Merge branch 'main' into jake/am32_flasher

2026-10-16 12:13:33 +08:00 · 2026-02-17 13:44:54 -09:00
parent ceba801573 6b67ccb0ad
commit f37df48fa2
2757 changed files with 115974 additions and 31111 deletions
@@ -1,6 +1,10 @@
-uint64 timestamp		# time since system start (microseconds)
-uint32 device_id		# unique device ID for the sensor that does not change between power cycles
-int16[12] channel_id		# ADC channel IDs, negative for non-existent, TODO: should be kept same as array index
-int32[12] raw_data		# ADC channel raw value, accept negative value, valid if channel ID is positive
-uint32 resolution		# ADC channel resolution
-float32 v_ref			# ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution)
+# ADC raw data.
+#
+# Communicates raw data from an analog-to-digital converter (ADC) to other modules, such as battery status.
+
+uint64 timestamp      # [us] Time since system start
+uint32 device_id      # [-] unique device ID for the sensor that does not change between power cycles
+int16[16] channel_id  # [-] ADC channel IDs, negative for non-existent, TODO: should be kept same as array index
+int32[16] raw_data    # [-] ADC channel raw value, accept negative value, valid if channel ID is positive
+uint32 resolution     # [-] ADC channel resolution
+float32 v_ref         # [V] ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution)
@@ -1,35 +1,45 @@
-uint64 timestamp                # time since system start (microseconds)
+# Autotune attitude control status
+#
+# This message is published by the fw_autotune_attitude_control and mc_autotune_attitude_control modules when the user engages autotune,
+# and is subscribed to by the respective attitude controllers to command rate setpoints.
+#
+# The rate_sp field is consumed by the controllers, while the remaining fields (model coefficients, gains, filters, and autotune state) are used for logging and debugging.

-float32[5] coeff                # coefficients of the identified discrete-time model
-float32[5] coeff_var            # coefficients' variance of the identified discrete-time model
-float32 fitness                 # fitness of the parameter estimate
-float32 innov
-float32 dt_model
+uint64 timestamp  # [us] Time since system start

-float32 kc
-float32 ki
-float32 kd
-float32 kff
-float32 att_p
+float32[5] coeff      # [-] Coefficients of the identified discrete-time model
+float32[5] coeff_var  # [-] Coefficients' variance of the identified discrete-time model
+float32 fitness       # [-] Fitness of the parameter estimate
+float32 innov         # [rad/s] Innovation (residual error between model and measured output)
+float32 dt_model      # [s] Model sample time used for identification

-float32[3] rate_sp

-float32 u_filt
-float32 y_filt
+float32 kc    # [-] Proportional rate-loop gain (ideal form)
+float32 ki    # [-] Integral rate-loop gain (ideal form)
+float32 kd    # [-] Derivative rate-loop gain (ideal form)
+float32 kff   # [-] Feedforward rate-loop gain
+float32 att_p # [-] Proportional attitude gain

-uint8 STATE_IDLE = 0
-uint8 STATE_INIT = 1
-uint8 STATE_ROLL = 2
-uint8 STATE_ROLL_PAUSE = 3
-uint8 STATE_PITCH = 4
-uint8 STATE_PITCH_PAUSE = 5
-uint8 STATE_YAW = 6
-uint8 STATE_YAW_PAUSE = 7
-uint8 STATE_VERIFICATION = 8
-uint8 STATE_APPLY = 9
-uint8 STATE_TEST = 10
-uint8 STATE_COMPLETE = 11
-uint8 STATE_FAIL = 12
-uint8 STATE_WAIT_FOR_DISARM = 13
+float32[3] rate_sp # [rad/s] Rate setpoint commanded to the attitude controller.

-uint8 state
+float32 u_filt  # [-] Filtered input signal (normalized torque setpoint) used in system identification.
+float32 y_filt  # [rad/s] Filtered output signal (angular velocity) used in system identification.
+
+uint8 state  # [@enum STATE] Current state of the autotune procedure.
+uint8 STATE_IDLE = 0                      # Idle (not running)
+uint8 STATE_INIT = 1                      # Initialize filters and setup
+uint8 STATE_ROLL_AMPLITUDE_DETECTION = 2  # FW only: determine required excitation amplitude (roll)
+uint8 STATE_ROLL = 3                      # Roll-axis excitation and model identification
+uint8 STATE_ROLL_PAUSE = 4                # Pause to return to level flight
+uint8 STATE_PITCH_AMPLITUDE_DETECTION = 5 # FW only: determine required excitation amplitude (pitch)
+uint8 STATE_PITCH = 6                     # Pitch-axis excitation and model identification
+uint8 STATE_PITCH_PAUSE = 7               # Pause to return to level flight
+uint8 STATE_YAW_AMPLITUDE_DETECTION = 8   # FW only: determine required excitation amplitude (yaw)
+uint8 STATE_YAW = 9                       # Yaw-axis excitation and model identification
+uint8 STATE_YAW_PAUSE = 10                # Pause to return to level flight
+uint8 STATE_VERIFICATION = 11             # Verify model and candidate gains
+uint8 STATE_APPLY = 12                    # Apply gains
+uint8 STATE_TEST = 13                     # Test gains in closed-loop
+uint8 STATE_COMPLETE = 14                 # Tuning completed successfully
+uint8 STATE_FAIL = 15                     # Tuning failed (model invalid or controller unstable)
+uint8 STATE_WAIT_FOR_DISARM = 16          # Waiting for disarm before finalizing
@@ -63,6 +63,7 @@ set(msg_files
 	DebugKeyValue.msg
 	DebugValue.msg
 	DebugVect.msg
+	DeviceInformation.msg
 	DifferentialPressure.msg
 	DistanceSensor.msg
 	DistanceSensorModeChangeRequest.msg
@@ -99,6 +100,7 @@ set(msg_files
 	GeneratorStatus.msg
 	GeofenceResult.msg
 	GeofenceStatus.msg
+	GainCompression.msg
 	GimbalControls.msg
 	GimbalDeviceAttitudeStatus.msg
 	GimbalDeviceInformation.msg
@@ -196,6 +198,7 @@ set(msg_files
 	SensorCombined.msg
 	SensorCorrection.msg
 	SensorGnssRelative.msg
+	SensorGnssStatus.msg
 	SensorGps.msg
 	SensorGyro.msg
 	SensorGyroFft.msg
@@ -207,6 +210,7 @@ set(msg_files
 	SensorSelection.msg
 	SensorsStatus.msg
 	SensorsStatusImu.msg
+	SensorTemp.msg
 	SensorUwb.msg
 	SensorAirflow.msg
 	SystemPower.msg
@@ -237,6 +241,7 @@ set(msg_files
 	VehicleThrustSetpoint.msg
 	VehicleTorqueSetpoint.msg
 	VelocityLimits.msg
+	Vtx.msg
 	WheelEncoders.msg
 	YawEstimatorStatus.msg
 	versioned/ActuatorMotors.msg
@@ -254,6 +259,8 @@ set(msg_files
 	versioned/LongitudinalControlConfiguration.msg
 	versioned/ManualControlSetpoint.msg
 	versioned/ModeCompleted.msg
+	versioned/RaptorInput.msg
+	versioned/RaptorStatus.msg
 	versioned/RegisterExtComponentReply.msg
 	versioned/RegisterExtComponentRequest.msg
 	versioned/TrajectorySetpoint.msg
@@ -19,3 +19,4 @@ int8[16] actuator_saturation            # Indicates actuator saturation status.
                                        # Note 2: an actuator with limited dynamics can be indicated as upper-saturated even if it as not reached its maximum value.

 uint16 handled_motor_failure_mask        # Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector
+uint16 motor_stop_mask                   # Bitmaks of motors stopped by failure injection
@@ -0,0 +1,33 @@
+# Device information
+#
+# Can be used to uniquely associate a device_id from a sensor topic with a physical device using serial number.
+# as well as tracking of the used firmware versions on the devices.
+
+uint64 timestamp  # time since system start (microseconds)
+
+uint8 device_type  # [@enum DEVICE_TYPE] Type of the device. Matches MAVLink DEVICE_TYPE enum
+
+uint8 DEVICE_TYPE_GENERIC = 0                 # Generic/unknown sensor
+uint8 DEVICE_TYPE_AIRSPEED = 1                # Airspeed sensor
+uint8 DEVICE_TYPE_ESC = 2                     # ESC
+uint8 DEVICE_TYPE_SERVO = 3                   # Servo
+uint8 DEVICE_TYPE_GPS = 4                     # GPS
+uint8 DEVICE_TYPE_MAGNETOMETER = 5            # Magnetometer
+uint8 DEVICE_TYPE_PARACHUTE = 6               # Parachute
+uint8 DEVICE_TYPE_RANGEFINDER = 7             # Rangefinder
+uint8 DEVICE_TYPE_WINCH = 8                   # Winch
+uint8 DEVICE_TYPE_BAROMETER = 9               # Barometer
+uint8 DEVICE_TYPE_OPTICAL_FLOW = 10           # Optical flow
+uint8 DEVICE_TYPE_ACCELEROMETER = 11          # Accelerometer
+uint8 DEVICE_TYPE_GYROSCOPE = 12              # Gyroscope
+uint8 DEVICE_TYPE_DIFFERENTIAL_PRESSURE = 13  # Differential pressure
+uint8 DEVICE_TYPE_BATTERY = 14                # Battery
+uint8 DEVICE_TYPE_HYGROMETER = 15             # Hygrometer
+
+char[32] vendor_name  # Name of the device vendor
+char[32] model_name   # Name of the device model
+
+uint32   device_id         # [-] [@invalid 0 if not available] Unique device ID for the sensor. Does not change between power cycles.
+char[24] firmware_version  # [-] [@invalid empty if not available] Firmware version.
+char[24] hardware_version  # [-] [@invalid empty if not available] Hardware version.
+char[33] serial_number     # [-] [@invalid empty if not available] Device serial number or unique identifier.
@@ -1,10 +1,12 @@
-uint64 timestamp                     # time since system start (microseconds)
-uint64 timestamp_sample
+# Differential-pressure (airspeed) sensor
+#
+# This is populated by airspeed sensor drivers and used by the sensor module to calculate airspeed.
+# The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding `SensorBaro` instance).

