From be784e21f786172ed21f156e86868cd2acb2b356 Mon Sep 17 00:00:00 2001 From: PX4BuildBot Date: Wed, 27 May 2026 02:57:43 +0000 Subject: [PATCH] docs: auto-sync metadata [skip ci] Co-Authored-By: PX4 BuildBot --- docs/en/middleware/dds_topics.md | 406 +++++++++--------- docs/en/msg_docs/ActionRequest.md | 16 +- docs/en/msg_docs/ActuatorArmed.md | 20 +- docs/en/msg_docs/ActuatorControlsStatus.md | 8 +- docs/en/msg_docs/ActuatorMotors.md | 12 +- docs/en/msg_docs/ActuatorOutputs.md | 10 +- docs/en/msg_docs/ActuatorServos.md | 10 +- docs/en/msg_docs/ActuatorServosTrim.md | 8 +- docs/en/msg_docs/ActuatorTest.md | 14 +- docs/en/msg_docs/AdcReport.md | 16 +- docs/en/msg_docs/Airspeed.md | 14 +- docs/en/msg_docs/AirspeedValidated.md | 26 +- docs/en/msg_docs/AirspeedValidatedV0.md | 26 +- docs/en/msg_docs/AirspeedWind.md | 32 +- docs/en/msg_docs/ArmingCheckReply.md | 48 ++- docs/en/msg_docs/ArmingCheckReplyV0.md | 44 +- docs/en/msg_docs/ArmingCheckRequest.md | 10 +- docs/en/msg_docs/ArmingCheckRequestV0.md | 8 +- .../msg_docs/AutotuneAttitudeControlStatus.md | 36 +- docs/en/msg_docs/AuxGlobalPosition.md | 26 +- docs/en/msg_docs/BatteryInfo.md | 10 +- docs/en/msg_docs/BatteryStatus.md | 88 ++-- docs/en/msg_docs/BatteryStatusV0.md | 90 ++-- docs/en/msg_docs/ButtonEvent.md | 8 +- docs/en/msg_docs/CameraCapture.md | 22 +- docs/en/msg_docs/CameraStatus.md | 10 +- docs/en/msg_docs/CameraTrigger.md | 12 +- docs/en/msg_docs/CanInterfaceStatus.md | 14 +- docs/en/msg_docs/CellularStatus.md | 26 +- docs/en/msg_docs/CollisionConstraints.md | 10 +- docs/en/msg_docs/ConfigOverrides.md | 18 +- docs/en/msg_docs/ConfigOverridesV0.md | 16 +- docs/en/msg_docs/ControlAllocatorStatus.md | 22 +- docs/en/msg_docs/Cpuload.md | 10 +- docs/en/msg_docs/DatamanRequest.md | 18 +- docs/en/msg_docs/DatamanResponse.md | 18 +- docs/en/msg_docs/DebugArray.md | 12 +- docs/en/msg_docs/DebugKeyValue.md | 10 +- docs/en/msg_docs/DebugValue.md | 10 +- docs/en/msg_docs/DebugVect.md | 14 +- docs/en/msg_docs/DeviceInformation.md | 20 +- docs/en/msg_docs/DifferentialPressure.md | 16 +- docs/en/msg_docs/DistanceSensor.md | 30 +- .../DistanceSensorModeChangeRequest.md | 8 +- docs/en/msg_docs/DronecanNodeStatus.md | 18 +- docs/en/msg_docs/Ekf2Timestamps.md | 20 +- docs/en/msg_docs/EscEepromRead.md | 14 +- docs/en/msg_docs/EscEepromWrite.md | 16 +- docs/en/msg_docs/EscReport.md | 28 +- docs/en/msg_docs/EscStatus.md | 20 +- docs/en/msg_docs/EstimatorAidSource1d.md | 32 +- docs/en/msg_docs/EstimatorAidSource2d.md | 32 +- docs/en/msg_docs/EstimatorAidSource3d.md | 32 +- docs/en/msg_docs/EstimatorBias.md | 20 +- docs/en/msg_docs/EstimatorBias3d.md | 20 +- docs/en/msg_docs/EstimatorEventFlags.md | 44 +- docs/en/msg_docs/EstimatorFusionControl.md | 42 +- docs/en/msg_docs/EstimatorGpsStatus.md | 38 +- docs/en/msg_docs/EstimatorInnovations.md | 48 +-- docs/en/msg_docs/EstimatorSelectorStatus.md | 36 +- docs/en/msg_docs/EstimatorSensorBias.md | 44 +- docs/en/msg_docs/EstimatorStates.md | 14 +- docs/en/msg_docs/EstimatorStatus.md | 80 ++-- docs/en/msg_docs/EstimatorStatusFlags.md | 134 +++--- docs/en/msg_docs/Event.md | 14 +- docs/en/msg_docs/EventV0.md | 14 +- docs/en/msg_docs/FailsafeFlags.md | 96 ++--- docs/en/msg_docs/FailureDetectorStatus.md | 28 +- docs/en/msg_docs/FiducialMarkerPosReport.md | 14 +- docs/en/msg_docs/FiducialMarkerYawReport.md | 12 +- docs/en/msg_docs/FigureEightStatus.md | 20 +- .../FixedWingLateralGuidanceStatus.md | 22 +- docs/en/msg_docs/FixedWingLateralSetpoint.md | 12 +- docs/en/msg_docs/FixedWingLateralStatus.md | 10 +- .../msg_docs/FixedWingLongitudinalSetpoint.md | 16 +- docs/en/msg_docs/FixedWingRunwayControl.md | 12 +- docs/en/msg_docs/FlightPhaseEstimation.md | 8 +- docs/en/msg_docs/FollowTarget.md | 20 +- docs/en/msg_docs/FollowTargetEstimator.md | 28 +- docs/en/msg_docs/FollowTargetStatus.md | 20 +- docs/en/msg_docs/FuelTankStatus.md | 22 +- docs/en/msg_docs/GainCompression.md | 12 +- docs/en/msg_docs/GeneratorStatus.md | 28 +- docs/en/msg_docs/GeofenceResult.md | 14 +- docs/en/msg_docs/GeofenceStatus.md | 10 +- docs/en/msg_docs/GimbalControls.md | 10 +- .../en/msg_docs/GimbalDeviceAttitudeStatus.md | 30 +- docs/en/msg_docs/GimbalDeviceInformation.md | 36 +- docs/en/msg_docs/GimbalDeviceSetAttitude.md | 20 +- docs/en/msg_docs/GimbalManagerInformation.md | 22 +- docs/en/msg_docs/GimbalManagerSetAttitude.md | 26 +- .../msg_docs/GimbalManagerSetManualControl.md | 26 +- docs/en/msg_docs/GimbalManagerStatus.md | 18 +- docs/en/msg_docs/GotoSetpoint.md | 24 +- docs/en/msg_docs/GpioConfig.md | 14 +- docs/en/msg_docs/GpioIn.md | 10 +- docs/en/msg_docs/GpioOut.md | 12 +- docs/en/msg_docs/GpioRequest.md | 8 +- docs/en/msg_docs/GpsDump.md | 14 +- docs/en/msg_docs/GpsInjectData.md | 14 +- docs/en/msg_docs/Gripper.md | 8 +- docs/en/msg_docs/HealthReport.md | 20 +- docs/en/msg_docs/HeaterStatus.md | 36 +- docs/en/msg_docs/HomePosition.md | 34 +- docs/en/msg_docs/HomePositionV0.md | 30 +- docs/en/msg_docs/HoverThrustEstimate.md | 22 +- docs/en/msg_docs/InputRc.md | 34 +- .../InternalCombustionEngineControl.md | 16 +- .../InternalCombustionEngineStatus.md | 50 +-- docs/en/msg_docs/IridiumsbdStatus.md | 34 +- docs/en/msg_docs/IrlockReport.md | 16 +- docs/en/msg_docs/LandingGear.md | 8 +- docs/en/msg_docs/LandingGearWheel.md | 8 +- docs/en/msg_docs/LandingTargetInnovations.md | 14 +- docs/en/msg_docs/LandingTargetPose.md | 46 +- .../msg_docs/LateralControlConfiguration.md | 8 +- docs/en/msg_docs/LaunchDetectionStatus.md | 10 +- docs/en/msg_docs/LedControl.md | 16 +- docs/en/msg_docs/LogMessage.md | 10 +- docs/en/msg_docs/LoggerStatus.md | 26 +- .../LongitudinalControlConfiguration.md | 24 +- docs/en/msg_docs/MagWorkerData.md | 24 +- docs/en/msg_docs/MagnetometerBiasEstimate.md | 16 +- docs/en/msg_docs/ManualControlSetpoint.md | 38 +- docs/en/msg_docs/ManualControlSwitches.md | 36 +- docs/en/msg_docs/MavlinkLog.md | 10 +- docs/en/msg_docs/MavlinkTunnel.md | 16 +- docs/en/msg_docs/MessageFormatRequest.md | 10 +- docs/en/msg_docs/MessageFormatResponse.md | 14 +- docs/en/msg_docs/Mission.md | 26 +- docs/en/msg_docs/MissionResult.md | 34 +- docs/en/msg_docs/ModeCompleted.md | 10 +- docs/en/msg_docs/MountOrientation.md | 8 +- docs/en/msg_docs/NavigatorMissionItem.md | 38 +- docs/en/msg_docs/NavigatorStatus.md | 10 +- docs/en/msg_docs/NeuralControl.md | 14 +- .../en/msg_docs/NormalizedUnsignedSetpoint.md | 8 +- docs/en/msg_docs/ObstacleDistance.md | 20 +- docs/en/msg_docs/OffboardControlMode.md | 20 +- docs/en/msg_docs/OnboardComputerStatus.md | 44 +- docs/en/msg_docs/OpenDroneIdArmStatus.md | 10 +- docs/en/msg_docs/OpenDroneIdOperatorId.md | 12 +- docs/en/msg_docs/OpenDroneIdSelfId.md | 12 +- docs/en/msg_docs/OpenDroneIdSystem.md | 30 +- docs/en/msg_docs/OrbTest.md | 8 +- docs/en/msg_docs/OrbTestLarge.md | 10 +- docs/en/msg_docs/OrbTestMedium.md | 10 +- docs/en/msg_docs/OrbitStatus.md | 22 +- docs/en/msg_docs/ParameterResetRequest.md | 10 +- 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| 12 +- docs/en/msg_docs/RcChannels.md | 20 +- docs/en/msg_docs/RcParameterMap.md | 20 +- docs/en/msg_docs/RegisterExtComponentReply.md | 22 +- .../msg_docs/RegisterExtComponentReplyV0.md | 20 +- .../msg_docs/RegisterExtComponentRequest.md | 28 +- .../msg_docs/RegisterExtComponentRequestV0.md | 24 +- .../msg_docs/RegisterExtComponentRequestV1.md | 26 +- docs/en/msg_docs/RoverAttitudeSetpoint.md | 8 +- docs/en/msg_docs/RoverAttitudeStatus.md | 10 +- docs/en/msg_docs/RoverPositionSetpoint.md | 16 +- docs/en/msg_docs/RoverRateSetpoint.md | 8 +- docs/en/msg_docs/RoverRateStatus.md | 12 +- docs/en/msg_docs/RoverSpeedSetpoint.md | 10 +- docs/en/msg_docs/RoverSpeedStatus.md | 18 +- docs/en/msg_docs/RoverSteeringSetpoint.md | 8 +- docs/en/msg_docs/RoverThrottleSetpoint.md | 10 +- docs/en/msg_docs/Rpm.md | 10 +- docs/en/msg_docs/RtlStatus.md | 16 +- docs/en/msg_docs/RtlTimeEstimate.md | 12 +- docs/en/msg_docs/SatelliteInfo.md | 20 +- docs/en/msg_docs/SensorAccel.md | 24 +- docs/en/msg_docs/SensorAccelFifo.md | 22 +- docs/en/msg_docs/SensorAirflow.md | 14 +- docs/en/msg_docs/SensorBaro.md | 16 +- docs/en/msg_docs/SensorCombined.md | 24 +- docs/en/msg_docs/SensorCorrection.md | 54 +-- docs/en/msg_docs/SensorGnssRelative.md | 46 +- docs/en/msg_docs/SensorGnssStatus.md | 18 +- docs/en/msg_docs/SensorGps.md | 84 ++-- docs/en/msg_docs/SensorGyro.md | 24 +- docs/en/msg_docs/SensorGyroFft.md | 26 +- docs/en/msg_docs/SensorGyroFifo.md | 22 +- docs/en/msg_docs/SensorHygrometer.md | 14 +- docs/en/msg_docs/SensorMag.md | 20 +- docs/en/msg_docs/SensorOpticalFlow.md | 34 +- docs/en/msg_docs/SensorPreflightMag.md | 8 +- docs/en/msg_docs/SensorSelection.md | 10 +- docs/en/msg_docs/SensorTemp.md | 10 +- docs/en/msg_docs/SensorUwb.md | 46 +- docs/en/msg_docs/SensorsStatus.md | 20 +- docs/en/msg_docs/SensorsStatusImu.md | 26 +- docs/en/msg_docs/SystemPower.md | 32 +- docs/en/msg_docs/TakeoffStatus.md | 10 +- docs/en/msg_docs/TargetGnss.md | 30 +- docs/en/msg_docs/TaskStackInfo.md | 10 +- docs/en/msg_docs/TecsStatus.md | 54 +-- docs/en/msg_docs/TelemetryStatus.md | 82 ++-- docs/en/msg_docs/TiltrotorExtraControls.md | 10 +- docs/en/msg_docs/TimesyncStatus.md | 16 +- docs/en/msg_docs/TrajectorySetpoint.md | 18 +- docs/en/msg_docs/TrajectorySetpoint6dof.md | 18 +- docs/en/msg_docs/TransponderReport.md | 34 +- docs/en/msg_docs/TuneControl.md | 18 +- docs/en/msg_docs/UavcanParameterRequest.md | 20 +- docs/en/msg_docs/UavcanParameterValue.md | 20 +- docs/en/msg_docs/UlogStream.md | 16 +- docs/en/msg_docs/UlogStreamAck.md | 8 +- docs/en/msg_docs/UnregisterExtComponent.md | 14 +- docs/en/msg_docs/VehicleAcceleration.md | 10 +- docs/en/msg_docs/VehicleAirData.md | 22 +- .../VehicleAngularAccelerationSetpoint.md | 10 +- docs/en/msg_docs/VehicleAngularVelocity.md | 12 +- docs/en/msg_docs/VehicleAttitude.md | 14 +- docs/en/msg_docs/VehicleAttitudeSetpoint.md | 12 +- docs/en/msg_docs/VehicleAttitudeSetpointV0.md | 16 +- docs/en/msg_docs/VehicleCommand.md | 34 +- docs/en/msg_docs/VehicleCommandAck.md | 22 +- docs/en/msg_docs/VehicleCommandAckV0.md | 20 +- docs/en/msg_docs/VehicleConstraints.md | 12 +- docs/en/msg_docs/VehicleControlMode.md | 36 +- docs/en/msg_docs/VehicleGlobalPosition.md | 40 +- docs/en/msg_docs/VehicleGlobalPositionV0.md | 40 +- docs/en/msg_docs/VehicleImu.md | 28 +- docs/en/msg_docs/VehicleImuStatus.md | 44 +- docs/en/msg_docs/VehicleLandDetected.md | 30 +- docs/en/msg_docs/VehicleLocalPosition.md | 110 ++--- .../msg_docs/VehicleLocalPositionSetpoint.md | 26 +- docs/en/msg_docs/VehicleLocalPositionV0.md | 108 ++--- docs/en/msg_docs/VehicleMagnetometer.md | 14 +- docs/en/msg_docs/VehicleOdometry.md | 34 +- docs/en/msg_docs/VehicleOpticalFlow.md | 26 +- docs/en/msg_docs/VehicleOpticalFlowVel.md | 26 +- docs/en/msg_docs/VehicleRatesSetpoint.md | 16 +- docs/en/msg_docs/VehicleRoi.md | 20 +- docs/en/msg_docs/VehicleStatus.md | 86 ++-- docs/en/msg_docs/VehicleStatusV0.md | 86 ++-- docs/en/msg_docs/VehicleStatusV1.md | 90 ++-- docs/en/msg_docs/VehicleStatusV2.md | 86 ++-- docs/en/msg_docs/VehicleStatusV3.md | 84 ++-- docs/en/msg_docs/VehicleThrustSetpoint.md | 10 +- docs/en/msg_docs/VehicleTorqueSetpoint.md | 10 +- docs/en/msg_docs/VelocityLimits.md | 12 +- docs/en/msg_docs/VteAidSource1d.md | 28 +- docs/en/msg_docs/VteAidSource3d.md | 28 +- docs/en/msg_docs/VteBiasInitStatus.md | 12 +- docs/en/msg_docs/VteInput.md | 14 +- docs/en/msg_docs/VteOrientation.md | 16 +- docs/en/msg_docs/VtePosition.md | 30 +- docs/en/msg_docs/VtolVehicleStatus.md | 10 +- docs/en/msg_docs/Vtx.md | 26 +- docs/en/msg_docs/WheelEncoders.md | 10 +- docs/en/msg_docs/Wind.md | 24 +- docs/en/msg_docs/YawEstimatorStatus.md | 22 +- docs/en/msg_docs/index.md | 41 +- 276 files changed, 3540 insertions(+), 3469 deletions(-) diff --git a/docs/en/middleware/dds_topics.md b/docs/en/middleware/dds_topics.md index 8cb9c1bc388..0e65a35946b 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 -- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md) -- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md) -- [Cpuload](../msg_docs/Cpuload.md) -- [HomePositionV0](../msg_docs/HomePositionV0.md) -- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md) -- [RoverRateStatus](../msg_docs/RoverRateStatus.md) -- [QshellRetval](../msg_docs/QshellRetval.md) -- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md) -- [InputRc](../msg_docs/InputRc.md) -- [ActionRequest](../msg_docs/ActionRequest.md) -- [LogMessage](../msg_docs/LogMessage.md) -- [LandingGearWheel](../msg_docs/LandingGearWheel.md) -- [VelocityLimits](../msg_docs/VelocityLimits.md) -- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md) -- [EscReport](../msg_docs/EscReport.md) -- [PositionSetpoint](../msg_docs/PositionSetpoint.md) -- [Px4ioStatus](../msg_docs/Px4ioStatus.md) -- [NeuralControl](../msg_docs/NeuralControl.md) -- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md) -- [FollowTarget](../msg_docs/FollowTarget.md) -- [VteOrientation](../msg_docs/VteOrientation.md) -- [VtePosition](../msg_docs/VtePosition.md) -- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md) -- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md) -- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md) -- [RaptorStatus](../msg_docs/RaptorStatus.md) -- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md) -- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md) -- [EventV0](../msg_docs/EventV0.md) -- [UlogStream](../msg_docs/UlogStream.md) -- [SensorTemp](../msg_docs/SensorTemp.md) -- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md) -- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md) -- [OrbTestLarge](../msg_docs/OrbTestLarge.md) -- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md) -- [DebugArray](../msg_docs/DebugArray.md) -- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) -- [DeviceInformation](../msg_docs/DeviceInformation.md) -- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md) -- [MagWorkerData](../msg_docs/MagWorkerData.md) -- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md) -- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md) -- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md) -- [EscEepromRead](../msg_docs/EscEepromRead.md) -- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md) -- [FiducialMarkerYawReport](../msg_docs/FiducialMarkerYawReport.md) -- [DebugVect](../msg_docs/DebugVect.md) -- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md) -- [WheelEncoders](../msg_docs/WheelEncoders.md) -- [VehicleStatusV3](../msg_docs/VehicleStatusV3.md) -- [TakeoffStatus](../msg_docs/TakeoffStatus.md) -- [DebugValue](../msg_docs/DebugValue.md) -- [NavigatorStatus](../msg_docs/NavigatorStatus.md) -- [GpioConfig](../msg_docs/GpioConfig.md) -- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md) -- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md) -- [LandingTargetPose](../msg_docs/LandingTargetPose.md) -- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) -- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md) -- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md) -- [ActuatorArmed](../msg_docs/ActuatorArmed.md) -- [DebugKeyValue](../msg_docs/DebugKeyValue.md) - [HeaterStatus](../msg_docs/HeaterStatus.md) -- [SensorMag](../msg_docs/SensorMag.md) -- [SensorSelection](../msg_docs/SensorSelection.md) -- [VehicleRoi](../msg_docs/VehicleRoi.md) -- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md) -- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md) -- [VehicleImu](../msg_docs/VehicleImu.md) -- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md) -- [DifferentialPressure](../msg_docs/DifferentialPressure.md) -- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md) -- [GpsDump](../msg_docs/GpsDump.md) -- [RtlStatus](../msg_docs/RtlStatus.md) -- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md) -- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md) -- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md) -- [TargetGnss](../msg_docs/TargetGnss.md) -- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md) -- [TuneControl](../msg_docs/TuneControl.md) -- [RcParameterMap](../msg_docs/RcParameterMap.md) -- [CameraStatus](../msg_docs/CameraStatus.md) -- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md) -- [Rpm](../msg_docs/Rpm.md) -- [EstimatorStatus](../msg_docs/EstimatorStatus.md) -- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md) -- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md) -- [SensorCorrection](../msg_docs/SensorCorrection.md) -- [EscEepromWrite](../msg_docs/EscEepromWrite.md) -- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md) -- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md) -- [DatamanResponse](../msg_docs/DatamanResponse.md) -- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md) -- [Vtx](../msg_docs/Vtx.md) -- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md) -- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md) -- [PowerMonitor](../msg_docs/PowerMonitor.md) -- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md) -- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md) -- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md) -- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md) -- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md) -- [EstimatorBias](../msg_docs/EstimatorBias.md) -- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md) -- [OrbTestMedium](../msg_docs/OrbTestMedium.md) -- [RegisterExtComponentRequestV1](../msg_docs/RegisterExtComponentRequestV1.md) -- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md) -- [GeofenceResult](../msg_docs/GeofenceResult.md) -- [VteAidSource3d](../msg_docs/VteAidSource3d.md) -- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md) -- [PwmInput](../msg_docs/PwmInput.md) -- [SystemPower](../msg_docs/SystemPower.md) -- [GeneratorStatus](../msg_docs/GeneratorStatus.md) -- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md) -- [FigureEightStatus](../msg_docs/FigureEightStatus.md) -- [QshellReq](../msg_docs/QshellReq.md) -- [SensorHygrometer](../msg_docs/SensorHygrometer.md) -- [ButtonEvent](../msg_docs/ButtonEvent.md) -- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md) -- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md) -- [VteAidSource1d](../msg_docs/VteAidSource1d.md) -- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md) -- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md) -- [GpsInjectData](../msg_docs/GpsInjectData.md) -- [IrlockReport](../msg_docs/IrlockReport.md) -- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md) -- [Ping](../msg_docs/Ping.md) -- [SensorGyro](../msg_docs/SensorGyro.md) -- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md) -- [DatamanRequest](../msg_docs/DatamanRequest.md) -- [FuelTankStatus](../msg_docs/FuelTankStatus.md) -- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md) -- [PowerButtonState](../msg_docs/PowerButtonState.md) - [VteInput](../msg_docs/VteInput.md) -- [PpsCapture](../msg_docs/PpsCapture.md) -- [SensorsStatus](../msg_docs/SensorsStatus.md) -- [RadioStatus](../msg_docs/RadioStatus.md) +- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md) +- [Px4ioStatus](../msg_docs/Px4ioStatus.md) +- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md) +- [VehicleStatusV3](../msg_docs/VehicleStatusV3.md) +- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md) - [Mission](../msg_docs/Mission.md) -- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md) -- [UlogStreamAck](../msg_docs/UlogStreamAck.md) -- [SatelliteInfo](../msg_docs/SatelliteInfo.md) -- [GpioOut](../msg_docs/GpioOut.md) -- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md) -- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md) -- [RcChannels](../msg_docs/RcChannels.md) -- [MountOrientation](../msg_docs/MountOrientation.md) -- [MavlinkLog](../msg_docs/MavlinkLog.md) -- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md) -- [VehicleAirData](../msg_docs/VehicleAirData.md) -- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md) -- [SensorAirflow](../msg_docs/SensorAirflow.md) -- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md) -- [Airspeed](../msg_docs/Airspeed.md) -- [SensorGyroFft](../msg_docs/SensorGyroFft.md) -- [LedControl](../msg_docs/LedControl.md) -- [RaptorInput](../msg_docs/RaptorInput.md) -- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md) -- [CameraCapture](../msg_docs/CameraCapture.md) -- [EscStatus](../msg_docs/EscStatus.md) -- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md) -- [ParameterUpdate](../msg_docs/ParameterUpdate.md) -- [PrecLandStatus](../msg_docs/PrecLandStatus.md) -- [GpioIn](../msg_docs/GpioIn.md) - [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md) -- [BatteryInfo](../msg_docs/BatteryInfo.md) -- [OrbTest](../msg_docs/OrbTest.md) -- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md) -- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md) -- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md) -- [TecsStatus](../msg_docs/TecsStatus.md) +- [ArmingCheckRequestV0](../msg_docs/ArmingCheckRequestV0.md) +- [ActuatorArmed](../msg_docs/ActuatorArmed.md) +- [VteOrientation](../msg_docs/VteOrientation.md) +- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md) +- [GpsInjectData](../msg_docs/GpsInjectData.md) +- [SensorCorrection](../msg_docs/SensorCorrection.md) +- [FuelTankStatus](../msg_docs/FuelTankStatus.md) +- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md) +- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md) +- [LandingTargetPose](../msg_docs/LandingTargetPose.md) +- [VehicleCommandAckV0](../msg_docs/VehicleCommandAckV0.md) +- [PwmInput](../msg_docs/PwmInput.md) +- [TakeoffStatus](../msg_docs/TakeoffStatus.md) +- [SensorTemp](../msg_docs/SensorTemp.md) +- [SystemPower](../msg_docs/SystemPower.md) +- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md) +- [RcChannels](../msg_docs/RcChannels.md) +- [UlogStream](../msg_docs/UlogStream.md) +- [VehicleStatusV1](../msg_docs/VehicleStatusV1.md) +- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md) +- [RegisterExtComponentRequestV1](../msg_docs/RegisterExtComponentRequestV1.md) +- [GimbalControls](../msg_docs/GimbalControls.md) +- [ButtonEvent](../msg_docs/ButtonEvent.md) +- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md) +- [VteAidSource1d](../msg_docs/VteAidSource1d.md) +- [LogMessage](../msg_docs/LogMessage.md) +- [VtePosition](../msg_docs/VtePosition.md) +- [GeofenceStatus](../msg_docs/GeofenceStatus.md) +- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md) +- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md) +- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md) +- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md) +- [TaskStackInfo](../msg_docs/TaskStackInfo.md) +- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md) +- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md) +- [HealthReport](../msg_docs/HealthReport.md) +- [DeviceInformation](../msg_docs/DeviceInformation.md) +- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md) - [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md) - [UavcanParameterValue](../msg_docs/UavcanParameterValue.md) -- [MissionResult](../msg_docs/MissionResult.md) -- [VteBiasInitStatus](../msg_docs/VteBiasInitStatus.md) -- [GpioRequest](../msg_docs/GpioRequest.md) -- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md) -- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md) -- [OrbitStatus](../msg_docs/OrbitStatus.md) -- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md) -- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md) -- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md) -- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md) -- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md) -- [EstimatorStates](../msg_docs/EstimatorStates.md) -- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md) -- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md) -- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md) -- [SensorUwb](../msg_docs/SensorUwb.md) -- [VehicleConstraints](../msg_docs/VehicleConstraints.md) -- [Gripper](../msg_docs/Gripper.md) +- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md) +- [RcParameterMap](../msg_docs/RcParameterMap.md) +- [WheelEncoders](../msg_docs/WheelEncoders.md) +- [ParameterUpdate](../msg_docs/ParameterUpdate.md) +- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md) +- [Event](../msg_docs/Event.md) +- [Airspeed](../msg_docs/Airspeed.md) +- [DifferentialPressure](../msg_docs/DifferentialPressure.md) +- [HomePositionV0](../msg_docs/HomePositionV0.md) +- [SensorSelection](../msg_docs/SensorSelection.md) +- [UlogStreamAck](../msg_docs/UlogStreamAck.md) +- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md) +- [VelocityLimits](../msg_docs/VelocityLimits.md) +- [InputRc](../msg_docs/InputRc.md) +- [IrlockReport](../msg_docs/IrlockReport.md) +- [VehicleLocalPositionV0](../msg_docs/VehicleLocalPositionV0.md) +- [VehicleGlobalPositionV0](../msg_docs/VehicleGlobalPositionV0.md) +- [MavlinkLog](../msg_docs/MavlinkLog.md) +- [QshellReq](../msg_docs/QshellReq.md) +- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md) +- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md) +- [EscReport](../msg_docs/EscReport.md) +- [EscEepromWrite](../msg_docs/EscEepromWrite.md) +- [GpsDump](../msg_docs/GpsDump.md) +- [SensorGnssStatus](../msg_docs/SensorGnssStatus.md) +- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md) +- [PrecLandStatus](../msg_docs/PrecLandStatus.md) - [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md) - [FiducialMarkerPosReport](../msg_docs/FiducialMarkerPosReport.md) -- [AirspeedWind](../msg_docs/AirspeedWind.md) -- [LoggerStatus](../msg_docs/LoggerStatus.md) -- [AdcReport](../msg_docs/AdcReport.md) -- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md) -- [Event](../msg_docs/Event.md) -- [GainCompression](../msg_docs/GainCompression.md) -- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md) -- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md) -- [ActuatorTest](../msg_docs/ActuatorTest.md) +- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md) +- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md) +- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md) +- [TuneControl](../msg_docs/TuneControl.md) +- [SensorGyro](../msg_docs/SensorGyro.md) +- [VehicleImu](../msg_docs/VehicleImu.md) - [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md) -- [GeofenceStatus](../msg_docs/GeofenceStatus.md) -- [CellularStatus](../msg_docs/CellularStatus.md) -- [SensorBaro](../msg_docs/SensorBaro.md) -- [EstimatorFusionControl](../msg_docs/EstimatorFusionControl.md) -- [RegisterExtComponentReplyV0](../msg_docs/RegisterExtComponentReplyV0.md) -- [RangingBeacon](../msg_docs/RangingBeacon.md) -- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md) -- [GimbalControls](../msg_docs/GimbalControls.md) - [CameraTrigger](../msg_docs/CameraTrigger.md) +- [TargetGnss](../msg_docs/TargetGnss.md) +- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md) +- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md) +- [VehicleConstraints](../msg_docs/VehicleConstraints.md) +- [PowerButtonState](../msg_docs/PowerButtonState.md) +- [PowerMonitor](../msg_docs/PowerMonitor.md) +- [LandingGearWheel](../msg_docs/LandingGearWheel.md) +- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md) +- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md) +- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md) +- [GeofenceResult](../msg_docs/GeofenceResult.md) +- [LedControl](../msg_docs/LedControl.md) +- [EventV0](../msg_docs/EventV0.md) +- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md) +- [EstimatorFusionControl](../msg_docs/EstimatorFusionControl.md) +- [Rpm](../msg_docs/Rpm.md) - [RateCtrlStatus](../msg_docs/RateCtrlStatus.md) -- [HealthReport](../msg_docs/HealthReport.md) +- [VteBiasInitStatus](../msg_docs/VteBiasInitStatus.md) +- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md) +- [SensorsStatus](../msg_docs/SensorsStatus.md) +- [CellularStatus](../msg_docs/CellularStatus.md) +- [EscEepromRead](../msg_docs/EscEepromRead.