fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-02 05:04:08 +08:00
Code Issues Packages Projects Releases Wiki Activity

docs: update uorb messages

Browse Source 
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
Ramon Roche 2025-06-09 14:48:29 -07:00
parent e379b66717
commit fe013702e3
No known key found for this signature in database
GPG Key ID: 275988FAE5821713
9 changed files with 416 additions and 37 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

276
docs/en/middleware/dds_topics.md Normal file
View File

@ -0,0 +1,276 @@
# dds_topics.yaml — PX4 Topics Exposed to ROS 2
::: info
This document is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
:::
The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default).
This document shows a markdown-rendered version of [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), listing the publications, subscriptions, and so on.
## Publications
Topic | Type| Rate Limit
--- | --- | ---
`/fmu/out/register_ext_component_reply` | [px4_msgs::msg::RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md) |
`/fmu/out/arming_check_request` | [px4_msgs::msg::ArmingCheckRequest](../msg_docs/ArmingCheckRequest.md) | 5.0
`/fmu/out/mode_completed` | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) | 50.0
`/fmu/out/battery_status` | [px4_msgs::msg::BatteryStatus](../msg_docs/BatteryStatus.md) | 1.0
`/fmu/out/collision_constraints` | [px4_msgs::msg::CollisionConstraints](../msg_docs/CollisionConstraints.md) | 50.0
`/fmu/out/estimator_status_flags` | [px4_msgs::msg::EstimatorStatusFlags](../msg_docs/EstimatorStatusFlags.md) | 5.0
`/fmu/out/failsafe_flags` | [px4_msgs::msg::FailsafeFlags](../msg_docs/FailsafeFlags.md) | 5.0
`/fmu/out/manual_control_setpoint` | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md) | 25.0
`/fmu/out/message_format_response` | [px4_msgs::msg::MessageFormatResponse](../msg_docs/MessageFormatResponse.md) |
`/fmu/out/position_setpoint_triplet` | [px4_msgs::msg::PositionSetpointTriplet](../msg_docs/PositionSetpointTriplet.md) | 5.0
`/fmu/out/sensor_combined` | [px4_msgs::msg::SensorCombined](../msg_docs/SensorCombined.md) |
`/fmu/out/timesync_status` | [px4_msgs::msg::TimesyncStatus](../msg_docs/TimesyncStatus.md) | 10.0
`/fmu/out/vehicle_land_detected` | [px4_msgs::msg::VehicleLandDetected](../msg_docs/VehicleLandDetected.md) | 5.0
`/fmu/out/vehicle_attitude` | [px4_msgs::msg::VehicleAttitude](../msg_docs/VehicleAttitude.md) |
`/fmu/out/vehicle_control_mode` | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md) | 50.0
`/fmu/out/vehicle_command_ack` | [px4_msgs::msg::VehicleCommandAck](../msg_docs/VehicleCommandAck.md) |
`/fmu/out/vehicle_global_position` | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) | 50.0
`/fmu/out/vehicle_gps_position` | [px4_msgs::msg::SensorGps](../msg_docs/SensorGps.md) | 50.0
`/fmu/out/vehicle_local_position` | [px4_msgs::msg::VehicleLocalPosition](../msg_docs/VehicleLocalPosition.md) | 50.0
`/fmu/out/vehicle_odometry` | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) |
`/fmu/out/vehicle_status` | [px4_msgs::msg::VehicleStatus](../msg_docs/VehicleStatus.md) | 5.0
`/fmu/out/airspeed_validated` | [px4_msgs::msg::AirspeedValidated](../msg_docs/AirspeedValidated.md) | 50.0
`/fmu/out/vtol_vehicle_status` | [px4_msgs::msg::VtolVehicleStatus](../msg_docs/VtolVehicleStatus.md) |
`/fmu/out/home_position` | [px4_msgs::msg::HomePosition](../msg_docs/HomePosition.md) | 5.0
## Subscriptions
Topic | Type
--- | ---
/fmu/in/register_ext_component_request | [px4_msgs::msg::RegisterExtComponentRequest](../msg_docs/RegisterExtComponentRequest.md)
/fmu/in/unregister_ext_component | [px4_msgs::msg::UnregisterExtComponent](../msg_docs/UnregisterExtComponent.md)
/fmu/in/config_overrides_request | [px4_msgs::msg::ConfigOverrides](../msg_docs/ConfigOverrides.md)
/fmu/in/arming_check_reply | [px4_msgs::msg::ArmingCheckReply](../msg_docs/ArmingCheckReply.md)
/fmu/in/message_format_request | [px4_msgs::msg::MessageFormatRequest](../msg_docs/MessageFormatRequest.md)
/fmu/in/mode_completed | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md)
/fmu/in/config_control_setpoints | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md)
/fmu/in/distance_sensor | [px4_msgs::msg::DistanceSensor](../msg_docs/DistanceSensor.md)
/fmu/in/manual_control_input | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md)