-uint32 device_id                     # unique device ID for the sensor that does not change between power cycles
+uint64 timestamp         # [us] Time of publication (since system start)
+uint64 timestamp_sample  # [us] Time of raw data capture

-float32 differential_pressure_pa     # differential pressure reading in Pascals (may be negative)
-
-float32 temperature                  # Temperature provided by sensor in degrees Celsius, NAN if unknown
-
-uint32 error_count                   # Number of errors detected by driver
+uint32 device_id                  # [-] Unique device ID for the sensor that does not change between power cycles
+float32 differential_pressure_pa  # [Pa] Differential pressure reading (may be negative)
+float32 temperature               # [degC] [@invalid NaN if unknown] Temperature
+uint32 error_count                # [-] Number of errors detected by driver
@@ -11,6 +11,19 @@ uint8 esc_state					# State of ESC - depend on Vendor

 uint8 actuator_function				# actuator output function (one of Motor1...MotorN)

+uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
+uint8 ACTUATOR_FUNCTION_MOTOR2 = 102
+uint8 ACTUATOR_FUNCTION_MOTOR3 = 103
+uint8 ACTUATOR_FUNCTION_MOTOR4 = 104
+uint8 ACTUATOR_FUNCTION_MOTOR5 = 105
+uint8 ACTUATOR_FUNCTION_MOTOR6 = 106
+uint8 ACTUATOR_FUNCTION_MOTOR7 = 107
+uint8 ACTUATOR_FUNCTION_MOTOR8 = 108
+uint8 ACTUATOR_FUNCTION_MOTOR9 = 109
+uint8 ACTUATOR_FUNCTION_MOTOR10 = 110
+uint8 ACTUATOR_FUNCTION_MOTOR11 = 111
+uint8 ACTUATOR_FUNCTION_MOTOR12 = 112
+
 uint16 failures					# Bitmask to indicate the internal ESC faults
 int8 esc_power					# Applied power 0-100 in % (negative values reserved)

@@ -16,6 +16,7 @@ uint8 GPS_CHECK_FAIL_MAX_VERT_DRIFT = 7		# 7 : maximum allowed vertical position
 uint8 GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR = 8	# 8 : maximum allowed horizontal speed fail - requires stationary vehicle
 uint8 GPS_CHECK_FAIL_MAX_VERT_SPD_ERR = 9	# 9 : maximum allowed vertical velocity discrepancy fail
 uint8 GPS_CHECK_FAIL_SPOOFED = 10		# 10 : GPS signal is spoofed
+uint8 GPS_CHECK_FAIL_JAMMED = 11		# 11 : GPS signal is jammed

 uint64 control_mode_flags	# Bitmask to indicate EKF logic state
 uint8 CS_TILT_ALIGN = 0		# 0 - true if the filter tilt alignment is complete
@@ -47,7 +48,9 @@ uint8 CS_SYNTHETIC_MAG_Z = 25	# 25 - true when we are using a synthesized measur
 uint8 CS_VEHICLE_AT_REST = 26	# 26 - true when the vehicle is at rest
 uint8 CS_GPS_YAW_FAULT = 27	# 27 - true when the GNSS heading has been declared faulty and is no longer being used
 uint8 CS_RNG_FAULT = 28		# 28 - true when the range finder has been declared faulty and is no longer being used
-uint8 CS_GNSS_VEL = 44		# 44 - true if GNSS velocity measurements are being fused
+uint8 CS_GNSS_VEL = 44		# 44 - true if GNSS velocity measurement fusion is intended
+uint8 CS_GNSS_FAULT = 45        # 45 - true if GNSS measurements have been declared faulty and are no longer used
+uint8 CS_YAW_MANUAL = 46        # 46 - true if yaw has been set manually

 uint32 filter_fault_flags	# Bitmask to indicate EKF internal faults
 # 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error
@@ -49,6 +49,9 @@ bool cs_valid_fake_pos          # 41 - true if a valid constant position is bein
 bool cs_constant_pos            # 42 - true if the vehicle is at a constant position
 bool cs_baro_fault	        # 43 - true when the current baro has been declared faulty and is no longer being used
 bool cs_gnss_vel                # 44 - true if GNSS velocity measurement fusion is intended
+bool cs_gnss_fault              # 45 - true if GNSS true if GNSS measurements (lat, lon, vel) have been declared faulty
+bool cs_yaw_manual              # 46 - true if yaw has been set manually
+bool cs_gnss_hgt_fault          # 47 - true if GNSS true if GNSS measurements (alt) have been declared faulty

 # fault status
 uint32 fault_status_changes   # number of filter fault status (fs) changes
@@ -63,17 +66,3 @@ bool fs_bad_optflow_x         #  7 - true if fusion of the optical flow X axis h
 bool fs_bad_optflow_y         #  8 - true if fusion of the optical flow Y axis has encountered a numerical error
 bool fs_bad_acc_vertical      # 10 - true if bad vertical accelerometer data has been detected
 bool fs_bad_acc_clipping      # 11 - true if delta velocity data contains clipping (asymmetric railing)
-
-
-# innovation test failures
-uint32 innovation_fault_status_changes    # number of innovation fault status (reject) changes
-bool reject_hor_vel                       #  0 - true if horizontal velocity observations have been rejected
-bool reject_ver_vel                       #  1 - true if vertical velocity observations have been rejected
-bool reject_hor_pos                       #  2 - true if horizontal position observations have been rejected
-bool reject_ver_pos                       #  3 - true if vertical position observations have been rejected
-bool reject_yaw                           #  7 - true if the yaw observation has been rejected
-bool reject_airspeed                      #  8 - true if the airspeed observation has been rejected
-bool reject_sideslip                      #  9 - true if the synthetic sideslip observation has been rejected
-bool reject_hagl                          # 10 - true if the height above ground observation has been rejected
-bool reject_optflow_x                     # 11 - true if the X optical flow observation has been rejected
-bool reject_optflow_y                     # 12 - true if the Y optical flow observation has been rejected
@@ -12,3 +12,4 @@ bool fd_motor

 float32 imbalanced_prop_metric      # Metric of the imbalanced propeller check (low-passed)
 uint16 motor_failure_mask           # Bit-mask with motor indices, indicating critical motor failures
+uint16 motor_stop_mask              # Bitmaks of motors stopped by failure injection
@@ -1,8 +1,15 @@
 # Auxiliary control fields for fixed-wing runway takeoff/landing

-# Passes information from the FixedWingModeManager to the FixedWingAttitudeController
+# Passes information from the FixedWingModeManager to the FixedWingAttitudeController (wheel control) and FixedWingLandDetector (takeoff state)

 uint64 timestamp # [us] time since system start

+uint8 STATE_THROTTLE_RAMP = 0		# ramping up throttle
+uint8 STATE_CLAMPED_TO_RUNWAY = 1	# clamped to runway, controlling yaw directly (wheel or rudder)
+uint8 STATE_CLIMBOUT = 2		# climbout to safe height before navigation
+uint8 STATE_FLYING = 3			# navigate freely
+
+uint8 runway_takeoff_state		# Current state of runway takeoff state machine
+
 bool wheel_steering_enabled		# Flag that enables the wheel steering.
 float32 wheel_steering_nudging_rate	# [norm] [@range -1, 1] [FRD] Manual wheel nudging, added to controller output. NAN is interpreted as 0.
@@ -0,0 +1,5 @@
+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
@@ -4,4 +4,4 @@ uint8 INDEX_PITCH = 1
 uint8 INDEX_YAW = 2

 uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
-float32[3] control
+float32[3] control	# Normalized output. 1 means maximum positive position. -1 maximum negative position. 0 means no deflection. NaN maps to disarmed.
@@ -9,6 +9,9 @@ uint16 DEVICE_FLAGS_NEUTRAL = 2
 uint16 DEVICE_FLAGS_ROLL_LOCK = 4
 uint16 DEVICE_FLAGS_PITCH_LOCK = 8
 uint16 DEVICE_FLAGS_YAW_LOCK = 16
+uint16 DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME = 32
+uint16 DEVICE_FLAGS_YAW_IN_EARTH_FRAME = 64
+

 float32[4] q
 float32 angular_velocity_x
@@ -1,4 +1,5 @@
 # GPIO mask and state
+uint8 MAX_INSTANCES = 8

 uint64 timestamp			# time since system start (microseconds)
 uint32 device_id			# Device id
@@ -2,9 +2,13 @@

 uint64 timestamp # time since system start (microseconds)

+uint8 INSTANCE_MAIN = 0
+uint8 INSTANCE_SECONDARY = 1
+
 uint8 instance   # Instance of GNSS receiver
+uint32 device_id
 uint8 len        # length of data, MSB bit set = message to the gps device,
                 # clear = message from the device
 uint8[79] data   # data to write to the log

