mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-18 12:53:34 +08:00
Merge branch 'main' into jake/am32_flasher
This commit is contained in:
Jacob Dahl
@@ -8,9 +8,9 @@ uint32 MESSAGE_VERSION = 0
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uint64 timestamp # [us] Time since system start
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uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
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uint16 reversible_flags # Bitset indicating which motors are configured to be reversible
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uint16 reversible_flags # [-] Bitset indicating which motors are configured to be reversible
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uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 #
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uint8 NUM_CONTROLS = 12 #
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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)
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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)
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@@ -9,4 +9,4 @@ uint64 timestamp # [us] Time since system start
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uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
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uint8 NUM_CONTROLS = 8 #
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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.
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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.
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@@ -1,22 +1,27 @@
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# Validated airspeed
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#
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# Provides information about airspeed (indicated, true, calibrated) and the source of the data.
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# Used by controllers, estimators and for airspeed reporting to operator.
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uint32 MESSAGE_VERSION = 1
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp # [us] Time since system start
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float32 indicated_airspeed_m_s # [m/s] Indicated airspeed (IAS), set to NAN if invalid
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float32 calibrated_airspeed_m_s # [m/s] Calibrated airspeed (CAS), set to NAN if invalid
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float32 true_airspeed_m_s # [m/s] True airspeed (TAS), set to NAN if invalid
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float32 indicated_airspeed_m_s # [m/s] [@invalid NaN] Indicated airspeed (IAS)
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float32 calibrated_airspeed_m_s # [m/s] [@invalid NaN] Calibrated airspeed (CAS)
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float32 true_airspeed_m_s # [m/s] [@invalid NaN] True airspeed (TAS)
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int8 airspeed_source # Source of currently published airspeed values
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int8 DISABLED = -1
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int8 GROUND_MINUS_WIND = 0
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int8 SENSOR_1 = 1
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int8 SENSOR_2 = 2
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int8 SENSOR_3 = 3
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int8 SYNTHETIC = 4
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int8 airspeed_source # [@enum SOURCE] Source of currently published airspeed values
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int8 SOURCE_DISABLED = -1 # Disabled
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int8 SOURCE_GROUND_MINUS_WIND = 0 # Ground speed minus wind
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int8 SOURCE_SENSOR_1 = 1 # Sensor 1
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int8 SOURCE_SENSOR_2 = 2 # Sensor 2
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int8 SOURCE_SENSOR_3 = 3 # Sensor 3
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int8 SOURCE_SYNTHETIC = 4 # Synthetic airspeed
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# debug states
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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
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float32 calibraded_airspeed_synth_m_s # synthetic airspeed in m/s, set to NAN if invalid
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float32 airspeed_derivative_filtered # filtered indicated airspeed derivative [m/s/s]
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float32 throttle_filtered # filtered fixed-wing throttle [-]
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float32 pitch_filtered # filtered pitch [rad]
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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
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float32 calibraded_airspeed_synth_m_s # [m/s] [@invalid NaN] Synthetic airspeed
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float32 airspeed_derivative_filtered # [m/s^2] Filtered indicated airspeed derivative
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float32 throttle_filtered # [-] Filtered fixed-wing throttle
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float32 pitch_filtered # [rad] Filtered pitch
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@@ -1,4 +1,4 @@
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# Arming check reply.
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# Arming check reply
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#
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# This is a response to an ArmingCheckRequest message sent by the FMU to an external component, such as a ROS 2 navigation mode.
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# 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).
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@@ -11,33 +11,33 @@ uint32 MESSAGE_VERSION = 1
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uint64 timestamp # [us] Time since system start.
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uint8 request_id # Id of ArmingCheckRequest for which this is a response.
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uint8 registration_id # Id of external component emitting this response.
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uint8 request_id # [-] Id of ArmingCheckRequest for which this is a response
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uint8 registration_id # [-] Id of external component emitting this response
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uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies.
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uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies
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uint8 health_component_index # [@enum HEALTH_COMPONENT_INDEX]
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bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json).
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bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json).
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bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json).