/fmu/in/offboard_control_mode | [px4_msgs::msg::OffboardControlMode](../msg_docs/OffboardControlMode.md)
/fmu/in/onboard_computer_status | [px4_msgs::msg::OnboardComputerStatus](../msg_docs/OnboardComputerStatus.md)
/fmu/in/obstacle_distance | [px4_msgs::msg::ObstacleDistance](../msg_docs/ObstacleDistance.md)
/fmu/in/sensor_optical_flow | [px4_msgs::msg::SensorOpticalFlow](../msg_docs/SensorOpticalFlow.md)
/fmu/in/goto_setpoint | [px4_msgs::msg::GotoSetpoint](../msg_docs/GotoSetpoint.md)
/fmu/in/telemetry_status | [px4_msgs::msg::TelemetryStatus](../msg_docs/TelemetryStatus.md)
/fmu/in/trajectory_setpoint | [px4_msgs::msg::TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md)
/fmu/in/vehicle_attitude_setpoint | [px4_msgs::msg::VehicleAttitudeSetpoint](../msg_docs/VehicleAttitudeSetpoint.md)
/fmu/in/vehicle_mocap_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md)
/fmu/in/vehicle_rates_setpoint | [px4_msgs::msg::VehicleRatesSetpoint](../msg_docs/VehicleRatesSetpoint.md)
/fmu/in/vehicle_visual_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md)
/fmu/in/vehicle_command | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md)
/fmu/in/vehicle_command_mode_executor | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md)
/fmu/in/vehicle_thrust_setpoint | [px4_msgs::msg::VehicleThrustSetpoint](../msg_docs/VehicleThrustSetpoint.md)
/fmu/in/vehicle_torque_setpoint | [px4_msgs::msg::VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md)
/fmu/in/actuator_motors | [px4_msgs::msg::ActuatorMotors](../msg_docs/ActuatorMotors.md)
/fmu/in/actuator_servos | [px4_msgs::msg::ActuatorServos](../msg_docs/ActuatorServos.md)
/fmu/in/aux_global_position | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md)
/fmu/in/fixed_wing_longitudinal_setpoint | [px4_msgs::msg::FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md)
/fmu/in/fixed_wing_lateral_setpoint | [px4_msgs::msg::FixedWingLateralSetpoint](../msg_docs/FixedWingLateralSetpoint.md)
/fmu/in/longitudinal_control_configuration | [px4_msgs::msg::LongitudinalControlConfiguration](../msg_docs/LongitudinalControlConfiguration.md)
/fmu/in/lateral_control_configuration | [px4_msgs::msg::LateralControlConfiguration](../msg_docs/LateralControlConfiguration.md)
## Subscriptions Multi
None
## Not Exported
These messages are not listed in the yaml file.
They are not build into the module, and hence are neither published or subscribed.
::: details See messages
- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
- [ButtonEvent](../msg_docs/ButtonEvent.md)
- [EscStatus](../msg_docs/EscStatus.md)
- [Cpuload](../msg_docs/Cpuload.md)
- [SensorGyro](../msg_docs/SensorGyro.md)
- [ActionRequest](../msg_docs/ActionRequest.md)
- [MavlinkLog](../msg_docs/MavlinkLog.md)
- [HealthReport](../msg_docs/HealthReport.md)
- [GpsInjectData](../msg_docs/GpsInjectData.md)
- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
- [RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md)
- [RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md)
- [SensorMag](../msg_docs/SensorMag.md)
- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
- [DebugValue](../msg_docs/DebugValue.md)
- [OrbitStatus](../msg_docs/OrbitStatus.md)
- [GimbalControls](../msg_docs/GimbalControls.md)
- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
- [OrbTest](../msg_docs/OrbTest.md)
- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
- [ActuatorTest](../msg_docs/ActuatorTest.md)
- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
- [HeaterStatus](../msg_docs/HeaterStatus.md)
- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [VehicleImu](../msg_docs/VehicleImu.md)
- [RoverVelocitySetpoint](../msg_docs/RoverVelocitySetpoint.md)
- [AdcReport](../msg_docs/AdcReport.md)
- [GimbalDeviceAttitudeStatus](../msg_docs/GimbalDeviceAttitudeStatus.md)
- [GpioRequest](../msg_docs/GpioRequest.md)
- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
- [RadioStatus](../msg_docs/RadioStatus.md)
- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md)
- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
- [Gripper](../msg_docs/Gripper.md)
- [LogMessage](../msg_docs/LogMessage.md)
- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
- [SystemPower](../msg_docs/SystemPower.md)
- [AirspeedWind](../msg_docs/AirspeedWind.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