-uint8 ORB_QUEUE_LENGTH = 8
+uint8 ORB_QUEUE_LENGTH = 16
@@ -32,9 +32,11 @@ bool rc_lost				# RC receiver connection status: True,if no frame has arrived in
 uint16 rc_lost_frame_count		# Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality.
 uint16 rc_total_frame_count		# Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality.
 uint16 rc_ppm_frame_length		# Length of a single PPM frame. Zero for non-PPM systems
+uint16 rc_frame_rate			# RC frame rate in msg/second. 0 = invalid

 uint8 input_source			# Input source
 uint16[18] values			# measured pulse widths for each of the supported channels

 int8 link_quality			# link quality. Percentage 0-100%. -1 = invalid
 float32 rssi_dbm			# Actual rssi in units of dBm. NaN = invalid
+int8 link_snr				# link signal to noise ratio in units of dB. -1 = invalid
@@ -7,3 +7,5 @@ uint8 STATE_LAUNCH_DETECTED_DISABLED_MOTOR 	= 1 # launch detected, but keep moto
 uint8 STATE_FLYING 				= 2 # launch detected, use normal takeoff/flying configuration

 uint8 launch_detection_state
+
+bool selected_control_surface_disarmed		# [-] flag indicating whether selected actuators should kept disarmed (have to be configured in control allocation)
@@ -20,4 +20,4 @@ uint8 payload_length     # Length of the data transported in payload
 uint8[128] payload       # Data itself

 # Topic aliases for known payload types
-# TOPICS mavlink_tunnel esc_serial_passthru
+# TOPICS mavlink_tunnel esc_serial_passthru io_serial_passthru
@@ -1,8 +1,8 @@
 # Pure pursuit status

-uint64 timestamp # [us] Time since system start
-float32 lookahead_distance # [m] [@range 0, inf] Lookahead distance of pure the pursuit controller
-float32 target_bearing # [rad] [@range -pi, pi] [@frame NED] Target bearing calculated by the pure pursuit controller
-float32 crosstrack_error # [m] [@range -inf (Left of the path), inf (Right of the path)] Shortest distance from the vehicle to the path
-float32 distance_to_waypoint # [m] [@range -inf, inf]Distance from the vehicle to the current waypoint
-float32 bearing_to_waypoint # [rad] [@range -pi, pi] [@frame NED]Bearing towards current waypoint
+uint64 timestamp              # [us] Time since system start
+float32 lookahead_distance    # [m] [@range 0, inf] Lookahead distance of pure the pursuit controller
+float32 target_bearing        # [rad] [@range -pi, pi] [@frame NED] Target bearing calculated by the pure pursuit controller
+float32 crosstrack_error      # [m] [@range -inf (Left of the path), inf (Right of the path)] Shortest distance from the vehicle to the path
+float32 distance_to_waypoint  # [m] [@range -inf, inf]Distance from the vehicle to the current waypoint
+float32 bearing_to_waypoint   # [rad] [@range -pi, pi] [@frame NED]Bearing towards current waypoint
@@ -1,4 +1,4 @@
 # Rover Attitude Setpoint

-uint64 timestamp # [us] Time since system start
-float32 yaw_setpoint # [rad] [@range -inf, inf] [@frame NED] Yaw setpoint
+uint64 timestamp      # [us] Time since system start
+float32 yaw_setpoint  # [rad] [@range -inf, inf] [@frame NED] Yaw setpoint
@@ -1,5 +1,5 @@
 # Rover Attitude Status

-uint64 timestamp # [us] Time since system start
-float32 measured_yaw # [rad] [@range -pi, pi] [@frame NED]Measured yaw
-float32 adjusted_yaw_setpoint # [rad] [@range -pi, pi] [@frame NED] Yaw setpoint that is being tracked (Applied slew rates)
+uint64 timestamp               # [us] Time since system start
+float32 measured_yaw           # [rad] [@range -pi, pi] [@frame NED]Measured yaw
+float32 adjusted_yaw_setpoint  # [rad] [@range -pi, pi] [@frame NED] Yaw setpoint that is being tracked (Applied slew rates)
@@ -1,8 +1,8 @@
 # Rover Position Setpoint

-uint64 timestamp # [us] Time since system start
-float32[2] position_ned # [m] [@range -inf, inf] [@frame NED] Target position
-float32[2] start_ned # [m] [@range -inf, inf] [@frame NED] [@invalid NaN Defaults to vehicle position] Start position which specifies a line for the rover to track
-float32 cruising_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to maximum speed] Cruising speed
-float32 arrival_speed # [m/s] [@range 0, inf] [@invalid NaN Defaults to 0] Speed the rover should arrive at the target with
-float32 yaw # [rad] [@range -pi,pi] [@frame NED] [@invalid NaN Defaults to vehicle yaw] Mecanum only: Specify vehicle yaw during travel
+uint64 timestamp         # [us] Time since system start
+float32[2] position_ned  # [m] [@range -inf, inf] [@frame NED] Target position
+float32[2] start_ned     # [m] [@range -inf, inf] [@frame NED] [@invalid NaN Defaults to vehicle position] Start position which specifies a line for the rover to track
+float32 cruising_speed   # [m/s] [@range 0, inf] [@invalid NaN Defaults to maximum speed] Cruising speed
+float32 arrival_speed    # [m/s] [@range 0, inf] [@invalid NaN Defaults to 0] Speed the rover should arrive at the target with
+float32 yaw              # [rad] [@range -pi,pi] [@frame NED] [@invalid NaN Defaults to vehicle yaw] Mecanum only: Specify vehicle yaw during travel
@@ -1,4 +1,4 @@
 # Rover Rate setpoint

-uint64 timestamp # [us] Time since system start
-float32 yaw_rate_setpoint # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint
+uint64 timestamp           # [us] Time since system start
+float32 yaw_rate_setpoint  # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint
@@ -1,6 +1,6 @@
 # Rover Rate Status

-uint64 timestamp # [us] Time since system start
-float32 measured_yaw_rate # [rad/s] [@range -inf, inf] [@frame NED] Measured yaw rate
-float32 adjusted_yaw_rate_setpoint # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint that is being tracked (Applied slew rates)
-float32 pid_yaw_rate_integral #  [] [@range -1, 1] Integral of the PID for the closed loop yaw rate controller
+uint64 timestamp                    # [us] Time since system start
+float32 measured_yaw_rate           # [rad/s] [@range -inf, inf] [@frame NED] Measured yaw rate
+float32 adjusted_yaw_rate_setpoint  # [rad/s] [@range -inf, inf] [@frame NED] Yaw rate setpoint that is being tracked (Applied slew rates)
+float32 pid_yaw_rate_integral       # [-] [@range -1, 1] Integral of the PID for the closed loop yaw rate controller
@@ -1,5 +1,5 @@
 # Rover Speed Setpoint

-uint64 timestamp # [us] Time since system start
-float32 speed_body_x # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction
-float32 speed_body_y # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction
+uint64 timestamp      # [us] Time since system start
+float32 speed_body_x  # [m/s] [@range -inf (Backwards), inf (Forwards)] [@frame Body] Speed setpoint in body x direction
+float32 speed_body_y  # [m/s] [@range -inf (Left), inf (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Speed setpoint in body y direction
@@ -1,9 +1,9 @@
 # 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
+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
@@ -1,4 +1,4 @@
 # Rover Steering setpoint

-uint64 timestamp # [us] Time since system start
-float32 normalized_steering_setpoint # [@range -1 (Left), 1 (Right)] [@frame Body] Ackermann: Normalized steering angle, Differential/Mecanum: Normalized speed difference between the left and right wheels
+uint64 timestamp                      # [us] Time since system start
+float32 normalized_steering_setpoint  # [-] [@range -1 (Left), 1 (Right)] [@frame Body] Ackermann: Normalized steering angle, Differential/Mecanum: Normalized speed difference between the left and right wheels
@@ -1,5 +1,5 @@
 # Rover Throttle setpoint

-uint64 timestamp # [us] Time since system start
-float32 throttle_body_x # [] [@range -1 (Backwards), 1 (Forwards)] [@frame Body] Throttle setpoint along body X axis
-float32 throttle_body_y # [] [@range -1 (Left), 1 (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Throttle setpoint along body Y axis
+uint64 timestamp         # [us] Time since system start
+float32 throttle_body_x  # [-] [@range -1 (Backwards), 1 (Forwards)] [@frame Body] Throttle setpoint along body X axis
+float32 throttle_body_y  # [-] [@range -1 (Left), 1 (Right)] [@frame Body] [@invalid NaN If not mecanum] Mecanum only: Throttle setpoint along body Y axis
@@ -1,12 +1,14 @@
-uint64 timestamp          # time since system start (microseconds)
-uint64 timestamp_sample
+# Barometer sensor
+# 
+# This is populated by barometer drivers and used by the EKF2 estimator.
+# The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding `DifferentialPressure` instance).