md) +- [RangingBeacon](../msg_docs/RangingBeacon.md) +- [SensorBaro](../msg_docs/SensorBaro.md) +- [QshellRetval](../msg_docs/QshellRetval.md) +- [Cpuload](../msg_docs/Cpuload.md) +- [SensorGyroFft](../msg_docs/SensorGyroFft.md) +- [DronecanNodeStatus](../msg_docs/DronecanNodeStatus.md) +- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md) +- [FollowTarget](../msg_docs/FollowTarget.md) +- [Gripper](../msg_docs/Gripper.md) +- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md) +- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md) +- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md) +- [AirspeedWind](../msg_docs/AirspeedWind.md) +- [PositionSetpoint](../msg_docs/PositionSetpoint.md) +- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md) +- [CameraStatus](../msg_docs/CameraStatus.md) +- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md) +- [PpsCapture](../msg_docs/PpsCapture.md) +- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md) +- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md) +- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md) +- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md) +- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md) +- [DebugValue](../msg_docs/DebugValue.md) +- [SensorUwb](../msg_docs/SensorUwb.md) +- [TecsStatus](../msg_docs/TecsStatus.md) +- [OrbTestLarge](../msg_docs/OrbTestLarge.md) +- [GpioRequest](../msg_docs/GpioRequest.md) +- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md) +- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md) +- [VehicleAirData](../msg_docs/VehicleAirData.md) +- [RoverSpeedStatus](../msg_docs/RoverSpeedStatus.md) +- [MountOrientation](../msg_docs/MountOrientation.md) +- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md) +- [EscStatus](../msg_docs/EscStatus.md) +- [SensorMag](../msg_docs/SensorMag.md) +- [EstimatorStatus](../msg_docs/EstimatorStatus.md) +- [AdcReport](../msg_docs/AdcReport.md) +- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md) +- [ConfigOverridesV0](../msg_docs/ConfigOverridesV0.md) +- [EstimatorStates](../msg_docs/EstimatorStates.md) +- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md) +- [RegisterExtComponentRequestV0](../msg_docs/RegisterExtComponentRequestV0.md) +- [OrbitStatus](../msg_docs/OrbitStatus.md) +- [NeuralControl](../msg_docs/NeuralControl.md) +- [VteAidSource3d](../msg_docs/VteAidSource3d.md) +- [SensorAirflow](../msg_docs/SensorAirflow.md) +- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md) +- [GeneratorStatus](../msg_docs/GeneratorStatus.md) +- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md) +- [MissionResult](../msg_docs/MissionResult.md) +- [Vtx](../msg_docs/Vtx.md) +- [DebugVect](../msg_docs/DebugVect.md) +- [Ping](../msg_docs/Ping.md) +- [OrbTestMedium](../msg_docs/OrbTestMedium.md) +- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md) +- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md) +- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md) +- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md) +- [MagWorkerData](../msg_docs/MagWorkerData.md) +- [RaptorInput](../msg_docs/RaptorInput.md) +- [DebugKeyValue](../msg_docs/DebugKeyValue.md) +- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md) +- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md) +- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md) +- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md) +- [EstimatorBias](../msg_docs/EstimatorBias.md) - [SensorAccel](../msg_docs/SensorAccel.md) -- [TaskStackInfo](../msg_docs/TaskStackInfo.md) +- [DebugArray](../msg_docs/DebugArray.md) +- [NavigatorStatus](../msg_docs/NavigatorStatus.md) +- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md) +- [CameraCapture](../msg_docs/CameraCapture.md) +- [RadioStatus](../msg_docs/RadioStatus.md) +- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md) +- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md) +- [VehicleStatusV2](../msg_docs/VehicleStatusV2.md) +- [DatamanResponse](../msg_docs/DatamanResponse.md) +- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md) +- [BatteryInfo](../msg_docs/BatteryInfo.md) +- [LoggerStatus](../msg_docs/LoggerStatus.md) +- [RoverRateStatus](../msg_docs/RoverRateStatus.md) +- [BatteryStatusV0](../msg_docs/BatteryStatusV0.md) +- [SatelliteInfo](../msg_docs/SatelliteInfo.md) +- [ActionRequest](../msg_docs/ActionRequest.md) +- [GpioOut](../msg_docs/GpioOut.md) +- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md) +- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md) +- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md) +- [VehicleRoi](../msg_docs/VehicleRoi.md) +- [ActuatorTest](../msg_docs/ActuatorTest.md) +- [GpioConfig](../msg_docs/GpioConfig.md) +- [FigureEightStatus](../msg_docs/FigureEightStatus.md) +- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md) +- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md) +- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md) +- [OrbTest](../msg_docs/OrbTest.md) +- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md) +- [GainCompression](../msg_docs/GainCompression.md) +- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md) +- [DatamanRequest](../msg_docs/DatamanRequest.md) +- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md) +- [GpioIn](../msg_docs/GpioIn.md) +- [RtlStatus](../msg_docs/RtlStatus.md) +- [SensorHygrometer](../msg_docs/SensorHygrometer.md) +- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md) +- [FiducialMarkerYawReport](../msg_docs/FiducialMarkerYawReport.md) +- [RaptorStatus](../msg_docs/RaptorStatus.md) ::: diff --git a/docs/en/msg_docs/ActionRequest.md b/docs/en/msg_docs/ActionRequest.md index 1fafb6ea21a..c2aa4ae6f9e 100644 --- a/docs/en/msg_docs/ActionRequest.md +++ b/docs/en/msg_docs/ActionRequest.md @@ -14,17 +14,19 @@ Request are published by `manual_control` and subscribed by the `commander` and ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | -------- | ------------ | ----------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| action | `uint8` | | [ACTION](#ACTION) | Requested action | -| source | `uint8` | | [SOURCE](#SOURCE) | Request trigger type, such as a switch, button or gesture | -| mode | `uint8` | | | Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration. | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | -------- | ------------ | ----------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| action | `uint8` | | [ACTION](#ACTION) | Requested action | +| source | `uint8` | | [SOURCE](#SOURCE) | Request trigger type, such as a switch, button or gesture | +| mode | `uint8` | | | Requested mode. Only applies when `action` is `ACTION_SWITCH_MODE`. Values for this field are defined by the `vehicle_status_s::NAVIGATION_STATE_*` enumeration. | ## Enums ### ACTION {#ACTION} +Used in field(s): [action](#fld_action) + | Name | Type | Value | Description | | ----------------------------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------------------- | | ACTION_DISARM | `uint8` | 0 | Disarm vehicle | @@ -39,6 +41,8 @@ Request are published by `manual_control` and subscribed by the `commander` and ### SOURCE {#SOURCE} +Used in field(s): [source](#fld_source) + | Name | Type | Value | Description | | ------------------------------------------------------- | ------- | ----- | --------------------------------------------------------------- | | SOURCE_STICK_GESTURE | `uint8` | 0 | Triggered by holding the sticks in a certain position | diff --git a/docs/en/msg_docs/ActuatorArmed.md b/docs/en/msg_docs/ActuatorArmed.md index e859fec4798..7093dc71dc4 100644 --- a/docs/en/msg_docs/ActuatorArmed.md +++ b/docs/en/msg_docs/ActuatorArmed.md @@ -8,16 +8,16 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------------- | -------- | ------------ | ---------- | ------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| armed | `bool` | | | Set to true if system is armed | -| prearmed | `bool` | | | Set to true if the actuator safety is disabled but motors are not armed | -| ready_to_arm | `bool` | | | Set to true if system is ready to be armed | -| lockdown | `bool` | | | Set to true if actuators are forced to being disabled (due to emergency or HIL) | -| kill | `bool` | | | Set to true if manual throttle kill switch is engaged | -| termination | `bool` | | | Send out failsafe (by default same as disarmed) output | -| in_esc_calibration_mode | `bool` | | | IO/FMU should ignore messages from the actuator controls topics | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------------- | -------- | ------------ | ---------- | ------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| armed | `bool` | | | Set to true if system is armed | +| prearmed | `bool` | | | Set to true if the actuator safety is disabled but motors are not armed | +| ready_to_arm | `bool` | | | Set to true if system is ready to be armed | +| lockdown | `bool` | | | Set to true if actuators are forced to being disabled (due to emergency or HIL) | +| kill | `bool` | | | Set to true if manual throttle kill switch is engaged | +| termination | `bool` | | | Send out failsafe (by default same as disarmed) output | +| in_esc_calibration_mode | `bool` | | | IO/FMU should ignore messages from the actuator controls topics | ## Source Message diff --git a/docs/en/msg_docs/ActuatorControlsStatus.md b/docs/en/msg_docs/ActuatorControlsStatus.md index f15aff69ee7..9661fc02cbd 100644 --- a/docs/en/msg_docs/ActuatorControlsStatus.md +++ b/docs/en/msg_docs/ActuatorControlsStatus.md @@ -8,10 +8,10 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------- | ------------ | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| control_power | `float32[3]` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| control_power | `float32[3]` | | | ## Source Message diff --git a/docs/en/msg_docs/ActuatorMotors.md b/docs/en/msg_docs/ActuatorMotors.md index 4c7cad45b60..5ab728c919d 100644 --- a/docs/en/msg_docs/ActuatorMotors.md +++ b/docs/en/msg_docs/ActuatorMotors.md @@ -13,12 +13,12 @@ Published by the vehicle's allocation and consumed by the ESC protocol drivers e ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ------------- | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on | -| reversible_flags | `uint16` | | | Bitset indicating which motors are configured to be reversible | -| control | `float32[12]` | | [-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) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ------------- | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on | +| reversible_flags | `uint16` | | | Bitset indicating which motors are configured to be reversible | +| control | `float32[12]` | | [-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) | ## Constants diff --git a/docs/en/msg_docs/ActuatorOutputs.md b/docs/en/msg_docs/ActuatorOutputs.md index 06cc930b7a7..dc247ff05b6 100644 --- a/docs/en/msg_docs/ActuatorOutputs.md +++ b/docs/en/msg_docs/ActuatorOutputs.md @@ -8,11 +8,11 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | ------------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| noutputs | `uint32` | | | valid outputs | -| output | `float32[16]` | | | output data, in natural output units | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | ------------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| noutputs | `uint32` | | | valid outputs | +| output | `float32[16]` | | | output data, in natural output units | ## Constants diff --git a/docs/en/msg_docs/ActuatorServos.md b/docs/en/msg_docs/ActuatorServos.md index 7fc0c6f2549..821b0190fa1 100644 --- a/docs/en/msg_docs/ActuatorServos.md +++ b/docs/en/msg_docs/ActuatorServos.md @@ -13,11 +13,11 @@ Published by the vehicle's allocation and consumed by the actuator output driver ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ------------ | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on | -| control | `float32[8]` | | [-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. | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ------------ | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on | +| control | `float32[8]` | | [-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. | ## Constants diff --git a/docs/en/msg_docs/ActuatorServosTrim.md b/docs/en/msg_docs/ActuatorServosTrim.md index 01c831bc9fe..dcf6596f9c9 100644 --- a/docs/en/msg_docs/ActuatorServosTrim.md +++ b/docs/en/msg_docs/ActuatorServosTrim.md @@ -10,10 +10,10 @@ Servo trims, added as offset to servo outputs. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | ------------ | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| trim | `float32[8]` | | | range: [-1, 1] | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | ------------ | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| trim | `float32[8]` | | | range: [-1, 1] | ## Constants diff --git a/docs/en/msg_docs/ActuatorTest.md b/docs/en/msg_docs/ActuatorTest.md index 52261b7d36f..8d802ac092f 100644 --- a/docs/en/msg_docs/ActuatorTest.md +++ b/docs/en/msg_docs/ActuatorTest.md @@ -8,13 +8,13 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------- | --------- | ------------ | ---------- | ------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| action | `uint8` | | | one of ACTION\_\* | -| function | `uint16` | | | actuator output function | -| value | `float32` | | | range: [-1, 1], where 1 means maximum positive output, | -| timeout_ms | `uint32` | | | timeout in ms after which to exit test mode (if 0, do not time out) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| action | `uint8` | | | one of ACTION\_\* | +| function | `uint16` | | | actuator output function | +| value | `float32` | | | range: [-1, 1], where 1 means maximum positive output, | +| timeout_ms | `uint32` | | | timeout in ms after which to exit test mode (if 0, do not time out) | ## Constants diff --git a/docs/en/msg_docs/AdcReport.md b/docs/en/msg_docs/AdcReport.md index 9cb57dc6748..89a3d5f25a8 100644 --- a/docs/en/msg_docs/AdcReport.md +++ b/docs/en/msg_docs/AdcReport.md @@ -12,14 +12,14 @@ Communicates raw data from an analog-to-digital converter (ADC) to other modules ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------- | ----------- | ------------ | ---------- | ------------------------------------------------------------------------------------ | -| timestamp | `uint64` | us | | Time since system start | -| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | -| channel_id | `int16[16]` | | | ADC channel IDs, negative for non-existent, TODO: should be kept same as array index | -| raw_data | `int32[16]` | | | ADC channel raw value, accept negative value, valid if channel ID is positive | -| resolution | `uint32` | | | ADC channel resolution | -| v_ref | `float32` | V | | ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------- | ----------- | ------------ | ---------- | ------------------------------------------------------------------------------------ | +| timestamp | `uint64` | us | | Time since system start | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| channel_id | `int16[16]` | | | ADC channel IDs, negative for non-existent, TODO: should be kept same as array index | +| raw_data | `int32[16]` | | | ADC channel raw value, accept negative value, valid if channel ID is positive | +| resolution | `uint32` | | | ADC channel resolution | +| v_ref | `float32` | V | | ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution) | ## Source Message diff --git a/docs/en/msg_docs/Airspeed.md b/docs/en/msg_docs/Airspeed.md index d7699256202..0525d1aa931 100644 --- a/docs/en/msg_docs/Airspeed.md +++ b/docs/en/msg_docs/Airspeed.md @@ -13,13 +13,13 @@ It is subscribed by the airspeed selector module, which validates the data from ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------------- | --------- | ------------ | ---------- | -------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| timestamp_sample | `uint64` | us | | Timestamp of the raw data | -| indicated_airspeed_m_s | `float32` | m/s | | Indicated airspeed | -| true_airspeed_m_s | `float32` | m/s | | True airspeed | -| confidence | `float32` | | [0 : 1] | Confidence value for this sensor | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------- | --------- | ------------ | ---------- | -------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Timestamp of the raw data | +| indicated_airspeed_m_s | `float32` | m/s | | Indicated airspeed | +| true_airspeed_m_s | `float32` | m/s | | True airspeed | +| confidence | `float32` | | [0 : 1] | Confidence value for this sensor | ## Source Message diff --git a/docs/en/msg_docs/AirspeedValidated.md b/docs/en/msg_docs/AirspeedValidated.md index 4d184d3271b..f53ad88dc76 100644 --- a/docs/en/msg_docs/AirspeedValidated.md +++ b/docs/en/msg_docs/AirspeedValidated.md @@ -13,23 +13,25 @@ Used by controllers, estimators and for airspeed reporting to operator. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------------------------- | --------- | ------------ | ----------------- | ---------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| indicated_airspeed_m_s | `float32` | m/s | | Indicated airspeed (IAS) (Invalid: NaN) | -| calibrated_airspeed_m_s | `float32` | m/s | | Calibrated airspeed (CAS) (Invalid: NaN) | -| true_airspeed_m_s | `float32` | m/s | | True airspeed (TAS) (Invalid: NaN) | -| airspeed_source | `int8` | | [SOURCE](#SOURCE) | Source of currently published airspeed values | -| calibrated_ground_minus_wind_m_s | `float32` | m/s | | CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption (Invalid: NaN) | -| calibraded_airspeed_synth_m_s | `float32` | m/s | | Synthetic airspeed (Invalid: NaN) | -| airspeed_derivative_filtered | `float32` | m/s^2 | | Filtered indicated airspeed derivative | -| throttle_filtered | `float32` | | | Filtered fixed-wing throttle | -| pitch_filtered | `float32` | rad | | Filtered pitch | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------------------------------- | --------- | ------------ | ----------------- | ---------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| indicated_airspeed_m_s | `float32` | m/s | | Indicated airspeed (IAS) (Invalid: NaN) | +| calibrated_airspeed_m_s | `float32` | m/s | | Calibrated airspeed (CAS) (Invalid: NaN) | +| true_airspeed_m_s | `float32` | m/s | | True airspeed (TAS) (Invalid: NaN) | +| airspeed_source | `int8` | | [SOURCE](#SOURCE) | Source of currently published airspeed values | +| calibrated_ground_minus_wind_m_s | `float32` | m/s | | CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption (Invalid: NaN) | +| calibraded_airspeed_synth_m_s | `float32` | m/s | | Synthetic airspeed (Invalid: NaN) | +| airspeed_derivative_filtered | `float32` | m/s^2 | | Filtered indicated airspeed derivative | +| throttle_filtered | `float32` | | | Filtered fixed-wing throttle | +| pitch_filtered | `float32` | rad | | Filtered pitch | ## Enums ### SOURCE {#SOURCE} +Used in field(s): [airspeed_source](#fld_airspeed_source) + | Name | Type | Value | Description | | --------------------------------------------------------------- | ------ | ----- | ----------------------- | | SOURCE_DISABLED | `int8` | -1 | Disabled | diff --git a/docs/en/msg_docs/AirspeedValidatedV0.md b/docs/en/msg_docs/AirspeedValidatedV0.md index d94137b67bb..55585f36fda 100644 --- a/docs/en/msg_docs/AirspeedValidatedV0.md +++ b/docs/en/msg_docs/AirspeedValidatedV0.md @@ -8,19 +8,19 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------------------------------------ | -| timestamp | `uint64` | | | time since system start (microseconds) | -| indicated_airspeed_m_s | `float32` | | | indicated airspeed in m/s (IAS), set to NAN if invalid | -| calibrated_airspeed_m_s | `float32` | | | calibrated airspeed in m/s (CAS, accounts for instrumentation errors), set to NAN if invalid | -| true_airspeed_m_s | `float32` | | | true filtered airspeed in m/s (TAS), set to NAN if invalid | -| calibrated_ground_minus_wind_m_s | `float32` | | | CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid | -| true_ground_minus_wind_m_s | `float32` | | | TAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid | -| airspeed_sensor_measurement_valid | `bool` | | | True if data from at least one airspeed sensor is declared valid. | -| selected_airspeed_index | `int8` | | | 1-3: airspeed sensor index, 0: groundspeed-windspeed, -1: airspeed invalid | -| airspeed_derivative_filtered | `float32` | | | filtered indicated airspeed derivative [m/s/s] | -| throttle_filtered | `float32` | | | filtered fixed-wing throttle [-] | -| pitch_filtered | `float32` | | | filtered pitch [rad] | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| indicated_airspeed_m_s | `float32` | | | indicated airspeed in m/s (IAS), set to NAN if invalid | +| calibrated_airspeed_m_s | `float32` | | | calibrated airspeed in m/s (CAS, accounts for instrumentation errors), set to NAN if invalid | +| true_airspeed_m_s | `float32` | | | true filtered airspeed in m/s (TAS), set to NAN if invalid | +| calibrated_ground_minus_wind_m_s | `float32` | | | CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid | +| true_ground_minus_wind_m_s | `float32` | | | TAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid | +| airspeed_sensor_measurement_valid | `bool` | | | True if data from at least one airspeed sensor is declared valid. | +| selected_airspeed_index | `int8` | | | 1-3: airspeed sensor index, 0: groundspeed-windspeed, -1: airspeed invalid | +| airspeed_derivative_filtered | `float32` | | | filtered indicated airspeed derivative [m/s/s] | +| throttle_filtered | `float32` | | | filtered fixed-wing throttle [-] | +| pitch_filtered | `float32` | | | filtered pitch [rad] | ## Constants diff --git a/docs/en/msg_docs/AirspeedWind.md b/docs/en/msg_docs/AirspeedWind.md index fe4ef76b049..0c80238d21a 100644 --- a/docs/en/msg_docs/AirspeedWind.md +++ b/docs/en/msg_docs/AirspeedWind.md @@ -16,22 +16,22 @@ subscribed to by any other modules. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------- | --------- | ------------ | ---------- | --------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| timestamp_sample | `uint64` | us | | Timestamp of the raw data | -| windspeed_north | `float32` | m/s | | Wind component in north / X direction | -| windspeed_east | `float32` | m/s | | Wind component in east / Y direction | -| variance_north | `float32` | (m/s)^2 | | Wind estimate error variance in north / X direction (Invalid: 0 if not estimated) | -| variance_east | `float32` | (m/s)^2 | | Wind estimate error variance in east / Y direction (Invalid: 0 if not estimated) | -| tas_innov | `float32` | m/s | | True airspeed innovation | -| tas_innov_var | `float32` | m/s | | True airspeed innovation variance | -| tas_scale_raw | `float32` | | | Estimated true airspeed scale factor (not validated) | -| tas_scale_raw_var | `float32` | | | True airspeed scale factor variance | -| tas_scale_validated | `float32` | | | Estimated true airspeed scale factor after validation | -| beta_innov | `float32` | rad | | Sideslip measurement innovation | -| beta_innov_var | `float32` | rad^2 | | Sideslip measurement innovation variance | -| source | `uint8` | | | source of wind estimate | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------- | --------- | ------------ | ---------- | --------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Timestamp of the raw data | +| windspeed_north | `float32` | m/s | | Wind component in north / X direction | +| windspeed_east | `float32` | m/s | | Wind component in east / Y direction | +| variance_north | `float32` | (m/s)^2 | | Wind estimate error variance in north / X direction (Invalid: 0 if not estimated) | +| variance_east | `float32` | (m/s)^2 | | Wind estimate error variance in east / Y direction (Invalid: 0 if not estimated) | +| tas_innov | `float32` | m/s | | True airspeed innovation | +| tas_innov_var | `float32` | m/s | | True airspeed innovation variance | +| tas_scale_raw | `float32` | | | Estimated true airspeed scale factor (not validated) | +| tas_scale_raw_var | `float32` | | | True airspeed scale factor variance | +| tas_scale_validated | `float32` | | | Estimated true airspeed scale factor after validation | +| beta_innov | `float32` | rad | | Sideslip measurement innovation | +| beta_innov_var | `float32` | rad^2 | | Sideslip measurement innovation variance | +| source | `uint8` | | | source of wind estimate | ## Constants diff --git a/docs/en/msg_docs/ArmingCheckReply.md b/docs/en/msg_docs/ArmingCheckReply.md index d3f499f83b4..1a47575a817 100644 --- a/docs/en/msg_docs/ArmingCheckReply.md +++ b/docs/en/msg_docs/ArmingCheckReply.md @@ -17,34 +17,36 @@ The message is not used by internal/FMU components, as their mode requirements a ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------------------------- | ---------- | ------------ | ------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start. | -| request_id | `uint8` | | | Id of ArmingCheckRequest for which this is a response | -| registration_id | `uint8` | | | Id of external component emitting this response | -| health_component_index | `uint8` | | [HEALTH_COMPONENT_INDEX](#HEALTH_COMPONENT_INDEX) | -| health_component_is_present | `bool` | | | Unused. Intended for use with health events interface (health_component_t in events.json) | -| health_component_warning | `bool` | | | Unused. Intended for use with health events interface (health_component_t in events.json) | -| health_component_error | `bool` | | | Unused. Intended for use with health events interface (health_component_t in events.json) | -| can_arm_and_run | `bool` | | | 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 | -| num_events | `uint8` | | | Number of queued failure messages (Event) in the events field | -| events | `Event[5]` | | | Arming failure reasons (Queue of events to report to GCS) | -| mode_req_angular_velocity | `bool` | | | Requires angular velocity estimate (e.g. from gyroscope) | -| mode_req_attitude | `bool` | | | Requires an attitude estimate | -| mode_req_local_alt | `bool` | | | Requires a local altitude estimate | -| mode_req_local_position | `bool` | | | Requires a local position estimate | -| mode_req_local_position_relaxed | `bool` | | | Requires a more relaxed global position estimate | -| mode_req_global_position | `bool` | | | Requires a global position estimate | -| mode_req_global_position_relaxed | `bool` | | | Requires a relaxed global position estimate | -| mode_req_mission | `bool` | | | Requires an uploaded mission | -| mode_req_home_position | `bool` | | | Requires a home position (such as RTL/Return mode) | -| mode_req_prevent_arming | `bool` | | | Prevent arming (such as in Land mode) | -| mode_req_manual_control | `bool` | | | Requires a manual controller | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------------------------------- | ---------- | ------------ | ------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start. | +| request_id | `uint8` | | | Id of ArmingCheckRequest for which this is a response | +| registration_id | `uint8` | | | Id of external component emitting this response | +| health_component_index | `uint8` | | [HEALTH_COMPONENT_INDEX](#HEALTH_COMPONENT_INDEX) | +| health_component_is_present | `bool` | | | Unused. Intended for use with health events interface (health_component_t in events.json) | +| health_component_warning | `bool` | | | Unused. Intended for use with health events interface (health_component_t in events.json) | +| health_component_error | `bool` | | | Unused. Intended for use with health events interface (health_component_t in events.json) | +| can_arm_and_run | `bool` | | | 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 | +| num_events | `uint8` | | | Number of queued failure messages (Event) in the events field | +| events | `Event[5]` | | | Arming failure reasons (Queue of events to report to GCS) | +| mode_req_angular_velocity | `bool` | | | Requires angular velocity estimate (e.g. from gyroscope) | +| mode_req_attitude | `bool` | | | Requires an attitude estimate | +| mode_req_local_alt | `bool` | | | Requires a local altitude estimate | +| mode_req_local_position | `bool` | | | Requires a local position estimate | +| mode_req_local_position_relaxed | `bool` | | | Requires a more relaxed global position estimate | +| mode_req_global_position | `bool` | | | Requires a global position estimate | +| mode_req_global_position_relaxed | `bool` | | | Requires a relaxed global position estimate | +| mode_req_mission | `bool` | | | Requires an uploaded mission | +| mode_req_home_position | `bool` | | | Requires a home position (such as RTL/Return mode) | +| mode_req_prevent_arming | `bool` | | | Prevent arming (such as in Land mode) | +| mode_req_manual_control | `bool` | | | Requires a manual controller | ## Enums ### HEALTH_COMPONENT_INDEX {#HEALTH_COMPONENT_INDEX} +Used in field(s): [health_component_index](#fld_health_component_index) + | Name | Type | Value | Description | | --------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------- | | HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 | Index of health component for which this response applies | diff --git a/docs/en/msg_docs/ArmingCheckReplyV0.md b/docs/en/msg_docs/ArmingCheckReplyV0.md index ebbf6aaa6de..0998e3023a0 100644 --- a/docs/en/msg_docs/ArmingCheckReplyV0.md +++ b/docs/en/msg_docs/ArmingCheckReplyV0.md @@ -8,28 +8,28 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------ | -| timestamp | `uint64` | | | time since system start (microseconds) | -| request_id | `uint8` | | | -| registration_id | `uint8` | | | -| health_component_index | `uint8` | | | HEALTH*COMPONENT_INDEX*\* | -| health_component_is_present | `bool` | | | -| health_component_warning | `bool` | | | -| health_component_error | `bool` | | | -| can_arm_and_run | `bool` | | | whether arming is possible, and if it's a navigation mode, if it can run | -| num_events | `uint8` | | | -| events | `EventV0[5]` | | | -| 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` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| request_id | `uint8` | | | +| registration_id | `uint8` | | | +| health_component_index | `uint8` | | | HEALTH*COMPONENT_INDEX*\* | +| health_component_is_present | `bool` | | | +| health_component_warning | `bool` | | | +| health_component_error | `bool` | | | +| can_arm_and_run | `bool` | | | whether arming is possible, and if it's a navigation mode, if it can run | +| num_events | `uint8` | | | +| events | `EventV0[5]` | | | +| 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` | | | ## Constants diff --git a/docs/en/msg_docs/ArmingCheckRequest.md b/docs/en/msg_docs/ArmingCheckRequest.md index dfef3513b69..db18b2098c3 100644 --- a/docs/en/msg_docs/ArmingCheckRequest.md +++ b/docs/en/msg_docs/ArmingCheckRequest.md @@ -17,11 +17,11 @@ The reply will also include the registration_id for each external component, pro ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------------ | -------- | ------------ | ---------- | --------------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| request_id | `uint8` | | | Id of this request. Allows correlation with associated ArmingCheckReply messages. | -| valid_registrations_mask | `uint32` | | | Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------------------- | -------- | ------------ | ---------- | --------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| request_id | `uint8` | | | Id of this request. Allows correlation with associated ArmingCheckReply messages. | +| valid_registrations_mask | `uint32` | | | Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive) | ## Constants diff --git a/docs/en/msg_docs/ArmingCheckRequestV0.md b/docs/en/msg_docs/ArmingCheckRequestV0.md index f51dbd5a6da..77b70b75207 100644 --- a/docs/en/msg_docs/ArmingCheckRequestV0.md +++ b/docs/en/msg_docs/ArmingCheckRequestV0.md @@ -17,10 +17,10 @@ The reply will also include the registration_id for each external component, pro ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------- | -------- | ------------ | ---------- | --------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start. | -| request_id | `uint8` | | | Id of this request. Allows correlation with associated ArmingCheckReply messages. | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------- | -------- | ------------ | ---------- | --------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start. | +| request_id | `uint8` | | | Id of this request. Allows correlation with associated ArmingCheckReply messages. | ## Constants diff --git a/docs/en/msg_docs/AutotuneAttitudeControlStatus.md b/docs/en/msg_docs/AutotuneAttitudeControlStatus.md index 61f732bf367..7df3923737f 100644 --- a/docs/en/msg_docs/AutotuneAttitudeControlStatus.md +++ b/docs/en/msg_docs/AutotuneAttitudeControlStatus.md @@ -15,28 +15,30 @@ The rate_sp field is consumed by the controllers, while the remaining fields (mo ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | ------------ | ------------ | --------------- | --------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| coeff | `float32[5]` | | | Coefficients of the identified discrete-time model | -| coeff_var | `float32[5]` | | | Coefficients' variance of the identified discrete-time model | -| fitness | `float32` | | | Fitness of the parameter estimate | -| innov | `float32` | rad/s | | Innovation (residual error between model and measured output) | -| dt_model | `float32` | s | | Model sample time used for identification | -| kc | `float32` | | | Proportional rate-loop gain (ideal form) | -| ki | `float32` | | | Integral rate-loop gain (ideal form) | -| kd | `float32` | | | Derivative rate-loop gain (ideal form) | -| kff | `float32` | | | Feedforward rate-loop gain | -| att_p | `float32` | | | Proportional attitude gain | -| rate_sp | `float32[3]` | rad/s | | Rate setpoint commanded to the attitude controller. | -| u_filt | `float32` | | | Filtered input signal (normalized torque setpoint) used in system identification. | -| y_filt | `float32` | rad/s | | Filtered output signal (angular velocity) used in system identification. | -| state | `uint8` | | [STATE](#STATE) | Current state of the autotune procedure. | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | ------------ | ------------ | --------------- | --------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| coeff | `float32[5]` | | | Coefficients of the identified discrete-time model | +| coeff_var | `float32[5]` | | | Coefficients' variance of the identified discrete-time model | +| fitness | `float32` | | | Fitness of the parameter estimate | +| innov | `float32` | rad/s | | Innovation (residual error between model and measured output) | +| dt_model | `float32` | s | | Model sample time used for identification | +| kc | `float32` | | | Proportional rate-loop gain (ideal form) | +| ki | `float32` | | | Integral rate-loop gain (ideal form) | +| kd | `float32` | | | Derivative rate-loop gain (ideal form) | +| kff | `float32` | | | Feedforward rate-loop gain | +| att_p | `float32` | | | Proportional attitude gain | +| rate_sp | `float32[3]` | rad/s | | Rate setpoint commanded to the attitude controller. | +| u_filt | `float32` | | | Filtered input signal (normalized torque setpoint) used in system identification. | +| y_filt | `float32` | rad/s | | Filtered output signal (angular velocity) used in system identification. | +| state | `uint8` | | [STATE](#STATE) | Current state of the autotune procedure. | ## Enums ### STATE {#STATE} +Used in field(s): [state](#fld_state) + | Name | Type | Value | Description | | ----------------------------------------------------------------------------- | ------- | ----- | -------------------------------------------------------- | | STATE_IDLE | `uint8` | 0 | Idle (not running) | diff --git a/docs/en/msg_docs/AuxGlobalPosition.md b/docs/en/msg_docs/AuxGlobalPosition.md index d43f7b9ce13..169854526d7 100644 --- a/docs/en/msg_docs/AuxGlobalPosition.md +++ b/docs/en/msg_docs/AuxGlobalPosition.md @@ -13,23 +13,25 @@ pseudolites, visual navigation, or other positioning system. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------------------- | --------- | ------------ | ----------------- | --------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| timestamp_sample | `uint64` | us | | Timestamp of the raw data | -| id | `uint8` | | | Unique identifier for the AGP source | -| source | `uint8` | | [SOURCE](#SOURCE) | Source type of the position data (based on mavlink::GLOBAL_POSITION_SRC) | -| lat | `float64` | deg | | Latitude in WGS84 | -| lon | `float64` | deg | | Longitude in WGS84 | -| alt | `float32` | m | | Altitude above mean sea level (AMSL) (Invalid: NaN) | -| eph | `float32` | m | | Std dev of horizontal position, lower bounded by NOISE param (Invalid: NaN) | -| epv | `float32` | m | | Std dev of vertical position, lower bounded by NOISE param (Invalid: NaN) | -| lat_lon_reset_counter | `uint8` | | | Counter for reset events on horizontal position coordinates | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------------- | --------- | ------------ | ----------------- | --------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Timestamp of the raw data | +| id | `uint8` | | | Unique identifier for the AGP source | +| source | `uint8` | | [SOURCE](#SOURCE) | Source type of the position data (based on mavlink::GLOBAL_POSITION_SRC) | +| lat | `float64` | deg | | Latitude in WGS84 | +| lon | `float64` | deg | | Longitude in WGS84 | +| alt | `float32` | m | | Altitude above mean sea level (AMSL) (Invalid: NaN) | +| eph | `float32` | m | | Std dev of horizontal position, lower bounded by NOISE param (Invalid: NaN) | +| epv | `float32` | m | | Std dev of vertical position, lower bounded by NOISE param (Invalid: NaN) | +| lat_lon_reset_counter | `uint8` | | | Counter for reset events on horizontal position coordinates | ## Enums ### SOURCE {#SOURCE} +Used in field(s): [source](#fld_source) + | Name | Type | Value | Description | | --------------------------------------------------- | ------- | ----- | ------------------------------------------- | | SOURCE_UNKNOWN | `uint8` | 0 | Unknown source | diff --git a/docs/en/msg_docs/BatteryInfo.md b/docs/en/msg_docs/BatteryInfo.md index ca105f0d262..b6c618da9d8 100644 --- a/docs/en/msg_docs/BatteryInfo.md +++ b/docs/en/msg_docs/BatteryInfo.md @@ -13,11 +13,11 @@ Should be streamed at low rate. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------- | ---------- | ------------ | ---------- | ------------------------------------------------------------------------------------------ | -| timestamp | `uint64` | us | | Time since system start | -| id | `uint8` | | | Must match the id in the battery_status message for the same battery | -| serial_number | `char[32]` | | | Serial number of the battery pack in ASCII characters, 0 terminated (Invalid: 0 All bytes) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------- | ---------- | ------------ | ---------- | ------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | us | | Time since system start | +| id | `uint8` | | | Must match the id in the battery_status message for the same battery | +| serial_number | `char[32]` | | | Serial number of the battery pack in ASCII characters, 0 terminated (Invalid: 0 All bytes) | ## Source Message diff --git a/docs/en/msg_docs/BatteryStatus.md b/docs/en/msg_docs/BatteryStatus.md index 3ab5a620654..e7021b337f2 100644 --- a/docs/en/msg_docs/BatteryStatus.md +++ b/docs/en/msg_docs/BatteryStatus.md @@ -14,51 +14,53 @@ Battery instance information is also logged and streamed in MAVLink telemetry. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------------------- | ------------- | ------------ | ---------------------------------- | ----------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| connected | `bool` | | | Whether or not a battery is connected. For power modules this is based on a voltage threshold. | -| voltage_v | `float32` | V | | Battery voltage (Invalid: 0) | -| current_a | `float32` | A | | Battery current (Invalid: -1) | -| current_average_a | `float32` | A | | Battery current average (for FW average in level flight) (Invalid: -1) | -| discharged_mah | `float32` | mAh | | Discharged amount (Invalid: -1) | -| remaining | `float32` | | [0 : 1] | Remaining capacity (Invalid: -1) | -| scale | `float32` | | [1 : -] | Scaling factor to compensate for lower actuation power caused by voltage sag (Invalid: -1) | -| time_remaining_s | `float32` | s | | Predicted time remaining until battery is empty under previous averaged load (Invalid: NaN) | -| temperature | `float32` | degC | | Temperature of the battery (Invalid: NaN) | -| cell_count | `uint8` | | | Number of cells (Invalid: 0) | -| source | `uint8` | | [SOURCE](#SOURCE) | Battery source | -| priority | `uint8` | | | Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 | -| capacity | `uint16` | mAh | | Capacity of the battery when fully charged | -| cycle_count | `uint16` | | | Number of discharge cycles the battery has experienced | -| average_time_to_empty | `uint16` | minutes | | Predicted remaining battery capacity based on the average rate of discharge | -| manufacture_date | `uint16` | | | Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512 | -| state_of_health | `uint16` | % | [0 : 100] | State of health. FullChargeCapacity/DesignCapacity | -| max_error | `uint16` | % | [1 : 100] | Max error, expected margin of error in the state-of-charge calculation | -| id | `uint8` | | | ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed | -| interface_error | `uint16` | | | Interface error counter | -| voltage_cell_v | `float32[14]` | V | | Battery individual cell voltages (Invalid: 0) | -| max_cell_voltage_delta | `float32` | V | | Max difference between individual cell voltages | -| is_powering_off | `bool` | | | Power off event imminent indication, false if unknown | -| is_required | `bool` | | | Set if the battery is explicitly required before arming | -| warning | `uint8` | | [WARNING](#WARNING)[STATE](#STATE) | Current battery warning | -| faults | `uint16` | | [FAULT](#FAULT) | Smart battery supply status/fault flags (bitmask) for health indication | -| full_charge_capacity_wh | `float32` | Wh | | Compensated battery capacity | -| remaining_capacity_wh | `float32` | Wh | | Compensated battery capacity remaining (Invalid: NaN) | -| over_discharge_count | `uint16` | | | Number of battery overdischarge | -| nominal_voltage | `float32` | V | | Nominal voltage of the battery pack (Invalid: NaN) | -| internal_resistance_estimate | `float32` | Ohm | | Internal resistance per cell estimate | -| ocv_estimate | `float32` | V | | Open circuit voltage estimate | -| ocv_estimate_filtered | `float32` | V | | Filtered open circuit voltage estimate | -| volt_based_soc_estimate | `float32` | | [0 : 1] | Normalized volt based state of charge estimate | -| voltage_prediction | `float32` | V | | Predicted voltage | -| prediction_error | `float32` | V | | Prediction error | -| estimation_covariance_norm | `float32` | | | Norm of the covariance matrix | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------------------- | ------------- | ------------ | ------------------------------------ | ----------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| connected | `bool` | | | Whether or not a battery is connected. For power modules this is based on a voltage threshold. | +| voltage_v | `float32` | V | | Battery voltage (Invalid: 0) | +| current_a | `float32` | A | | Battery current (Invalid: -1) | +| current_average_a | `float32` | A | | Battery current average (for FW average in level flight) (Invalid: -1) | +| discharged_mah | `float32` | mAh | | Discharged amount (Invalid: -1) | +| remaining | `float32` | | [0 : 1] | Remaining capacity (Invalid: -1) | +| scale | `float32` | | [1 : -] | Scaling factor to compensate for lower actuation power caused by voltage sag (Invalid: -1) | +| time_remaining_s | `float32` | s | | Predicted time remaining until battery is empty under previous averaged load (Invalid: NaN) | +| temperature | `float32` | degC | | Temperature of the battery (Invalid: NaN) | +| cell_count | `uint8` | | | Number of cells (Invalid: 0) | +| source | `uint8` | | [SOURCE](#SOURCE) | Battery source | +| priority | `uint8` | | | Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 | +| capacity | `uint16` | mAh | | Capacity of the battery when fully charged | +| cycle_count | `uint16` | | | Number of discharge cycles the battery has experienced | +| average_time_to_empty | `uint16` | minutes | | Predicted remaining battery capacity based on the average rate of discharge | +| manufacture_date | `uint16` | | | Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512 | +| state_of_health | `uint16` | % | [0 : 100] | State of health. FullChargeCapacity/DesignCapacity | +| max_error | `uint16` | % | [1 : 100] | Max error, expected margin of error in the state-of-charge calculation | +| id | `uint8` | | | ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed | +| interface_error | `uint16` | | | Interface error counter | +| voltage_cell_v | `float32[14]` | V | | Battery individual cell voltages (Invalid: 0) | +| max_cell_voltage_delta | `float32` | V | | Max difference between individual cell voltages | +| is_powering_off | `bool` | | | Power off event imminent indication, false if unknown | +| is_required | `bool` | | | Set if the battery is explicitly required before arming | +| warning | `uint8` | | [WARNING](#WARNING), [STATE](#STATE) | Current battery warning | +| faults | `uint16` | | [FAULT](#FAULT) | Smart battery supply status/fault flags (bitmask) for health indication | +| full_charge_capacity_wh | `float32` | Wh | | Compensated battery capacity | +| remaining_capacity_wh | `float32` | Wh | | Compensated battery capacity remaining (Invalid: NaN) | +| over_discharge_count | `uint16` | | | Number of battery overdischarge | +| nominal_voltage | `float32` | V | | Nominal voltage of the battery pack (Invalid: NaN) | +| internal_resistance_estimate | `float32` | Ohm | | Internal resistance per cell estimate | +| ocv_estimate | `float32` | V | | Open circuit voltage estimate | +| ocv_estimate_filtered | `float32` | V | | Filtered open circuit voltage estimate | +| volt_based_soc_estimate | `float32` | | [0 : 1] | Normalized volt based state of charge estimate | +| voltage_prediction | `float32` | V | | Predicted voltage | +| prediction_error | `float32` | V | | Prediction error | +| estimation_covariance_norm | `float32` | | | Norm of the covariance matrix | ## Enums ### SOURCE {#SOURCE} +Used in field(s): [source](#fld_source) + | Name | Type | Value | Description | | ----------------------------------------------------- | ------- | ----- | ---------------------------------------------- | | SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) | @@ -67,6 +69,8 @@ Battery instance information is also logged and streamed in MAVLink telemetry. ### WARNING {#WARNING} +Used in field(s): [warning](#fld_warning) + | Name | Type | Value | Description | | ------------------------------------------------- | ------- | ----- | -------------------------------------------- | | WARNING_NONE | `uint8` | 0 | No battery low voltage warning active | @@ -77,6 +81,8 @@ Battery instance information is also logged and streamed in MAVLink telemetry. ### STATE {#STATE} +Used in field(s): [warning](#fld_warning) + | Name | Type | Value | Description | | --------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------- | | STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field | @@ -84,6 +90,8 @@ Battery instance information is also logged and streamed in MAVLink telemetry. ### FAULT {#FAULT} +Used in field(s): [faults](#fld_faults) + | Name | Type | Value | Description | | --------------------------------------------------------------------- | ------- | ----- | -------------------------------------------------------------------------------------------------------------- | | FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged | diff --git a/docs/en/msg_docs/BatteryStatusV0.md b/docs/en/msg_docs/BatteryStatusV0.md index 2dbe4a74fe5..127b7aca781 100644 --- a/docs/en/msg_docs/BatteryStatusV0.md +++ b/docs/en/msg_docs/BatteryStatusV0.md @@ -14,52 +14,54 @@ Battery instance information is also logged and streamed in MAVLink telemetry. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------------------- | ------------- | ------------ | ---------------------------------- | ----------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| connected | `bool` | | | Whether or not a battery is connected. For power modules this is based on a voltage threshold. | -| voltage_v | `float32` | V | | Battery voltage (Invalid: 0) | -| current_a | `float32` | A | | Battery current (Invalid: -1) | -| current_average_a | `float32` | A | | Battery current average (for FW average in level flight) (Invalid: -1) | -| discharged_mah | `float32` | mAh | | Discharged amount (Invalid: -1) | -| remaining | `float32` | | [0 : 1] | Remaining capacity (Invalid: -1) | -| scale | `float32` | | [1 : -] | Scaling factor to compensate for lower actuation power caused by voltage sag (Invalid: -1) | -| time_remaining_s | `float32` | s | | Predicted time remaining until battery is empty under previous averaged load (Invalid: NaN) | -| temperature | `float32` | °C | | Temperature of the battery (Invalid: NaN) | -| cell_count | `uint8` | | | Number of cells (Invalid: 0) | -| source | `uint8` | | [SOURCE](#SOURCE) | Battery source | -| priority | `uint8` | | | Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 | -| capacity | `uint16` | mAh | | Capacity of the battery when fully charged | -| cycle_count | `uint16` | | | Number of discharge cycles the battery has experienced | -| average_time_to_empty | `uint16` | minutes | | Predicted remaining battery capacity based on the average rate of discharge | -| serial_number | `uint16` | | | Serial number of the battery pack | -| manufacture_date | `uint16` | | | Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512 | -| state_of_health | `uint16` | % | [0 : 100] | State of health. FullChargeCapacity/DesignCapacity | -| max_error | `uint16` | % | [1 : 100] | Max error, expected margin of error in the state-of-charge calculation | -| id | `uint8` | | | ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed | -| interface_error | `uint16` | | | Interface error counter | -| voltage_cell_v | `float32[14]` | V | | Battery individual cell voltages (Invalid: 0) | -| max_cell_voltage_delta | `float32` | | | Max difference between individual cell voltages | -| is_powering_off | `bool` | | | Power off event imminent indication, false if unknown | -| is_required | `bool` | | | Set if the battery is explicitly required before arming | -| warning | `uint8` | | [WARNING](#WARNING)[STATE](#STATE) | Current battery warning | -| faults | `uint16` | | [FAULT](#FAULT) | Smart battery supply status/fault flags (bitmask) for health indication | -| full_charge_capacity_wh | `float32` | Wh | | Compensated battery capacity | -| remaining_capacity_wh | `float32` | Wh | | Compensated battery capacity remaining | -| over_discharge_count | `uint16` | | | Number of battery overdischarge | -| nominal_voltage | `float32` | V | | Nominal voltage of the battery pack | -| internal_resistance_estimate | `float32` | Ohm | | Internal resistance per cell estimate | -| ocv_estimate | `float32` | V | | Open circuit voltage estimate | -| ocv_estimate_filtered | `float32` | V | | Filtered open circuit voltage estimate | -| volt_based_soc_estimate | `float32` | | [0 : 1] | Normalized volt based state of charge estimate | -| voltage_prediction | `float32` | V | | Predicted voltage | -| prediction_error | `float32` | V | | Prediction error | -| estimation_covariance_norm | `float32` | | | Norm of the covariance matrix | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------------------- | ------------- | ------------ | ------------------------------------ | ----------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| connected | `bool` | | | Whether or not a battery is connected. For power modules this is based on a voltage threshold. | +| voltage_v | `float32` | V | | Battery voltage (Invalid: 0) | +| current_a | `float32` | A | | Battery current (Invalid: -1) | +| current_average_a | `float32` | A | | Battery current average (for FW average in level flight) (Invalid: -1) | +| discharged_mah | `float32` | mAh | | Discharged amount (Invalid: -1) | +| remaining | `float32` | | [0 : 1] | Remaining capacity (Invalid: -1) | +| scale | `float32` | | [1 : -] | Scaling factor to compensate for lower actuation power caused by voltage sag (Invalid: -1) | +| time_remaining_s | `float32` | s | | Predicted time remaining until battery is empty under previous averaged load (Invalid: NaN) | +| temperature | `float32` | °C | | Temperature of the battery (Invalid: NaN) | +| cell_count | `uint8` | | | Number of cells (Invalid: 0) | +| source | `uint8` | | [SOURCE](#SOURCE) | Battery source | +| priority | `uint8` | | | Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 | +| capacity | `uint16` | mAh | | Capacity of the battery when fully charged | +| cycle_count | `uint16` | | | Number of discharge cycles the battery has experienced | +| average_time_to_empty | `uint16` | minutes | | Predicted remaining battery capacity based on the average rate of discharge | +| serial_number | `uint16` | | | Serial number of the battery pack | +| manufacture_date | `uint16` | | | Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512 | +| state_of_health | `uint16` | % | [0 : 100] | State of health. FullChargeCapacity/DesignCapacity | +| max_error | `uint16` | % | [1 : 100] | Max error, expected margin of error in the state-of-charge calculation | +| id | `uint8` | | | ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed | +| interface_error | `uint16` | | | Interface error counter | +| voltage_cell_v | `float32[14]` | V | | Battery individual cell voltages (Invalid: 0) | +| max_cell_voltage_delta | `float32` | | | Max difference between individual cell voltages | +| is_powering_off | `bool` | | | Power off event imminent indication, false if unknown | +| is_required | `bool` | | | Set if the battery is explicitly required before arming | +| warning | `uint8` | | [WARNING](#WARNING), [STATE](#STATE) | Current battery warning | +| faults | `uint16` | | [FAULT](#FAULT) | Smart battery supply status/fault flags (bitmask) for health indication | +| full_charge_capacity_wh | `float32` | Wh | | Compensated battery capacity | +| remaining_capacity_wh | `float32` | Wh | | Compensated battery capacity remaining | +| over_discharge_count | `uint16` | | | Number of battery overdischarge | +| nominal_voltage | `float32` | V | | Nominal voltage of the battery pack | +| internal_resistance_estimate | `float32` | Ohm | | Internal resistance per cell estimate | +| ocv_estimate | `float32` | V | | Open circuit voltage estimate | +| ocv_estimate_filtered | `float32` | V | | Filtered open circuit voltage estimate | +| volt_based_soc_estimate | `float32` | | [0 : 1] | Normalized volt based state of charge estimate | +| voltage_prediction | `float32` | V | | Predicted voltage | +| prediction_error | `float32` | V | | Prediction error | +| estimation_covariance_norm | `float32` | | | Norm of the covariance matrix | ## Enums ### SOURCE {#SOURCE} +Used in field(s): [source](#fld_source) + | Name | Type | Value | Description | | ----------------------------------------------------- | ------- | ----- | ---------------------------------------------- | | SOURCE_POWER_MODULE | `uint8` | 0 | Power module (analog ADC or I2C power monitor) | @@ -68,6 +70,8 @@ Battery instance information is also logged and streamed in MAVLink telemetry. ### WARNING {#WARNING} +Used in field(s): [warning](#fld_warning) + | Name | Type | Value | Description | | ------------------------------------------------- | ------- | ----- | -------------------------------------------- | | WARNING_NONE | `uint8` | 0 | No battery low voltage warning active | @@ -78,6 +82,8 @@ Battery instance information is