- [QshellRetval](../msg_docs/QshellRetval.md)
- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
- [VelocityLimits](../msg_docs/VelocityLimits.md)
- [RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md)
- [VehicleRoi](../msg_docs/VehicleRoi.md)
- [Airspeed](../msg_docs/Airspeed.md)
- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
- [SensorAccel](../msg_docs/SensorAccel.md)
- [WheelEncoders](../msg_docs/WheelEncoders.md)
- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
- [SensorUwb](../msg_docs/SensorUwb.md)
- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
- [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md)
- [CellularStatus](../msg_docs/CellularStatus.md)
- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
- [LandingGear](../msg_docs/LandingGear.md)
- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
- [Rpm](../msg_docs/Rpm.md)
- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
- [DatamanRequest](../msg_docs/DatamanRequest.md)
- [MissionResult](../msg_docs/MissionResult.md)
- [SensorSelection](../msg_docs/SensorSelection.md)
- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
- [GpioOut](../msg_docs/GpioOut.md)
- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
- [RtlStatus](../msg_docs/RtlStatus.md)
- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
- [DebugArray](../msg_docs/DebugArray.md)
- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
- [SensorBaro](../msg_docs/SensorBaro.md)
- [CameraCapture](../msg_docs/CameraCapture.md)
- [MagWorkerData](../msg_docs/MagWorkerData.md)
- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
- [LoggerStatus](../msg_docs/LoggerStatus.md)
- [RcChannels](../msg_docs/RcChannels.md)
- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
- [IrlockReport](../msg_docs/IrlockReport.md)
- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
- [SensorAirflow](../msg_docs/SensorAirflow.md)
- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
- [UlogStream](../msg_docs/UlogStream.md)
- [PpsCapture](../msg_docs/PpsCapture.md)
- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
- [SensorCorrection](../msg_docs/SensorCorrection.md)
- [Mission](../msg_docs/Mission.md)
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
- [EventV0](../msg_docs/EventV0.md)
- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
- [PwmInput](../msg_docs/PwmInput.md)
- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
- [VehicleAirData](../msg_docs/VehicleAirData.md)
- [CameraStatus](../msg_docs/CameraStatus.md)
- [InputRc](../msg_docs/InputRc.md)
- [PowerMonitor](../msg_docs/PowerMonitor.md)
- [Wind](../msg_docs/Wind.md)
- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
- [EstimatorBias](../msg_docs/EstimatorBias.md)
- [QshellReq](../msg_docs/QshellReq.md)
- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
- [MountOrientation](../msg_docs/MountOrientation.md)
- [LedControl](../msg_docs/LedControl.md)
- [PowerButtonState](../msg_docs/PowerButtonState.md)
- [Ping](../msg_docs/Ping.md)
- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
- [GpioIn](../msg_docs/GpioIn.md)
- [RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md)
- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
- [DatamanResponse](../msg_docs/DatamanResponse.md)
- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
- [EscReport](../msg_docs/EscReport.md)
- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
- [TuneControl](../msg_docs/TuneControl.md)
- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
- [GpsDump](../msg_docs/GpsDump.md)
- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
- [Event](../msg_docs/Event.md)
- [RcParameterMap](../msg_docs/RcParameterMap.md)
- [GeofenceResult](../msg_docs/GeofenceResult.md)
- [FollowTarget](../msg_docs/FollowTarget.md)
- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
- [DebugVect](../msg_docs/DebugVect.md)
- [SensorsStatus](../msg_docs/SensorsStatus.md)
- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
- [TransponderReport](../msg_docs/TransponderReport.md)
- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [CameraTrigger](../msg_docs/CameraTrigger.md)
- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
- [TecsStatus](../msg_docs/TecsStatus.md)
- [EstimatorStates](../msg_docs/EstimatorStates.md)
- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
:::