-uint32 device_id          # unique device ID for the sensor that does not change between power cycles
+uint64 timestamp         # [us] Time of publication (since system start)
+uint64 timestamp_sample  # [us] Time of raw data capture

-float32 pressure          # static pressure measurement in Pascals
-
-float32 temperature       # temperature in degrees Celsius
-
-uint32 error_count
+uint32 device_id     # [-] Unique device ID for the sensor that does not change between power cycles
+float32 pressure     # [Pa] Static pressure measurement
+float32 temperature  # [degC] Temperature.
+uint32 error_count   # [-] Number of errors detected by driver.

 uint8 ORB_QUEUE_LENGTH = 4
@@ -0,0 +1,10 @@
+# Gnss quality indicators
+
+uint64 timestamp		# time since system start (microseconds)
+uint32 device_id                # unique device ID for the sensor that does not change between power cycles
+
+bool  quality_available         # Set to true if quality indicators are available
+uint8 quality_corrections       # Corrections quality from 0 to 10, or 255 if not available
+uint8 quality_receiver          # Overall receiver operating status from 0 to 10, or 255 if not available
+uint8 quality_gnss_signals      # Quality of GNSS signals from 0 to 10, or 255 if not available
+uint8 quality_post_processing   # Expected post processing quality from 0 to 10, or 255 if not available
@@ -30,18 +30,26 @@ float32 vdop			# Vertical dilution of precision
 int32 noise_per_ms		# GPS noise per millisecond
 uint16 automatic_gain_control   # Automatic gain control monitor

-uint8 JAMMING_STATE_UNKNOWN  = 0
-uint8 JAMMING_STATE_OK       = 1
-uint8 JAMMING_STATE_WARNING  = 2
-uint8 JAMMING_STATE_CRITICAL = 3
-uint8 jamming_state		# indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical
-int32 jamming_indicator		# indicates jamming is occurring
+uint8 JAMMING_STATE_UNKNOWN   = 0 #default
+uint8 JAMMING_STATE_OK        = 1
+uint8 JAMMING_STATE_MITIGATED = 2
+uint8 JAMMING_STATE_DETECTED  = 3
+uint8 jamming_state	      # indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected
+int32 jamming_indicator	      # indicates jamming is occurring

-uint8 SPOOFING_STATE_UNKNOWN   = 0
-uint8 SPOOFING_STATE_NONE      = 1
-uint8 SPOOFING_STATE_INDICATED = 2
-uint8 SPOOFING_STATE_MULTIPLE  = 3
-uint8 spoofing_state		# indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical
+uint8 SPOOFING_STATE_UNKNOWN   = 0 #default
+uint8 SPOOFING_STATE_OK        = 1
+uint8 SPOOFING_STATE_MITIGATED = 2
+uint8 SPOOFING_STATE_DETECTED  = 3
+uint8 spoofing_state	       # indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected
+
+# Combined authentication state (e.g. Galileo OSNMA)
+uint8 AUTHENTICATION_STATE_UNKNOWN      = 0 #default
+uint8 AUTHENTICATION_STATE_INITIALIZING = 1
+uint8 AUTHENTICATION_STATE_ERROR        = 2
+uint8 AUTHENTICATION_STATE_OK           = 3
+uint8 AUTHENTICATION_STATE_DISABLED     = 4
+uint8 authentication_state              # GPS signal authentication state

 float32 vel_m_s			# GPS ground speed, (metres/sec)
 float32 vel_n_m_s		# GPS North velocity, (metres/sec)
@@ -55,6 +63,16 @@ uint64 time_utc_usec		# Timestamp (microseconds, UTC), this is the timestamp whi

 uint8 satellites_used		# Number of satellites used

+uint32 SYSTEM_ERROR_OK                   = 0 #default
+uint32 SYSTEM_ERROR_INCOMING_CORRECTIONS = 1
+uint32 SYSTEM_ERROR_CONFIGURATION        = 2
+uint32 SYSTEM_ERROR_SOFTWARE             = 4
+uint32 SYSTEM_ERROR_ANTENNA              = 8
+uint32 SYSTEM_ERROR_EVENT_CONGESTION     = 16
+uint32 SYSTEM_ERROR_CPU_OVERLOAD         = 32
+uint32 SYSTEM_ERROR_OUTPUT_CONGESTION    = 64
+uint32 system_error                      # General errors with the connected GPS receiver
+
 float32 heading			# heading angle of XYZ body frame rel to NED. Set to NaN if not available and updated (used for dual antenna GPS), (rad, [-PI, PI])
 float32 heading_offset		# heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI])
 float32 heading_accuracy	# heading accuracy (rad, [0, 2PI])
@@ -0,0 +1,4 @@
+uint64 timestamp          # time since system start (microseconds)
+
+uint32 device_id          # unique device ID for the sensor that does not change between power cycles
+float32  temperature      # Temperature provided by sensor (Celsius)
@@ -0,0 +1,32 @@
+uint64 timestamp # time since system start (microseconds)
+
+uint8 BAND_NAME_LENGTH = 12
+uint8 POWER_LABEL_LENGTH = 4
+
+uint8 PROTOCOL_NONE = 0              # No protocol is detected, usually an error
+uint8 PROTOCOL_SMART_AUDIO_V1 = 10
+uint8 PROTOCOL_SMART_AUDIO_V2 = 20
+uint8 PROTOCOL_SMART_AUDIO_V2_1 = 21
+uint8 PROTOCOL_TRAMP = 100
+uint8 protocol
+
+uint8 DEVICE_UNKNOWN = 0
+uint8 DEVICE_PEAK_THOR_T67 = 20
+uint8 DEVICE_RUSH_MAX_SOLO = 40
+uint8 device
+
+uint8 MODE_NORMAL = 0
+uint8 MODE_PIT = 1
+uint8 mode
+
+# Band and Channel are 0-indexed! But the user expects a 1-indexed display!
+int8 band        # Band number (0-23), negative values indicate frequency mode
+int8 channel     # Channel number (0-15), negative values indicate frequency mode
+uint16 frequency # Frequency in MHz, zero indicates unknown
+
+uint8 band_letter   # Band letter as ASCII
+uint8[12] band_name # Band name in ASCII without null termination
+
+# Also 0-indexed, but the user expects a 1-indexed display!
+int8 power_level     # Current power level (0-15), negative values indicate unknown
+uint8[4] power_label # Current power label in ASCII without null termination
@@ -21,9 +21,9 @@ uint8 cell_count # [@invalid 0] Number of cells


 uint8 source # [@enum SOURCE] Battery source
-uint8 SOURCE_POWER_MODULE = 0 # Power module
-uint8 SOURCE_EXTERNAL = 1 # External
-uint8 SOURCE_ESCS = 2 # ESCs
+uint8 SOURCE_POWER_MODULE = 0 # Power module (analog ADC or I2C power monitor)
+uint8 SOURCE_EXTERNAL = 1 # External (MAVLink, CAN, or external driver)
+uint8 SOURCE_ESCS = 2 # ESCs (via ESC telemetry)

 uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
 uint16 capacity # [mAh] Capacity of the battery when fully charged
@@ -0,0 +1,21 @@
+# 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
@@ -0,0 +1,15 @@
+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
@@ -0,0 +1,24 @@
+# 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
@@ -10,8 +10,11 @@
 #include "translation_arming_check_reply_v1.h"
 #include "translation_arming_check_request_v1.h"
 #include "translation_battery_status_v1.h"
+#include "translation_config_overrides_v1.h"
 #include "translation_event_v1.h"
 #include "translation_home_position_v1.h"
+#include "translation_register_ext_component_reply_v1.h"
+#include "translation_register_ext_component_request_v1.h"
 #include "translation_vehicle_attitude_setpoint_v1.h"
 #include "translation_vehicle_status_v1.h"
 #include "translation_vehicle_local_position_v1.h"
@@ -0,0 +1,41 @@
+/****************************************************************************
+ * Copyright (c) 2025 PX4 Development Team.
+ * SPDX-License-Identifier: BSD-3-Clause
+ ****************************************************************************/
+#pragma once
+
+// Translate ConfigOverrides v0 <--> v1
+#include <px4_msgs_old/msg/config_overrides_v0.hpp>
+#include <px4_msgs/msg/config_overrides.hpp>
+
+class ConfigOverridesV1Translation {
+public:
+	using MessageOlder = px4_msgs_old::msg::ConfigOverridesV0;
+	static_assert(MessageOlder::MESSAGE_VERSION == 0);
+
+	using MessageNewer = px4_msgs::msg::ConfigOverrides;
+	static_assert(MessageNewer::MESSAGE_VERSION == 1);
+
+	static constexpr const char* kTopic = "fmu/in/config_overrides_request";
+
+	static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
+		msg_newer.timestamp = msg_older.timestamp;
+		msg_newer.disable_auto_disarm = msg_older.disable_auto_disarm;
+		msg_newer.defer_failsafes = msg_older.defer_failsafes;
+		msg_newer.defer_failsafes_timeout_s = msg_older.defer_failsafes_timeout_s;
+		msg_newer.disable_auto_set_home = false;
+		msg_newer.source_type = msg_older.source_type;
+		msg_newer.source_id = msg_older.source_id;
+	}
+
+	static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
+		msg_older.timestamp = msg_newer.timestamp;
+		msg_older.disable_auto_disarm = msg_newer.disable_auto_disarm;
+		msg_older.defer_failsafes = msg_newer.defer_failsafes;
+		msg_older.defer_failsafes_timeout_s = msg_newer.defer_failsafes_timeout_s;
+		msg_older.source_type = msg_newer.source_type;
+		msg_older.source_id = msg_newer.source_id;
+	}
+};
+
+REGISTER_TOPIC_TRANSLATION_DIRECT(ConfigOverridesV1Translation);
@@ -0,0 +1,45 @@
+/****************************************************************************
+ * Copyright (c) 2025 PX4 Development Team.
+ * SPDX-License-Identifier: BSD-3-Clause
+ ****************************************************************************/
+#pragma once
+
+// Translate RegisterExtComponentReply v0 <--> v1
+#include <px4_msgs_old/msg/register_ext_component_reply_v0.hpp>
+#include <px4_msgs/msg/register_ext_component_reply.hpp>
+
+class RegisterExtComponentReplyV1Translation {
+public:
+    using MessageOlder = px4_msgs_old::msg::RegisterExtComponentReplyV0;
+    static_assert(MessageOlder::MESSAGE_VERSION == 0);
+
+    using MessageNewer = px4_msgs::msg::RegisterExtComponentReply;
+    static_assert(MessageNewer::MESSAGE_VERSION == 1);
+
+    static constexpr const char* kTopic = "fmu/out/register_ext_component_reply";
+
+    static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
+	    msg_newer.timestamp = msg_older.timestamp;
+	    msg_newer.request_id = msg_older.request_id;
+	    msg_newer.name = msg_older.name;
+	    msg_newer.px4_ros2_api_version = msg_older.px4_ros2_api_version;
+	    msg_newer.success = msg_older.success;
+	    msg_newer.arming_check_id = msg_older.arming_check_id;
+	    msg_newer.mode_id = msg_older.mode_id;
+	    msg_newer.mode_executor_id = msg_older.mode_executor_id;
+	    msg_newer.not_user_selectable = false;
+    }
+
+    static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
+	    msg_older.timestamp = msg_newer.timestamp;
+	    msg_older.request_id = msg_newer.request_id;
+	    msg_older.name = msg_newer.name;
+	    msg_older.px4_ros2_api_version = msg_newer.px4_ros2_api_version;
+	    msg_older.success = msg_newer.success;
+	    msg_older.arming_check_id = msg_newer.arming_check_id;
+	    msg_older.mode_id = msg_newer.mode_id;
+	    msg_older.mode_executor_id = msg_newer.mode_executor_id;
+    }
+};
+
+REGISTER_TOPIC_TRANSLATION_DIRECT(RegisterExtComponentReplyV1Translation);
@@ -0,0 +1,49 @@
+/****************************************************************************
+ * Copyright (c) 2025 PX4 Development Team.
+ * SPDX-License-Identifier: BSD-3-Clause
+ ****************************************************************************/
+#pragma once
+
+// Translate RegisterExtComponentRequest v0 <--> v1
+#include <px4_msgs_old/msg/register_ext_component_request_v0.hpp>
+#include <px4_msgs/msg/register_ext_component_request.hpp>
+
+class RegisterExtComponentRequestV1Translation {
+public:
+    using MessageOlder = px4_msgs_old::msg::RegisterExtComponentRequestV0;
+    static_assert(MessageOlder::MESSAGE_VERSION == 0);
+
+    using MessageNewer = px4_msgs::msg::RegisterExtComponentRequest;
+    static_assert(MessageNewer::MESSAGE_VERSION == 1);
+
+    static constexpr const char* kTopic = "fmu/in/register_ext_component_request";
+
+    static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
+	    msg_newer.timestamp = msg_older.timestamp;
+	    msg_newer.request_id = msg_older.request_id;
+	    msg_newer.name = msg_older.name;
+	    msg_newer.px4_ros2_api_version = msg_older.px4_ros2_api_version;
+	    msg_newer.register_arming_check = msg_older.register_arming_check;
+	    msg_newer.register_mode = msg_older.register_mode;
+	    msg_newer.register_mode_executor = msg_older.register_mode_executor;
+	    msg_newer.enable_replace_internal_mode = msg_older.enable_replace_internal_mode;
+	    msg_newer.replace_internal_mode = msg_older.replace_internal_mode;
+	    msg_newer.activate_mode_immediately = msg_older.activate_mode_immediately;
+	    msg_newer.not_user_selectable = false;
+    }
+
+    static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
+	    msg_older.timestamp = msg_newer.timestamp;
+	    msg_older.request_id = msg_newer.request_id;
+	    msg_older.name = msg_newer.name;
+	    msg_older.px4_ros2_api_version = msg_newer.px4_ros2_api_version;
+	    msg_older.register_arming_check = msg_newer.register_arming_check;
+	    msg_older.register_mode = msg_newer.register_mode;
+	    msg_older.register_mode_executor = msg_newer.register_mode_executor;
+	    msg_older.enable_replace_internal_mode = msg_newer.enable_replace_internal_mode;
+	    msg_older.replace_internal_mode = msg_newer.replace_internal_mode;
+	    msg_older.activate_mode_immediately = msg_newer.activate_mode_immediately;
+    }
+};
+
+REGISTER_TOPIC_TRANSLATION_DIRECT(RegisterExtComponentRequestV1Translation);
@@ -8,9 +8,9 @@ uint32 MESSAGE_VERSION = 0
 uint64 timestamp         # [us] Time since system start
 uint64 timestamp_sample  # [us] Sampling timestamp of the data this control response is based on

-uint16 reversible_flags  # Bitset indicating which motors are configured to be reversible
+uint16 reversible_flags  # [-] Bitset indicating which motors are configured to be reversible

 uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 #

 uint8 NUM_CONTROLS = 12  #
-float32[12] control                  # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)
+float32[12] control      # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)
@@ -9,4 +9,4 @@ uint64 timestamp         # [us] Time since system start
 uint64 timestamp_sample  # [us] Sampling timestamp of the data this control response is based on

 uint8 NUM_CONTROLS = 8  #
-float32[8] control      # [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
+float32[8] control      # [-] [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
@@ -1,22 +1,27 @@
+# Validated airspeed
+#
+# Provides information about airspeed (indicated, true, calibrated) and the source of the data.
+# Used by controllers, estimators and for airspeed reporting to operator.
+
+
 uint32 MESSAGE_VERSION = 1

-uint64 timestamp				# time since system start (microseconds)
+uint64 timestamp  # [us] Time since system start

-float32 indicated_airspeed_m_s			# [m/s] Indicated airspeed (IAS), set to NAN if invalid
-float32 calibrated_airspeed_m_s     		# [m/s] Calibrated airspeed (CAS), set to NAN if invalid
-float32 true_airspeed_m_s			# [m/s] True airspeed (TAS), set to NAN if invalid
+float32 indicated_airspeed_m_s   # [m/s] [@invalid NaN] Indicated airspeed (IAS)
+float32 calibrated_airspeed_m_s  # [m/s] [@invalid NaN] Calibrated airspeed (CAS)
+float32 true_airspeed_m_s        # [m/s] [@invalid NaN] True airspeed (TAS)

-int8 airspeed_source				# Source of currently published airspeed values
-int8 DISABLED = -1
-int8 GROUND_MINUS_WIND = 0
-int8 SENSOR_1 = 1
-int8 SENSOR_2 = 2
-int8 SENSOR_3 = 3
-int8 SYNTHETIC = 4
+int8 airspeed_source               # [@enum SOURCE] Source of currently published airspeed values
+int8 SOURCE_DISABLED = -1          # Disabled
+int8 SOURCE_GROUND_MINUS_WIND = 0  # Ground speed minus wind
+int8 SOURCE_SENSOR_1 = 1           # Sensor 1
+int8 SOURCE_SENSOR_2 = 2           # Sensor 2
+int8 SOURCE_SENSOR_3 = 3           # Sensor 3
+int8 SOURCE_SYNTHETIC = 4          # Synthetic airspeed 

-# debug states
-float32 calibrated_ground_minus_wind_m_s 	# CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
-float32 calibraded_airspeed_synth_m_s		# synthetic airspeed in m/s, set to NAN if invalid
-float32 airspeed_derivative_filtered		# filtered indicated airspeed derivative [m/s/s]
-float32 throttle_filtered			# filtered fixed-wing throttle [-]
-float32 pitch_filtered				# filtered pitch [rad]
+float32 calibrated_ground_minus_wind_m_s  # [m/s] [@invalid NaN] CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption
+float32 calibraded_airspeed_synth_m_s     # [m/s] [@invalid NaN] Synthetic airspeed
+float32 airspeed_derivative_filtered      # [m/s^2] Filtered indicated airspeed derivative 
+float32 throttle_filtered                 # [-] Filtered fixed-wing throttle 
+float32 pitch_filtered                    # [rad] Filtered pitch 
@@ -1,4 +1,4 @@
-# Arming check reply.
+# Arming check reply
 #
 # This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
 # The response contains the current set of external mode requirements, and a queue of events indicating recent failures to set the mode (which the FMU may then forward to a ground station).
@@ -11,33 +11,33 @@ uint32 MESSAGE_VERSION  = 1

 uint64 timestamp # [us] Time since system start.

-uint8 request_id       # Id of ArmingCheckRequest for which this is a response.
-uint8 registration_id  # Id of external component emitting this response.
+uint8 request_id       # [-] Id of ArmingCheckRequest for which this is a response
+uint8 registration_id  # [-] Id of external component emitting this response

-uint8 HEALTH_COMPONENT_INDEX_NONE = 0  # Index of health component for which this response applies.
+uint8 HEALTH_COMPONENT_INDEX_NONE = 0  # Index of health component for which this response applies

 uint8 health_component_index      # [@enum HEALTH_COMPONENT_INDEX]
-bool health_component_is_present  # Unused. Intended for use with health events interface (health_component_t in events.json).
-bool health_component_warning     # Unused. Intended for use with health events interface (health_component_t in events.json).
-bool health_component_error       # Unused. Intended for use with health events interface (health_component_t in events.json).
+bool health_component_is_present  # Unused. Intended for use with health events interface (health_component_t in events.json)
+bool health_component_warning     # Unused. Intended for use with health events interface (health_component_t in events.json)
+bool health_component_error       # Unused. Intended for use with health events interface (health_component_t in events.json)

-bool can_arm_and_run  # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed.
+bool can_arm_and_run  # True if the component can arm. For navigation mode components, true if the component can arm in the mode or switch to the mode when already armed

-uint8 num_events  # Number of queued failure messages (Event) in the events field.
+uint8 num_events  # Number of queued failure messages (Event) in the events field

-Event[5] events  # Arming failure reasons (Queue of events to report to GCS).
+Event[5] events  # Arming failure reasons (Queue of events to report to GCS)

