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4f62355dec
- log all estimator (ekf2) flags as separate booleans in a new dedicated low rate message (only publishes at 1 Hz or immediately on any change) - this is a bit verbose, but it avoids the duplicate bit definitions we currently have across PX4 msgs, ecl analysis script, flight review, and many other custom tools and it's much easier for casual log review in FlightPlot, PlotJuggler, csv, etc - for compatibility I've left estimator_status filter_fault_flags, innovation_check_flags, and solution_status_flags in place, but they can gradually be removed as tooling is updated Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
393 lines
7.8 KiB
YAML
393 lines
7.8 KiB
YAML
rtps:
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- msg: actuator_armed
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id: 0
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- msg: actuator_controls
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id: 1
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- msg: actuator_outputs
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id: 3
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- msg: adc_report
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id: 4
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- msg: airspeed
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id: 5
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- msg: battery_status
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id: 6
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- msg: camera_capture
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id: 7
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- msg: camera_trigger
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id: 8
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- msg: collision_report
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id: 9
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- msg: commander_state
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id: 10
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- msg: cpuload
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id: 11
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- msg: debug_array
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id: 12
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receive: true
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- msg: debug_key_value
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id: 13
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receive: true
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- msg: debug_value
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id: 14
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receive: true
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- msg: debug_vect
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id: 15
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receive: true
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- msg: differential_pressure
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id: 16
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- msg: distance_sensor
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id: 17
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- msg: estimator_innovations
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id: 18
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- msg: ekf2_timestamps
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id: 19
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- msg: ekf_gps_drift
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id: 20
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- msg: sensor_gps
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id: 21
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- msg: esc_report
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id: 22
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- msg: esc_status
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id: 23
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- msg: estimator_status
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id: 24
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- msg: follow_target
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id: 25
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- msg: geofence_result
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id: 26
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- msg: gps_dump
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id: 27
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- msg: gps_inject_data
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id: 28
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- msg: home_position
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id: 29
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- msg: input_rc
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id: 30
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- msg: iridiumsbd_status
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id: 31
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- msg: irlock_report
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id: 32
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- msg: landing_target_innovations
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id: 33
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- msg: landing_target_pose
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id: 34
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- msg: led_control
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id: 35
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- msg: log_message
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id: 36
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- msg: manual_control_setpoint
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id: 37
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- msg: mavlink_log
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id: 38
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- msg: mission
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id: 39
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- msg: mission_result
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id: 40
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- msg: mount_orientation
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id: 41
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- msg: multirotor_motor_limits
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id: 42
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- msg: obstacle_distance
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id: 43
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- msg: offboard_control_mode
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id: 44
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- msg: optical_flow
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id: 45
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receive: true
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- msg: parameter_update
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id: 46
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- msg: ping
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id: 47
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- msg: position_controller_landing_status
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id: 48
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- msg: position_controller_status
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id: 49
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- msg: position_setpoint
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id: 50
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receive: true
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- msg: position_setpoint_triplet
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id: 51
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receive: true
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- msg: power_button_state
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id: 52
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- msg: pwm_input
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id: 53
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- msg: qshell_req
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id: 54
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- msg: qshell_retval
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id: 55
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- msg: radio_status
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id: 56
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- msg: rate_ctrl_status
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id: 57
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- msg: rc_channels
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id: 58
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- msg: rc_parameter_map
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id: 59
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- msg: safety
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id: 60
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- msg: satellite_info
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id: 61
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send: true
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- msg: sensor_accel
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id: 62
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- msg: sensor_baro
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id: 63
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- msg: estimator_sensor_bias
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id: 64
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- msg: sensor_combined
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id: 65
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send: true
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- msg: sensor_correction
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id: 66
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- msg: sensor_gyro
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id: 67
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- msg: sensor_mag
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id: 68
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- msg: sensors_status_imu
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id: 69
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- msg: sensor_selection
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id: 70
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- msg: px4io_status
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id: 71
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- msg: system_power
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id: 73
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- msg: task_stack_info
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id: 74
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- msg: tecs_status
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id: 75
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- msg: telemetry_status
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id: 76
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- msg: test_motor
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id: 77
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- msg: timesync
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id: 78
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receive: true
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send: true
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- msg: trajectory_waypoint
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id: 79
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receive: true
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- msg: transponder_report
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id: 80
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- msg: tune_control
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id: 81
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- msg: uavcan_parameter_request
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id: 82
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- msg: uavcan_parameter_value
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id: 83
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- msg: ulog_stream
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id: 84
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- msg: ulog_stream_ack
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id: 85
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- msg: vehicle_air_data
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id: 86
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- msg: vehicle_attitude
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id: 87
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- msg: vehicle_attitude_setpoint
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id: 88
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- msg: vehicle_command
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id: 89
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- msg: vehicle_command_ack
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id: 90
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- msg: vehicle_constraints
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id: 91
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- msg: vehicle_control_mode
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id: 92
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- msg: vehicle_global_position
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id: 93
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- msg: vehicle_gps_position