also logged and streamed in MAVLink telemetry. ### STATE {#STATE} +Used in field(s): [warning](#fld_warning) + | Name | Type | Value | Description | | --------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------- | | STATE_UNHEALTHY | `uint8` | 6 | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field | @@ -85,6 +91,8 @@ Battery instance information is also logged and streamed in MAVLink telemetry. ### FAULT {#FAULT} +Used in field(s): [faults](#fld_faults) + | Name | Type | Value | Description | | --------------------------------------------------------------------- | ------- | ----- | -------------------------------------------------------------------------------------------------------------- | | FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged | diff --git a/docs/en/msg_docs/ButtonEvent.md b/docs/en/msg_docs/ButtonEvent.md index 5f145c314ee..c7362b5576b 100644 --- a/docs/en/msg_docs/ButtonEvent.md +++ b/docs/en/msg_docs/ButtonEvent.md @@ -8,10 +8,10 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | -------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| triggered | `bool` | | | Set to true if the event is triggered | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | -------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| triggered | `bool` | | | Set to true if the event is triggered | ## Constants diff --git a/docs/en/msg_docs/CameraCapture.md b/docs/en/msg_docs/CameraCapture.md index cc5fa015d5f..01bd4b57a42 100644 --- a/docs/en/msg_docs/CameraCapture.md +++ b/docs/en/msg_docs/CameraCapture.md @@ -8,17 +8,17 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_utc | `uint64` | | | Capture time in UTC / GPS time | -| seq | `uint32` | | | Image sequence number | -| lat | `float64` | | | Latitude in degrees (WGS84) | -| lon | `float64` | | | Longitude in degrees (WGS84) | -| alt | `float32` | | | Altitude (AMSL) | -| ground_distance | `float32` | | | Altitude above ground (meters) | -| q | `float32[4]` | | | Attitude of the camera relative to NED earth-fixed frame when using a gimbal, otherwise vehicle attitude | -| result | `int8` | | | 1 for success, 0 for failure, -1 if camera does not provide feedback | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_utc | `uint64` | | | Capture time in UTC / GPS time | +| seq | `uint32` | | | Image sequence number | +| lat | `float64` | | | Latitude in degrees (WGS84) | +| lon | `float64` | | | Longitude in degrees (WGS84) | +| alt | `float32` | | | Altitude (AMSL) | +| ground_distance | `float32` | | | Altitude above ground (meters) | +| q | `float32[4]` | | | Attitude of the camera relative to NED earth-fixed frame when using a gimbal, otherwise vehicle attitude | +| result | `int8` | | | 1 for success, 0 for failure, -1 if camera does not provide feedback | ## Source Message diff --git a/docs/en/msg_docs/CameraStatus.md b/docs/en/msg_docs/CameraStatus.md index 47b724a6bd9..b72d53e8691 100644 --- a/docs/en/msg_docs/CameraStatus.md +++ b/docs/en/msg_docs/CameraStatus.md @@ -8,11 +8,11 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------- | -------- | ------------ | ---------- | ------------------------------------------------ | -| timestamp | `uint64` | | | time since system start (microseconds) | -| active_sys_id | `uint8` | | | mavlink system id of the currently active camera | -| active_comp_id | `uint8` | | | mavlink component id of currently active camera | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------- | -------- | ------------ | ---------- | ------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| active_sys_id | `uint8` | | | mavlink system id of the currently active camera | +| active_comp_id | `uint8` | | | mavlink component id of currently active camera | ## Source Message diff --git a/docs/en/msg_docs/CameraTrigger.md b/docs/en/msg_docs/CameraTrigger.md index f241941c9aa..5a0b4c077a5 100644 --- a/docs/en/msg_docs/CameraTrigger.md +++ b/docs/en/msg_docs/CameraTrigger.md @@ -8,12 +8,12 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------- | -------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_utc | `uint64` | | | UTC timestamp | -| seq | `uint32` | | | Image sequence number | -| feedback | `bool` | | | Trigger feedback from camera | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------- | -------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_utc | `uint64` | | | UTC timestamp | +| seq | `uint32` | | | Image sequence number | +| feedback | `bool` | | | Trigger feedback from camera | ## Constants diff --git a/docs/en/msg_docs/CanInterfaceStatus.md b/docs/en/msg_docs/CanInterfaceStatus.md index cf9603ad5e8..0e4087efc49 100644 --- a/docs/en/msg_docs/CanInterfaceStatus.md +++ b/docs/en/msg_docs/CanInterfaceStatus.md @@ -8,13 +8,13 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | -------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| interface | `uint8` | | | -| io_errors | `uint64` | | | -| frames_tx | `uint64` | | | -| frames_rx | `uint64` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | -------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| interface | `uint8` | | | +| io_errors | `uint64` | | | +| frames_tx | `uint64` | | | +| frames_rx | `uint64` | | | ## Source Message diff --git a/docs/en/msg_docs/CellularStatus.md b/docs/en/msg_docs/CellularStatus.md index a632b99d8a0..49cac0df6fa 100644 --- a/docs/en/msg_docs/CellularStatus.md +++ b/docs/en/msg_docs/CellularStatus.md @@ -12,21 +12,23 @@ This is currently used only for logging cell status from MAVLink. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------- | -------- | ------------ | ----------------------------------------------------------- | ------------------------------------------ | -| timestamp | `uint64` | us | | Time since system start | -| status | `uint16` | | [STATUS_FLAG](#STATUS_FLAG) | Status bitmap | -| failure_reason | `uint8` | | [FAILURE_REASON](#FAILURE_REASON) | Failure reason | -| type | `uint8` | | [CELLULAR_NETWORK_RADIO_TYPE](#CELLULAR_NETWORK_RADIO_TYPE) | Cellular network radio type | -| quality | `uint8` | dBm | | Cellular network RSSI/RSRP, absolute value | -| mcc | `uint16` | | | Mobile country code (Invalid: UINT16_MAX) | -| mnc | `uint16` | | | Mobile network code (Invalid: UINT16_MAX) | -| lac | `uint16` | | | Location area code (Invalid: 0) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------- | -------- | ------------ | ----------------------------------------------------------- | ------------------------------------------ | +| timestamp | `uint64` | us | | Time since system start | +| status | `uint16` | | [STATUS_FLAG](#STATUS_FLAG) | Status bitmap | +| failure_reason | `uint8` | | [FAILURE_REASON](#FAILURE_REASON) | Failure reason | +| type | `uint8` | | [CELLULAR_NETWORK_RADIO_TYPE](#CELLULAR_NETWORK_RADIO_TYPE) | Cellular network radio type | +| quality | `uint8` | dBm | | Cellular network RSSI/RSRP, absolute value | +| mcc | `uint16` | | | Mobile country code (Invalid: UINT16_MAX) | +| mnc | `uint16` | | | Mobile network code (Invalid: UINT16_MAX) | +| lac | `uint16` | | | Location area code (Invalid: 0) | ## Enums ### STATUS_FLAG {#STATUS_FLAG} +Used in field(s): [status](#fld_status) + | Name | Type | Value | Description | | ----------------------------------------------------------------- | -------- | ----- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | STATUS_FLAG_UNKNOWN | `uint16` | 1 | State unknown or not reportable | @@ -45,6 +47,8 @@ This is currently used only for logging cell status from MAVLink. ### FAILURE_REASON {#FAILURE_REASON} +Used in field(s): [failure_reason](#fld_failure_reason) + | Name | Type | Value | Description | | ------------------------------------------------------------------- | ------- | ----- | ----------------------------------------------- | | FAILURE_REASON_NONE | `uint8` | 0 | No error | @@ -54,6 +58,8 @@ This is currently used only for logging cell status from MAVLink. ### CELLULAR_NETWORK_RADIO_TYPE {#CELLULAR_NETWORK_RADIO_TYPE} +Used in field(s): [type](#fld_type) + | Name | Type | Value | Description | | --------------------------------------------------------------------------------- | ------- | ----- | ----------- | | CELLULAR_NETWORK_RADIO_TYPE_NONE | `uint8` | 0 | None | diff --git a/docs/en/msg_docs/CollisionConstraints.md b/docs/en/msg_docs/CollisionConstraints.md index cca3930fdf7..31cdb71c5c8 100644 --- a/docs/en/msg_docs/CollisionConstraints.md +++ b/docs/en/msg_docs/CollisionConstraints.md @@ -10,11 +10,11 @@ Local setpoint constraints in NED frame. setting something to NaN means that no ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------- | ------------ | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| original_setpoint | `float32[2]` | | | velocities demanded | -| adapted_setpoint | `float32[2]` | | | velocities allowed | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| original_setpoint | `float32[2]` | | | velocities demanded | +| adapted_setpoint | `float32[2]` | | | velocities allowed | ## Source Message diff --git a/docs/en/msg_docs/ConfigOverrides.md b/docs/en/msg_docs/ConfigOverrides.md index 89ce6c41302..05163d68448 100644 --- a/docs/en/msg_docs/ConfigOverrides.md +++ b/docs/en/msg_docs/ConfigOverrides.md @@ -10,15 +10,15 @@ Configurable overrides by (external) modes or mode executors. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------------- | -------- | ------------ | ---------- | -------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| disable_auto_disarm | `bool` | | | Prevent the drone from automatically disarming after landing (if configured) | -| defer_failsafes | `bool` | | | Defer all failsafes that can be deferred (until the flag is cleared) | -| defer_failsafes_timeout_s | `int16` | | | Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout | -| disable_auto_set_home | `bool` | | | Prevent the drone from automatically setting the home position on arm or takeoff | -| source_type | `int8` | | | -| source_id | `uint8` | | | ID depending on source_type | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------------- | -------- | ------------ | ---------- | -------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| disable_auto_disarm | `bool` | | | Prevent the drone from automatically disarming after landing (if configured) | +| defer_failsafes | `bool` | | | Defer all failsafes that can be deferred (until the flag is cleared) | +| defer_failsafes_timeout_s | `int16` | | | Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout | +| disable_auto_set_home | `bool` | | | Prevent the drone from automatically setting the home position on arm or takeoff | +| source_type | `int8` | | | +| source_id | `uint8` | | | ID depending on source_type | ## Constants diff --git a/docs/en/msg_docs/ConfigOverridesV0.md b/docs/en/msg_docs/ConfigOverridesV0.md index bd0a94d9820..8a21ef3f263 100644 --- a/docs/en/msg_docs/ConfigOverridesV0.md +++ b/docs/en/msg_docs/ConfigOverridesV0.md @@ -10,14 +10,14 @@ Configurable overrides by (external) modes or mode executors. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------------- | -------- | ------------ | ---------- | ---------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| disable_auto_disarm | `bool` | | | Prevent the drone from automatically disarming after landing (if configured) | -| defer_failsafes | `bool` | | | Defer all failsafes that can be deferred (until the flag is cleared) | -| defer_failsafes_timeout_s | `int16` | | | Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout | -| source_type | `int8` | | | -| source_id | `uint8` | | | ID depending on source_type | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------------- | -------- | ------------ | ---------- | ---------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| disable_auto_disarm | `bool` | | | Prevent the drone from automatically disarming after landing (if configured) | +| defer_failsafes | `bool` | | | Defer all failsafes that can be deferred (until the flag is cleared) | +| defer_failsafes_timeout_s | `int16` | | | Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout | +| source_type | `int8` | | | +| source_id | `uint8` | | | ID depending on source_type | ## Constants diff --git a/docs/en/msg_docs/ControlAllocatorStatus.md b/docs/en/msg_docs/ControlAllocatorStatus.md index cce0cbd957a..9df2d23bc66 100644 --- a/docs/en/msg_docs/ControlAllocatorStatus.md +++ b/docs/en/msg_docs/ControlAllocatorStatus.md @@ -8,17 +8,17 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------------------------- | ------------ | ------------ | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| torque_setpoint_achieved | `bool` | | | Boolean indicating whether the 3D torque setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved. | -| unallocated_torque | `float32[3]` | | | Unallocated torque. Equal to 0 if the setpoint was achieved. | -| thrust_setpoint_achieved | `bool` | | | Boolean indicating whether the 3D thrust setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved. | -| unallocated_thrust | `float32[3]` | | | Unallocated thrust. Equal to 0 if the setpoint was achieved. | -| actuator_saturation | `int8[16]` | | | Indicates actuator saturation status. | -| handled_motor_failure_mask | `uint16` | | | Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector | -| motor_stop_mask | `uint16` | | | Bitmaks of motors stopped by failure injection | -| actuator_group_preflight_check_active | `bool` | | | True while an actuator group preflight check (VEHICLE_CMD_ACTUATOR_GROUP_TEST) is overriding the torque/thrust setpoint or collective-tilt | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------------------------------------- | ------------ | ------------ | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| torque_setpoint_achieved | `bool` | | | Boolean indicating whether the 3D torque setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved. | +| unallocated_torque | `float32[3]` | | | Unallocated torque. Equal to 0 if the setpoint was achieved. | +| thrust_setpoint_achieved | `bool` | | | Boolean indicating whether the 3D thrust setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved. | +| unallocated_thrust | `float32[3]` | | | Unallocated thrust. Equal to 0 if the setpoint was achieved. | +| actuator_saturation | `int8[16]` | | | Indicates actuator saturation status. | +| handled_motor_failure_mask | `uint16` | | | Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector | +| motor_stop_mask | `uint16` | | | Bitmaks of motors stopped by failure injection | +| actuator_group_preflight_check_active | `bool` | | | True while an actuator group preflight check (VEHICLE_CMD_ACTUATOR_GROUP_TEST) is overriding the torque/thrust setpoint or collective-tilt | ## Constants diff --git a/docs/en/msg_docs/Cpuload.md b/docs/en/msg_docs/Cpuload.md index 850bc582ce6..e1a6180b363 100644 --- a/docs/en/msg_docs/Cpuload.md +++ b/docs/en/msg_docs/Cpuload.md @@ -8,11 +8,11 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | --------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| load | `float32` | | | processor load from 0 to 1 | -| ram_usage | `float32` | | | RAM usage from 0 to 1 | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | --------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| load | `float32` | | | processor load from 0 to 1 | +| ram_usage | `float32` | | | RAM usage from 0 to 1 | ## Source Message diff --git a/docs/en/msg_docs/DatamanRequest.md b/docs/en/msg_docs/DatamanRequest.md index cb9692ba348..8820dc2fa1a 100644 --- a/docs/en/msg_docs/DatamanRequest.md +++ b/docs/en/msg_docs/DatamanRequest.md @@ -8,15 +8,15 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------ | ----------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| client_id | `uint8` | | | -| request_type | `uint8` | | | id/read/write/clear | -| item | `uint8` | | | dm_item_t | -| index | `uint32` | | | -| data | `uint8[56]` | | | -| data_length | `uint32` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------- | ----------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| client_id | `uint8` | | | +| request_type | `uint8` | | | id/read/write/clear | +| item | `uint8` | | | dm_item_t | +| index | `uint32` | | | +| data | `uint8[56]` | | | +| data_length | `uint32` | | | ## Source Message diff --git a/docs/en/msg_docs/DatamanResponse.md b/docs/en/msg_docs/DatamanResponse.md index 7d1039d73eb..fcdd43f9d26 100644 --- a/docs/en/msg_docs/DatamanResponse.md +++ b/docs/en/msg_docs/DatamanResponse.md @@ -8,15 +8,15 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------ | ----------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| client_id | `uint8` | | | -| request_type | `uint8` | | | id/read/write/clear | -| item | `uint8` | | | dm_item_t | -| index | `uint32` | | | -| data | `uint8[56]` | | | -| status | `uint8` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------- | ----------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| client_id | `uint8` | | | +| request_type | `uint8` | | | id/read/write/clear | +| item | `uint8` | | | dm_item_t | +| index | `uint32` | | | +| data | `uint8[56]` | | | +| status | `uint8` | | | ## Constants diff --git a/docs/en/msg_docs/DebugArray.md b/docs/en/msg_docs/DebugArray.md index 22dddbaf254..5eef6e9fe4e 100644 --- a/docs/en/msg_docs/DebugArray.md +++ b/docs/en/msg_docs/DebugArray.md @@ -8,12 +8,12 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | ------------- | ------------ | ---------- | ------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| id | `uint16` | | | unique ID of debug array, used to discriminate between arrays | -| name | `char[10]` | | | name of the debug array (max. 10 characters) | -| data | `float32[58]` | | | data | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | ------------- | ------------ | ---------- | ------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| id | `uint16` | | | unique ID of debug array, used to discriminate between arrays | +| name | `char[10]` | | | name of the debug array (max. 10 characters) | +| data | `float32[58]` | | | data | ## Constants diff --git a/docs/en/msg_docs/DebugKeyValue.md b/docs/en/msg_docs/DebugKeyValue.md index 6fd0f785552..c1e60042174 100644 --- a/docs/en/msg_docs/DebugKeyValue.md +++ b/docs/en/msg_docs/DebugKeyValue.md @@ -8,11 +8,11 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | ---------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| key | `char[10]` | | | max. 10 characters as key / name | -| value | `float32` | | | the value to send as debug output | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | ---------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| key | `char[10]` | | | max. 10 characters as key / name | +| value | `float32` | | | the value to send as debug output | ## Source Message diff --git a/docs/en/msg_docs/DebugValue.md b/docs/en/msg_docs/DebugValue.md index 9739f056be2..53236b566e1 100644 --- a/docs/en/msg_docs/DebugValue.md +++ b/docs/en/msg_docs/DebugValue.md @@ -8,11 +8,11 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | --------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| ind | `int8` | | | index of debug variable | -| value | `float32` | | | the value to send as debug output | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | --------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| ind | `int8` | | | index of debug variable | +| value | `float32` | | | the value to send as debug output | ## Source Message diff --git a/docs/en/msg_docs/DebugVect.md b/docs/en/msg_docs/DebugVect.md index 941c8944094..5daf04fe39c 100644 --- a/docs/en/msg_docs/DebugVect.md +++ b/docs/en/msg_docs/DebugVect.md @@ -8,13 +8,13 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | ---------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| name | `char[10]` | | | max. 10 characters as key / name | -| x | `float32` | | | x value | -| y | `float32` | | | y value | -| z | `float32` | | | z value | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | ---------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| name | `char[10]` | | | max. 10 characters as key / name | +| x | `float32` | | | x value | +| y | `float32` | | | y value | +| z | `float32` | | | z value | ## Source Message diff --git a/docs/en/msg_docs/DeviceInformation.md b/docs/en/msg_docs/DeviceInformation.md index e6e5abc02db..10fc57ee097 100644 --- a/docs/en/msg_docs/DeviceInformation.md +++ b/docs/en/msg_docs/DeviceInformation.md @@ -13,20 +13,22 @@ as well as tracking of the used firmware versions on the devices. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ---------- | ------------ | ---------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| device_type | `uint8` | | [DEVICE_TYPE](#DEVICE_TYPE) | Type of the device. Matches MAVLink DEVICE_TYPE enum | -| name | `char[80]` | | | Name of device e.g. DroneCAN node name | -| `uint32` | | | Unique device ID for the sensor. Does not change between power cycles. (Invalid: 0 if not available) | -| firmware_version | `char[24]` | | | Firmware version. (Invalid: empty if not available) | -| hardware_version | `char[24]` | | | Hardware version. (Invalid: empty if not available) | -| serial_number | `char[33]` | | | Device serial number or unique identifier. (Invalid: empty if not available) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ---------- | ------------ | --------------------------- | ---------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_type | `uint8` | | [DEVICE_TYPE](#DEVICE_TYPE) | Type of the device. Matches MAVLink DEVICE_TYPE enum | +| name | `char[80]` | | | Name of device e.g. DroneCAN node name | +| | `uint32` | | | Unique device ID for the sensor. Does not change between power cycles. (Invalid: 0 if not available) | +| firmware_version | `char[24]` | | | Firmware version. (Invalid: empty if not available) | +| hardware_version | `char[24]` | | | Hardware version. (Invalid: empty if not available) | +| serial_number | `char[33]` | | | Device serial number or unique identifier. (Invalid: empty if not available) | ## Enums ### DEVICE_TYPE {#DEVICE_TYPE} +Used in field(s): [device_type](#fld_device_type) + | Name | Type | Value | Description | | --------------------------------------------------------------------------------- | ------- | ----- | ---------------------- | | DEVICE_TYPE_GENERIC | `uint8` | 0 | Generic/unknown sensor | diff --git a/docs/en/msg_docs/DifferentialPressure.md b/docs/en/msg_docs/DifferentialPressure.md index e9c7410ce79..227fbdca1c1 100644 --- a/docs/en/msg_docs/DifferentialPressure.md +++ b/docs/en/msg_docs/DifferentialPressure.md @@ -13,14 +13,14 @@ The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------------ | --------- | ------------ | ---------- | ------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time of publication (since system start) | -| timestamp_sample | `uint64` | us | | Time of raw data capture | -| device_id | `uint32` | | | Unique device ID for the sensor that does not change between power cycles | -| differential_pressure_pa | `float32` | Pa | | Differential pressure reading (may be negative) | -| temperature | `float32` | degC | | Temperature (Invalid: NaN if unknown) | -| error_count | `uint32` | | | Number of errors detected by driver | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time of publication (since system start) | +| timestamp_sample | `uint64` | us | | Time of raw data capture | +| device_id | `uint32` | | | Unique device ID for the sensor that does not change between power cycles | +| differential_pressure_pa | `float32` | Pa | | Differential pressure reading (may be negative) | +| temperature | `float32` | degC | | Temperature (Invalid: NaN if unknown) | +| error_count | `uint32` | | | Number of errors detected by driver | ## Source Message diff --git a/docs/en/msg_docs/DistanceSensor.md b/docs/en/msg_docs/DistanceSensor.md index 25b37cb826d..e11d4a83b11 100644 --- a/docs/en/msg_docs/DistanceSensor.md +++ b/docs/en/msg_docs/DistanceSensor.md @@ -10,21 +10,21 @@ DISTANCE_SENSOR message data. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ------------ | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | -| min_distance | `float32` | | | Minimum distance the sensor can measure (in m) | -| max_distance | `float32` | | | Maximum distance the sensor can measure (in m) | -| current_distance | `float32` | | | Current distance reading (in m) | -| variance | `float32` | | | Measurement variance (in m^2), 0 for unknown / invalid readings | -| signal_quality | `int8` | | | Signal quality in percent (0...100%), where 0 = invalid signal, 100 = perfect signal, and -1 = unknown signal quality. | -| type | `uint8` | | | Type from MAV_DISTANCE_SENSOR enum | -| h_fov | `float32` | | | Sensor horizontal field of view (rad) | -| v_fov | `float32` | | | Sensor vertical field of view (rad) | -| q | `float32[4]` | | | Quaterion sensor orientation with respect to the vehicle body frame to specify the orientation ROTATION_CUSTOM | -| orientation | `uint8` | | | Direction the sensor faces from MAV_SENSOR_ORIENTATION enum | -| mode | `uint8` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ------------ | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| min_distance | `float32` | | | Minimum distance the sensor can measure (in m) | +| max_distance | `float32` | | | Maximum distance the sensor can measure (in m) | +| current_distance | `float32` | | | Current distance reading (in m) | +| variance | `float32` | | | Measurement variance (in m^2), 0 for unknown / invalid readings | +| signal_quality | `int8` | | | Signal quality in percent (0...100%), where 0 = invalid signal, 100 = perfect signal, and -1 = unknown signal quality. | +| type | `uint8` | | | Type from MAV_DISTANCE_SENSOR enum | +| h_fov | `float32` | | | Sensor horizontal field of view (rad) | +| v_fov | `float32` | | | Sensor vertical field of view (rad) | +| q | `float32[4]` | | | Quaterion sensor orientation with respect to the vehicle body frame to specify the orientation ROTATION_CUSTOM | +| orientation | `uint8` | | | Direction the sensor faces from MAV_SENSOR_ORIENTATION enum | +| mode | `uint8` | | | ## Constants diff --git a/docs/en/msg_docs/DistanceSensorModeChangeRequest.md b/docs/en/msg_docs/DistanceSensorModeChangeRequest.md index 19adb8f0d06..99db21455d3 100644 --- a/docs/en/msg_docs/DistanceSensorModeChangeRequest.md +++ b/docs/en/msg_docs/DistanceSensorModeChangeRequest.md @@ -8,10 +8,10 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------- | -------- | ------------ | ---------- | --------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| request_on_off | `uint8` | | | request to disable/enable the distance sensor | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------- | -------- | ------------ | ---------- | --------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| request_on_off | `uint8` | | | request to disable/enable the distance sensor | ## Constants diff --git a/docs/en/msg_docs/DronecanNodeStatus.md b/docs/en/msg_docs/DronecanNodeStatus.md index 9af534008db..38825ce8e52 100644 --- a/docs/en/msg_docs/DronecanNodeStatus.md +++ b/docs/en/msg_docs/DronecanNodeStatus.md @@ -8,15 +8,15 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------------------------- | -------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| node_id | `uint16` | | | The node ID which this data comes from | -| uptime_sec | `uint32` | | | Node uptime | -| health | `uint8` | | | -| mode | `uint8` | | | -| sub_mode | `uint8` | | | -| vendor_specific_status_code | `uint16` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------------------------- | -------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| node_id | `uint16` | | | The node ID which this data comes from | +| uptime_sec | `uint32` | | | Node uptime | +| health | `uint8` | | | +| mode | `uint8` | | | +| sub_mode | `uint8` | | | +| vendor_specific_status_code | `uint16` | | | ## Constants diff --git a/docs/en/msg_docs/Ekf2Timestamps.md b/docs/en/msg_docs/Ekf2Timestamps.md index fb58f1e8198..76c3cd0795c 100644 --- a/docs/en/msg_docs/Ekf2Timestamps.md +++ b/docs/en/msg_docs/Ekf2Timestamps.md @@ -10,16 +10,16 @@ this message contains the (relative) timestamps of the sensor inputs used by EKF ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------------------------- | -------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| airspeed_timestamp_rel | `int16` | | | -| airspeed_validated_timestamp_rel | `int16` | | | -| distance_sensor_timestamp_rel | `int16` | | | -| optical_flow_timestamp_rel | `int16` | | | -| vehicle_air_data_timestamp_rel | `int16` | | | -| vehicle_magnetometer_timestamp_rel | `int16` | | | -| visual_odometry_timestamp_rel | `int16` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------------------------------- | -------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| airspeed_timestamp_rel | `int16` | | | +| airspeed_validated_timestamp_rel | `int16` | | | +| distance_sensor_timestamp_rel | `int16` | | | +| optical_flow_timestamp_rel | `int16` | | | +| vehicle_air_data_timestamp_rel | `int16` | | | +| vehicle_magnetometer_timestamp_rel | `int16` | | | +| visual_odometry_timestamp_rel | `int16` | | | ## Constants diff --git a/docs/en/msg_docs/EscEepromRead.md b/docs/en/msg_docs/EscEepromRead.md index 410ebe15dcb..28868cabfa2 100644 --- a/docs/en/msg_docs/EscEepromRead.md +++ b/docs/en/msg_docs/EscEepromRead.md @@ -8,13 +8,13 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | ----------- | ------------ | ---------- | ---------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| firmware | `uint8` | | | ESC firmware type (see ESC_FIRMWARE enum in MAVLink) | -| index | `uint8` | | | Index of the ESC (0 = ESC1, 1 = ESC2, etc.) | -| length | `uint16` | | | Length of valid data | -| data | `uint8[48]` | | | Raw ESC EEPROM data | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | ----------- | ------------ | ---------- | ---------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| firmware | `uint8` | | | ESC firmware type (see ESC_FIRMWARE enum in MAVLink) | +| index | `uint8` | | | Index of the ESC (0 = ESC1, 1 = ESC2, etc.) | +| length | `uint16` | | | Length of valid data | +| data | `uint8[48]` | | | Raw ESC EEPROM data | ## Constants diff --git a/docs/en/msg_docs/EscEepromWrite.md b/docs/en/msg_docs/EscEepromWrite.md index 85691d7669c..ff0cfebc761 100644 --- a/docs/en/msg_docs/EscEepromWrite.md +++ b/docs/en/msg_docs/EscEepromWrite.md @@ -8,14 +8,14 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------- | ----------- | ------------ | ---------- | ---------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| firmware | `uint8` | | | ESC firmware type (see ESC_FIRMWARE enum in MAVLink) | -| index | `uint8` | | | Index of the ESC (0 = ESC1, 1 = ESC2, etc, 255 = All) | -| length | `uint16` | | | Length of valid data | -| data | `uint8[48]` | | | Raw ESC EEPROM data | -| write_mask | `uint32[2]` | | | Bitmask indicating which bytes in the data array should be written (max 48 values) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------- | ----------- | ------------ | ---------- | ---------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| firmware | `uint8` | | | ESC firmware type (see ESC_FIRMWARE enum in MAVLink) | +| index | `uint8` | | | Index of the ESC (0 = ESC1, 1 = ESC2, etc, 255 = All) | +| length | `uint16` | | | Length of valid data | +| data | `uint8[48]` | | | Raw ESC EEPROM data | +| write_mask | `uint32[2]` | | | Bitmask indicating which bytes in the data array should be written (max 48 values) | ## Constants diff --git a/docs/en/msg_docs/EscReport.md b/docs/en/msg_docs/EscReport.md index ceb69748a63..5e6231caca0 100644 --- a/docs/en/msg_docs/EscReport.md +++ b/docs/en/msg_docs/EscReport.md @@ -8,24 +8,26 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------- | --------- | ------------ | ------------------- | ------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| esc_errorcount | `uint32` | | | Number of reported errors by ESC - if supported | -| esc_rpm | `int32` | rpm | | Motor RPM, negative for reverse rotation - if supported | -| esc_voltage | `float32` | V | | Voltage measured from current ESC - if supported | -| esc_current | `float32` | A | | Current measured from current ESC - if supported | -| esc_temperature | `float32` | degC | | Temperature measured from current ESC - if supported | -| motor_temperature | `int16` | degC | | Temperature measured from current motor - if supported | -| esc_state | `uint8` | | | State of ESC - depend on Vendor | -| actuator_function | `uint8` | | | Actuator output function (one of Motor1...MotorN) | -| failures | `uint16` | | [FAILURE](#FAILURE) | Bitmask to indicate the internal ESC faults | -| esc_power | `int8` | % | [0 : 100] | Applied power (negative values reserved) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------- | --------- | ------------ | ------------------- | ------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| esc_errorcount | `uint32` | | | Number of reported errors by ESC - if supported | +| esc_rpm | `int32` | rpm | | Motor RPM, negative for reverse rotation - if supported | +| esc_voltage | `float32` | V | | Voltage measured from current ESC - if supported | +| esc_current | `float32` | A | | Current measured from current ESC - if supported | +| esc_temperature | `float32` | degC | | Temperature measured from current ESC - if supported | +| motor_temperature | `int16` | degC | | Temperature measured from current motor - if supported | +| esc_state | `uint8` | | | State of ESC - depend on Vendor | +| actuator_function | `uint8` | | | Actuator output function (one of Motor1...MotorN) | +| failures | `uint16` | | [FAILURE](#FAILURE) | Bitmask to indicate the internal ESC faults | +| esc_power | `int8` | % | [0 : 100] | Applied power (negative values reserved) | ## Enums ### FAILURE {#FAILURE} +Used in field(s): [failures](#fld_failures) + | Name | Type | Value | Description | | --------------------------------------------------------------------------- | ------- | ----- | ---------------------------------------------------------------------------- | | FAILURE_OVER_CURRENT | `uint8` | 0 | (1 << 0) | diff --git a/docs/en/msg_docs/EscStatus.md b/docs/en/msg_docs/EscStatus.md index 4b1384a1692..c2b9a964dc6 100644 --- a/docs/en/msg_docs/EscStatus.md +++ b/docs/en/msg_docs/EscStatus.md @@ -8,20 +8,22 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------ | --------------- | ------------ | ------------------------------------------- | --------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| counter | `uint16` | | | Incremented by the writing thread everytime new data is stored | -| esc_count | `uint8` | | | Number of connected ESCs | -| esc_connectiontype | `uint8` | | [ESC_CONNECTION_TYPE](#ESC_CONNECTION_TYPE) | How ESCs connected to the system | -| esc_online_flags | `uint16` | | | Bitmask indicating which ESC is online/offline (in motor order) | -| esc_armed_flags | `uint16` | | | Bitmask indicating which ESC is armed (in motor order) | -| esc | `EscReport[12]` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------- | --------------- | ------------ | ------------------------------------------- | --------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| counter | `uint16` | | | Incremented by the writing thread everytime new data is stored | +| esc_count | `uint8` | | | Number of connected ESCs | +| esc_connectiontype | `uint8` | | [ESC_CONNECTION_TYPE](#ESC_CONNECTION_TYPE) | How ESCs connected to the system | +| esc_online_flags | `uint16` | | | Bitmask indicating which ESC is online/offline (in motor order) | +| esc_armed_flags | `uint16` | | | Bitmask indicating which ESC is armed (in motor order) | +| esc | `EscReport[12]` | | | ## Enums ### ESC_CONNECTION_TYPE {#ESC_CONNECTION_TYPE} +Used in field(s): [esc_connectiontype](#fld_esc_connectiontype) + | Name | Type | Value | Description | | --------------------------------------------------------------------- | ------- | ----- | ------------------------ | | ESC_CONNECTION_TYPE_PPM | `uint8` | 0 | Traditional PPM ESC | diff --git a/docs/en/msg_docs/EstimatorAidSource1d.md b/docs/en/msg_docs/EstimatorAidSource1d.md index 3cf32e6a3f4..5821db4dfad 100644 --- a/docs/en/msg_docs/EstimatorAidSource1d.md +++ b/docs/en/msg_docs/EstimatorAidSource1d.md @@ -8,22 +8,22 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------------- | --------- | ------------ | ---------- | -------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | -| estimator_instance | `uint8` | | | -| device_id | `uint32` | | | -| time_last_fuse | `uint64` | | | -| observation | `float32` | | | -| observation_variance | `float32` | | | -| innovation | `float32` | | | -| innovation_filtered | `float32` | | | -| innovation_variance | `float32` | | | -| test_ratio | `float32` | | | normalized innovation squared | -| test_ratio_filtered | `float32` | | | signed filtered test ratio | -| innovation_rejected | `bool` | | | true if the observation has been rejected | -| fused | `bool` | | | true if the sample was successfully fused | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------- | --------- | ------------ | ---------- | -------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| estimator_instance | `uint8` | | | +| device_id | `uint32` | | | +| time_last_fuse | `uint64` | | | +| observation | `float32` | | | +| observation_variance | `float32` | | | +| innovation | `float32` | | | +| innovation_filtered | `float32` | | | +| innovation_variance | `float32` | | | +| test_ratio | `float32` | | | normalized innovation squared | +| test_ratio_filtered | `float32` | | | signed filtered test ratio | +| innovation_rejected | `bool` | | | true if the observation has been rejected | +| fused | `bool` | | | true if the sample was successfully fused | ## Source Message diff --git a/docs/en/msg_docs/EstimatorAidSource2d.md b/docs/en/msg_docs/EstimatorAidSource2d.md index cb21f508cbc..d72696793ba 100644 --- a/docs/en/msg_docs/EstimatorAidSource2d.md +++ b/docs/en/msg_docs/EstimatorAidSource2d.md @@ -8,22 +8,22 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------------- | ------------ | ------------ | ---------- | -------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | -| estimator_instance | `uint8` | | | -| device_id | `uint32` | | | -| time_last_fuse | `uint64` | | | -| observation | `float64[2]` | | | -| observation_variance | `float32[2]` | | | -| innovation | `float32[2]` | | | -| innovation_filtered | `float32[2]` | | | -| innovation_variance | `float32[2]` | | | -| test_ratio | `float32[2]` | | | normalized innovation squared | -| test_ratio_filtered | `float32[2]` | | | signed filtered test ratio | -| innovation_rejected | `bool` | | | true if the observation has been rejected | -| fused | `bool` | | | true if the sample was successfully fused | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| estimator_instance | `uint8` | | | +| device_id | `uint32` | | | +| time_last_fuse | `uint64` | | | +| observation | `float64[2]` | | | +| observation_variance | `float32[2]` | | | +| innovation | `float32[2]` | | | +| innovation_filtered | `float32[2]` | | | +| innovation_variance | `float32[2]` | | | +| test_ratio | `float32[2]` | | | normalized innovation squared | +| test_ratio_filtered | `float32[2]` | | | signed filtered test ratio | +| innovation_rejected | `bool` | | | true if the observation has been rejected | +| fused | `bool` | | | true if the sample was successfully fused | ## Source Message diff --git a/docs/en/msg_docs/EstimatorAidSource3d.md b/docs/en/msg_docs/EstimatorAidSource3d.md index 38ed296214c..c548b19ef83 100644 --- a/docs/en/msg_docs/EstimatorAidSource3d.md +++ b/docs/en/msg_docs/EstimatorAidSource3d.md @@ -8,22 +8,22 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------------- | ------------ | ------------ | ---------- | -------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | -| estimator_instance | `uint8` | | | -| device_id | `uint32` | | | -| time_last_fuse | `uint64` | | | -| observation | `float32[3]` | | | -| observation_variance | `float32[3]` | | | -| innovation | `float32[3]` | | | -| innovation_filtered | `float32[3]` | | | -| innovation_variance | `float32[3]` | | | -| test_ratio | `float32[3]` | | | normalized innovation squared | -| test_ratio_filtered | `float32[3]` | | | signed filtered test ratio | -| innovation_rejected | `bool` | | | true if the observation has been rejected | -| fused | `bool` | | | true if the sample was successfully fused | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| estimator_instance | `uint8` | | | +| device_id | `uint32` | | | +| time_last_fuse | `uint64` | | | +| observation | `float32[3]` | | | +| observation_variance | `float32[3]` | | | +| innovation | `float32[3]` | | | +| innovation_filtered | `float32[3]` | | | +| innovation_variance | `float32[3]` | | | +| test_ratio | `float32[3]` | | | normalized innovation squared | +| test_ratio_filtered | `float32[3]` | | | signed filtered test ratio | +| innovation_rejected | `bool` | | | true if the observation has been rejected | +| fused | `bool` | | | true if the sample was successfully fused | ## Source Message diff --git a/docs/en/msg_docs/EstimatorBias.md b/docs/en/msg_docs/EstimatorBias.md index 4e19c7590b0..8bce93ad68f 100644 --- a/docs/en/msg_docs/EstimatorBias.md +++ b/docs/en/msg_docs/EstimatorBias.md @@ -8,16 +8,16 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | -| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | -| bias | `float32` | | | estimated barometric altitude bias (m) | -| bias_var | `float32` | | | estimated barometric altitude bias variance (m^2) | -| innov | `float32` | | | innovation of the last measurement fusion (m) | -| innov_var | `float32` | | | innovation variance of the last measurement fusion (m^2) | -| innov_test_ratio | `float32` | | | normalized innovation squared test ratio | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| bias | `float32` | | | estimated barometric altitude bias (m) | +| bias_var | `float32` | | | estimated barometric altitude bias variance (m^2) | +| innov | `float32` | | | innovation of the last measurement fusion (m) | +| innov_var | `float32` | | | innovation variance of the last measurement fusion (m^2) | +| innov_test_ratio | `float32` | | | normalized innovation squared test ratio | ## Source Message diff --git a/docs/en/msg_docs/EstimatorBias3d.md b/docs/en/msg_docs/EstimatorBias3d.md index 42b7c0ac7e2..3da8a51a050 100644 --- a/docs/en/msg_docs/EstimatorBias3d.md +++ b/docs/en/msg_docs/EstimatorBias3d.md @@ -8,16 +8,16 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | -| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | -| bias | `float32[3]` | | | estimated barometric altitude bias (m) | -| bias_var | `float32[3]` | | | estimated barometric altitude bias variance (m^2) | -| innov | `float32[3]` | | | innovation of the last measurement fusion (m) | -| innov_var | `float32[3]` | | | innovation variance of the last measurement fusion (m^2) | -| innov_test_ratio | `float32[3]` | | | normalized innovation squared test ratio | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| bias | `float32[3]` | | | estimated barometric altitude bias (m) | +| bias_var | `float32[3]` | | | estimated barometric altitude bias variance (m^2) | +| innov | `float32[3]` | | | innovation of the last measurement fusion (m) | +| innov_var | `float32[3]` | | | innovation variance of the last measurement fusion (m^2) | +| innov_test_ratio | `float32[3]` | | | normalized innovation squared test ratio | ## Source Message diff --git a/docs/en/msg_docs/EstimatorEventFlags.md b/docs/en/msg_docs/EstimatorEventFlags.md index 8a72739bc5f..69f1c37d50a 100644 --- a/docs/en/msg_docs/EstimatorEventFlags.md +++ b/docs/en/msg_docs/EstimatorEventFlags.md @@ -8,28 +8,28 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------------------- | -------- | ------------ | ---------- | --------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | -| information_event_changes | `uint32` | | | number of information event changes | -| gps_checks_passed | `bool` | | | 0 - true when gps quality checks are passing passed | -| reset_vel_to_gps | `bool` | | | 1 - true when the velocity states are reset to the gps measurement | -| reset_vel_to_flow | `bool` | | | 2 - true when the velocity states are reset using the optical flow measurement | -| reset_vel_to_vision | `bool` | | | 3 - true when the velocity states are reset to the vision system measurement | -| reset_vel_to_zero | `bool` | | | 4 - true when the velocity states are reset to zero | -| reset_pos_to_last_known | `bool` | | | 5 - true when the position states are reset to the last known position | -| reset_pos_to_gps | `bool` | | | 6 - true when the position states are reset to the gps measurement | -| reset_pos_to_vision | `bool` | | | 7 - true when the position states are reset to the vision system measurement | -| starting_gps_fusion | `bool` | | | 8 - true when the filter starts using gps measurements to correct the state estimates | -| starting_vision_pos_fusion | `bool` | | | 9 - true when the filter starts using vision system position measurements to correct the state estimates | -| starting_vision_vel_fusion | `bool` | | | 10 - true when the filter starts using vision system velocity measurements to correct the state estimates | -| starting_vision_yaw_fusion | `bool` | | | 11 - true when the filter starts using vision system yaw measurements to correct the state estimates | -| yaw_aligned_to_imu_gps | `bool` | | | 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data | -| reset_hgt_to_baro | `bool` | | | 13 - true when the vertical position state is reset to the baro measurement | -| reset_hgt_to_gps | `bool` | | | 14 - true when the vertical position state is reset to the gps measurement | -| reset_hgt_to_rng | `bool` | | | 15 - true when the vertical position state is reset to the rng measurement | -| reset_hgt_to_ev | `bool` | | | 16 - true when the vertical position state is reset to the ev measurement | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------------------- | -------- | ------------ | ---------- | --------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| information_event_changes | `uint32` | | | number of information event changes | +| gps_checks_passed | `bool` | | | 0 - true when gps quality checks are passing passed | +| reset_vel_to_gps | `bool` | | | 1 - true when the velocity states are reset to the gps measurement | +| reset_vel_to_flow | `bool` | | | 2 - true when the velocity states are reset using the optical flow measurement | +| reset_vel_to_vision | `bool` | | | 3 - true when the velocity states are reset to the vision system measurement | +| reset_vel_to_zero | `bool` | | | 4 - true when the velocity states are reset to zero | +| reset_pos_to_last_known | `bool` | | | 5 - true when the position states are reset to the last known position | +| reset_pos_to_gps | `bool` | | | 6 - true when the position states are reset to the gps measurement | +| reset_pos_to_vision | `bool` | | | 7 - true when the position states are reset to the vision system measurement | +| starting_gps_fusion | `bool` | | | 8 - true when the filter starts using gps measurements to correct the state estimates | +| starting_vision_pos_fusion | `bool` | | | 9 - true when the filter starts using vision system position measurements to correct the state estimates | +| starting_vision_vel_fusion | `bool` | | | 10 - true when the filter starts using vision system velocity measurements to correct the state estimates | +| starting_vision_yaw_fusion | `bool` | | | 11 - true when the filter starts using vision system yaw measurements to correct the state estimates | +| yaw_aligned_to_imu_gps | `bool` | | | 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data | +| reset_hgt_to_baro | `bool` | | | 13 - true when the vertical position state is reset to the baro measurement | +| reset_hgt_to_gps | `bool` | | | 14 - true when the vertical position state is reset to the gps measurement | +| reset_hgt_to_rng | `bool` | | | 15 - true when the vertical position state is reset to the rng measurement | +| reset_hgt_to_ev | `bool` | | | 16 - true when the vertical position state is reset to the ev measurement | ## Source Message diff --git a/docs/en/msg_docs/EstimatorFusionControl.md b/docs/en/msg_docs/EstimatorFusionControl.md index a812e03ce58..c37f50abbb6 100644 --- a/docs/en/msg_docs/EstimatorFusionControl.md +++ b/docs/en/msg_docs/EstimatorFusionControl.md @@ -8,27 +8,27 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------------- | --------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| gps_intended | `bool[2]` | | | -| of_intended | `bool` | | | -| ev_intended | `bool` | | | -| agp_intended | `bool[4]` | | | -| baro_intended | `bool` | | | -| rng_intended | `bool` | | | -| mag_intended | `bool` | | | -| aspd_intended | `bool` | | | -| rngbcn_intended | `bool` | | | -| gps_active | `bool[2]` | | | -| of_active | `bool` | | | -| ev_active | `bool` | | | -| agp_active | `bool[4]` | | | -| baro_active | `bool` | | | -| rng_active | `bool` | | | -| mag_active | `bool` | | | -| aspd_active | `bool` | | | -| rngbcn_active | `bool` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------- | --------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| gps_intended | `bool[2]` | | | +| of_intended | `bool` | | | +| ev_intended | `bool` | | | +| agp_intended | `bool[4]` | | | +| baro_intended | `bool` | | | +| rng_intended | `bool` | | | +| mag_intended | `bool` | | | +| aspd_intended | `bool` | | | +| rngbcn_intended | `bool` | | | +| gps_active | `bool[2]` | | | +| of_active | `bool` | | | +| ev_active | `bool` | | | +| agp_active | `bool[4]` | | | +| baro_active | `bool` | | | +| rng_active | `bool` | | | +| mag_active | `bool` | | | +| aspd_active | `bool` | | | +| rngbcn_active | `bool` | | | ## Source Message diff --git a/docs/en/msg_docs/EstimatorGpsStatus.md b/docs/en/msg_docs/EstimatorGpsStatus.md index 13a12be944d..d3d03f50fa7 100644 --- a/docs/en/msg_docs/EstimatorGpsStatus.md +++ b/docs/en/msg_docs/EstimatorGpsStatus.md @@ -8,25 +8,25 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------------------------- | --------- | ------------ | ---------- | -------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | -| checks_passed | `bool` | | | -| check_fail_gps_fix | `bool` | | | 0 : insufficient fix type (no 3D solution) | -| check_fail_min_sat_count | `bool` | | | 1 : minimum required sat count fail | -| check_fail_max_pdop | `bool` | | | 2 : maximum allowed PDOP fail | -| check_fail_max_horz_err | `bool` | | | 3 : maximum allowed horizontal position error fail | -| check_fail_max_vert_err | `bool` | | | 4 : maximum allowed vertical position error fail | -| check_fail_max_spd_err | `bool` | | | 5 : maximum allowed speed error fail | -| check_fail_max_horz_drift | `bool` | | | 6 : maximum allowed horizontal position drift fail - requires stationary vehicle | -| check_fail_max_vert_drift | `bool` | | | 7 : maximum allowed vertical position drift fail - requires stationary vehicle | -| check_fail_max_horz_spd_err | `bool` | | | 8 : maximum allowed horizontal speed fail - requires stationary vehicle | -| check_fail_max_vert_spd_err | `bool` | | | 9 : maximum allowed vertical velocity discrepancy fail | -| check_fail_spoofed_gps | `bool` | | | 10 : GPS signal is spoofed | -| position_drift_rate_horizontal_m_s | `float32` | | | Horizontal position rate magnitude (m/s) | -| position_drift_rate_vertical_m_s | `float32` | | | Vertical position rate magnitude (m/s) | -| filtered_horizontal_speed_m_s | `float32` | | | Filtered horizontal velocity magnitude (m/s) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------------------------------- | --------- | ------------ | ---------- | -------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| checks_passed | `bool` | | | +| check_fail_gps_fix | `bool` | | | 0 : insufficient fix type (no 3D solution) | +| check_fail_min_sat_count | `bool` | | | 1 : minimum required sat count fail | +| check_fail_max_pdop | `bool` | | | 2 : maximum allowed PDOP fail | +| check_fail_max_horz_err | `bool` | | | 3 : maximum allowed horizontal position error fail | +| check_fail_max_vert_err | `bool` | | | 4 : maximum allowed vertical position error fail | +| check_fail_max_spd_err | `bool` | | | 5 : maximum allowed speed error fail | +| check_fail_max_horz_drift | `bool` | | | 6 : maximum allowed horizontal position drift fail - requires stationary vehicle | +| check_fail_max_vert_drift | `bool` | | | 7 : maximum allowed vertical position drift fail - requires stationary vehicle | +| check_fail_max_horz_spd_err | `bool` | | | 8 : maximum allowed horizontal speed fail - requires stationary vehicle | +| check_fail_max_vert_spd_err | `bool` | | | 9 : maximum allowed vertical velocity discrepancy fail | +| check_fail_spoofed_gps | `bool` | | | 10 : GPS signal is spoofed | +| position_drift_rate_horizontal_m_s | `float32` | | | Horizontal position rate magnitude (m/s) | +| position_drift_rate_vertical_m_s | `float32` | | | Vertical position rate magnitude (m/s) | +| filtered_horizontal_speed_m_s | `float32` | | | Filtered horizontal velocity magnitude (m/s) | ## Source Message diff --git a/docs/en/msg_docs/EstimatorInnovations.md b/docs/en/msg_docs/EstimatorInnovations.md index 87b559ecf81..c1d5087e546 100644 --- a/docs/en/msg_docs/EstimatorInnovations.md +++ b/docs/en/msg_docs/EstimatorInnovations.md @@ -8,30 +8,30 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ------------ | ------------ | ------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | -| gps_hvel | `float32[2]` | | | horizontal GPS velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) | -| `float32` | | | vertical GPS velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) | -| gps_hpos | `float32[2]` | | | horizontal GPS position innovation (m) and innovation variance (m\*\*2) | -| `float32` | | | vertical GPS position innovation (m) and innovation variance (m\*\*2) | -| ev_hvel | `float32[2]` | | | horizontal external vision velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) | -| `float32` | | | vertical external vision velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) | -| ev_hpos | `float32[2]` | | | horizontal external vision position innovation (m) and innovation variance (m\*\*2) | -| `float32` | | | vertical external vision position innovation (m) and innovation variance (m\*\*2) | -| rng_vpos | `float32` | | | range sensor height innovation (m) and innovation variance (m\*\*2) | -| baro_vpos | `float32` | | | barometer height innovation (m) and innovation variance (m\*\*2) | -| aux_hvel | `float32[2]` | | | horizontal auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)\*\*2) | -| flow | `float32[2]` | | | flow innvoation (rad/sec) and innovation variance ((rad/sec)\*\*2) | -| heading | `float32` | | | heading innovation (rad) and innovation variance (rad\*\*2) | -| mag_field | `float32[3]` | | | earth magnetic field innovation (Gauss) and innovation variance (Gauss\*\*2) | -| gravity | `float32[3]` | | | gravity innovation from accelerometerr vector (m/s\*\*2) | -| drag | `float32[2]` | | | drag specific force innovation (m/sec**2) and innovation variance ((m/sec)**2) | -| airspeed | `float32` | | | airspeed innovation (m/sec) and innovation variance ((m/sec)\*\*2) | -| beta | `float32` | | | synthetic sideslip innovation (rad) and innovation variance (rad\*\*2) | -| hagl | `float32` | | | height of ground innovation (m) and innovation variance (m\*\*2) | -| hagl_rate | `float32` | | | height of ground rate innovation (m/s) and innovation variance ((m/s)\*\*2) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ------------ | ------------ | ---------- | ----------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| gps_hvel | `float32[2]` | | | horizontal GPS velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) | +| | `float32` | | | vertical GPS velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) | +| gps_hpos | `float32[2]` | | | horizontal