 # Mode requirements
-bool mode_req_angular_velocity         # Requires angular velocity estimate (e.g. from gyroscope).
-bool mode_req_attitude                 # Requires an attitude estimate.
-bool mode_req_local_alt                # Requires a local altitude estimate.
-bool mode_req_local_position           # Requires a local position estimate.
-bool mode_req_local_position_relaxed   # Requires a more relaxed global position estimate.
-bool mode_req_global_position          # Requires a global position estimate.
-bool mode_req_global_position_relaxed  # Requires a relaxed global position estimate.
-bool mode_req_mission                  # Requires an uploaded mission.
-bool mode_req_home_position            # Requires a home position (such as RTL/Return mode).
-bool mode_req_prevent_arming           # Prevent arming (such as in Land mode).
+bool mode_req_angular_velocity         # Requires angular velocity estimate (e.g. from gyroscope)
+bool mode_req_attitude                 # Requires an attitude estimate
+bool mode_req_local_alt                # Requires a local altitude estimate
+bool mode_req_local_position           # Requires a local position estimate
+bool mode_req_local_position_relaxed   # Requires a more relaxed global position estimate
+bool mode_req_global_position          # Requires a global position estimate
+bool mode_req_global_position_relaxed  # Requires a relaxed global position estimate
+bool mode_req_mission                  # Requires an uploaded mission
+bool mode_req_home_position            # Requires a home position (such as RTL/Return mode)
+bool mode_req_prevent_arming           # Prevent arming (such as in Land mode)
 bool mode_req_manual_control           # Requires a manual controller

 uint8 ORB_QUEUE_LENGTH  = 4
@@ -1,4 +1,4 @@
-# Arming check request.
+# Arming check request
 #
 # Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
 # All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
@@ -9,8 +9,8 @@

 uint32 MESSAGE_VERSION = 1

-uint64 timestamp  # [us] Time since system start.
+uint64 timestamp  # [us] Time since system start

-uint8 request_id  # Id of this request. Allows correlation with associated ArmingCheckReply messages.
+uint8 request_id  # [-] Id of this request. Allows correlation with associated ArmingCheckReply messages.

-uint32 valid_registrations_mask # Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
+uint32 valid_registrations_mask # [-] Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
@@ -1,78 +1,79 @@
 # Battery status
 #
-# Battery status information for up to 4 battery instances.
+# Battery status information for up to 3 battery instances.
 # These are populated from power module and smart battery device drivers, and one battery updated from MAVLink.
 # Battery instance information is also logged and streamed in MAVLink telemetry.

 uint32 MESSAGE_VERSION = 1
-uint8 MAX_INSTANCES = 4
+uint8 MAX_INSTANCES = 3

-uint64 timestamp # [us] Time since system start
-bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
-float32 voltage_v # [V] [@invalid 0] Battery voltage
-float32 current_a # [A] [@invalid -1] Battery current
-float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight)
-float32 discharged_mah # [mAh] [@invalid -1] Discharged amount
-float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity
-float32 scale # [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
-float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
-float32 temperature # [°C] [@invalid NaN] Temperature of the battery
-uint8 cell_count # [@invalid 0] Number of cells
+uint64 timestamp  # [us] Time since system start
+
+bool connected             # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
+float32 voltage_v          # [V] [@invalid 0] Battery voltage
+float32 current_a          # [A] [@invalid -1] Battery current
+float32 current_average_a  # [A] [@invalid -1] Battery current average (for FW average in level flight)
+float32 discharged_mah     # [mAh] [@invalid -1] Discharged amount
+float32 remaining          # [@range 0,1] [@invalid -1] Remaining capacity
+float32 scale              # [-] [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
+float32 time_remaining_s   # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
+float32 temperature        # [°C] [@invalid NaN] Temperature of the battery
+uint8 cell_count           # [-] [@invalid 0] Number of cells


-uint8 source # [@enum SOURCE] Battery source
-uint8 SOURCE_POWER_MODULE = 0 # Power module
-uint8 SOURCE_EXTERNAL = 1 # External
-uint8 SOURCE_ESCS = 2 # ESCs
+uint8 source                   # [@enum SOURCE] Battery source
+uint8 SOURCE_POWER_MODULE = 0  # Power module (analog ADC or I2C power monitor)
+uint8 SOURCE_EXTERNAL = 1      # External (MAVLink, CAN, or external driver)
+uint8 SOURCE_ESCS = 2          # ESCs (via ESC telemetry)

-uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
-uint16 capacity # [mAh] Capacity of the battery when fully charged
-uint16 cycle_count # Number of discharge cycles the battery has experienced
-uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
-uint16 manufacture_date # Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
-uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
-uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
-uint8 id # ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
-uint16 interface_error # Interface error counter
+uint8 priority                # [-] Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
+uint16 capacity               # [mAh] Capacity of the battery when fully charged
+uint16 cycle_count            # [-] Number of discharge cycles the battery has experienced
+uint16 average_time_to_empty  # [minutes] Predicted remaining battery capacity based on the average rate of discharge
+uint16 manufacture_date       # [-] Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
+uint16 state_of_health        # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
+uint16 max_error              # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
+uint8 id                      # [-] ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
+uint16 interface_error        # [-] Interface error counter

-float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages
-float32 max_cell_voltage_delta # Max difference between individual cell voltages
+float32[14] voltage_cell_v      # [V] [@invalid 0] Battery individual cell voltages
+float32 max_cell_voltage_delta  # [V] Max difference between individual cell voltages

-bool is_powering_off # Power off event imminent indication, false if unknown
-bool is_required # Set if the battery is explicitly required before arming
+bool is_powering_off  # Power off event imminent indication, false if unknown
+bool is_required      # Set if the battery is explicitly required before arming

-uint8 warning # [@enum WARNING STATE] Current battery warning
-uint8 WARNING_NONE = 0 # No battery low voltage warning active
-uint8 WARNING_LOW = 1 # Low voltage warning
-uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
-uint8 WARNING_EMERGENCY = 3 # Immediate landing required
-uint8 WARNING_FAILED = 4 # Battery has failed completely
-uint8 STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field
-uint8 STATE_CHARGING = 7 # Battery is charging
+uint8 warning                # [@enum WARNING STATE] Current battery warning
+uint8 WARNING_NONE = 0       # No battery low voltage warning active
+uint8 WARNING_LOW = 1        # Low voltage warning
+uint8 WARNING_CRITICAL = 2   # Critical voltage, return / abort immediately
+uint8 WARNING_EMERGENCY = 3  # Immediate landing required
+uint8 WARNING_FAILED = 4     # Battery has failed completely
+uint8 STATE_UNHEALTHY = 6    # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field
+uint8 STATE_CHARGING = 7     # Battery is charging

-uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication
-uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
-uint8 FAULT_SPIKES = 1 # Voltage spikes
-uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed
-uint8 FAULT_OVER_CURRENT = 3 # Over-current
-uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature
-uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
-uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
-uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
-uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
-uint8 FAULT_HARDWARE_FAILURE = 9 # Hardware problem
-uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
-uint8 FAULT_COUNT = 11 # Counter. Keep this as last element
+uint16 faults                          # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication
+uint8 FAULT_DEEP_DISCHARGE = 0         # Battery has deep discharged
+uint8 FAULT_SPIKES = 1                 # Voltage spikes
+uint8 FAULT_CELL_FAIL= 2               # One or more cells have failed
+uint8 FAULT_OVER_CURRENT = 3           # Over-current
+uint8 FAULT_OVER_TEMPERATURE = 4       # Over-temperature
+uint8 FAULT_UNDER_TEMPERATURE = 5      # Under-temperature fault
+uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6   # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
+uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7  # Battery firmware is not compatible with current autopilot firmware
+uint8 FAULT_INCOMPATIBLE_MODEL = 8     # Battery model is not supported by the system
+uint8 FAULT_HARDWARE_FAILURE = 9       # Hardware problem
+uint8 FAULT_FAILED_TO_ARM = 10         # Battery had a problem while arming
+uint8 FAULT_COUNT = 11                 # Counter. Keep this as last element

-float32 full_charge_capacity_wh # [Wh] Compensated battery capacity
-float32 remaining_capacity_wh # [Wh] Compensated battery capacity remaining
-uint16 over_discharge_count # Number of battery overdischarge
-float32 nominal_voltage # [V] Nominal voltage of the battery pack
+float32 full_charge_capacity_wh  # [Wh] Compensated battery capacity
+float32 remaining_capacity_wh    # [Wh] Compensated battery capacity remaining
+uint16 over_discharge_count      # [-] Number of battery overdischarge
+float32 nominal_voltage          # [V] Nominal voltage of the battery pack

-float32 internal_resistance_estimate # [Ohm] Internal resistance per cell estimate
-float32 ocv_estimate # [V] Open circuit voltage estimate
-float32 ocv_estimate_filtered # [V] Filtered open circuit voltage estimate
-float32 volt_based_soc_estimate # [@range 0, 1] Normalized volt based state of charge estimate
-float32 voltage_prediction # [V] Predicted voltage
-float32 prediction_error # [V] Prediction error
-float32 estimation_covariance_norm # Norm of the covariance matrix
+float32 internal_resistance_estimate  # [Ohm] Internal resistance per cell estimate
+float32 ocv_estimate                  # [V] Open circuit voltage estimate
+float32 ocv_estimate_filtered         # [V] Filtered open circuit voltage estimate
+float32 volt_based_soc_estimate       # [-] [@range 0, 1] Normalized volt based state of charge estimate
+float32 voltage_prediction            # [V] Predicted voltage
+float32 prediction_error              # [V] Prediction error
+float32 estimation_covariance_norm    # [-] Norm of the covariance matrix
@@ -1,6 +1,6 @@
 # Configurable overrides by (external) modes or mode executors