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bool health_component_is_present # Unused. Intended for use with health events interface (health_component_t in events.json)
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bool health_component_warning # Unused. Intended for use with health events interface (health_component_t in events.json)
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bool health_component_error # Unused. Intended for use with health events interface (health_component_t in events.json)
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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.
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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
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uint8 num_events # Number of queued failure messages (Event) in the events field.
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uint8 num_events # Number of queued failure messages (Event) in the events field
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Event[5] events # Arming failure reasons (Queue of events to report to GCS).
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Event[5] events # Arming failure reasons (Queue of events to report to GCS)
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# Mode requirements
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bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope).
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bool mode_req_attitude # Requires an attitude estimate.
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bool mode_req_local_alt # Requires a local altitude estimate.
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bool mode_req_local_position # Requires a local position estimate.
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bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate.
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bool mode_req_global_position # Requires a global position estimate.
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bool mode_req_global_position_relaxed # Requires a relaxed global position estimate.
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bool mode_req_mission # Requires an uploaded mission.
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bool mode_req_home_position # Requires a home position (such as RTL/Return mode).
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bool mode_req_prevent_arming # Prevent arming (such as in Land mode).
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bool mode_req_angular_velocity # Requires angular velocity estimate (e.g. from gyroscope)
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bool mode_req_attitude # Requires an attitude estimate
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bool mode_req_local_alt # Requires a local altitude estimate
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bool mode_req_local_position # Requires a local position estimate
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bool mode_req_local_position_relaxed # Requires a more relaxed global position estimate
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bool mode_req_global_position # Requires a global position estimate
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bool mode_req_global_position_relaxed # Requires a relaxed global position estimate
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bool mode_req_mission # Requires an uploaded mission
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bool mode_req_home_position # Requires a home position (such as RTL/Return mode)
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bool mode_req_prevent_arming # Prevent arming (such as in Land mode)
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bool mode_req_manual_control # Requires a manual controller
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uint8 ORB_QUEUE_LENGTH = 4
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@@ -1,4 +1,4 @@
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# Arming check request.
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# Arming check request
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#
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# Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
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# All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
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@@ -9,8 +9,8 @@
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uint32 MESSAGE_VERSION = 1
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uint64 timestamp # [us] Time since system start.
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uint64 timestamp # [us] Time since system start
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uint8 request_id # Id of this request. Allows correlation with associated ArmingCheckReply messages.
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uint8 request_id # [-] Id of this request. Allows correlation with associated ArmingCheckReply messages.
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uint32 valid_registrations_mask # Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
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uint32 valid_registrations_mask # [-] Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
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@@ -1,78 +1,79 @@
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# Battery status
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#
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# Battery status information for up to 4 battery instances.
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# Battery status information for up to 3 battery instances.
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# These are populated from power module and smart battery device drivers, and one battery updated from MAVLink.
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# Battery instance information is also logged and streamed in MAVLink telemetry.
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uint32 MESSAGE_VERSION = 1
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uint8 MAX_INSTANCES = 4
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uint8 MAX_INSTANCES = 3
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uint64 timestamp # [us] Time since system start
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bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
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float32 voltage_v # [V] [@invalid 0] Battery voltage
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float32 current_a # [A] [@invalid -1] Battery current
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float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight)
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float32 discharged_mah # [mAh] [@invalid -1] Discharged amount
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float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity
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float32 scale # [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
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float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
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float32 temperature # [°C] [@invalid NaN] Temperature of the battery
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uint8 cell_count # [@invalid 0] Number of cells
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uint64 timestamp # [us] Time since system start
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bool connected # Whether or not a battery is connected. For power modules this is based on a voltage threshold.