64
docs/en/msg_docs/ArmingCheckReply.md
View File

@ -1,43 +1,59 @@
# ArmingCheckReply (UORB message)
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).
The request is sent regularly to all registered ROS modes, even while armed, so that the FMU always knows and can forward the current state.
Note that the external component is identified by its registration_id, which is allocated to the component during registration (arming_check_id in RegisterExtComponentReply).
The message is not used by internal/FMU components, as their mode requirements are known at compile time.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg)
```c
uint32 MESSAGE_VERSION = 0
# 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).
# The request is sent regularly to all registered ROS modes, even while armed, so that the FMU always knows and can forward the current state.
#
# Note that the external component is identified by its registration_id, which is allocated to the component during registration (arming_check_id in RegisterExtComponentReply).
# The message is not used by internal/FMU components, as their mode requirements are known at compile time.
uint64 timestamp # time since system start (microseconds)
uint32 MESSAGE_VERSION = 1
uint8 request_id
uint8 registration_id
uint64 timestamp # [us] Time since system start.
uint8 HEALTH_COMPONENT_INDEX_NONE = 0
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 # HEALTH_COMPONENT_INDEX_*
bool health_component_is_present
bool health_component_warning
bool health_component_error
uint8 HEALTH_COMPONENT_INDEX_NONE = 0 # Index of health component for which this response applies.
bool can_arm_and_run # whether arming is possible, and if it's a navigation mode, if it can run
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).
uint8 num_events
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.
Event[5] events
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).
# Mode requirements
bool mode_req_angular_velocity
bool mode_req_attitude
bool mode_req_local_alt
bool mode_req_local_position
bool mode_req_local_position_relaxed
bool mode_req_global_position
bool mode_req_mission
bool mode_req_home_position
bool mode_req_prevent_arming
bool mode_req_manual_control
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
uint8 ORB_QUEUE_LENGTH = 4 #
```

43
docs/en/msg_docs/ArmingCheckReplyV0.md Normal file
View File

@ -0,0 +1,43 @@
# ArmingCheckReplyV0 (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ArmingCheckReplyV0.msg)
```c
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
uint8 request_id
uint8 registration_id
uint8 HEALTH_COMPONENT_INDEX_NONE = 0
uint8 health_component_index # HEALTH_COMPONENT_INDEX_*
bool health_component_is_present
bool health_component_warning
bool health_component_error
bool can_arm_and_run # whether arming is possible, and if it's a navigation mode, if it can run
uint8 num_events
EventV0[5] events
# Mode requirements
bool mode_req_angular_velocity
bool mode_req_attitude
bool mode_req_local_alt
bool mode_req_local_position
bool mode_req_local_position_relaxed
bool mode_req_global_position
bool mode_req_mission
bool mode_req_home_position
bool mode_req_prevent_arming
bool mode_req_manual_control
uint8 ORB_QUEUE_LENGTH = 4
```

22
docs/en/msg_docs/ArmingCheckRequest.md
View File

@ -1,16 +1,30 @@
# ArmingCheckRequest (UORB message)
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.
The request is sent regularly, even while armed, so that the FMU always knows the current arming state for external modes, and can forward it to ground stations.
The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg)
```c
# 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.
# The request is sent regularly, even while armed, so that the FMU always knows the current arming state for external modes, and can forward it to ground stations.
#
# The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
# The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
uint64 timestamp # [us] Time since system start.
# broadcast message to request all registered arming checks to be reported
uint8 request_id
uint8 request_id # Id of this request. Allows correlation with associated ArmingCheckReply messages.
```