GPS position innovation (m) and innovation variance (m\*\*2) | +| | `float32` | | | vertical GPS position innovation (m) and innovation variance (m\*\*2) | +| ev_hvel | `float32[2]` | | | horizontal external vision velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) | +| | `float32` | | | vertical external vision velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) | +| ev_hpos | `float32[2]` | | | horizontal external vision position innovation (m) and innovation variance (m\*\*2) | +| | `float32` | | | vertical external vision position innovation (m) and innovation variance (m\*\*2) | +| rng_vpos | `float32` | | | range sensor height innovation (m) and innovation variance (m\*\*2) | +| baro_vpos | `float32` | | | barometer height innovation (m) and innovation variance (m\*\*2) | +| aux_hvel | `float32[2]` | | | horizontal auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)\*\*2) | +| flow | `float32[2]` | | | flow innvoation (rad/sec) and innovation variance ((rad/sec)\*\*2) | +| heading | `float32` | | | heading innovation (rad) and innovation variance (rad\*\*2) | +| mag_field | `float32[3]` | | | earth magnetic field innovation (Gauss) and innovation variance (Gauss\*\*2) | +| gravity | `float32[3]` | | | gravity innovation from accelerometerr vector (m/s\*\*2) | +| drag | `float32[2]` | | | drag specific force innovation (m/sec**2) and innovation variance ((m/sec)**2) | +| airspeed | `float32` | | | airspeed innovation (m/sec) and innovation variance ((m/sec)\*\*2) | +| beta | `float32` | | | synthetic sideslip innovation (rad) and innovation variance (rad\*\*2) | +| hagl | `float32` | | | height of ground innovation (m) and innovation variance (m\*\*2) | +| hagl_rate | `float32` | | | height of ground rate innovation (m/s) and innovation variance ((m/s)\*\*2) | ## Source Message diff --git a/docs/en/msg_docs/EstimatorSelectorStatus.md b/docs/en/msg_docs/EstimatorSelectorStatus.md index 1efb788f730..8117e030c36 100644 --- a/docs/en/msg_docs/EstimatorSelectorStatus.md +++ b/docs/en/msg_docs/EstimatorSelectorStatus.md @@ -8,24 +8,24 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------------- | ------------ | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| primary_instance | `uint8` | | | -| instances_available | `uint8` | | | -| instance_changed_count | `uint32` | | | -| last_instance_change | `uint64` | | | -| accel_device_id | `uint32` | | | -| baro_device_id | `uint32` | | | -| gyro_device_id | `uint32` | | | -| mag_device_id | `uint32` | | | -| combined_test_ratio | `float32[9]` | | | -| relative_test_ratio | `float32[9]` | | | -| healthy | `bool[9]` | | | -| accumulated_gyro_error | `float32[4]` | | | -| accumulated_accel_error | `float32[4]` | | | -| gyro_fault_detected | `bool` | | | -| accel_fault_detected | `bool` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| primary_instance | `uint8` | | | +| instances_available | `uint8` | | | +| instance_changed_count | `uint32` | | | +| last_instance_change | `uint64` | | | +| accel_device_id | `uint32` | | | +| baro_device_id | `uint32` | | | +| gyro_device_id | `uint32` | | | +| mag_device_id | `uint32` | | | +| combined_test_ratio | `float32[9]` | | | +| relative_test_ratio | `float32[9]` | | | +| healthy | `bool[9]` | | | +| accumulated_gyro_error | `float32[4]` | | | +| accumulated_accel_error | `float32[4]` | | | +| gyro_fault_detected | `bool` | | | +| accel_fault_detected | `bool` | | | ## Source Message diff --git a/docs/en/msg_docs/EstimatorSensorBias.md b/docs/en/msg_docs/EstimatorSensorBias.md index c60f1e9111c..7934bfca2ab 100644 --- a/docs/en/msg_docs/EstimatorSensorBias.md +++ b/docs/en/msg_docs/EstimatorSensorBias.md @@ -10,28 +10,28 @@ Sensor readings and in-run biases in SI-unit form. Sensor readings are compensat ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | -| gyro_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | -| gyro_bias | `float32[3]` | | | gyroscope in-run bias in body frame (rad/s) | -| gyro_bias_limit | `float32` | | | magnitude of maximum gyroscope in-run bias in body frame (rad/s) | -| gyro_bias_variance | `float32[3]` | | | -| gyro_bias_valid | `bool` | | | -| gyro_bias_stable | `bool` | | | true when the gyro bias estimate is stable enough to use for calibration | -| accel_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | -| accel_bias | `float32[3]` | | | accelerometer in-run bias in body frame (m/s^2) | -| accel_bias_limit | `float32` | | | magnitude of maximum accelerometer in-run bias in body frame (m/s^2) | -| accel_bias_variance | `float32[3]` | | | -| accel_bias_valid | `bool` | | | -| accel_bias_stable | `bool` | | | true when the accel bias estimate is stable enough to use for calibration | -| mag_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | -| mag_bias | `float32[3]` | | | magnetometer in-run bias in body frame (Gauss) | -| mag_bias_limit | `float32` | | | magnitude of maximum magnetometer in-run bias in body frame (Gauss) | -| mag_bias_variance | `float32[3]` | | | -| mag_bias_valid | `bool` | | | -| mag_bias_stable | `bool` | | | true when the mag bias estimate is stable enough to use for calibration | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| gyro_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| gyro_bias | `float32[3]` | | | gyroscope in-run bias in body frame (rad/s) | +| gyro_bias_limit | `float32` | | | magnitude of maximum gyroscope in-run bias in body frame (rad/s) | +| gyro_bias_variance | `float32[3]` | | | +| gyro_bias_valid | `bool` | | | +| gyro_bias_stable | `bool` | | | true when the gyro bias estimate is stable enough to use for calibration | +| accel_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| accel_bias | `float32[3]` | | | accelerometer in-run bias in body frame (m/s^2) | +| accel_bias_limit | `float32` | | | magnitude of maximum accelerometer in-run bias in body frame (m/s^2) | +| accel_bias_variance | `float32[3]` | | | +| accel_bias_valid | `bool` | | | +| accel_bias_stable | `bool` | | | true when the accel bias estimate is stable enough to use for calibration | +| mag_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| mag_bias | `float32[3]` | | | magnetometer in-run bias in body frame (Gauss) | +| mag_bias_limit | `float32` | | | magnitude of maximum magnetometer in-run bias in body frame (Gauss) | +| mag_bias_variance | `float32[3]` | | | +| mag_bias_valid | `bool` | | | +| mag_bias_stable | `bool` | | | true when the mag bias estimate is stable enough to use for calibration | ## Source Message diff --git a/docs/en/msg_docs/EstimatorStates.md b/docs/en/msg_docs/EstimatorStates.md index f4f5f2f1492..f576c5af366 100644 --- a/docs/en/msg_docs/EstimatorStates.md +++ b/docs/en/msg_docs/EstimatorStates.md @@ -8,13 +8,13 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ------------- | ------------ | ---------- | -------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | -| states | `float32[25]` | | | Internal filter states | -| n_states | `uint8` | | | Number of states effectively used | -| covariances | `float32[24]` | | | Diagonal Elements of Covariance Matrix | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ------------- | ------------ | ---------- | -------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| states | `float32[25]` | | | Internal filter states | +| n_states | `uint8` | | | Number of states effectively used | +| covariances | `float32[24]` | | | Diagonal Elements of Covariance Matrix | ## Source Message diff --git a/docs/en/msg_docs/EstimatorStatus.md b/docs/en/msg_docs/EstimatorStatus.md index 7f3ebf4b0c8..e754240e0ca 100644 --- a/docs/en/msg_docs/EstimatorStatus.md +++ b/docs/en/msg_docs/EstimatorStatus.md @@ -8,46 +8,46 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------------------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | -| output_tracking_error | `float32[3]` | | | return a vector containing the output predictor angular, velocity and position tracking error magnitudes (rad), (m/s), (m) | -| gps_check_fail_flags | `uint16` | | | Bitmask to indicate status of GPS checks - see definition below | -| control_mode_flags | `uint64` | | | Bitmask to indicate EKF logic state | -| filter_fault_flags | `uint32` | | | Bitmask to indicate EKF internal faults | -| pos_horiz_accuracy | `float32` | | | 1-Sigma estimated horizontal position accuracy relative to the estimators origin (m) | -| pos_vert_accuracy | `float32` | | | 1-Sigma estimated vertical position accuracy relative to the estimators origin (m) | -| hdg_test_ratio | `float32` | | | low-pass filtered ratio of the largest heading innovation component to the innovation test limit | -| vel_test_ratio | `float32` | | | low-pass filtered ratio of the largest velocity innovation component to the innovation test limit | -| pos_test_ratio | `float32` | | | low-pass filtered ratio of the largest horizontal position innovation component to the innovation test limit | -| hgt_test_ratio | `float32` | | | low-pass filtered ratio of the vertical position innovation to the innovation test limit | -| tas_test_ratio | `float32` | | | low-pass filtered ratio of the true airspeed innovation to the innovation test limit | -| hagl_test_ratio | `float32` | | | low-pass filtered ratio of the height above ground innovation to the innovation test limit | -| beta_test_ratio | `float32` | | | low-pass filtered ratio of the synthetic sideslip innovation to the innovation test limit | -| solution_status_flags | `uint16` | | | Bitmask indicating which filter kinematic state outputs are valid for flight control use. | -| reset_count_vel_ne | `uint8` | | | number of horizontal position reset events (allow to wrap if count exceeds 255) | -| reset_count_vel_d | `uint8` | | | number of vertical velocity reset events (allow to wrap if count exceeds 255) | -| reset_count_pos_ne | `uint8` | | | number of horizontal position reset events (allow to wrap if count exceeds 255) | -| reset_count_pod_d | `uint8` | | | number of vertical position reset events (allow to wrap if count exceeds 255) | -| reset_count_quat | `uint8` | | | number of quaternion reset events (allow to wrap if count exceeds 255) | -| time_slip | `float32` | | | cumulative amount of time in seconds that the EKF inertial calculation has slipped relative to system time | -| pre_flt_fail_innov_heading | `bool` | | | -| pre_flt_fail_innov_height | `bool` | | | -| pre_flt_fail_innov_pos_horiz | `bool` | | | -| pre_flt_fail_innov_vel_horiz | `bool` | | | -| pre_flt_fail_innov_vel_vert | `bool` | | | -| pre_flt_fail_mag_field_disturbed | `bool` | | | -| accel_device_id | `uint32` | | | -| gyro_device_id | `uint32` | | | -| baro_device_id | `uint32` | | | -| mag_device_id | `uint32` | | | -| health_flags | `uint8` | | | Bitmask to indicate sensor health states (vel, pos, hgt) | -| timeout_flags | `uint8` | | | Bitmask to indicate timeout flags (vel, pos, hgt) | -| mag_inclination_deg | `float32` | | | -| mag_inclination_ref_deg | `float32` | | | -| mag_strength_gs | `float32` | | | -| mag_strength_ref_gs | `float32` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| output_tracking_error | `float32[3]` | | | return a vector containing the output predictor angular, velocity and position tracking error magnitudes (rad), (m/s), (m) | +| gps_check_fail_flags | `uint16` | | | Bitmask to indicate status of GPS checks - see definition below | +| control_mode_flags | `uint64` | | | Bitmask to indicate EKF logic state | +| filter_fault_flags | `uint32` | | | Bitmask to indicate EKF internal faults | +| pos_horiz_accuracy | `float32` | | | 1-Sigma estimated horizontal position accuracy relative to the estimators origin (m) | +| pos_vert_accuracy | `float32` | | | 1-Sigma estimated vertical position accuracy relative to the estimators origin (m) | +| hdg_test_ratio | `float32` | | | low-pass filtered ratio of the largest heading innovation component to the innovation test limit | +| vel_test_ratio | `float32` | | | low-pass filtered ratio of the largest velocity innovation component to the innovation test limit | +| pos_test_ratio | `float32` | | | low-pass filtered ratio of the largest horizontal position innovation component to the innovation test limit | +| hgt_test_ratio | `float32` | | | low-pass filtered ratio of the vertical position innovation to the innovation test limit | +| tas_test_ratio | `float32` | | | low-pass filtered ratio of the true airspeed innovation to the innovation test limit | +| hagl_test_ratio | `float32` | | | low-pass filtered ratio of the height above ground innovation to the innovation test limit | +| beta_test_ratio | `float32` | | | low-pass filtered ratio of the synthetic sideslip innovation to the innovation test limit | +| solution_status_flags | `uint16` | | | Bitmask indicating which filter kinematic state outputs are valid for flight control use. | +| reset_count_vel_ne | `uint8` | | | number of horizontal position reset events (allow to wrap if count exceeds 255) | +| reset_count_vel_d | `uint8` | | | number of vertical velocity reset events (allow to wrap if count exceeds 255) | +| reset_count_pos_ne | `uint8` | | | number of horizontal position reset events (allow to wrap if count exceeds 255) | +| reset_count_pod_d | `uint8` | | | number of vertical position reset events (allow to wrap if count exceeds 255) | +| reset_count_quat | `uint8` | | | number of quaternion reset events (allow to wrap if count exceeds 255) | +| time_slip | `float32` | | | cumulative amount of time in seconds that the EKF inertial calculation has slipped relative to system time | +| pre_flt_fail_innov_heading | `bool` | | | +| pre_flt_fail_innov_height | `bool` | | | +| pre_flt_fail_innov_pos_horiz | `bool` | | | +| pre_flt_fail_innov_vel_horiz | `bool` | | | +| pre_flt_fail_innov_vel_vert | `bool` | | | +| pre_flt_fail_mag_field_disturbed | `bool` | | | +| accel_device_id | `uint32` | | | +| gyro_device_id | `uint32` | | | +| baro_device_id | `uint32` | | | +| mag_device_id | `uint32` | | | +| health_flags | `uint8` | | | Bitmask to indicate sensor health states (vel, pos, hgt) | +| timeout_flags | `uint8` | | | Bitmask to indicate timeout flags (vel, pos, hgt) | +| mag_inclination_deg | `float32` | | | +| mag_inclination_ref_deg | `float32` | | | +| mag_strength_gs | `float32` | | | +| mag_strength_ref_gs | `float32` | | | ## Constants diff --git a/docs/en/msg_docs/EstimatorStatusFlags.md b/docs/en/msg_docs/EstimatorStatusFlags.md index c1be312b00f..ec39ac55f71 100644 --- a/docs/en/msg_docs/EstimatorStatusFlags.md +++ b/docs/en/msg_docs/EstimatorStatusFlags.md @@ -8,73 +8,73 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------------------- | -------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------ | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | -| control_status_changes | `uint32` | | | number of filter control status (cs) changes | -| cs_tilt_align | `bool` | | | 0 - true if the filter tilt alignment is complete | -| cs_yaw_align | `bool` | | | 1 - true if the filter yaw alignment is complete | -| cs_gnss_pos | `bool` | | | 2 - true if GNSS position measurement fusion is intended | -| cs_opt_flow | `bool` | | | 3 - true if optical flow measurements fusion is intended | -| cs_mag_hdg | `bool` | | | 4 - true if a simple magnetic yaw heading fusion is intended | -| cs_mag_3d | `bool` | | | 5 - true if 3-axis magnetometer measurement fusion is intended | -| cs_mag_dec | `bool` | | | 6 - true if synthetic magnetic declination measurements fusion is intended | -| cs_in_air | `bool` | | | 7 - true when the vehicle is airborne | -| cs_wind | `bool` | | | 8 - true when wind velocity is being estimated | -| cs_baro_hgt | `bool` | | | 9 - true when baro data is being fused | -| cs_rng_hgt | `bool` | | | 10 - true when range finder data is being fused for height aiding | -| cs_gps_hgt | `bool` | | | 11 - true when GPS altitude is being fused | -| cs_ev_pos | `bool` | | | 12 - true when local position data fusion from external vision is intended | -| cs_ev_yaw | `bool` | | | 13 - true when yaw data from external vision measurements fusion is intended | -| cs_ev_hgt | `bool` | | | 14 - true when height data from external vision measurements is being fused | -| cs_fuse_beta | `bool` | | | 15 - true when synthetic sideslip measurements are being fused | -| cs_mag_field_disturbed | `bool` | | | 16 - true when the mag field does not match the expected strength | -| cs_fixed_wing | `bool` | | | 17 - true when the vehicle is operating as a fixed wing vehicle | -| cs_mag_fault | `bool` | | | 18 - true when the magnetometer has been declared faulty and is no longer being used | -| cs_fuse_aspd | `bool` | | | 19 - true when airspeed measurements are being fused | -| cs_gnd_effect | `bool` | | | 20 - true when protection from ground effect induced static pressure rise is active | -| cs_rng_stuck | `bool` | | | 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough | -| cs_gnss_yaw | `bool` | | | 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended | -| cs_mag_aligned_in_flight | `bool` | | | 23 - true when the in-flight mag field alignment has been completed | -| cs_ev_vel | `bool` | | | 24 - true when local frame velocity data fusion from external vision measurements is intended | -| cs_synthetic_mag_z | `bool` | | | 25 - true when we are using a synthesized measurement for the magnetometer Z component | -| cs_vehicle_at_rest | `bool` | | | 26 - true when the vehicle is at rest | -| cs_gnss_yaw_fault | `bool` | | | 27 - true when the GNSS heading has been declared faulty and is no longer being used | -| cs_rng_fault | `bool` | | | 28 - true when the range finder has been declared faulty and is no longer being used | -| cs_inertial_dead_reckoning | `bool` | | | 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift | -| cs_wind_dead_reckoning | `bool` | | | 30 - true if we are navigationg reliant on wind relative measurements | -| cs_rng_kin_consistent | `bool` | | | 31 - true when the range finder kinematic consistency check is passing | -| cs_fake_pos | `bool` | | | 32 - true when fake position measurements are being fused | -| cs_fake_hgt | `bool` | | | 33 - true when fake height measurements are being fused | -| cs_gravity_vector | `bool` | | | 34 - true when gravity vector measurements are being fused | -| cs_mag | `bool` | | | 35 - true if 3-axis magnetometer measurement fusion (mag states only) is intended | -| cs_ev_yaw_fault | `bool` | | | 36 - true when the EV heading has been declared faulty and is no longer being used | -| cs_mag_heading_consistent | `bool` | | | 37 - true when the heading obtained from mag data is declared consistent with the filter | -| cs_aux_gpos | `bool` | | | 38 - true if auxiliary global position measurement fusion is intended | -| cs_rng_terrain | `bool` | | | 39 - true if we are fusing range finder data for terrain | -| cs_opt_flow_terrain | `bool` | | | 40 - true if we are fusing flow data for terrain | -| cs_valid_fake_pos | `bool` | | | 41 - true if a valid constant position is being fused | -| cs_constant_pos | `bool` | | | 42 - true if the vehicle is at a constant position | -| cs_baro_fault | `bool` | | | 43 - true when the current baro has been declared faulty and is no longer being used | -| cs_gnss_vel | `bool` | | | 44 - true if GNSS velocity measurement fusion is intended | -| cs_gnss_fault | `bool` | | | 45 - true if GNSS true if GNSS measurements (lat, lon, vel) have been declared faulty | -| cs_yaw_manual | `bool` | | | 46 - true if yaw has been set manually | -| cs_gnss_hgt_fault | `bool` | | | 47 - true if GNSS true if GNSS measurements (alt) have been declared faulty | -| cs_in_transition | `bool` | | | 48 - true if the vehicle is in vtol transition | -| cs_heading_observable | `bool` | | | 49 - true when heading is observable | -| fault_status_changes | `uint32` | | | number of filter fault status (fs) changes | -| fs_bad_mag_x | `bool` | | | 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error | -| fs_bad_mag_y | `bool` | | | 1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error | -| fs_bad_mag_z | `bool` | | | 2 - true if the fusion of the magnetometer Z-axis has encountered a numerical error | -| fs_bad_hdg | `bool` | | | 3 - true if the fusion of the heading angle has encountered a numerical error | -| fs_bad_mag_decl | `bool` | | | 4 - true if the fusion of the magnetic declination has encountered a numerical error | -| fs_bad_airspeed | `bool` | | | 5 - true if fusion of the airspeed has encountered a numerical error | -| fs_bad_sideslip | `bool` | | | 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error | -| fs_bad_optflow_x | `bool` | | | 7 - true if fusion of the optical flow X axis has encountered a numerical error | -| fs_bad_optflow_y | `bool` | | | 8 - true if fusion of the optical flow Y axis has encountered a numerical error | -| fs_bad_acc_vertical | `bool` | | | 10 - true if bad vertical accelerometer data has been detected | -| fs_bad_acc_clipping | `bool` | | | 11 - true if delta velocity data contains clipping (asymmetric railing) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------------------- | -------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| control_status_changes | `uint32` | | | number of filter control status (cs) changes | +| cs_tilt_align | `bool` | | | 0 - true if the filter tilt alignment is complete | +| cs_yaw_align | `bool` | | | 1 - true if the filter yaw alignment is complete | +| cs_gnss_pos | `bool` | | | 2 - true if GNSS position measurement fusion is intended | +| cs_opt_flow | `bool` | | | 3 - true if optical flow measurements fusion is intended | +| cs_mag_hdg | `bool` | | | 4 - true if a simple magnetic yaw heading fusion is intended | +| cs_mag_3d | `bool` | | | 5 - true if 3-axis magnetometer measurement fusion is intended | +| cs_mag_dec | `bool` | | | 6 - true if synthetic magnetic declination measurements fusion is intended | +| cs_in_air | `bool` | | | 7 - true when the vehicle is airborne | +| cs_wind | `bool` | | | 8 - true when wind velocity is being estimated | +| cs_baro_hgt | `bool` | | | 9 - true when baro data is being fused | +| cs_rng_hgt | `bool` | | | 10 - true when range finder data is being fused for height aiding | +| cs_gps_hgt | `bool` | | | 11 - true when GPS altitude is being fused | +| cs_ev_pos | `bool` | | | 12 - true when local position data fusion from external vision is intended | +| cs_ev_yaw | `bool` | | | 13 - true when yaw data from external vision measurements fusion is intended | +| cs_ev_hgt | `bool` | | | 14 - true when height data from external vision measurements is being fused | +| cs_fuse_beta | `bool` | | | 15 - true when synthetic sideslip measurements are being fused | +| cs_mag_field_disturbed | `bool` | | | 16 - true when the mag field does not match the expected strength | +| cs_fixed_wing | `bool` | | | 17 - true when the vehicle is operating as a fixed wing vehicle | +| cs_mag_fault | `bool` | | | 18 - true when the magnetometer has been declared faulty and is no longer being used | +| cs_fuse_aspd | `bool` | | | 19 - true when airspeed measurements are being fused | +| cs_gnd_effect | `bool` | | | 20 - true when protection from ground effect induced static pressure rise is active | +| cs_rng_stuck | `bool` | | | 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough | +| cs_gnss_yaw | `bool` | | | 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended | +| cs_mag_aligned_in_flight | `bool` | | | 23 - true when the in-flight mag field alignment has been completed | +| cs_ev_vel | `bool` | | | 24 - true when local frame velocity data fusion from external vision measurements is intended | +| cs_synthetic_mag_z | `bool` | | | 25 - true when we are using a synthesized measurement for the magnetometer Z component | +| cs_vehicle_at_rest | `bool` | | | 26 - true when the vehicle is at rest | +| cs_gnss_yaw_fault | `bool` | | | 27 - true when the GNSS heading has been declared faulty and is no longer being used | +| cs_rng_fault | `bool` | | | 28 - true when the range finder has been declared faulty and is no longer being used | +| cs_inertial_dead_reckoning | `bool` | | | 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift | +| cs_wind_dead_reckoning | `bool` | | | 30 - true if we are navigationg reliant on wind relative measurements | +| cs_rng_kin_consistent | `bool` | | | 31 - true when the range finder kinematic consistency check is passing | +| cs_fake_pos | `bool` | | | 32 - true when fake position measurements are being fused | +| cs_fake_hgt | `bool` | | | 33 - true when fake height measurements are being fused | +| cs_gravity_vector | `bool` | | | 34 - true when gravity vector measurements are being fused | +| cs_mag | `bool` | | | 35 - true if 3-axis magnetometer measurement fusion (mag states only) is intended | +| cs_ev_yaw_fault | `bool` | | | 36 - true when the EV heading has been declared faulty and is no longer being used | +| cs_mag_heading_consistent | `bool` | | | 37 - true when the heading obtained from mag data is declared consistent with the filter | +| cs_aux_gpos | `bool` | | | 38 - true if auxiliary global position measurement fusion is intended | +| cs_rng_terrain | `bool` | | | 39 - true if we are fusing range finder data for terrain | +| cs_opt_flow_terrain | `bool` | | | 40 - true if we are fusing flow data for terrain | +| cs_valid_fake_pos | `bool` | | | 41 - true if a valid constant position is being fused | +| cs_constant_pos | `bool` | | | 42 - true if the vehicle is at a constant position | +| cs_baro_fault | `bool` | | | 43 - true when the current baro has been declared faulty and is no longer being used | +| cs_gnss_vel | `bool` | | | 44 - true if GNSS velocity measurement fusion is intended | +| cs_gnss_fault | `bool` | | | 45 - true if GNSS true if GNSS measurements (lat, lon, vel) have been declared faulty | +| cs_yaw_manual | `bool` | | | 46 - true if yaw has been set manually | +| cs_gnss_hgt_fault | `bool` | | | 47 - true if GNSS true if GNSS measurements (alt) have been declared faulty | +| cs_in_transition | `bool` | | | 48 - true if the vehicle is in vtol transition | +| cs_heading_observable | `bool` | | | 49 - true when heading is observable | +| fault_status_changes | `uint32` | | | number of filter fault status (fs) changes | +| fs_bad_mag_x | `bool` | | | 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error | +| fs_bad_mag_y | `bool` | | | 1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error | +| fs_bad_mag_z | `bool` | | | 2 - true if the fusion of the magnetometer Z-axis has encountered a numerical error | +| fs_bad_hdg | `bool` | | | 3 - true if the fusion of the heading angle has encountered a numerical error | +| fs_bad_mag_decl | `bool` | | | 4 - true if the fusion of the magnetic declination has encountered a numerical error | +| fs_bad_airspeed | `bool` | | | 5 - true if fusion of the airspeed has encountered a numerical error | +| fs_bad_sideslip | `bool` | | | 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error | +| fs_bad_optflow_x | `bool` | | | 7 - true if fusion of the optical flow X axis has encountered a numerical error | +| fs_bad_optflow_y | `bool` | | | 8 - true if fusion of the optical flow Y axis has encountered a numerical error | +| fs_bad_acc_vertical | `bool` | | | 10 - true if bad vertical accelerometer data has been detected | +| fs_bad_acc_clipping | `bool` | | | 11 - true if delta velocity data contains clipping (asymmetric railing) | ## Source Message diff --git a/docs/en/msg_docs/Event.md b/docs/en/msg_docs/Event.md index fefdadba76c..1ae6aa78aee 100644 --- a/docs/en/msg_docs/Event.md +++ b/docs/en/msg_docs/Event.md @@ -10,13 +10,13 @@ Events interface. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------- | ----------- | ------------ | ---------- | ------------------------------------------------------ | -| timestamp | `uint64` | | | time since system start (microseconds) | -| id | `uint32` | | | Event ID | -| event_sequence | `uint16` | | | Event sequence number | -| arguments | `uint8[25]` | | | (optional) arguments, depend on event id | -| log_levels | `uint8` | | | Log levels: 4 bits MSB: internal, 4 bits LSB: external | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------- | ----------- | ------------ | ---------- | ------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| id | `uint32` | | | Event ID | +| event_sequence | `uint16` | | | Event sequence number | +| arguments | `uint8[25]` | | | (optional) arguments, depend on event id | +| log_levels | `uint8` | | | Log levels: 4 bits MSB: internal, 4 bits LSB: external | ## Constants diff --git a/docs/en/msg_docs/EventV0.md b/docs/en/msg_docs/EventV0.md index 8aea29b2f0a..5c222d3e0df 100644 --- a/docs/en/msg_docs/EventV0.md +++ b/docs/en/msg_docs/EventV0.md @@ -10,13 +10,13 @@ this message is required here in the msg_old folder because other msg are depend ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------- | ----------- | ------------ | ---------- | ------------------------------------------------------ | -| timestamp | `uint64` | | | time since system start (microseconds) | -| id | `uint32` | | | Event ID | -| event_sequence | `uint16` | | | Event sequence number | -| arguments | `uint8[25]` | | | (optional) arguments, depend on event id | -| log_levels | `uint8` | | | Log levels: 4 bits MSB: internal, 4 bits LSB: external | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------- | ----------- | ------------ | ---------- | ------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| id | `uint32` | | | Event ID | +| event_sequence | `uint16` | | | Event sequence number | +| arguments | `uint8[25]` | | | (optional) arguments, depend on event id | +| log_levels | `uint8` | | | Log levels: 4 bits MSB: internal, 4 bits LSB: external | ## Constants diff --git a/docs/en/msg_docs/FailsafeFlags.md b/docs/en/msg_docs/FailsafeFlags.md index 62001b814aa..ad49f34a9d8 100644 --- a/docs/en/msg_docs/FailsafeFlags.md +++ b/docs/en/msg_docs/FailsafeFlags.md @@ -13,54 +13,54 @@ The flag comments are used as label for the failsafe state machine simulation ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------------------------------- | -------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------ | -| timestamp | `uint64` | | | time since system start (microseconds) | -| mode_req_angular_velocity | `uint32` | | | -| mode_req_attitude | `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 | `uint32` | | | -| mode_req_wind_and_flight_time_compliance | `uint32` | | | if set, mode cannot be entered if wind or flight time limit exceeded | -| mode_req_prevent_arming | `uint32` | | | if set, cannot arm while in this mode | -| mode_req_manual_control | `uint32` | | | -| mode_req_other | `uint32` | | | other requirements, not covered above (for external modes) | -| angular_velocity_invalid | `bool` | | | Angular velocity invalid | -| attitude_invalid | `bool` | | | Attitude invalid | -| local_altitude_invalid | `bool` | | | Local altitude invalid | -| local_position_invalid | `bool` | | | Local position estimate invalid | -| local_position_invalid_relaxed | `bool` | | | Local position with reduced accuracy requirements invalid (e.g. flying with optical flow) | -| local_velocity_invalid | `bool` | | | Local velocity estimate invalid | -| global_position_invalid | `bool` | | | Global position estimate invalid | -| global_position_invalid_relaxed | `bool` | | | Global position estimate invalid with relaxed accuracy requirements | -| auto_mission_missing | `bool` | | | No mission available | -| offboard_control_signal_lost | `bool` | | | Offboard signal lost | -| home_position_invalid | `bool` | | | No home position available | -| manual_control_signal_lost | `bool` | | | Manual control (RC) signal lost | -| gcs_connection_lost | `bool` | | | GCS connection lost | -| battery_warning | `uint8` | | | Battery warning level (see BatteryStatus.msg) | -| battery_low_remaining_time | `bool` | | | Low battery based on remaining flight time | -| battery_unhealthy | `bool` | | | Battery unhealthy | -| fd_critical_failure | `bool` | | | Critical failure (attitude limit exceeded, or external ATS) | -| fd_esc_arming_failure | `bool` | | | ESC failed to arm | -| fd_imbalanced_prop | `bool` | | | Imbalanced propeller detected | -| fd_motor_failure | `bool` | | | Motor failure | -| fd_alt_loss | `bool` | | | Uncommanded altitude loss (rotary-wing, altitude-controlled flight) | -| geofence_breached | `bool` | | | Geofence breached (one or multiple) | -| mission_failure | `bool` | | | Mission failure | -| vtol_fixed_wing_system_failure | `bool` | | | vehicle in fixed-wing system failure failsafe mode (after quad-chute) | -| wind_limit_exceeded | `bool` | | | Wind limit exceeded | -| flight_time_limit_exceeded | `bool` | | | Maximum flight time exceeded | -| position_accuracy_low | `bool` | | | Position estimate has dropped below threshold, but is currently still declared valid | -| navigator_failure | `bool` | | | Navigator failed to execute a mode | -| parachute_unhealthy | `bool` | | | Parachute system missing or unhealthy | -| remote_id_unhealthy | `bool` | | | Remote ID (Open Drone ID) system missing or unhealthy | -| gnss_lost | `bool` | | | Active GNSS count dropped below SYS_HAS_NUM_GNSS, or two receivers report inconsistent positions | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------------------------------------------- | -------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| mode_req_angular_velocity | `uint32` | | | +| mode_req_attitude | `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 | `uint32` | | | +| mode_req_wind_and_flight_time_compliance | `uint32` | | | if set, mode cannot be entered if wind or flight time limit exceeded | +| mode_req_prevent_arming | `uint32` | | | if set, cannot arm while in this mode | +| mode_req_manual_control | `uint32` | | | +| mode_req_other | `uint32` | | | other requirements, not covered above (for external modes) | +| angular_velocity_invalid | `bool` | | | Angular velocity invalid | +| attitude_invalid | `bool` | | | Attitude invalid | +| local_altitude_invalid | `bool` | | | Local altitude invalid | +| local_position_invalid | `bool` | | | Local position estimate invalid | +| local_position_invalid_relaxed | `bool` | | | Local position with reduced accuracy requirements invalid (e.g. flying with optical flow) | +| local_velocity_invalid | `bool` | | | Local velocity estimate invalid | +| global_position_invalid | `bool` | | | Global position estimate invalid | +| global_position_invalid_relaxed | `bool` | | | Global position estimate invalid with relaxed accuracy requirements | +| auto_mission_missing | `bool` | | | No mission available | +| offboard_control_signal_lost | `bool` | | | Offboard signal lost | +| home_position_invalid | `bool` | | | No home position available | +| manual_control_signal_lost | `bool` | | | Manual control (RC) signal lost | +| gcs_connection_lost | `bool` | | | GCS connection lost | +| battery_warning | `uint8` | | | Battery warning level (see BatteryStatus.msg) | +| battery_low_remaining_time | `bool` | | | Low battery based on remaining flight time | +| battery_unhealthy | `bool` | | | Battery unhealthy | +| fd_critical_failure | `bool` | | | Critical failure (attitude limit exceeded, or external ATS) | +| fd_esc_arming_failure | `bool` | | | ESC failed to arm | +| fd_imbalanced_prop | `bool` | | | Imbalanced propeller detected | +| fd_motor_failure | `bool` | | | Motor failure | +| fd_alt_loss | `bool` | | | Uncommanded altitude loss (rotary-wing, altitude-controlled flight) | +| geofence_breached | `bool` | | | Geofence breached (one or multiple) | +| mission_failure | `bool` | | | Mission failure | +| vtol_fixed_wing_system_failure | `bool` | | | vehicle in fixed-wing system failure failsafe mode (after quad-chute) | +| wind_limit_exceeded | `bool` | | | Wind limit exceeded | +| flight_time_limit_exceeded | `bool` | | | Maximum flight time exceeded | +| position_accuracy_low | `bool` | | | Position estimate has dropped below threshold, but is currently still declared valid | +| navigator_failure | `bool` | | | Navigator failed to execute a mode | +| parachute_unhealthy | `bool` | | | Parachute system missing or unhealthy | +| remote_id_unhealthy | `bool` | | | Remote ID (Open Drone ID) system missing or unhealthy | +| gnss_lost | `bool` | | | Active GNSS count dropped below SYS_HAS_NUM_GNSS, or two receivers report inconsistent positions | ## Source Message diff --git a/docs/en/msg_docs/FailureDetectorStatus.md b/docs/en/msg_docs/FailureDetectorStatus.md index 2e7ec743124..66ce842e645 100644 --- a/docs/en/msg_docs/FailureDetectorStatus.md +++ b/docs/en/msg_docs/FailureDetectorStatus.md @@ -8,20 +8,20 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------------- | --------- | ------------ | ---------- | --------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| fd_roll | `bool` | | | -| fd_pitch | `bool` | | | -| fd_alt | `bool` | | | -| fd_ext | `bool` | | | -| fd_arm_escs | `bool` | | | -| fd_battery | `bool` | | | -| fd_imbalanced_prop | `bool` | | | -| fd_motor | `bool` | | | -| imbalanced_prop_metric | `float32` | | | Metric of the imbalanced propeller check (low-passed) | -| motor_failure_mask | `uint16` | | | Bit-mask with motor indices, indicating critical motor failures | -| motor_stop_mask | `uint16` | | | Bitmaks of motors stopped by failure injection | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------- | --------- | ------------ | ---------- | --------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| fd_roll | `bool` | | | +| fd_pitch | `bool` | | | +| fd_alt | `bool` | | | +| fd_ext | `bool` | | | +| fd_arm_escs | `bool` | | | +| fd_battery | `bool` | | | +| fd_imbalanced_prop | `bool` | | | +| fd_motor | `bool` | | | +| imbalanced_prop_metric | `float32` | | | Metric of the imbalanced propeller check (low-passed) | +| motor_failure_mask | `uint16` | | | Bit-mask with motor indices, indicating critical motor failures | +| motor_stop_mask | `uint16` | | | Bitmaks of motors stopped by failure injection | ## Source Message diff --git a/docs/en/msg_docs/FiducialMarkerPosReport.md b/docs/en/msg_docs/FiducialMarkerPosReport.md index 16f3f2c92d5..2f397dc4a24 100644 --- a/docs/en/msg_docs/FiducialMarkerPosReport.md +++ b/docs/en/msg_docs/FiducialMarkerPosReport.md @@ -15,13 +15,13 @@ The measurement is expressed in an arbitrary sensor frame; the quaternion q rota ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------ | -| timestamp | `uint64` | us | | Time since system start | -| timestamp_sample | `uint64` | us | | Timestamp of the raw observation | -| rel_pos | `float32[3]` | m | | Target position relative to vehicle, expressed in the frame defined by q | -| cov_rel_pos | `float32[3]` | m^2 | | Target position variance, expressed in the frame defined by q | -| q | `float32[4]` | | | Quaternion rotation from the rel_pos frame to the NED earth frame | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------ | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Timestamp of the raw observation | +| rel_pos | `float32[3]` | m | | Target position relative to vehicle, expressed in the frame defined by q | +| cov_rel_pos | `float32[3]` | m^2 | | Target position variance, expressed in the frame defined by q | +| q | `float32[4]` | | | Quaternion rotation from the rel_pos frame to the NED earth frame | ## Source Message diff --git a/docs/en/msg_docs/FiducialMarkerYawReport.md b/docs/en/msg_docs/FiducialMarkerYawReport.md index 7657354c67d..8b63547ddec 100644 --- a/docs/en/msg_docs/FiducialMarkerYawReport.md +++ b/docs/en/msg_docs/FiducialMarkerYawReport.md @@ -13,12 +13,12 @@ Subscribed by: vision_target_estimator (VTEOrientation). ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | --------- | ------------ | ---------- | -------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| timestamp_sample | `uint64` | us | | Timestamp of the raw observation | -| yaw_ned | `float32` | rad [NED] | | Orientation of the target relative to the NED frame [-Pi ; Pi] | -| yaw_var_ned | `float32` | rad^2 | | Orientation uncertainty | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | --------- | ------------ | ---------- | -------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Timestamp of the raw observation | +| yaw_ned | `float32` | rad [NED] | | Orientation of the target relative to the NED frame [-Pi ; Pi] | +| yaw_var_ned | `float32` | rad^2 | | Orientation uncertainty | ## Source Message diff --git a/docs/en/msg_docs/FigureEightStatus.md b/docs/en/msg_docs/FigureEightStatus.md index 604977bace9..1b3458e84bf 100644 --- a/docs/en/msg_docs/FigureEightStatus.md +++ b/docs/en/msg_docs/FigureEightStatus.md @@ -8,16 +8,16 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------ | --------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| major_radius | `float32` | | | Major axis radius of the figure eight [m]. Positive values orbit clockwise, negative values orbit counter-clockwise. | -| minor_radius | `float32` | | | Minor axis radius of the figure eight [m]. | -| orientation | `float32` | | | Orientation of the major axis of the figure eight [rad]. | -| frame | `uint8` | | | The coordinate system of the fields: x, y, z. | -| x | `int32` | | | X coordinate of center point. Coordinate system depends on frame field: local = x position in meters _ 1e4, global = latitude in degrees _ 1e7. | -| y | `int32` | | | Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters _ 1e4, global = latitude in degrees _ 1e7. | -| z | `float32` | | | Altitude of center point. Coordinate system depends on frame field. | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------- | --------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| major_radius | `float32` | | | Major axis radius of the figure eight [m]. Positive values orbit clockwise, negative values orbit counter-clockwise. | +| minor_radius | `float32` | | | Minor axis radius of the figure eight [m]. | +| orientation | `float32` | | | Orientation of the major axis of the figure eight [rad]. | +| frame | `uint8` | | | The coordinate system of the fields: x, y, z. | +| x | `int32` | | | X coordinate of center point. Coordinate system depends on frame field: local = x position in meters _ 1e4, global = latitude in degrees _ 1e7. | +| y | `int32` | | | Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters _ 1e4, global = latitude in degrees _ 1e7. | +| z | `float32` | | | Altitude of center point. Coordinate system depends on frame field. | ## Source Message diff --git a/docs/en/msg_docs/FixedWingLateralGuidanceStatus.md b/docs/en/msg_docs/FixedWingLateralGuidanceStatus.md index 3a79ae0ebdf..1f370f2b02f 100644 --- a/docs/en/msg_docs/FixedWingLateralGuidanceStatus.md +++ b/docs/en/msg_docs/FixedWingLateralGuidanceStatus.md @@ -10,17 +10,17 @@ Fixed Wing Lateral Guidance Status message. Published by fw_pos_control module t ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| course_setpoint | `float32` | rad | [-pi : pi] | Desired direction of travel over ground w.r.t (true) North. Set by guidance law | -| lateral_acceleration_ff | `float32` | FRD | | lateral acceleration demand only for maintaining curvature | -| bearing_feas | `float32` | | [0 : 1] | bearing feasibility | -| bearing_feas_on_track | `float32` | | [0 : 1] | on-track bearing feasibility | -| signed_track_error | `float32` | m | | signed track error | -| track_error_bound | `float32` | m | | track error bound | -| adapted_period | `float32` | s | | adapted period (if auto-tuning enabled) | -| wind_est_valid | `uint8` | boolean | | true = wind estimate is valid and/or being used by controller (also indicates if wind estimate usage is disabled despite being valid) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| course_setpoint | `float32` | rad | [-pi : pi] | Desired direction of travel over ground w.r.t (true) North. Set by guidance law | +| lateral_acceleration_ff | `float32` | FRD | | lateral acceleration demand only for maintaining curvature | +| bearing_feas | `float32` | | [0 : 1] | bearing feasibility | +| bearing_feas_on_track | `float32` | | [0 : 1] | on-track bearing feasibility | +| signed_track_error | `float32` | m | | signed track error | +| track_error_bound | `float32` | m | | track error bound | +| adapted_period | `float32` | s | | adapted period (if auto-tuning enabled) | +| wind_est_valid | `uint8` | boolean | | true = wind estimate is valid and/or being used by controller (also indicates if wind estimate usage is disabled despite being valid) | ## Source Message diff --git a/docs/en/msg_docs/FixedWingLateralSetpoint.md b/docs/en/msg_docs/FixedWingLateralSetpoint.md index 601a8d29a1a..0c51a6d0822 100644 --- a/docs/en/msg_docs/FixedWingLateralSetpoint.md +++ b/docs/en/msg_docs/FixedWingLateralSetpoint.md @@ -13,12 +13,12 @@ At least one of course, airspeed_direction, or lateral_acceleration must be fini ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------------- | --------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| course | `float32` | rad | [-pi : pi] | Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly. | -| airspeed_direction | `float32` | rad | [-pi : pi] | Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite. | -| lateral_acceleration | `float32` | m/s^2 [FRD] | | Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite. | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------- | --------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| course | `float32` | rad | [-pi : pi] | Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly. | +| airspeed_direction | `float32` | rad | [-pi : pi] | Desired horizontal angle of airspeed vector w.r.t. (true) North. Same as vehicle heading if in the absence of sideslip. NAN if not controlled directly, takes precedence over course if finite. | +| lateral_acceleration | `float32` | m/s^2 [FRD] | | Lateral acceleration setpoint. NAN if not controlled directly, used as feedforward if either course setpoint or airspeed_direction is finite. | ## Constants diff --git a/docs/en/msg_docs/FixedWingLateralStatus.md b/docs/en/msg_docs/FixedWingLateralStatus.md index 2fbf293e947..b73874e28d5 100644 --- a/docs/en/msg_docs/FixedWingLateralStatus.md +++ b/docs/en/msg_docs/FixedWingLateralStatus.md @@ -10,11 +10,11 @@ Fixed Wing Lateral Status message. Published by the fw_lateral_longitudinal_cont ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------------------- | --------- | ------------ | ---------- | ---------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| lateral_acceleration_setpoint | `float32` | FRD | | resultant lateral acceleration setpoint | -| can_run_factor | `float32` | norm | [0 : 1] | estimate of certainty of the correct functionality of the npfg roll setpoint | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------------------------- | --------- | ------------ | ---------- | ---------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| lateral_acceleration_setpoint | `float32` | FRD | | resultant lateral acceleration setpoint | +| can_run_factor | `float32` | norm | [0 : 1] | estimate of certainty of the correct functionality of the npfg roll setpoint | ## Source Message diff --git a/docs/en/msg_docs/FixedWingLongitudinalSetpoint.md b/docs/en/msg_docs/FixedWingLongitudinalSetpoint.md index 9bb05d1b283..510547604b4 100644 --- a/docs/en/msg_docs/FixedWingLongitudinalSetpoint.md +++ b/docs/en/msg_docs/FixedWingLongitudinalSetpoint.md @@ -14,14 +14,14 @@ If both altitude and height_rate are NAN, the controller maintains the current a ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------- | --------- | ------------ | ---------- | ---------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| altitude | `float32` | m | | Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite | -| height_rate | `float32` | m/s [ENU] | | Scalar height rate setpoint. NAN if not controlled directly | -| equivalent_airspeed | `float32` | m/s | [0 : inf] | Scalar equivalent airspeed setpoint. NAN if system default should be used | -| pitch_direct | `float32` | rad [FRD] | [-pi : pi] | NAN if not controlled, overrides total energy controller | -| throttle_direct | `float32` | norm | [0 : 1] | NAN if not controlled, overrides total energy controller | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------- | --------- | ------------ | ---------- | ---------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| altitude | `float32` | m | | Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite | +| height_rate | `float32` | m/s [ENU] | | Scalar height rate setpoint. NAN if not controlled directly | +| equivalent_airspeed | `float32` | m/s | [0 : inf] | Scalar equivalent airspeed setpoint. NAN if system default should be used | +| pitch_direct | `float32` | rad [FRD] | [-pi : pi] | NAN if not controlled, overrides total energy controller | +| throttle_direct | `float32` | norm | [0 : 1] | NAN if not controlled, overrides total energy controller | ## Constants diff --git a/docs/en/msg_docs/FixedWingRunwayControl.md b/docs/en/msg_docs/FixedWingRunwayControl.md index db452bc2ff7..9f3129de64b 100644 --- a/docs/en/msg_docs/FixedWingRunwayControl.md +++ b/docs/en/msg_docs/FixedWingRunwayControl.md @@ -10,12 +10,12 @@ Auxiliary control fields for fixed-wing runway takeoff/landing. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------------------------- | --------- | ------------ | ---------- | -------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | time since system start | -| runway_takeoff_state | `uint8` | | | Current state of runway takeoff state machine | -| wheel_steering_enabled | `bool` | | | Flag that enables the wheel steering. | -| wheel_steering_nudging_rate | `float32` | FRD | [-1 : 1] | Manual wheel nudging, added to controller output. NAN is interpreted as 0. | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------------------------- | --------- | ------------ | ---------- | -------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | time since system start | +| runway_takeoff_state | `uint8` | | | Current state of runway takeoff state machine | +| wheel_steering_enabled | `bool` | | | Flag that enables the wheel steering. | +| wheel_steering_nudging_rate | `float32` | FRD | [-1 : 1] | Manual wheel nudging, added to controller output. NAN is interpreted as 0. | ## Constants diff --git a/docs/en/msg_docs/FlightPhaseEstimation.md b/docs/en/msg_docs/FlightPhaseEstimation.md index ef8970eb5e0..96b3b9302df 100644 --- a/docs/en/msg_docs/FlightPhaseEstimation.md +++ b/docs/en/msg_docs/FlightPhaseEstimation.md @@ -8,10 +8,10 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------ | -------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| flight_phase | `uint8` | | | Estimate of current flight phase | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------- | -------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| flight_phase | `uint8` | | | Estimate of current flight phase | ## Constants diff --git a/docs/en/msg_docs/FollowTarget.md b/docs/en/msg_docs/FollowTarget.md index 1aab86e6427..1908f200db5 100644 --- a/docs/en/msg_docs/FollowTarget.md +++ b/docs/en/msg_docs/FollowTarget.md @@ -8,16 +8,16 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | --------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| lat | `float64` | | | target position (deg \* 1e7) | -| lon | `float64` | | | target position (deg \* 1e7) | -| alt | `float32` | | | target position | -| vy | `float32` | | | target vel in y | -| vx | `float32` | | | target vel in x | -| vz | `float32` | | | target vel in z | -| est_cap | `uint8` | | | target reporting capabilities | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | --------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| lat | `float64` | | | target position (deg \* 1e7) | +| lon | `float64` | | | target position (deg \* 1e7) | +| alt | `float32` | | | target position | +| vy | `float32` | | | target vel in y | +| vx | `float32` | | | target vel in x | +| vz | `float32` | | | target vel in z | +| est_cap | `uint8` | | | target reporting capabilities | ## Source Message diff --git a/docs/en/msg_docs/FollowTargetEstimator.md b/docs/en/msg_docs/FollowTargetEstimator.md index ea858bd8d2e..12bc281cfa3 100644 --- a/docs/en/msg_docs/FollowTargetEstimator.md +++ b/docs/en/msg_docs/FollowTargetEstimator.md @@ -8,20 +8,20 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------------------------- | ------------ | ------------ | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| last_filter_reset_timestamp | `uint64` | | | time of last filter reset (microseconds) | -| valid | `bool` | | | True if estimator states are okay to be used | -| stale | `bool` | | | True if estimator stopped receiving follow_target messages for some time. The estimate can still be valid, though it might be inaccurate. | -| lat_est | `float64` | | | Estimated target latitude | -| lon_est | `float64` | | | Estimated target longitude | -| alt_est | `float32` | | | Estimated target altitude | -| pos_est | `float32[3]` | | | Estimated target NED position (m) | -| vel_est | `float32[3]` | | | Estimated target NED velocity (m/s) | -| acc_est | `float32[3]` | | | Estimated target NED acceleration (m^2/s) | -| prediction_count | `uint64` | | | -| fusion_count | `uint64` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------------------------- | ------------ | ------------ | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| last_filter_reset_timestamp | `uint64` | | | time of last filter reset (microseconds) | +| valid | `bool` | | | True if estimator states are okay to be used | +| stale | `bool` | | | True if estimator stopped receiving follow_target messages for some time. The estimate can still be valid, though it might be inaccurate. | +| lat_est | `float64` | | | Estimated target latitude | +| lon_est | `float64` | | | Estimated target longitude | +| alt_est | `float32` | | | Estimated target altitude | +| pos_est | `float32[3]` | | | Estimated target NED position (m) | +| vel_est | `float32[3]` | | | Estimated target NED velocity (m/s) | +| acc_est | `float32[3]` | | | Estimated target NED acceleration (m^2/s) | +| prediction_count | `uint64` | | | +| fusion_count | `uint64` | | | ## Source Message diff --git a/docs/en/msg_docs/FollowTargetStatus.md b/docs/en/msg_docs/FollowTargetStatus.md index dbaf6f73fde..9b53fc16536 100644 --- a/docs/en/msg_docs/FollowTargetStatus.md +++ b/docs/en/msg_docs/FollowTargetStatus.md @@ -8,16 +8,16 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------------------- | -| timestamp | `uint64` | microseconds | | time since system start | -| tracked_target_course | `float32` | rad | | Tracked target course in NED local frame (North is course zero) | -| follow_angle | `float32` | rad | | Current follow angle setting | -| orbit_angle_setpoint | `float32` | rad | | Current orbit angle setpoint from the smooth trajectory generator | -| angular_rate_setpoint | `float32` | rad/s | | Angular rate commanded from Jerk-limited Orbit Angle trajectory for Orbit Angle | -| desired_position_raw | `float32[3]` | m | | Raw 'idealistic' desired drone position if a drone could teleport from place to places | -| in_emergency_ascent | `bool` | bool | | True when doing emergency ascent (when distance to ground is below safety altitude) | -| gimbal_pitch | `float32` | rad | | Gimbal pitch commanded to track target in the center of the frame | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------------------- | +| timestamp | `uint64` | microseconds | | time since system start | +| tracked_target_course | `float32` | rad | | Tracked target course in NED local frame (North is course zero) | +| follow_angle | `float32` | rad | | Current follow angle setting | +| orbit_angle_setpoint | `float32` | rad | | Current orbit angle setpoint from the smooth trajectory generator | +| angular_rate_setpoint | `float32` | rad/s | | Angular rate commanded from Jerk-limited Orbit Angle trajectory for Orbit Angle | +| desired_position_raw | `float32[3]` | m | | Raw 'idealistic' desired drone position if a drone could teleport from place to places | +| in_emergency_ascent | `bool` | bool | | True when doing emergency ascent (when distance to ground is below safety altitude) | +| gimbal_pitch | `float32` | rad | | Gimbal pitch commanded to track target in the center of the frame | ## Source Message diff --git a/docs/en/msg_docs/FuelTankStatus.md b/docs/en/msg_docs/FuelTankStatus.md index 3f3322d1afe..a0b1645c090 100644 --- a/docs/en/msg_docs/FuelTankStatus.md +++ b/docs/en/msg_docs/FuelTankStatus.md @@ -8,17 +8,17 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| maximum_fuel_capacity | `float32` | | | maximum fuel capacity. Must always be provided, either from the driver or a parameter | -| consumed_fuel | `float32` | | | consumed fuel, NaN if not measured. Should not be inferred from the max fuel capacity | -| fuel_consumption_rate | `float32` | | | fuel consumption rate, NaN if not measured | -| percent_remaining | `uint8` | | | percentage of remaining fuel, UINT8_MAX if not provided | -| remaining_fuel | `float32` | | | remaining fuel, NaN if not measured. Should not be inferred from the max fuel capacity | -| fuel_tank_id | `uint8` | | | identifier for the fuel tank. Must match ID of other messages for same fuel system. 