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float32 voltage_v # [V] [@invalid 0] Battery voltage
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float32 current_a # [A] [@invalid -1] Battery current
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float32 current_average_a # [A] [@invalid -1] Battery current average (for FW average in level flight)
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float32 discharged_mah # [mAh] [@invalid -1] Discharged amount
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float32 remaining # [@range 0,1] [@invalid -1] Remaining capacity
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float32 scale # [-] [@range 1,] [@invalid -1] Scaling factor to compensate for lower actuation power caused by voltage sag
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float32 time_remaining_s # [s] [@invalid NaN] Predicted time remaining until battery is empty under previous averaged load
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float32 temperature # [°C] [@invalid NaN] Temperature of the battery
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uint8 cell_count # [-] [@invalid 0] Number of cells
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uint8 source # [@enum SOURCE] Battery source
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uint8 SOURCE_POWER_MODULE = 0 # Power module
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uint8 SOURCE_EXTERNAL = 1 # External
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uint8 SOURCE_ESCS = 2 # ESCs
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uint8 source # [@enum SOURCE] Battery source
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uint8 SOURCE_POWER_MODULE = 0 # Power module (analog ADC or I2C power monitor)
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uint8 SOURCE_EXTERNAL = 1 # External (MAVLink, CAN, or external driver)
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uint8 SOURCE_ESCS = 2 # ESCs (via ESC telemetry)
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uint8 priority # Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
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uint16 capacity # [mAh] Capacity of the battery when fully charged
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uint16 cycle_count # Number of discharge cycles the battery has experienced
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uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
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uint16 manufacture_date # Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
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uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
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uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
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uint8 id # ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
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uint16 interface_error # Interface error counter
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uint8 priority # [-] Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1
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uint16 capacity # [mAh] Capacity of the battery when fully charged
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uint16 cycle_count # [-] Number of discharge cycles the battery has experienced
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uint16 average_time_to_empty # [minutes] Predicted remaining battery capacity based on the average rate of discharge
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uint16 manufacture_date # [-] Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512
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uint16 state_of_health # [%] [@range 0, 100] State of health. FullChargeCapacity/DesignCapacity
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uint16 max_error # [%] [@range 1, 100] Max error, expected margin of error in the state-of-charge calculation
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uint8 id # [-] ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed
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uint16 interface_error # [-] Interface error counter
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float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages
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float32 max_cell_voltage_delta # Max difference between individual cell voltages
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float32[14] voltage_cell_v # [V] [@invalid 0] Battery individual cell voltages
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float32 max_cell_voltage_delta # [V] Max difference between individual cell voltages
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bool is_powering_off # Power off event imminent indication, false if unknown
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bool is_required # Set if the battery is explicitly required before arming
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bool is_powering_off # Power off event imminent indication, false if unknown
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bool is_required # Set if the battery is explicitly required before arming
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uint8 warning # [@enum WARNING STATE] Current battery warning
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uint8 WARNING_NONE = 0 # No battery low voltage warning active
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uint8 WARNING_LOW = 1 # Low voltage warning
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uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
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uint8 WARNING_EMERGENCY = 3 # Immediate landing required
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uint8 WARNING_FAILED = 4 # Battery has failed completely
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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
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uint8 STATE_CHARGING = 7 # Battery is charging
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uint8 warning # [@enum WARNING STATE] Current battery warning
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uint8 WARNING_NONE = 0 # No battery low voltage warning active
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uint8 WARNING_LOW = 1 # Low voltage warning
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uint8 WARNING_CRITICAL = 2 # Critical voltage, return / abort immediately
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uint8 WARNING_EMERGENCY = 3 # Immediate landing required
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uint8 WARNING_FAILED = 4 # Battery has failed completely
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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
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uint8 STATE_CHARGING = 7 # Battery is charging
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uint16 faults # [@enum FAULT] Smart battery supply status/fault flags (bitmask) for health indication
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uint8 FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
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uint8 FAULT_SPIKES = 1 # Voltage spikes
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uint8 FAULT_CELL_FAIL= 2 # One or more cells have failed
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uint8 FAULT_OVER_CURRENT = 3 # Over-current
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uint8 FAULT_OVER_TEMPERATURE = 4 # Over-temperature
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uint8 FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
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uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage)
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uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
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uint8 FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
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uint8 FAULT_HARDWARE_FAILURE = 9 # Hardware problem
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uint8 FAULT_FAILED_TO_ARM = 10 # Battery had a problem while arming
|
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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
|
||||
|
||||
Reference in New Issue
Block a user