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id: 94
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- msg: vehicle_land_detected
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id: 95
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- msg: vehicle_local_position
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id: 96
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- msg: vehicle_local_position_setpoint
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id: 97
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- msg: vehicle_magnetometer
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id: 98
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- msg: vehicle_odometry
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id: 99
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send: true
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- msg: vehicle_rates_setpoint
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id: 100
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- msg: vehicle_roi
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id: 101
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- msg: vehicle_status
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id: 102
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- msg: vehicle_status_flags
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id: 103
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- msg: vehicle_trajectory_waypoint
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id: 104
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receive: true
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- msg: vtol_vehicle_status
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id: 105
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- msg: wind_estimate
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id: 106
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- msg: collision_constraints
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id: 107
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send: true
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- msg: orbit_status
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id: 108
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- msg: power_monitor
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id: 109
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- msg: landing_gear
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id: 110
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- msg: wheel_encoders
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id: 111
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- msg: vehicle_angular_velocity
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id: 112
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- msg: vehicle_acceleration
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id: 113
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- msg: airspeed_validated
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id: 115
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- msg: onboard_computer_status
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id: 116
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receive: true
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- msg: cellular_status
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id: 117
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- msg: sensor_accel_fifo
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id: 118
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- msg: sensor_gyro_fifo
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id: 119
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- msg: vehicle_imu
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id: 120
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- msg: vehicle_imu_status
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id: 121
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- msg: vehicle_angular_acceleration
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id: 122
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- msg: logger_status
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id: 123
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- msg: rpm
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id: 124
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- msg: hover_thrust_estimate
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id: 125
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- msg: trajectory_bezier
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id: 126
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- msg: vehicle_trajectory_bezier
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id: 127
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- msg: timesync_status
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id: 128
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- msg: orb_test
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id: 129
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- msg: orb_test_medium
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id: 130
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- msg: orb_test_large
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id: 131
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- msg: yaw_estimator_status
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id: 132
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- msg: sensor_preflight_mag
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id: 133
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- msg: estimator_states
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id: 134
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- msg: generator_status
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id: 135
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- msg: sensor_gyro_fft
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id: 136
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- msg: navigator_mission_item
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id: 137
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- msg: estimator_optical_flow_vel
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id: 138
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- msg: estimator_selector_status
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id: 139
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- msg: manual_control_switches
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id: 140
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- msg: estimator_status_flags
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id: 141
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########## multi topics: begin ##########
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- msg: actuator_controls_0
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id: 150
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alias: actuator_controls
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- msg: actuator_controls_1
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id: 151
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alias: actuator_controls
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- msg: actuator_controls_2
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id: 152
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alias: actuator_controls
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- msg: actuator_controls_3
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id: 153
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alias: actuator_controls
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- msg: actuator_controls_virtual_fw
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id: 154
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alias: actuator_controls
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- msg: actuator_controls_virtual_mc
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id: 155
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alias: actuator_controls
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- msg: mc_virtual_attitude_setpoint
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id: 156
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alias: vehicle_attitude_setpoint
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- msg: fw_virtual_attitude_setpoint
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id: 157
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alias: vehicle_attitude_setpoint
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- msg: vehicle_attitude_groundtruth
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id: 158
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alias: vehicle_attitude
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- msg: vehicle_global_position_groundtruth
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id: 159
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alias: vehicle_global_position
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- msg: vehicle_local_position_groundtruth
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id: 160
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alias: vehicle_local_position
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- msg: vehicle_mocap_odometry
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alias: vehicle_odometry
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id: 161
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receive: true
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- msg: vehicle_visual_odometry
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id: 162
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alias: vehicle_odometry
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receive: true
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- msg: vehicle_trajectory_waypoint_desired
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id: 163
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alias: vehicle_trajectory_waypoint
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- msg: obstacle_distance_fused
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id: 164
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alias: obstacle_distance
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- msg: vehicle_vision_attitude
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id: 165
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alias: vehicle_attitude
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- msg: trajectory_setpoint
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id: 166
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alias: vehicle_local_position_setpoint
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- msg: camera_trigger_secondary
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id: 167
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alias: camera_trigger
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- msg: vehicle_angular_velocity_groundtruth
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id: 168
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alias: vehicle_angular_velocity
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- msg: estimator_visual_odometry_aligned
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id: 169
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alias: vehicle_odometry
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- msg: estimator_innovation_variances
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id: 170
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alias: estimator_innovations
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- msg: estimator_innovation_test_ratios
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id: 171
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alias: estimator_innovations
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- msg: orb_multitest
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id: 172
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alias: orb_test
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- msg: orb_test_medium_multi
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id: 173
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alias: orb_test_medium
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- msg: orb_test_medium_queue
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id: 174
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alias: orb_test_medium
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- msg: orb_test_medium_queue_poll
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id: 175
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alias: orb_test_medium
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- msg: orb_test_medium_wrap_around
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id: 176
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alias: orb_test_medium
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- msg: estimator_local_position
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id: 177
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alias: vehicle_local_position
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- msg: estimator_global_position
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id: 178
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alias: vehicle_global_position
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- msg: estimator_attitude
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id: 179
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alias: vehicle_attitude
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- msg: estimator_odometry
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id: 180
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alias: vehicle_odometry
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########## multi topics: end ##########
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