4
docs/en/msg_docs/Event.md
View File

@ -2,10 +2,12 @@
Events interface
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Event.msg)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/Event.msg)
```c
# Events interface
uint32 MESSAGE_VERSION = 1
uint64 timestamp # time since system start (microseconds)
uint32 id # Event ID

24
docs/en/msg_docs/EventV0.md Normal file
View File

@ -0,0 +1,24 @@
# EventV0 (UORB message)
this message is required here in the msg_old folder because other msg are depending on it
Events interface
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/EventV0.msg)
```c
# this message is required here in the msg_old folder because other msg are depending on it
# Events interface
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
uint32 id # Event ID
uint16 event_sequence # Event sequence number
uint8[25] arguments # (optional) arguments, depend on event id
uint8 log_levels # Log levels: 4 bits MSB: internal, 4 bits LSB: external
uint8 ORB_QUEUE_LENGTH = 16
```

2
docs/en/msg_docs/FailsafeFlags.md
View File

@ -22,6 +22,7 @@ uint32 mode_req_local_alt
uint32 mode_req_local_position
uint32 mode_req_local_position_relaxed
uint32 mode_req_global_position
uint32 mode_req_global_position_relaxed
uint32 mode_req_mission
uint32 mode_req_offboard_signal
uint32 mode_req_home_position
@ -39,6 +40,7 @@ bool local_position_invalid # Local position estimate invalid
bool local_position_invalid_relaxed # Local position with reduced accuracy requirements invalid (e.g. flying with optical flow)
bool local_velocity_invalid # Local velocity estimate invalid
bool global_position_invalid # Global position estimate invalid
bool global_position_invalid_relaxed # Global position estimate invalid with relaxed accuracy requirements
bool auto_mission_missing # No mission available
bool offboard_control_signal_lost # Offboard signal lost
bool home_position_invalid # No home position available

8
docs/en/msg_docs/InternalCombustionEngineControl.md
View File

@ -7,10 +7,10 @@
```c
uint64 timestamp # time since system start (microseconds)
bool ignition_on # activate/deactivate ignition (Spark Plug)
float32 throttle_control # [0,1] - Motor should idle with 0. Includes slew rate if enabled.
float32 choke_control # [0,1] - 1 fully closes the air inlet.
float32 starter_engine_control # [0,1] - control value for electric starter motor.
bool ignition_on # activate/deactivate ignition (spark plug)
float32 throttle_control # setpoint for throttle actuator, with slew rate if enabled, idles with 0 [norm] [@range 0,1] [@uncontrolled NAN to stop motor]
float32 choke_control # setpoint for choke actuator, 1: fully closed [norm] [@range 0,1]
float32 starter_engine_control # setpoint for (electric) starter motor [norm] [@range 0,1]
uint8 user_request # user intent for the ICE being on/off

10
docs/en/msg_docs/index.md
View File

@ -16,10 +16,11 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [ActuatorMotors](ActuatorMotors.md) — Motor control message
- [ActuatorServos](ActuatorServos.md) — Servo control message
- [AirspeedValidated](AirspeedValidated.md)
- [ArmingCheckReply](ArmingCheckReply.md)
- [ArmingCheckRequest](ArmingCheckRequest.md)
- [ArmingCheckReply](ArmingCheckReply.md) — Arming check reply.
- [ArmingCheckRequest](ArmingCheckRequest.md) — Arming check request.
- [BatteryStatus](BatteryStatus.md)
- [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors
- [Event](Event.md) — Events interface
- [FixedWingLateralSetpoint](FixedWingLateralSetpoint.md) — Fixed Wing Lateral Setpoint message
Used by the fw_lateral_longitudinal_control module
At least one of course, airspeed_direction, or lateral_acceleration must be finite.
@ -124,7 +125,6 @@ scale errors, in-run bias and thermal drift (if thermal compensation is enabled
- [EstimatorStates](EstimatorStates.md)
- [EstimatorStatus](EstimatorStatus.md)
- [EstimatorStatusFlags](EstimatorStatusFlags.md)
- [Event](Event.md) — Events interface
- [FailsafeFlags](FailsafeFlags.md) — Input flags for the failsafe state machine set by the arming & health checks.
- [FailureDetectorStatus](FailureDetectorStatus.md)
- [FigureEightStatus](FigureEightStatus.md)
@ -298,7 +298,9 @@ NaN means the state was not controlled
- [Wind](Wind.md)
- [YawEstimatorStatus](YawEstimatorStatus.md)
- [AirspeedValidatedV0](AirspeedValidatedV0.md)
- [ArmingCheckReplyV0](ArmingCheckReplyV0.md)
- [EventV0](EventV0.md) — this message is required here in the msg_old folder because other msg are depending on it
Events interface
- [VehicleAttitudeSetpointV0](VehicleAttitudeSetpointV0.md)
- [VehicleStatusV0](VehicleStatusV0.md) — Encodes the system state of the vehicle published by commander