-uint32 MESSAGE_VERSION = 0
+uint32 MESSAGE_VERSION = 1

 uint64 timestamp		# time since system start (microseconds)

@@ -8,7 +8,7 @@ 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
@@ -0,0 +1,18 @@
+# Raptor Input
+
+# The exact inputs to the Raptor foundation policy.
+# Having access to the exact inputs helps with debugging and post-hoc analysis.
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp # [us] Time since system start
+uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
+bool active # Signals if the policy is active (aka publishing actuator_motors)
+float32[3] position # [m] [@frame FLU] Position of the vehicle_local_position frame
+float32[4] orientation # [-] Orientation in the vehicle_attitude frame but using the FLU convention as a unit quaternion (w, x, y, z)
+float32[3] linear_velocity # [m/s] [@frame FLU] Linear velocity in the vehicle_local_position frame
+float32[3] angular_velocity # [rad/s]  [@frame FLU] Angular velocity in the body frame
+uint8 ACTION_DIM = 4 # Policy output dimensionality (for quadrotors)
+float32[4] previous_action # [@range -1, 1] Previous action. Motor commands normalized to [-1, 1]
+
+# TOPICS raptor_input
@@ -0,0 +1,46 @@
+# Raptor Status
+
+# Diagnostic messages for the Raptor foundation policy.
+# This diagnostic data is useful for debugging (e.g. identifying missing input information).
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp # [us] Time since system start
+uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
+bool subscription_update_angular_velocity # [bool] Flag signalling if the vehicle_angular_velocity was updated
+bool subscription_update_local_position # [bool] Flag signalling if the vehicle_local_position was updated
+bool subscription_update_attitude # [bool] Flag signalling if the vehicle_attitude was updated
+bool subscription_update_trajectory_setpoint # [bool] Flag signalling if the trajectory_setpoint was updated
+bool subscription_update_vehicle_status # [bool] Flag signalling if the vehicle_status was updated
+
+uint8 exit_reason # [enum] Exit reason identifier. Representing conditions that lead to the Raptor policy not being executed
+uint8 EXIT_REASON_NONE = 0 # No exit reason => Raptor control step was executed (actuator_motors should have been published)
+uint8 EXIT_REASON_NO_ANGULAR_VELOCITY_UPDATE = 1 # We synchronize the control onto the input observation with the highest update frequency, which is vehicle_angular_velocity. If there was no update, we do not need to execute the policy again
+uint8 EXIT_REASON_NOT_ALL_OBSERVATIONS_SET = 2 # We can not execute the policy if not all observations are available
+uint8 EXIT_REASON_ANGULAR_VELOCITY_STALE = 3 # If OBSERVATION_TIMEOUT_ANGULAR_VELOCITY is exceeded, we treat the vehicle_angular_velocity as stale and can not run the policy
+uint8 EXIT_REASON_LOCAL_POSITION_STALE = 4 # If OBSERVATION_TIMEOUT_LOCAL_POSITION is exceeded, we treat the vehicle_local_position as stale and can not run the policy
+uint8 EXIT_REASON_ATTITUDE_STALE = 5 # If OBSERVATION_TIMEOUT_ATTITUDE is exceeded, we treat the vehicle_attitude as stale and can not run the policy
+uint8 EXIT_REASON_EXECUTOR_STATUS_SOURCE_NOT_CONTROL = 6 # The executor that runs the policy can run in oversampling mode, where it decides if the policy should be ran based on the timestamp and not based on fixed synchronization onto the vehicle_angular_velocity. In this case the executor can decide to skip running the policy if the interval is too small, in which case this flag is set.
+
+uint32 timestamp_last_vehicle_angular_velocity # [us] Timestamp of the last received vehicle_angular_velocity message
+uint32 timestamp_last_vehicle_local_position # [us] Timestamp of the last received vehicle_local_position message
+uint32 timestamp_last_vehicle_attitude # [us] Timestamp of the last received vehicle_attitude message
+uint32 timestamp_last_trajectory_setpoint # [us] Timestamp of the last received trajectory_setpoint message
+
+bool vehicle_angular_velocity_stale # [bool] True if vehicle_angular_velocity data is considered stale (exceeded timeout)
+bool vehicle_local_position_stale # [bool] True if vehicle_local_position data is considered stale (exceeded timeout)
+bool vehicle_attitude_stale # [bool] True if vehicle_attitude data is considered stale (exceeded timeout)
+bool trajectory_setpoint_stale # [bool] True if trajectory_setpoint data is considered stale (exceeded timeout)
+
+bool active # [bool] True if the Raptor policy is currently active (publishing actuator_motors)
+uint8 substep # [-] The policy is trained at a fixed frequency (e.g. 100 Hz) but we might want to use it for control at higher frequencies (e.g. 400 Hz), which leads to a number of intermediate steps before the actual policy state is advanced (in this case 4 = 400 Hz / 100 Hz). This field provides the current substep (e.g. 0-3).
+float32 control_interval # [s] Time interval between control updates
+
+float32 trajectory_setpoint_dt_mean # [us] The average trajectory setpoint arrival time interval (since Raptor mode activation within NUM_TRAJECTORY_SETPOINT_DTS received trajectory_setpoint messages)
+float32 trajectory_setpoint_dt_max # [us] The max trajectory setpoint arrival time interval (since Raptor mode activation and within NUM_TRAJECTORY_SETPOINT_DTS received trajectory_setpoint messages)
+float32 trajectory_setpoint_dt_max_since_activation # [us] The max trajectory setpoint arrival time interval (since Raptor mode activation)
+
+float32[3] internal_reference_position # [m] [@frame FLU] Internal reference position
+float32[3] internal_reference_linear_velocity # [m/s] [@frame FLU] Internal reference linear velocity
+
+# TOPICS raptor_status
@@ -1,4 +1,4 @@
-uint32 MESSAGE_VERSION = 0
+uint32 MESSAGE_VERSION = 1

 uint64 timestamp # time since system start (microseconds)

@@ -12,4 +12,6 @@ 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
@@ -1,6 +1,6 @@
 # Request to register an external component

-uint32 MESSAGE_VERSION = 0
+uint32 MESSAGE_VERSION = 1

 uint64 timestamp # time since system start (microseconds)

@@ -19,6 +19,6 @@ 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
@@ -20,7 +20,7 @@ uint16 VEHICLE_CMD_DO_ORBIT = 34 # Start orbiting on the circumference of a circ
 uint16 VEHICLE_CMD_DO_FIGUREEIGHT = 35 # Start flying on the outline of a figure eight defined by the parameters. |[m] Major radius|[m] Minor radius|[m/s] Velocity|Orientation|Latitude/X|Longitude/Y|Altitude/Z|
 uint16 VEHICLE_CMD_NAV_ROI = 80 # Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |[@enum VEHICLE_ROI] Region of interest mode.|MISSION index/ target ID.|ROI index (allows a vehicle to manage multiple ROI's)|Unused|x the location of the fixed ROI (see MAV_FRAME)|y|z|
 uint16 VEHICLE_CMD_NAV_PATHPLANNING = 81 # Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning|0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid|Unused|[deg] [@range 0, 360] Yaw angle at goal, in compass degrees|Latitude/X of goal|Longitude/Y of goal|Altitude/Z of goal|
-uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84 # Takeoff from ground / hand and transition to fixed wing. |Minimum pitch (if airspeed sensor present), desired pitch without sensor|Unused|Unused|Yaw angle (if magnetometer present), ignored without magnetometer|Latitude|Longitude|Altitude|
+uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84 # Takeoff from ground / hand and transition to fixed wing. |Minimum pitch (if airspeed sensor present), desired pitch without sensor|Transition heading, 0: Default, 3: Use specified transition heading|Unused|Yaw angle (if magnetometer present), ignored without magnetometer|Latitude|Longitude|Altitude|
 uint16 VEHICLE_CMD_NAV_VTOL_LAND = 85 # Transition to MC and land at location. |Unused|Unused|Unused|Desired yaw angle.|Latitude|Longitude|Altitude|
 uint16 VEHICLE_CMD_NAV_GUIDED_LIMITS = 90 # Set limits for external control. |[s] Timeout  - maximum time that external controller will be allowed to control vehicle. 0 means no timeout|[m] Absolute altitude min AMSL - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit|[m] Absolute altitude max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit|[m] Horizontal move limit (AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit|Unused|Unused|Unused|
 uint16 VEHICLE_CMD_NAV_GUIDED_MASTER = 91 # Set id of master controller. |System ID|Component ID|Unused|Unused|Unused|Unused|Unused|
@@ -61,6 +61,7 @@ uint16 VEHICLE_CMD_DO_PARACHUTE=208 # Mission command to trigger a parachute. |a
 uint16 VEHICLE_CMD_DO_MOTOR_TEST=209 # Motor test command. |Instance (@range 1, )|throttle type|throttle|timeout [s]|Motor count|Test order|Unused|
 uint16 VEHICLE_CMD_DO_INVERTED_FLIGHT=210 # Change to/from inverted flight. |inverted (0=normal, 1=inverted)|Unused|Unused|Unused|Unused|Unused|Unused|
 uint16 VEHICLE_CMD_DO_GRIPPER = 211 # Command to operate a gripper.
+uint16 VEHICLE_CMD_DO_AUTOTUNE_ENABLE = 212 # Enable autotune module. |1 to enable|Unused|Unused|Unused|Unused|Unused|Unused|
 uint16 VEHICLE_CMD_DO_SET_CAM_TRIGG_INTERVAL=214 # Mission command to set TRIG_INTERVAL for this flight. |[m] Camera trigger distance|Shutter integration time (ms)|Unused|Unused|Unused|Unused|Unused|
 uint16 VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT=220 # Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1, w (1 in null-rotation)|q2 - quaternion param #2, x (0 in null-rotation)|q3 - quaternion param #3, y (0 in null-rotation)|q4 - quaternion param #4, z (0 in null-rotation)|Unused|Unused|Unused|
 uint16 VEHICLE_CMD_DO_GUIDED_MASTER=221 # Set id of master controller. |System ID|Component ID|Unused|Unused|Unused|Unused|Unused|
@@ -88,6 +89,7 @@ uint16 VEHICLE_CMD_REQUEST_CAMERA_INFORMATION = 521 # Request camera information
 uint16 VEHICLE_CMD_SET_CAMERA_MODE = 530 # Set camera capture mode (photo, video, etc.).
 uint16 VEHICLE_CMD_SET_CAMERA_ZOOM = 531 # Set camera zoom.
 uint16 VEHICLE_CMD_SET_CAMERA_FOCUS = 532
+uint16 VEHICLE_CMD_EXTERNAL_ATTITUDE_ESTIMATE = 620 # Set an external estimate of vehicle attitude in degrees.
 uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW = 1000 # Setpoint to be sent to a gimbal manager to set a gimbal pitch and yaw.
 uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE = 1001 # Gimbal configuration to set which sysid/compid is in primary and secondary control.
 uint16 VEHICLE_CMD_IMAGE_START_CAPTURE = 2000 # Start image capture sequence.
@@ -98,6 +100,7 @@ uint16 VEHICLE_CMD_LOGGING_START = 2510 # Start streaming ULog data.
 uint16 VEHICLE_CMD_LOGGING_STOP = 2511 # Stop streaming ULog data.
 uint16 VEHICLE_CMD_CONTROL_HIGH_LATENCY = 2600 # Control starting/stopping transmitting data over the high latency link.
 uint16 VEHICLE_CMD_DO_VTOL_TRANSITION = 3000 # Command VTOL transition.
+uint16 VEHICLE_CMD_DO_SET_SAFETY_SWITCH_STATE = 5300 # Command safety on/off. |1 to activate safety, 0 to deactivate safety and allow control surface movements|Unused|Unused|Unused|Unused|Unused|Unused|
 uint16 VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST = 3001 # Request arm authorization.
 uint16 VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001 # Prepare a payload deployment in the flight plan.
 uint16 VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002 # Control a pre-programmed payload deployment.
@@ -178,6 +181,10 @@ int8 ARMING_ACTION_ARM = 1
 uint8 GRIPPER_ACTION_RELEASE = 0
 uint8 GRIPPER_ACTION_GRAB = 1

