@@ -39,6 +39,9 @@ bool cs_rng_kin_consistent # 31 - true when the range finder kinematic cons
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bool cs_fake_pos # 32 - true when fake position measurements are being fused
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bool cs_fake_hgt # 33 - true when fake height measurements are being fused
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bool cs_gravity_vector # 34 - true when gravity vector measurements are being fused
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bool cs_mag # 35 - true if 3-axis magnetometer measurement fusion (mag states only) is intended
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bool cs_ev_yaw_fault # 36 - true when the EV heading has been declared faulty and is no longer being used
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bool cs_mag_heading_consistent # 37 - true when the heading obtained from mag data is declared consistent with the filter
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# fault status
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uint32 fault_status_changes # number of filter fault status (fs) changes
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@@ -0,0 +1,28 @@
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# GPIO configuration
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uint64 timestamp # time since system start (microseconds)
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uint32 device_id # Device id
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uint32 mask # Pin mask
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uint32 state # Initial pin output state
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# Configuration Mask
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# Bit 0-3: Direction: 0=Input, 1=Output
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# Bit 4-7: Input Config: 0=Floating, 1=PullUp, 2=PullDown
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# Bit 8-12: Output Config: 0=PushPull, 1=OpenDrain
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# Bit 13-31: Reserved
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uint32 INPUT = 0 # 0x0000
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uint32 OUTPUT = 1 # 0x0001
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uint32 PULLUP = 16 # 0x0010
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uint32 PULLDOWN = 32 # 0x0020
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uint32 OPENDRAIN = 256 # 0x0100
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uint32 INPUT_FLOATING = 0 # 0x0000
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uint32 INPUT_PULLUP = 16 # 0x0010
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uint32 INPUT_PULLDOWN = 32 # 0x0020
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uint32 OUTPUT_PUSHPULL = 0 # 0x0000
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uint32 OUTPUT_OPENDRAIN = 256 # 0x0100
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uint32 OUTPUT_OPENDRAIN_PULLUP = 272 # 0x0110
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uint32 config
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@@ -0,0 +1,6 @@
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# GPIO mask and state
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uint64 timestamp # time since system start (microseconds)
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uint32 device_id # Device id
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uint32 state # pin state mask
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@@ -0,0 +1,7 @@
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# GPIO mask and state
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uint64 timestamp # time since system start (microseconds)
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uint32 device_id # Device id
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uint32 mask # pin mask
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uint32 state # pin state mask
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@@ -0,0 +1,4 @@
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# Request GPIO mask to be read
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uint64 timestamp # time since system start (microseconds)
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uint32 device_id # Device id
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@@ -3,3 +3,10 @@ uint8 dataman_id # default 0, there are two offboard storage places in the datam
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uint16 count # count of the missions stored in the dataman
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int32 current_seq # default -1, start at the one changed latest
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int32 land_start_index # Index of the land start marker, if unavailable index of the land item, -1 otherwise
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int32 land_index # Index of the land item, -1 otherwise
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uint16 mission_update_counter # indicates updates to the mission, reload from dataman if increased
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uint16 geofence_update_counter # indicates updates to the geofence, reload from dataman if increased
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uint16 safe_points_update_counter # indicates updates to the safe points, reload from dataman if increased
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+11
-4
@@ -5,10 +5,10 @@ uint64 timestamp_sample
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uint32 device_id # unique device ID for the sensor that does not change between power cycles
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int32 lat # Latitude in 1E-7 degrees
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int32 lon # Longitude in 1E-7 degrees
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int32 alt # Altitude in 1E-3 meters above MSL, (millimetres)
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int32 alt_ellipsoid # Altitude in 1E-3 meters bove Ellipsoid, (millimetres)
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float64 latitude_deg # Latitude in degrees, allows centimeter level RTK precision
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float64 longitude_deg # Longitude in degrees, allows centimeter level RTK precision
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float64 altitude_msl_m # Altitude above MSL, meters
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float64 altitude_ellipsoid_m # Altitude above Ellipsoid, meters
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float32 s_variance_m_s # GPS speed accuracy estimate, (metres/sec)
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float32 c_variance_rad # GPS course accuracy estimate, (radians)
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@@ -55,4 +55,11 @@ float32 heading_accuracy # heading accuracy (rad, [0, 2PI])
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float32 rtcm_injection_rate # RTCM message injection rate Hz
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uint8 selected_rtcm_instance # uorb instance that is being used for RTCM corrections
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bool rtcm_crc_failed # RTCM message CRC failure detected
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uint8 RTCM_MSG_USED_UNKNOWN = 0
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uint8 RTCM_MSG_USED_NOT_USED = 1
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uint8 RTCM_MSG_USED_USED = 2
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uint8 rtcm_msg_used # Indicates if the RTCM message was used successfully by the receiver
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# TOPICS sensor_gps vehicle_gps_position
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@@ -0,0 +1,34 @@
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# UWB distance contains the distance information measured by an ultra-wideband positioning system,
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# such as Pozyx or NXP Rddrone.
