diff --git a/docs/en/advanced_config/parameter_reference.md b/docs/en/advanced_config/parameter_reference.md index be3672afdd..3d07b00099 100644 --- a/docs/en/advanced_config/parameter_reference.md +++ b/docs/en/advanced_config/parameter_reference.md @@ -36855,6 +36855,16 @@ GRF Sensor Model used to distinush between the GRF250 and GRF500 since both have | ------- | -------- | -------- | --------- | ------- | ---- | --------- | | ✓ | | | | 0 | |   | +### HEATER1_IMAX (`FLOAT`) {#HEATER1_IMAX} + +Heater controller 1 integrator clamp. + +Limits the maximum (and minimum) contribution of the integrator term to the controller output. + +| Reboot | minValue | maxValue | increment | default | unit | Read-Only | +| ------- | -------- | -------- | --------- | ------- | ---- | --------- | +| ✓ | 0.0 | 0.25 | | 0.25 | |   | + ### HEATER1_IMU_ID (`INT32`) {#HEATER1_IMU_ID} The ID of the IMU controlled by heater 1. @@ -36868,6 +36878,17 @@ a valid DEVID must be configured for each heater to ensure a 1:1 mapping between | ------- | -------- | -------- | --------- | ------- | ---- | --------- | | ✓ | | | | 0 | |   | +### HEATER1_NOM_V (`FLOAT`) {#HEATER1_NOM_V} + +Nominal supply voltage for heater 1. + +Used to limit the PWM duty cycle when the actual supply voltage exceeds this value, +to prevent excess power dissipation. Set to 0 to disable voltage-based limiting. + +| Reboot | minValue | maxValue | increment | default | unit | Read-Only | +| ------- | -------- | -------- | --------- | ------- | ---- | --------- | +| ✓ | 0 | 100.0 | | 0.0 | V |   | + ### HEATER1_TEMP (`FLOAT`) {#HEATER1_TEMP} Target temperature for heater 1. @@ -36912,6 +36933,27 @@ The proportional gain determines how quickly the controller responds to temperat | ------- | -------- | -------- | --------- | ------- | ---- | --------- | | ✓ | 0 | 2.0 | | 1.0 | us/C |   | +### HEATER1_TEMP_SRC (`INT32`) {#HEATER1_TEMP_SRC} + +Temperature source for heater 1. + +Selects the sensor used as the temperature input for heater control. +0 = IMU (sensor_accel temperature), 1 = Hygrometer (sensor_hygrometer temperature). + +| Reboot | minValue | maxValue | increment | default | unit | Read-Only | +| ------- | -------- | -------- | --------- | ------- | ---- | --------- | +| ✓ | | | | 0 | |   | + +### HEATER2_IMAX (`FLOAT`) {#HEATER2_IMAX} + +Heater controller 2 integrator clamp. + +Limits the maximum (and minimum) contribution of the integrator term to the controller output. + +| Reboot | minValue | maxValue | increment | default | unit | Read-Only | +| ------- | -------- | -------- | --------- | ------- | ---- | --------- | +| ✓ | 0.0 | 0.25 | | 0.25 | |   | + ### HEATER2_IMU_ID (`INT32`) {#HEATER2_IMU_ID} The ID of the IMU controlled by heater 2. @@ -36925,6 +36967,17 @@ a valid DEVID must be configured for each heater to ensure a 1:1 mapping between | ------- | -------- | -------- | --------- | ------- | ---- | --------- | | ✓ | | | | 0 | |   | +### HEATER2_NOM_V (`FLOAT`) {#HEATER2_NOM_V} + +Nominal supply voltage for heater 2. + +Used to limit the PWM duty cycle when the actual supply voltage exceeds this value, +to prevent excess power dissipation. Set to 0 to disable voltage-based limiting. + +| Reboot | minValue | maxValue | increment | default | unit | Read-Only | +| ------- | -------- | -------- | --------- | ------- | ---- | --------- | +| ✓ | 0 | 100.0 | | 0.0 | V |   | + ### HEATER2_TEMP (`FLOAT`) {#HEATER2_TEMP} Target temperature for heater 2. @@ -36969,6 +37022,27 @@ The proportional gain determines how quickly the controller responds to temperat | ------- | -------- | -------- | --------- | ------- | ---- | --------- | | ✓ | 0 | 2.0 | | 1.0 | us/C |   | +### HEATER2_TEMP_SRC (`INT32`) {#HEATER2_TEMP_SRC} + +Temperature source for heater 2. + +Selects the sensor used as the temperature input for heater control. +0 = IMU (sensor_accel temperature), 1 = Hygrometer (sensor_hygrometer temperature). + +| Reboot | minValue | maxValue | increment | default | unit | Read-Only | +| ------- | -------- | -------- | --------- | ------- | ---- | --------- | +| ✓ | | | | 0 | |   | + +### HEATER3_IMAX (`FLOAT`) {#HEATER3_IMAX} + +Heater controller 3 integrator clamp. + +Limits the maximum (and minimum) contribution of the integrator term to the controller output. + +| Reboot | minValue | maxValue | increment | default | unit | Read-Only | +| ------- | -------- | -------- | --------- | ------- | ---- | --------- | +| ✓ | 0.0 | 0.25 | | 0.25 | |   | + ### HEATER3_IMU_ID (`INT32`) {#HEATER3_IMU_ID} The ID of the IMU controlled by heater 3. @@ -36982,6 +37056,17 @@ a valid DEVID must be configured for each heater to ensure a 1:1 mapping between | ------- | -------- | -------- | --------- | ------- | ---- | --------- | | ✓ | | | | 0 | |   | +### HEATER3_NOM_V (`FLOAT`) {#HEATER3_NOM_V} + +Nominal supply voltage for heater 3. + +Used to limit the PWM duty cycle when the actual supply voltage exceeds this value, +to prevent excess power dissipation. Set to 0 to disable voltage-based limiting. + +| Reboot | minValue | maxValue | increment | default | unit | Read-Only | +| ------- | -------- | -------- | --------- | ------- | ---- | --------- | +| ✓ | 0 | 100.0 | | 0.0 | V |   | + ### HEATER3_TEMP (`FLOAT`) {#HEATER3_TEMP} Target temperature for heater 3. @@ -37026,6 +37111,17 @@ The proportional gain determines how quickly the controller responds to temperat | ------- | -------- | -------- | --------- | ------- | ---- | --------- | | ✓ | 0 | 2.0 | | 1.0 | us/C |   | +### HEATER3_TEMP_SRC (`INT32`) {#HEATER3_TEMP_SRC} + +Temperature source for heater 3. + +Selects the sensor used as the temperature input for heater control. +0 = IMU (sensor_accel temperature), 1 = Hygrometer (sensor_hygrometer temperature). + +| Reboot | minValue | maxValue | increment | default | unit | Read-Only | +| ------- | -------- | -------- | --------- | ------- | ---- | --------- | +| ✓ | | | | 0 | |   | + ### ILABS_MODE (`INT32`) {#ILABS_MODE} InertialLabs INS sensor mode configuration. diff --git a/docs/en/middleware/dds_topics.md b/docs/en/middleware/dds_topics.md index eb16902b86..1a7666c236 100644 --- a/docs/en/middleware/dds_topics.md +++ b/docs/en/middleware/dds_topics.md @@ -95,219 +95,219 @@ They are not build into the module, and hence are neither published or subscribe ::: details See messages -- [GeneratorStatus](../msg_docs/GeneratorStatus.md) -- [VelocityLimits](../msg_docs/VelocityLimits.md) -- [GimbalControls](../msg_docs/GimbalControls.md) -- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md) -- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md) -- [SensorAirflow](../msg_docs/SensorAirflow.md) -- [VteAidSource3d](../msg_docs/VteAidSource3d.md) -- [NavigatorStatus](../msg_docs/NavigatorStatus.md) -- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md) -- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md) -- [VteInput](../msg_docs/VteInput.md) -- [EscStatus](../msg_docs/EscStatus.md) -- [QshellRetval](../msg_docs/QshellRetval.md) -- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md) -- [GeofenceStatus](../msg_docs/GeofenceStatus.md) -- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md) -- [DatamanResponse](../msg_docs/DatamanResponse.md) -- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md) -- [RaptorInput](../msg_docs/RaptorInput.md) -- [RoverRateStatus](../msg_docs/RoverRateStatus.md) -- [HeaterStatus](../msg_docs/HeaterStatus.md) -- [Ping](../msg_docs/Ping.md) -- [OrbTest](../msg_docs/OrbTest.md) -- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) -- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md) -- [GpioConfig](../msg_docs/GpioConfig.md) -- [TaskStackInfo](../msg_docs/TaskStackInfo.md) -- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md) -- [ActuatorArmed](../msg_docs/ActuatorArmed.md) -- [Px4ioStatus](../msg_docs/Px4ioStatus.md) -- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md) -- [TargetGnss](../msg_docs/TargetGnss.md) -- [EscEepromRead](../msg_docs/EscEepromRead.md) -- [OrbTestMedium](../msg_docs/OrbTestMedium.md) -- [GeofenceResult](../msg_docs/GeofenceResult.md) -- [SensorAccel](