+# Used as param1 in DO_SET_SAFETY_SWITCH_STATE command.
+uint8 SAFETY_OFF = 0
+uint8 SAFETY_ON = 1
+
 uint8 ORB_QUEUE_LENGTH = 8

 float32 param1 # Parameter 1, as defined by MAVLink uint16 VEHICLE_CMD enum.
@@ -23,7 +23,7 @@ uint16 ARM_AUTH_DENIED_REASON_TIMEOUT = 3
 uint16 ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE = 4
 uint16 ARM_AUTH_DENIED_REASON_BAD_WEATHER = 5

-uint8 ORB_QUEUE_LENGTH = 4
+uint8 ORB_QUEUE_LENGTH = 8

 uint32 command						# Command that is being acknowledged
 uint8 result						# Command result
@@ -1,34 +1,35 @@
-# Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
+# Vehicle odometry data
+#
+# Fits ROS REP 147 for aerial vehicles

 uint32 MESSAGE_VERSION = 0

-uint64 timestamp		# time since system start (microseconds)
-uint64 timestamp_sample
+uint64 timestamp         # [us] Time since system start
+uint64 timestamp_sample  # [us] Timestamp sample

-uint8 POSE_FRAME_UNKNOWN = 0
-uint8 POSE_FRAME_NED     = 1 # NED earth-fixed frame
-uint8 POSE_FRAME_FRD     = 2 # FRD world-fixed frame, arbitrary heading reference
-uint8 pose_frame            # Position and orientation frame of reference
+uint8 pose_frame              # [@enum POSE_FRAME] Position and orientation frame of reference
+uint8 POSE_FRAME_UNKNOWN = 0  # Unknown frame
+uint8 POSE_FRAME_NED     = 1  # North-East-Down (NED) navigation frame. Aligned with True North.
+uint8 POSE_FRAME_FRD     = 2  # Forward-Right-Down (FRD) frame. Constant arbitrary heading offset from True North. Z is down.

-float32[3] position         # Position in meters. Frame of reference defined by local_frame. NaN if invalid/unknown
-float32[4] q                # Quaternion rotation from FRD body frame to reference frame. First value NaN if invalid/unknown
+float32[3] position  # [m] [@frame local frame] [@invalid NaN If invalid/unknown] Position. Origin is position of GC at startup.
+float32[4] q         # [-] [@invalid NaN First value if invalid/unknown] Attitude (expressed as a quaternion) relative to pose reference frame at current location. Follows the Hamiltonian convention (w, x, y, z, right-handed, passive rotations from body to world)

-uint8 VELOCITY_FRAME_UNKNOWN  = 0
-uint8 VELOCITY_FRAME_NED      = 1 # NED earth-fixed frame
-uint8 VELOCITY_FRAME_FRD      = 2 # FRD world-fixed frame, arbitrary heading reference
-uint8 VELOCITY_FRAME_BODY_FRD = 3 # FRD body-fixed frame
-uint8 velocity_frame        # Reference frame of the velocity data
+uint8 velocity_frame               # [@enum VELOCITY_FRAME] Reference frame of the velocity data
+uint8 VELOCITY_FRAME_UNKNOWN  = 0  # Unknown frame
+uint8 VELOCITY_FRAME_NED      = 1  # NED navigation frame at current position.
+uint8 VELOCITY_FRAME_FRD      = 2  # FRD navigation frame at current position. Constant arbitrary heading offset from True North. Z is down.
+uint8 VELOCITY_FRAME_BODY_FRD = 3  # FRD body-fixed frame

-float32[3] velocity         # Velocity in meters/sec. Frame of reference defined by velocity_frame variable. NaN if invalid/unknown
+float32[3] velocity          # [m/s] [@frame @velocity_frame] [@invalid NaN If invalid/unknown] Velocity.
+float32[3] angular_velocity  # [rad/s] [@frame @VELOCITY_FRAME_BODY_FRD] [@invalid NaN If invalid/unknown] Angular velocity in body-fixed frame

-float32[3] angular_velocity # Angular velocity in body-fixed frame (rad/s). NaN if invalid/unknown
+float32[3] position_variance     # [m^2] Variance of position error
+float32[3] orientation_variance  # [rad^2] Variance of orientation/attitude error (expressed in body frame)
+float32[3] velocity_variance     # [m^2/s^2] Variance of velocity error

-float32[3] position_variance
-float32[3] orientation_variance
-float32[3] velocity_variance
-
-uint8 reset_counter
-int8 quality
+uint8 reset_counter  # [-] Reset counter. Counts reset events on attitude, velocity and position.
+int8 quality         # [-] [@invalid 0] Quality. Unused.

 # TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry
 # TOPICS estimator_odometry
@@ -13,20 +13,16 @@ uint8 ARMING_STATE_ARMED    = 2

 uint8 latest_arming_reason
 uint8 latest_disarming_reason
-uint8 ARM_DISARM_REASON_TRANSITION_TO_STANDBY = 0
 uint8 ARM_DISARM_REASON_STICK_GESTURE = 1
 uint8 ARM_DISARM_REASON_RC_SWITCH = 2
 uint8 ARM_DISARM_REASON_COMMAND_INTERNAL = 3
 uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4
 uint8 ARM_DISARM_REASON_MISSION_START = 5
-uint8 ARM_DISARM_REASON_SAFETY_BUTTON = 6
-uint8 ARM_DISARM_REASON_AUTO_DISARM_LAND = 7
-uint8 ARM_DISARM_REASON_AUTO_DISARM_PREFLIGHT = 8
-uint8 ARM_DISARM_REASON_KILL_SWITCH = 9
-uint8 ARM_DISARM_REASON_LOCKDOWN = 10
-uint8 ARM_DISARM_REASON_FAILURE_DETECTOR = 11
-uint8 ARM_DISARM_REASON_SHUTDOWN = 12
-uint8 ARM_DISARM_REASON_UNIT_TEST = 13
+uint8 ARM_DISARM_REASON_LANDING = 6
+uint8 ARM_DISARM_REASON_PREFLIGHT_INACTION = 7
+uint8 ARM_DISARM_REASON_KILL_SWITCH = 8
+uint8 ARM_DISARM_REASON_RC_BUTTON = 13
+uint8 ARM_DISARM_REASON_FAILSAFE = 14

 uint64 nav_state_timestamp # time when current nav_state activated

@@ -41,7 +37,7 @@ uint8 NAVIGATION_STATE_AUTO_LOITER = 4          # Auto loiter mode
 uint8 NAVIGATION_STATE_AUTO_RTL = 5             # Auto return to launch mode
 uint8 NAVIGATION_STATE_POSITION_SLOW = 6
 uint8 NAVIGATION_STATE_FREE5 = 7
-uint8 NAVIGATION_STATE_FREE4 = 8
+uint8 NAVIGATION_STATE_ALTITUDE_CRUISE = 8      # Altitude with Cruise mode
 uint8 NAVIGATION_STATE_FREE3 = 9
 uint8 NAVIGATION_STATE_ACRO = 10                # Acro mode
 uint8 NAVIGATION_STATE_FREE2 = 11