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uint64 timestamp # time since system start (microseconds)
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uint32 sessionid # UWB SessionID
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uint32 time_offset # Time between Ranging Rounds in ms
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uint32 counter # Number of Ranges since last Start of Ranging
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uint16 mac # MAC adress of Initiator (controller)
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uint16 mac_dest # MAC adress of Responder (Controlee)
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uint16 status # status feedback #
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uint8 nlos # None line of site condition y/n
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float32 distance # distance in m to the UWB receiver
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#Angle of arrival, Angle in Degree -60..+60; FOV in both axis is 120 degrees
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float32 aoa_azimuth_dev # Angle of arrival of first incomming RX msg
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float32 aoa_elevation_dev # Angle of arrival of first incomming RX msg
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float32 aoa_azimuth_resp # Angle of arrival of first incomming RX msg at the responder
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float32 aoa_elevation_resp # Angle of arrival of first incomming RX msg at the responder
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# Figure of merit for the angle measurements
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uint8 aoa_azimuth_fom # AOA Azimuth FOM
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uint8 aoa_elevation_fom # AOA Elevation FOM
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uint8 aoa_dest_azimuth_fom # AOA Azimuth FOM
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uint8 aoa_dest_elevation_fom # AOA Elevation FOM
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# Initiator physical configuration
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uint8 orientation # Direction the sensor faces from MAV_SENSOR_ORIENTATION enum
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# Standard configuration is Antennas facing down and azimuth aligened in forward direction
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float32 offset_x # UWB initiator offset in X axis (NED drone frame)
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float32 offset_y # UWB initiator offset in Y axis (NED drone frame)
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float32 offset_z # UWB initiator offset in Z axis (NED drone frame)
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@@ -1,15 +0,0 @@
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# UWB distance contains the distance information measured by an ultra-wideband positioning system,
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# such as Pozyx or NXP Rddrone.
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uint64 timestamp # time since system start (microseconds)
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uint32 time_uwb_ms # Time of UWB device in ms
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uint32 counter # Number of Ranges since last Start of Ranging
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uint32 sessionid # UWB SessionID
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uint32 time_offset # Time between Ranging Rounds in ms
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uint16 status # status feedback #
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uint16[12] anchor_distance # distance in cm to each UWB Anchor (UWB Device which takes part in Ranging)
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bool[12] nlos # Visual line of sight yes/no
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float32[12] aoafirst # Angle of arrival of first incoming RX msg
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float32[3] position # Position of the Landing point in relation to the Drone (x,y,z in Meters NED)
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@@ -1,25 +0,0 @@
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# UWB report message contains the grid information measured by an ultra-wideband positioning system,
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# such as Pozyx or NXP Rddrone.
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uint64 timestamp # time since system start (microseconds)
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uint16 initator_time # time to synchronize clocks (microseconds)
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uint8 num_anchors # Number of anchors
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float64[4] target_gps # GPS position of target of the UWB system (Lat / Lon / Alt / Yaw Offset to true North)
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# Grid position information
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# Position in x,y,z in (x,y,z in centimeters NED)
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# staring with POI and Anchor 0 up to Anchor 11
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int16[3] target_pos # Point of Interest, mostly landing Target x,y,z
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int16[3] anchor_pos_0
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int16[3] anchor_pos_1
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int16[3] anchor_pos_2
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int16[3] anchor_pos_3
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int16[3] anchor_pos_4
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int16[3] anchor_pos_5
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int16[3] anchor_pos_6
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int16[3] anchor_pos_7
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int16[3] anchor_pos_8
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int16[3] anchor_pos_9
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int16[3] anchor_pos_10
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int16[3] anchor_pos_11
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@@ -14,3 +14,4 @@ bool flag_control_position_enabled # true if position is controlled
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bool flag_control_altitude_enabled # true if altitude is controlled
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bool flag_control_climb_rate_enabled # true if climb rate is controlled
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bool flag_control_termination_enabled # true if flighttermination is enabled
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bool flag_control_allocation_enabled # true if control allocation is enabled
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@@ -39,6 +39,7 @@ float32 ay # East velocity derivative in NED earth-fixed frame, (metres/s
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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 unaided_heading # Same as heading but generated by integrating corrected gyro data only
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float32 delta_heading
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uint8 heading_reset_counter
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bool heading_good_for_control
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@@ -6,13 +6,8 @@ uint64 armed_time # Arming timestamp (microseconds)
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uint64 takeoff_time # Takeoff timestamp (microseconds)
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uint8 arming_state
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uint8 ARMING_STATE_INIT = 0
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uint8 ARMING_STATE_STANDBY = 1
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uint8 ARMING_STATE_ARMED = 2
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uint8 ARMING_STATE_STANDBY_ERROR = 3
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uint8 ARMING_STATE_SHUTDOWN = 4
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uint8 ARMING_STATE_IN_AIR_RESTORE = 5
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uint8 ARMING_STATE_MAX = 6
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uint8 ARMING_STATE_DISARMED = 1
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uint8 ARMING_STATE_ARMED = 2
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uint8 latest_arming_reason
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uint8 latest_disarming_reason
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@@ -121,4 +116,3 @@ bool rc_calibration_in_progress
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bool calibration_enabled
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bool pre_flight_checks_pass # true if all checks necessary to arm pass
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