../msg_docs/SensorAccel.md) -- [FiducialMarkerPosReport](../msg_docs/FiducialMarkerPosReport.md) -- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md) -- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md) -- [EscEepromWrite](../msg_docs/EscEepromWrite.md) -- [EscReport](../msg_docs/EscReport.md) -- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md) -- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md) -- [FigureEightStatus](../msg_docs/FigureEightStatus.md) -- [OrbitStatus](../msg_docs/OrbitStatus.md) -- [LandingTargetPose](../msg_docs/LandingTargetPose.md) -- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md) -- [PositionSetpoint](../msg_docs/PositionSetpoint.md) -- [DatamanRequest](../msg_docs/DatamanRequest.md) -- [EstimatorBias](../msg_docs/EstimatorBias.md) -- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md) -- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md) -- [AdcReport](../msg_docs/AdcReport.md) -- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md) -- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md) -- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md) -- [Cpuload](../msg_docs/Cpuload.md) -- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md) -- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md) -- [VehicleImu](../msg_docs/VehicleImu.md) -- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md) -- [FiducialMarkerYawReport](../msg_docs/FiducialMarkerYawReport.md) -- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md) -- [RangingBeacon](../msg_docs/RangingBeacon.md) -- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md) -- [MissionResult](../msg_docs/MissionResult.md) -- [Rpm](../msg_docs/Rpm.md) -- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md) -- [CameraCapture](../msg_docs/CameraCapture.md) -- [VehicleRoi](../msg_docs/VehicleRoi.md) -- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md) -- [RaptorStatus](../msg_docs/RaptorStatus.md) -- [LoggerStatus](../msg_docs/LoggerStatus.md) -- [SystemPower](../msg_docs/SystemPower.md) -- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md) -- [DebugValue](../msg_docs/DebugValue.md) -- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md) -- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md) -- [Gripper](../msg_docs/Gripper.md) -- [SensorCorrection](../msg_docs/SensorCorrection.md) -- [CameraTrigger](../msg_docs/CameraTrigger.md) -- [HomePositionV0](../msg_docs/HomePositionV0.md) -- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md) -- [InputRc](../msg_docs/InputRc.md) -- [AirspeedWind](../msg_docs/AirspeedWind.md) -- [SensorUwb](../msg_docs/SensorUwb.md) -- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md) -- [LandingGearWheel](../msg_docs/LandingGearWheel.md) -- [BatteryInfo](../msg_docs/BatteryInfo.md) -- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md) -- [VehicleStatusV3](../msg_docs/VehicleStatusV3.md) -- [DebugVect](../msg_docs/DebugVect.md) -- [SensorTemp](../msg_docs/SensorTemp.md) -- [LedControl](../msg_docs/LedControl.md) -- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md) -- [RcChannels](../msg_docs/RcChannels.md) -- [SensorGyro](../msg_docs/SensorGyro.md) -- [RtlStatus](../msg_docs/RtlStatus.md) -- [VehicleConstraints](../msg_docs/VehicleConstraints.md) -- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md) -- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md) -- [GpsDump](../msg_docs/GpsDump.md) -- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md) -- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md) -- [EstimatorFusionControl](../msg_docs/EstimatorFusionControl.md) -- [VehicleAirData](../msg_docs/VehicleAirData.md) -- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md) -- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md) -- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md) -- [DebugArray](../msg_docs/DebugArray.md) -- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md) -- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md) -- [SatelliteInfo](../msg_docs/SatelliteInfo.md) -- [RcParameterMap](../msg_docs/RcParameterMap.md) -- [IrlockReport](../msg_docs/IrlockReport.md) -- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md) -- [SensorBaro](../msg_docs/SensorBaro.md) -- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md) -- [SensorHygrometer](../msg_docs/SensorHygrometer.md) -- [VteAidSource1d](../msg_docs/VteAidSource1d.md) -- [Vtx](../msg_docs/Vtx.md) -- [GpioRequest](../msg_docs/GpioRequest.md) -- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md) -- [ParameterUpdate](../msg_docs/ParameterUpdate.md) -- [RadioStatus](../msg_docs/RadioStatus.md) -- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md) -- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md) -- [DeviceInformation](../msg_docs/DeviceInformation.md) -- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md) -- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) -- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md) -- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md) -- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md) -- [GainCompression](../msg_docs/GainCompression.md) -- [VteBiasInitStatus](../msg_docs/VteBiasInitStatus.md) -- [ActuatorTest](../msg_docs/ActuatorTest.md) -- [GpsInjectData](../msg_docs/GpsInjectData.md) -- [UlogStream](../msg_docs/UlogStream.md) -- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md) -- [VteOrientation](../msg_docs/VteOrientation.md) -- [PpsCapture](../msg_docs/PpsCapture.md) -- [MountOrientation](../msg_docs/MountOrientation.md) -- [TakeoffStatus](../msg_docs/TakeoffStatus.md) -- [CellularStatus](../msg_docs/CellularStatus.md) -- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md) -- [Mission](../msg_docs/Mission.md) -- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md) - [EventV0](../msg_docs/EventV0.md) -- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md) -- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md) -- [SensorGyroFft](../msg_docs/SensorGyroFft.md) -- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md) -- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md) -- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md) -- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md) -- [HealthReport](../msg_docs/HealthReport.md) -- [FuelTankStatus](../msg_docs/FuelTankStatus.md) -- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md) -- [SensorsStatus](../msg_docs/SensorsStatus.md) -- [QshellReq](../msg_docs/QshellReq.md) +- [OrbTest](../msg_docs/OrbTest.md) +- [GeneratorStatus](../msg_docs/GeneratorStatus.md) +- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md) +- [HomePositionV0](../msg_docs/HomePositionV0.md) - [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md) -- [GpioOut](../msg_docs/GpioOut.md) -- [MavlinkLog](../msg_docs/MavlinkLog.md) -- [MagWorkerData](../msg_docs/MagWorkerData.md) +- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md) +- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md) +- [RoverRateStatus](../msg_docs/RoverRateStatus.md) +- [GimbalControls](../msg_docs/GimbalControls.md) +- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md) +- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md) +- [CameraCapture](../msg_docs/CameraCapture.md) +- [SensorGyro](../msg_docs/SensorGyro.md) +- [LandingTargetPose](../msg_docs/LandingTargetPose.md) - [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md) +- [VteInput](../msg_docs/VteInput.md) +- [Px4ioStatus](../msg_docs/Px4ioStatus.md) +- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md) +- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md) +- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md) +- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md) +- [SensorMag](../msg_docs/SensorMag.md) +- [VteAidSource1d](../msg_docs/VteAidSource1d.md) +- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md) +- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md) +- [CameraStatus](../msg_docs/CameraStatus.md) +- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md) +- [TakeoffStatus](../msg_docs/TakeoffStatus.md) +- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md) +- [NavigatorStatus](../msg_docs/NavigatorStatus.md) +- [NeuralControl](../msg_docs/NeuralControl.md) +- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md) +- [DeviceInformation](../msg_docs/DeviceInformation.md) +- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md) +- [PrecLandStatus](../msg_docs/PrecLandStatus.md) +- [HealthReport](../msg_docs/HealthReport.md) +- [FigureEightStatus](../msg_docs/FigureEightStatus.md) +- [VteBiasInitStatus](../msg_docs/VteBiasInitStatus.md) +- [RcParameterMap](../msg_docs/RcParameterMap.md) +- [WheelEncoders](../msg_docs/WheelEncoders.md) +- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md) +- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md) +- [EstimatorStatus](../msg_docs/EstimatorStatus.md) +- [ActuatorTest](../msg_docs/ActuatorTest.md) +- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md) +- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md) +- [QshellReq](../msg_docs/QshellReq.md) +- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md) +- [IrlockReport](../msg_docs/IrlockReport.md) +- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md) +- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md) +- [FollowTarget](../msg_docs/FollowTarget.md) +- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md) +- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md) +- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md) +- [SensorAirflow](../msg_docs/SensorAirflow.md) +- [ParameterUpdate](../msg_docs/ParameterUpdate.md) +- [SensorHygrometer](../msg_docs/SensorHygrometer.md) +- [DifferentialPressure](../msg_docs/DifferentialPressure.md) +- [OrbitStatus](../msg_docs/OrbitStatus.md) +- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md) +- [MissionResult](../msg_docs/MissionResult.md) +- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md) +- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md) +- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md) +- [GpioRequest](../msg_docs/GpioRequest.md) +- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md) +- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md) +- [AirspeedWind](../msg_docs/AirspeedWind.md) +- [DebugArray](../msg_docs/DebugArray.md) +- [SensorTemp](../msg_docs/SensorTemp.md) +- [RegisterExtComponentRequestV1](../msg_docs/RegisterExtComponentRequestV1.md) +- [GpioConfig](../msg_docs/GpioConfig.md) +- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md) +- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md) +- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md) +- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md) +- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md) - [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md) - [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md) -- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md) -- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md) -- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md) -- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md) -- [ButtonEvent](../msg_docs/ButtonEvent.md) -- [SensorSelection](../msg_docs/SensorSelection.md) -- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md) -- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md) -- [ActionRequest](../msg_docs/ActionRequest.md) -- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md) -- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md) -- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md) -- [DifferentialPressure](../msg_docs/DifferentialPressure.md) -- [PwmInput](../msg_docs/PwmInput.md) -- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md) -- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md) -- [EstimatorStatus](../msg_docs/EstimatorStatus.md) -- [PowerButtonState](../msg_docs/PowerButtonState.md) -- [TuneControl](../msg_docs/TuneControl.md) -- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md) -- [PrecLandStatus](../msg_docs/PrecLandStatus.md) -- [OrbTestLarge](../msg_docs/OrbTestLarge.md) -- [SensorMag](../msg_docs/SensorMag.md) -- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md) -- [VtePosition](../msg_docs/VtePosition.md) -- [LogMessage](../msg_docs/LogMessage.md) -- [EstimatorStates](../msg_docs/EstimatorStates.md) -- [WheelEncoders](../msg_docs/WheelEncoders.md) -- [UlogStreamAck](../msg_docs/UlogStreamAck.md) -- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md) -- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md) -- [NeuralControl](../msg_docs/NeuralControl.md) -- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md) -- [CameraStatus](../msg_docs/CameraStatus.md) -- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md) -- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md) -- [RegisterExtComponentRequestV1](../msg_docs/RegisterExtComponentRequestV1.md) -- [PowerMonitor](../msg_docs/PowerMonitor.md) -- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md) -- [TecsStatus](../msg_docs/TecsStatus.md) -- [DebugKeyValue](../msg_docs/DebugKeyValue.md) -- [FollowTarget](../msg_docs/FollowTarget.md) -- [Event](../msg_docs/Event.md) -- [GpioIn](../msg_docs/GpioIn.md) -- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md) +- [RadioStatus](../msg_docs/RadioStatus.md) +- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md) +- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md) +- [SystemPower](../msg_docs/SystemPower.md) +- [VehicleConstraints](../msg_docs/VehicleConstraints.md) +- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md) +- [RcChannels](../msg_docs/RcChannels.md) - [Airspeed](../msg_docs/Airspeed.md) -- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md) +- [QshellRetval](../msg_docs/QshellRetval.md) +- [SensorSelection](../msg_docs/SensorSelection.md) +- [RaptorInput](../msg_docs/RaptorInput.md) +- [GeofenceResult](../msg_docs/GeofenceResult.md) +- [DebugVect](../msg_docs/DebugVect.md) +- [SensorBaro](../msg_docs/SensorBaro.md) +- [MavlinkLog](../msg_docs/MavlinkLog.md) +- [PowerMonitor](../msg_docs/PowerMonitor.md) +- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md) +- [PowerButtonState](../msg_docs/PowerButtonState.md) - [SensorGnssRelative](../msg_docs/SensorGnssRelative.md) +- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md) +- [Cpuload](../msg_docs/Cpuload.md) +- [Event](../msg_docs/Event.md) +- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md) +- [Vtx](../msg_docs/Vtx.md) +- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md) +- [EstimatorStates](../msg_docs/EstimatorStates.md) +- [AdcReport](../msg_docs/AdcReport.md) +- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md) +- [LedControl](../msg_docs/LedControl.md) +- [SensorUwb](../msg_docs/SensorUwb.md) +- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md) +- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md) +- [SensorAccel](../msg_docs/SensorAccel.md) +- [OrbTestLarge](../msg_docs/OrbTestLarge.md) +- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md) +- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md) +- [HeaterStatus](../msg_docs/HeaterStatus.md) +- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md) +- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md) +- [BatteryInfo](../msg_docs/BatteryInfo.md) +- [GpsDump](../msg_docs/GpsDump.md) +- [OrbTestMedium](../msg_docs/OrbTestMedium.md) +- [CellularStatus](../msg_docs/CellularStatus.md) +- [GpioIn](../msg_docs/GpioIn.md) +- [PositionSetpoint](../msg_docs/PositionSetpoint.md) +- [Gripper](../msg_docs/Gripper.md) +- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) +- [DatamanResponse](../msg_docs/DatamanResponse.md) +- [VteAidSource3d](../msg_docs/VteAidSource3d.md) +- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md) +- [ButtonEvent](../msg_docs/ButtonEvent.md) +- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md) +- [SensorCorrection](../msg_docs/SensorCorrection.md) +- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md) +- [DatamanRequest](../msg_docs/DatamanRequest.md) +- [EscReport](../msg_docs/EscReport.md) +- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md) +- [EstimatorFusionControl](../msg_docs/EstimatorFusionControl.md) +- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md) +- [ActuatorArmed](../msg_docs/ActuatorArmed.md) +- [ActionRequest](../msg_docs/ActionRequest.md) +- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md) +- [UlogStream](../msg_docs/UlogStream.md) +- [EstimatorBias](../msg_docs/EstimatorBias.md) +- [EscEepromWrite](../msg_docs/EscEepromWrite.md) +- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md) +- [InputRc](../msg_docs/InputRc.md) +- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md) +- [TecsStatus](../msg_docs/TecsStatus.md) +- [EscStatus](../msg_docs/EscStatus.md) +- [GainCompression](../msg_docs/GainCompression.md) +- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md) +- [MountOrientation](../msg_docs/MountOrientation.md) +- [SensorGyroFft](../msg_docs/SensorGyroFft.md) +- [VehicleAirData](../msg_docs/VehicleAirData.md) +- [GeofenceStatus](../msg_docs/GeofenceStatus.md) +- [VehicleImu](../msg_docs/VehicleImu.md) +- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md) +- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md) +- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md) +- [FiducialMarkerYawReport](../msg_docs/FiducialMarkerYawReport.md) +- [PpsCapture](../msg_docs/PpsCapture.md) +- [DebugKeyValue](../msg_docs/DebugKeyValue.md) +- [TuneControl](../msg_docs/TuneControl.md) +- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md) +- [SensorsStatus](../msg_docs/SensorsStatus.md) +- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md) +- [FuelTankStatus](../msg_docs/FuelTankStatus.md) +- [TargetGnss](../msg_docs/TargetGnss.md) +- [VehicleStatusV3](../msg_docs/VehicleStatusV3.md) +- [DebugValue](../msg_docs/DebugValue.md) +- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md) +- [Ping](../msg_docs/Ping.md) +- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md) +- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md) +- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md) +- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md) +- [EscEepromRead](../msg_docs/EscEepromRead.md) +- [LogMessage](../msg_docs/LogMessage.md) +- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md) +- [GpioOut](../msg_docs/GpioOut.md) +- [RangingBeacon](../msg_docs/RangingBeacon.md) +- [RtlStatus](../msg_docs/RtlStatus.md) +- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md) +- [Rpm](../msg_docs/Rpm.md) +- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md) +- [RaptorStatus](../msg_docs/RaptorStatus.md) +- [FiducialMarkerPosReport](../msg_docs/FiducialMarkerPosReport.md) +- [LandingGearWheel](../msg_docs/LandingGearWheel.md) +- [VehicleRoi](../msg_docs/VehicleRoi.md) +- [TaskStackInfo](../msg_docs/TaskStackInfo.md) +- [MagWorkerData](../msg_docs/MagWorkerData.md) +- [VelocityLimits](../msg_docs/VelocityLimits.md) +- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md) +- [GpsInjectData](../msg_docs/GpsInjectData.md) +- [Mission](../msg_docs/Mission.md) +- [CameraTrigger](../msg_docs/CameraTrigger.md) +- [LoggerStatus](../msg_docs/LoggerStatus.md) +- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md) +- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md) +- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md) +- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md) +- [VtePosition](../msg_docs/VtePosition.md) +- [PwmInput](../msg_docs/PwmInput.md) +- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md) +- [VteOrientation](../msg_docs/VteOrientation.md) +- [UlogStreamAck](../msg_docs/UlogStreamAck.md) +- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md) +- [SatelliteInfo](../msg_docs/SatelliteInfo.md) +- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) +- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md) +- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md) +- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md) +- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md) ::: diff --git a/docs/en/modules/modules_system.md b/docs/en/modules/modules_system.md index 01b9760968..36c2e5fb07 100644 --- a/docs/en/modules/modules_system.md +++ b/docs/en/modules/modules_system.md @@ -327,7 +327,7 @@ Source: [drivers/heater](https://github.com/PX4/PX4-Autopilot/tree/main/src/driv ### Description -Background process running periodically on the INS{i} queue to regulate IMU temperature at a setpoint. +Background process running periodically on the INS{i} queue to regulate temperature at a setpoint. This task can be started at boot from the startup scripts by setting SENS_EN_THERMAL or via CLI. diff --git a/docs/en/msg_docs/HeaterStatus.md b/docs/en/msg_docs/HeaterStatus.md index 129e0c493d..735277abec 100644 --- a/docs/en/msg_docs/HeaterStatus.md +++ b/docs/en/msg_docs/HeaterStatus.md @@ -21,14 +21,20 @@ pageClass: is-wide-page | proportional_value | `float32` | | | | integrator_value | `float32` | | | | feed_forward_value | `float32` | | | +| supply_voltage | `float32` | | | Supply voltage (V) | +| heater_current | `float32` | | | Heater current (A) | +| nominal_multiplier | `float32` | | | | mode | `uint8` | | | +| temperature_source | `uint8` | | | ## Constants -| Name | Type | Value | Description | -| ----------------------------------- | ------- | ----- | ----------- | -| MODE_GPIO | `uint8` | 1 | -| MODE_PX4IO | `uint8` | 2 | +| Name | Type | Value | Description | +| --------------------------------------------------------------- | ------- | ----- | ----------- | +| MODE_GPIO | `uint8` | 1 | +| MODE_PX4IO | `uint8` | 2 | +| TEMPERATURE_SOURCE_IMU | `uint8` | 0 | +| TEMPERATURE_SOURCE_HYGRO | `uint8` | 1 | ## Source Message @@ -54,9 +60,17 @@ float32 proportional_value float32 integrator_value float32 feed_forward_value +float32 supply_voltage # Supply voltage (V) +float32 heater_current # Heater current (A) +float32 nominal_multiplier + uint8 MODE_GPIO = 1 uint8 MODE_PX4IO = 2 uint8 mode + +uint8 TEMPERATURE_SOURCE_IMU = 0 +uint8 TEMPERATURE_SOURCE_HYGRO = 1 +uint8 temperature_source ``` ::: diff --git a/docs/en/sim_gazebo_gz/index.md b/docs/en/sim_gazebo_gz/index.md index 0fb6fcc192..371e962f72 100644 --- a/docs/en/sim_gazebo_gz/index.md +++ b/docs/en/sim_gazebo_gz/index.md @@ -229,41 +229,41 @@ Lockstep cannot be disabled on Gazebo. ::: ### Video Streaming - + Some models (e.g. `gz_x500_mono_cam`, `gz_x500_gimbal`) include a camera and support video streaming. By default, the stream is published over UDP on port 5600 using the RTP protocol. - + #### Prerequisites - + GStreamer 1.0 is required. The necessary dependencies are included in the standard PX4 installation scripts for Ubuntu Linux and macOS. - + ::: info Required packages: `gstreamer1.0-plugins-base`, `gstreamer1.0-plugins-good`, `gstreamer1.0-plugins-bad`, `gstreamer1.0-plugins-ugly`, `libgstreamer-plugins-base1.0-dev`. If missing, install them via `apt` or your system package manager. ::: - + #### Viewing the Video Stream - + **QGroundControl (recommended)** - + Open **Application Settings > General**, set **Video Source** to _UDP h.264 Video Stream_, and set **UDP Port** to `5600`. - + ![QGC Video Streaming Settings for Gazebo](../../assets/simulation/gazebo_classic/qgc_gazebo_video_stream_udp.png) - + The Gazebo video feed will then appear in QGroundControl exactly as it would from a real camera. - + ![QGC Video Streaming Gazebo Example](../../assets/simulation/gazebo_classic/qgc_gazebo_video_stream_typhoon.jpg) - + **GStreamer pipeline** - + To view the stream directly from a terminal: - + ```sh gst-launch-1.0 -v udpsrc port=5600 \ caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264' \ ! rtph264depay ! avdec_h264 ! videoconvert ! autovideosink sync=false ``` - + #### Multi-Vehicle Simulation - + In a multi-vehicle simulation, each vehicle instance streams to a separate port starting from `5600` — i.e. `5600`, `5601`, `5602`, and so on. If an instance (other than the first, which acts as the Gazebo world host) is restarted, it resumes streaming on its originally assigned port. #### Advanced Usage