0 by default when only a single tank exists | -| fuel_type | `uint32` | | | type of fuel based on MAV_FUEL_TYPE enum. Set to MAV_FUEL_TYPE_UNKNOWN if unknown or it does not fit the provided types | -| temperature | `float32` | | | fuel temperature in Kelvin, NaN if not measured | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| maximum_fuel_capacity | `float32` | | | maximum fuel capacity. Must always be provided, either from the driver or a parameter | +| consumed_fuel | `float32` | | | consumed fuel, NaN if not measured. Should not be inferred from the max fuel capacity | +| fuel_consumption_rate | `float32` | | | fuel consumption rate, NaN if not measured | +| percent_remaining | `uint8` | | | percentage of remaining fuel, UINT8_MAX if not provided | +| remaining_fuel | `float32` | | | remaining fuel, NaN if not measured. Should not be inferred from the max fuel capacity | +| fuel_tank_id | `uint8` | | | identifier for the fuel tank. Must match ID of other messages for same fuel system. 0 by default when only a single tank exists | +| fuel_type | `uint32` | | | type of fuel based on MAV_FUEL_TYPE enum. Set to MAV_FUEL_TYPE_UNKNOWN if unknown or it does not fit the provided types | +| temperature | `float32` | | | fuel temperature in Kelvin, NaN if not measured | ## Constants diff --git a/docs/en/msg_docs/GainCompression.md b/docs/en/msg_docs/GainCompression.md index c19a34c34b7..f22034c5465 100644 --- a/docs/en/msg_docs/GainCompression.md +++ b/docs/en/msg_docs/GainCompression.md @@ -8,12 +8,12 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------- | -| timestamp | `uint64` | | | Time since system start (microseconds) | -| compression_gains | `float32[3]` | [FRD] | [0 : 1] | Multiplicative gain to modify the output of the controller per axis | -| spectral_damper_hpf | `float32[3]` | [FRD] | | Squared output of spectral damper high-pass filter | -| spectral_damper_out | `float32[3]` | [FRD] | | Spectral damper output squared | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------- | +| timestamp | `uint64` | | | Time since system start (microseconds) | +| compression_gains | `float32[3]` | [FRD] | [0 : 1] | Multiplicative gain to modify the output of the controller per axis | +| spectral_damper_hpf | `float32[3]` | [FRD] | | Squared output of spectral damper high-pass filter | +| spectral_damper_out | `float32[3]` | [FRD] | | Spectral damper output squared | ## Source Message diff --git a/docs/en/msg_docs/GeneratorStatus.md b/docs/en/msg_docs/GeneratorStatus.md index 50cb4d73da2..40b5a58f603 100644 --- a/docs/en/msg_docs/GeneratorStatus.md +++ b/docs/en/msg_docs/GeneratorStatus.md @@ -8,20 +8,20 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------------- | --------- | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| status | `uint64` | | | Status flags | -| battery_current | `float32` | A | | Current into/out of battery. Positive for out. Negative for in. NaN: field not provided. | -| load_current | `float32` | A | | Current going to the UAV. If battery current not available this is the DC current from the generator. Positive for out. Negative for in. NaN: field not provided | -| power_generated | `float32` | W | | The power being generated. NaN: field not provided | -| bus_voltage | `float32` | V | | Voltage of the bus seen at the generator, or battery bus if battery bus is controlled by generator and at a different voltage to main bus. | -| bat_current_setpoint | `float32` | A | | The target battery current. Positive for out. Negative for in. NaN: field not provided | -| runtime | `uint32` | s | | Seconds this generator has run since it was rebooted. UINT32_MAX: field not provided. | -| time_until_maintenance | `int32` | s | | Seconds until this generator requires maintenance. A negative value indicates maintenance is past-due. INT32_MAX: field not provided. | -| generator_speed | `uint16` | rpm | | Speed of electrical generator or alternator. UINT16_MAX: field not provided. | -| rectifier_temperature | `int16` | degC | | The temperature of the rectifier or power converter. INT16_MAX: field not provided. | -| generator_temperature | `int16` | degC | | The temperature of the mechanical motor, fuel cell core or generator. INT16_MAX: field not provided. | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------- | --------- | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| status | `uint64` | | | Status flags | +| battery_current | `float32` | A | | Current into/out of battery. Positive for out. Negative for in. NaN: field not provided. | +| load_current | `float32` | A | | Current going to the UAV. If battery current not available this is the DC current from the generator. Positive for out. Negative for in. NaN: field not provided | +| power_generated | `float32` | W | | The power being generated. NaN: field not provided | +| bus_voltage | `float32` | V | | Voltage of the bus seen at the generator, or battery bus if battery bus is controlled by generator and at a different voltage to main bus. | +| bat_current_setpoint | `float32` | A | | The target battery current. Positive for out. Negative for in. NaN: field not provided | +| runtime | `uint32` | s | | Seconds this generator has run since it was rebooted. UINT32_MAX: field not provided. | +| time_until_maintenance | `int32` | s | | Seconds until this generator requires maintenance. A negative value indicates maintenance is past-due. INT32_MAX: field not provided. | +| generator_speed | `uint16` | rpm | | Speed of electrical generator or alternator. UINT16_MAX: field not provided. | +| rectifier_temperature | `int16` | degC | | The temperature of the rectifier or power converter. INT16_MAX: field not provided. | +| generator_temperature | `int16` | degC | | The temperature of the mechanical motor, fuel cell core or generator. INT16_MAX: field not provided. | ## Constants diff --git a/docs/en/msg_docs/GeofenceResult.md b/docs/en/msg_docs/GeofenceResult.md index dcfa5b2196f..84d0d80a397 100644 --- a/docs/en/msg_docs/GeofenceResult.md +++ b/docs/en/msg_docs/GeofenceResult.md @@ -8,13 +8,13 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------------------- | -------- | ------------ | ---------- | ---------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| geofence_max_dist_triggered | `bool` | | | true the check for max distance from Home is triggered | -| geofence_max_alt_triggered | `bool` | | | true the check for max altitude above Home is triggered | -| geofence_custom_fence_triggered | `bool` | | | true the check for custom inclusion/exclusion geofence(s) is triggered | -| geofence_action | `uint8` | | | action to take when the geofence is breached | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------------------------- | -------- | ------------ | ---------- | ---------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| geofence_max_dist_triggered | `bool` | | | true the check for max distance from Home is triggered | +| geofence_max_alt_triggered | `bool` | | | true the check for max altitude above Home is triggered | +| geofence_custom_fence_triggered | `bool` | | | true the check for custom inclusion/exclusion geofence(s) is triggered | +| geofence_action | `uint8` | | | action to take when the geofence is breached | ## Constants diff --git a/docs/en/msg_docs/GeofenceStatus.md b/docs/en/msg_docs/GeofenceStatus.md index ed988082ece..8f5323498ee 100644 --- a/docs/en/msg_docs/GeofenceStatus.md +++ b/docs/en/msg_docs/GeofenceStatus.md @@ -8,11 +8,11 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------- | -------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| geofence_id | `uint32` | | | loaded geofence id | -| status | `uint8` | | | Current geofence status | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------- | -------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| geofence_id | `uint32` | | | loaded geofence id | +| status | `uint8` | | | Current geofence status | ## Constants diff --git a/docs/en/msg_docs/GimbalControls.md b/docs/en/msg_docs/GimbalControls.md index 3a75d2585b5..01f899e1af1 100644 --- a/docs/en/msg_docs/GimbalControls.md +++ b/docs/en/msg_docs/GimbalControls.md @@ -8,11 +8,11 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | the timestamp the data this control response is based on was sampled | -| control | `float32[3]` | | | Normalized output. 1 means maximum positive position. -1 maximum negative position. 0 means no deflection. NaN maps to disarmed. | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp the data this control response is based on was sampled | +| control | `float32[3]` | | | Normalized output. 1 means maximum positive position. -1 maximum negative position. 0 means no deflection. NaN maps to disarmed. | ## Constants diff --git a/docs/en/msg_docs/GimbalDeviceAttitudeStatus.md b/docs/en/msg_docs/GimbalDeviceAttitudeStatus.md index 8133a321e19..64c08c48bd7 100644 --- a/docs/en/msg_docs/GimbalDeviceAttitudeStatus.md +++ b/docs/en/msg_docs/GimbalDeviceAttitudeStatus.md @@ -8,21 +8,21 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------------------- | ------------ | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| target_system | `uint8` | | | -| target_component | `uint8` | | | -| device_flags | `uint16` | | | -| q | `float32[4]` | | | -| angular_velocity_x | `float32` | | | -| angular_velocity_y | `float32` | | | -| angular_velocity_z | `float32` | | | -| failure_flags | `uint32` | | | -| delta_yaw | `float32` | | | -| delta_yaw_velocity | `float32` | | | -| gimbal_device_id | `uint8` | | | -| received_from_mavlink | `bool` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| target_system | `uint8` | | | +| target_component | `uint8` | | | +| device_flags | `uint16` | | | +| q | `float32[4]` | | | +| angular_velocity_x | `float32` | | | +| angular_velocity_y | `float32` | | | +| angular_velocity_z | `float32` | | | +| failure_flags | `uint32` | | | +| delta_yaw | `float32` | | | +| delta_yaw_velocity | `float32` | | | +| gimbal_device_id | `uint8` | | | +| received_from_mavlink | `bool` | | | ## Constants diff --git a/docs/en/msg_docs/GimbalDeviceInformation.md b/docs/en/msg_docs/GimbalDeviceInformation.md index 97439e9fba5..3d0953ac2ba 100644 --- a/docs/en/msg_docs/GimbalDeviceInformation.md +++ b/docs/en/msg_docs/GimbalDeviceInformation.md @@ -8,24 +8,24 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ----------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| vendor_name | `uint8[32]` | | | -| model_name | `uint8[32]` | | | -| custom_name | `uint8[32]` | | | -| firmware_version | `uint32` | | | -| hardware_version | `uint32` | | | -| uid | `uint64` | | | -| cap_flags | `uint16` | | | -| custom_cap_flags | `uint16` | | | -| roll_min | `float32` | rad | | -| roll_max | `float32` | rad | | -| pitch_min | `float32` | rad | | -| pitch_max | `float32` | rad | | -| yaw_min | `float32` | rad | | -| yaw_max | `float32` | rad | | -| gimbal_device_id | `uint8` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ----------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| vendor_name | `uint8[32]` | | | +| model_name | `uint8[32]` | | | +| custom_name | `uint8[32]` | | | +| firmware_version | `uint32` | | | +| hardware_version | `uint32` | | | +| uid | `uint64` | | | +| cap_flags | `uint16` | | | +| custom_cap_flags | `uint16` | | | +| roll_min | `float32` | rad | | +| roll_max | `float32` | rad | | +| pitch_min | `float32` | rad | | +| pitch_max | `float32` | rad | | +| yaw_min | `float32` | rad | | +| yaw_max | `float32` | rad | | +| gimbal_device_id | `uint8` | | | ## Constants diff --git a/docs/en/msg_docs/GimbalDeviceSetAttitude.md b/docs/en/msg_docs/GimbalDeviceSetAttitude.md index 6290a8c64b8..93edda2fe40 100644 --- a/docs/en/msg_docs/GimbalDeviceSetAttitude.md +++ b/docs/en/msg_docs/GimbalDeviceSetAttitude.md @@ -8,16 +8,16 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------ | ------------ | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| target_system | `uint8` | | | -| target_component | `uint8` | | | -| flags | `uint16` | | | -| q | `float32[4]` | | | -| angular_velocity_x | `float32` | | | -| angular_velocity_y | `float32` | | | -| angular_velocity_z | `float32` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| target_system | `uint8` | | | +| target_component | `uint8` | | | +| flags | `uint16` | | | +| q | `float32[4]` | | | +| angular_velocity_x | `float32` | | | +| angular_velocity_y | `float32` | | | +| angular_velocity_z | `float32` | | | ## Constants diff --git a/docs/en/msg_docs/GimbalManagerInformation.md b/docs/en/msg_docs/GimbalManagerInformation.md index e411fe38580..f0a0d97e14f 100644 --- a/docs/en/msg_docs/GimbalManagerInformation.md +++ b/docs/en/msg_docs/GimbalManagerInformation.md @@ -8,17 +8,17 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | --------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| cap_flags | `uint32` | | | -| gimbal_device_id | `uint8` | | | -| roll_min | `float32` | rad | | -| roll_max | `float32` | rad | | -| pitch_min | `float32` | rad | | -| pitch_max | `float32` | rad | | -| yaw_min | `float32` | rad | | -| yaw_max | `float32` | rad | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | --------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| cap_flags | `uint32` | | | +| gimbal_device_id | `uint8` | | | +| roll_min | `float32` | rad | | +| roll_max | `float32` | rad | | +| pitch_min | `float32` | rad | | +| pitch_max | `float32` | rad | | +| yaw_min | `float32` | rad | | +| yaw_max | `float32` | rad | | ## Constants diff --git a/docs/en/msg_docs/GimbalManagerSetAttitude.md b/docs/en/msg_docs/GimbalManagerSetAttitude.md index b8ff7211055..507dfdef29b 100644 --- a/docs/en/msg_docs/GimbalManagerSetAttitude.md +++ b/docs/en/msg_docs/GimbalManagerSetAttitude.md @@ -8,19 +8,19 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------ | ------------ | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| origin_sysid | `uint8` | | | -| origin_compid | `uint8` | | | -| target_system | `uint8` | | | -| target_component | `uint8` | | | -| flags | `uint32` | | | -| gimbal_device_id | `uint8` | | | -| q | `float32[4]` | | | -| angular_velocity_x | `float32` | | | -| angular_velocity_y | `float32` | | | -| angular_velocity_z | `float32` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| origin_sysid | `uint8` | | | +| origin_compid | `uint8` | | | +| target_system | `uint8` | | | +| target_component | `uint8` | | | +| flags | `uint32` | | | +| gimbal_device_id | `uint8` | | | +| q | `float32[4]` | | | +| angular_velocity_x | `float32` | | | +| angular_velocity_y | `float32` | | | +| angular_velocity_z | `float32` | | | ## Constants diff --git a/docs/en/msg_docs/GimbalManagerSetManualControl.md b/docs/en/msg_docs/GimbalManagerSetManualControl.md index 00de03232c9..0f4fd01de2f 100644 --- a/docs/en/msg_docs/GimbalManagerSetManualControl.md +++ b/docs/en/msg_docs/GimbalManagerSetManualControl.md @@ -8,19 +8,19 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | --------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| origin_sysid | `uint8` | | | -| origin_compid | `uint8` | | | -| target_system | `uint8` | | | -| target_component | `uint8` | | | -| flags | `uint32` | | | -| gimbal_device_id | `uint8` | | | -| pitch | `float32` | | | unitless -1..1, can be NAN | -| yaw | `float32` | | | unitless -1..1, can be NAN | -| pitch_rate | `float32` | | | unitless -1..1, can be NAN | -| yaw_rate | `float32` | | | unitless -1..1, can be NAN | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | --------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| origin_sysid | `uint8` | | | +| origin_compid | `uint8` | | | +| target_system | `uint8` | | | +| target_component | `uint8` | | | +| flags | `uint32` | | | +| gimbal_device_id | `uint8` | | | +| pitch | `float32` | | | unitless -1..1, can be NAN | +| yaw | `float32` | | | unitless -1..1, can be NAN | +| pitch_rate | `float32` | | | unitless -1..1, can be NAN | +| yaw_rate | `float32` | | | unitless -1..1, can be NAN | ## Constants diff --git a/docs/en/msg_docs/GimbalManagerStatus.md b/docs/en/msg_docs/GimbalManagerStatus.md index d75f69bd086..34ced07e375 100644 --- a/docs/en/msg_docs/GimbalManagerStatus.md +++ b/docs/en/msg_docs/GimbalManagerStatus.md @@ -8,15 +8,15 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------------ | -------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| flags | `uint32` | | | -| gimbal_device_id | `uint8` | | | -| primary_control_sysid | `uint8` | | | -| primary_control_compid | `uint8` | | | -| secondary_control_sysid | `uint8` | | | -| secondary_control_compid | `uint8` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------------------- | -------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| flags | `uint32` | | | +| gimbal_device_id | `uint8` | | | +| primary_control_sysid | `uint8` | | | +| primary_control_compid | `uint8` | | | +| secondary_control_sysid | `uint8` | | | +| secondary_control_compid | `uint8` | | | ## Source Message diff --git a/docs/en/msg_docs/GotoSetpoint.md b/docs/en/msg_docs/GotoSetpoint.md index 0c38e78280e..30f92f30f6f 100644 --- a/docs/en/msg_docs/GotoSetpoint.md +++ b/docs/en/msg_docs/GotoSetpoint.md @@ -16,18 +16,18 @@ Unset optional constraints default to vehicle specifications. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------------------- | ------------ | ------------ | ---------- | ---------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| position | `float32[3]` | m [NED] | | NED local world frame | -| flag_control_heading | `bool` | | | true if heading is to be controlled | -| heading | `float32` | | | (optional) [rad] [-pi,pi] from North | -| flag_set_max_horizontal_speed | `bool` | | | true if setting a non-default horizontal speed limit | -| max_horizontal_speed | `float32` | m/s | | (optional) Maximum speed (absolute) in the NE-plane | -| flag_set_max_vertical_speed | `bool` | | | true if setting a non-default vertical speed limit | -| max_vertical_speed | `float32` | m/s | | (optional) Maximum speed (absolute) in the D-axis | -| flag_set_max_heading_rate | `bool` | | | true if setting a non-default heading rate limit | -| max_heading_rate | `float32` | rad/s | | (optional) Maximum heading rate (absolute) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------------------------- | ------------ | ------------ | ---------- | ---------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| position | `float32[3]` | m [NED] | | NED local world frame | +| flag_control_heading | `bool` | | | true if heading is to be controlled | +| heading | `float32` | | | (optional) [rad] [-pi,pi] from North | +| flag_set_max_horizontal_speed | `bool` | | | true if setting a non-default horizontal speed limit | +| max_horizontal_speed | `float32` | m/s | | (optional) Maximum speed (absolute) in the NE-plane | +| flag_set_max_vertical_speed | `bool` | | | true if setting a non-default vertical speed limit | +| max_vertical_speed | `float32` | m/s | | (optional) Maximum speed (absolute) in the D-axis | +| flag_set_max_heading_rate | `bool` | | | true if setting a non-default heading rate limit | +| max_heading_rate | `float32` | rad/s | | (optional) Maximum heading rate (absolute) | ## Constants diff --git a/docs/en/msg_docs/GpioConfig.md b/docs/en/msg_docs/GpioConfig.md index cb83f527b76..25f3e9f3f70 100644 --- a/docs/en/msg_docs/GpioConfig.md +++ b/docs/en/msg_docs/GpioConfig.md @@ -10,13 +10,13 @@ GPIO configuration. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | -------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| device_id | `uint32` | | | Device id | -| mask | `uint32` | | | Pin mask | -| state | `uint32` | | | Initial pin output state | -| config | `uint32` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | -------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | Device id | +| mask | `uint32` | | | Pin mask | +| state | `uint32` | | | Initial pin output state | +| config | `uint32` | | | ## Constants diff --git a/docs/en/msg_docs/GpioIn.md b/docs/en/msg_docs/GpioIn.md index b14de7dcf4e..766244a23f7 100644 --- a/docs/en/msg_docs/GpioIn.md +++ b/docs/en/msg_docs/GpioIn.md @@ -10,11 +10,11 @@ GPIO mask and state. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | -------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| device_id | `uint32` | | | Device id | -| state | `uint32` | | | pin state mask | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | -------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | Device id | +| state | `uint32` | | | pin state mask | ## Constants diff --git a/docs/en/msg_docs/GpioOut.md b/docs/en/msg_docs/GpioOut.md index fa554844be3..c77d68efc13 100644 --- a/docs/en/msg_docs/GpioOut.md +++ b/docs/en/msg_docs/GpioOut.md @@ -10,12 +10,12 @@ GPIO mask and state. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | -------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| device_id | `uint32` | | | Device id | -| mask | `uint32` | | | pin mask | -| state | `uint32` | | | pin state mask | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | -------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | Device id | +| mask | `uint32` | | | pin mask | +| state | `uint32` | | | pin state mask | ## Source Message diff --git a/docs/en/msg_docs/GpioRequest.md b/docs/en/msg_docs/GpioRequest.md index 676b46f79ec..ed80daec1de 100644 --- a/docs/en/msg_docs/GpioRequest.md +++ b/docs/en/msg_docs/GpioRequest.md @@ -10,10 +10,10 @@ Request GPIO mask to be read. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | -------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| device_id | `uint32` | | | Device id | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | -------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | Device id | ## Source Message diff --git a/docs/en/msg_docs/GpsDump.md b/docs/en/msg_docs/GpsDump.md index 36ece90073b..91018027abe 100644 --- a/docs/en/msg_docs/GpsDump.md +++ b/docs/en/msg_docs/GpsDump.md @@ -10,13 +10,13 @@ This message is used to dump the raw gps communication to the log. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | ----------- | ------------ | ---------- | -------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| instance | `uint8` | | | Instance of GNSS receiver | -| device_id | `uint32` | | | -| len | `uint8` | | | length of data, MSB bit set = message to the gps device, | -| data | `uint8[79]` | | | data to write to the log | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | ----------- | ------------ | ---------- | -------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| instance | `uint8` | | | Instance of GNSS receiver | +| device_id | `uint32` | | | +| len | `uint8` | | | length of data, MSB bit set = message to the gps device, | +| data | `uint8[79]` | | | data to write to the log | ## Constants diff --git a/docs/en/msg_docs/GpsInjectData.md b/docs/en/msg_docs/GpsInjectData.md index 5465a15b389..6c6990eb56c 100644 --- a/docs/en/msg_docs/GpsInjectData.md +++ b/docs/en/msg_docs/GpsInjectData.md @@ -8,13 +8,13 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | -| len | `uint16` | | | length of data | -| flags | `uint8` | | | LSB: 1=fragmented across multiple uORB publications | -| data | `uint8[300]` | | | data chunk to write to GPS device (RTCM message) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| len | `uint16` | | | length of data | +| flags | `uint8` | | | LSB: 1=fragmented across multiple uORB publications | +| data | `uint8[300]` | | | data chunk to write to GPS device (RTCM message) | ## Constants diff --git a/docs/en/msg_docs/Gripper.md b/docs/en/msg_docs/Gripper.md index c5c52a4ecb0..ef3c8722da1 100644 --- a/docs/en/msg_docs/Gripper.md +++ b/docs/en/msg_docs/Gripper.md @@ -10,10 +10,10 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | -------- | ------------ | ---------- | ------------------------------- | -| timestamp | `uint64` | | | -| command | `int8` | | | Commanded state for the gripper | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | -------- | ------------ | ---------- | ------------------------------- | +| timestamp | `uint64` | | | +| command | `int8` | | | Commanded state for the gripper | ## Constants diff --git a/docs/en/msg_docs/HealthReport.md b/docs/en/msg_docs/HealthReport.md index 608fbecfc1b..a0aab3f6eb5 100644 --- a/docs/en/msg_docs/HealthReport.md +++ b/docs/en/msg_docs/HealthReport.md @@ -8,16 +8,16 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------------------- | -------- | ------------ | ---------- | ------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| can_arm_mode_flags | `uint64` | | | bitfield for each flight mode (NAVIGATION*STATE*\*) if arming is possible | -| can_run_mode_flags | `uint64` | | | bitfield for each flight mode if it can run | -| health_is_present_flags | `uint64` | | | flags for each health_component_t | -| health_warning_flags | `uint64` | | | -| health_error_flags | `uint64` | | | -| arming_check_warning_flags | `uint64` | | | -| arming_check_error_flags | `uint64` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------------------- | -------- | ------------ | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| can_arm_mode_flags | `uint64` | | | bitfield for each flight mode (NAVIGATION*STATE*\*) if arming is possible | +| can_run_mode_flags | `uint64` | | | bitfield for each flight mode if it can run | +| health_is_present_flags | `uint64` | | | flags for each health_component_t | +| health_warning_flags | `uint64` | | | +| health_error_flags | `uint64` | | | +| arming_check_warning_flags | `uint64` | | | +| arming_check_error_flags | `uint64` | | | ## Source Message diff --git a/docs/en/msg_docs/HeaterStatus.md b/docs/en/msg_docs/HeaterStatus.md index 735277abec4..7989726181b 100644 --- a/docs/en/msg_docs/HeaterStatus.md +++ b/docs/en/msg_docs/HeaterStatus.md @@ -8,24 +8,24 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------------- | --------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| device_id | `uint32` | | | -| heater_on | `bool` | | | -| temperature_target_met | `bool` | | | -| temperature_sensor | `float32` | | | -| temperature_target | `float32` | | | -| controller_period_usec | `uint32` | | | -| controller_time_on_usec | `uint32` | | | -| 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` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------------- | --------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | +| heater_on | `bool` | | | +| temperature_target_met | `bool` | | | +| temperature_sensor | `float32` | | | +| temperature_target | `float32` | | | +| controller_period_usec | `uint32` | | | +| controller_time_on_usec | `uint32` | | | +| 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 diff --git a/docs/en/msg_docs/HomePosition.md b/docs/en/msg_docs/HomePosition.md index f41cca55a1d..aacbfc57fa0 100644 --- a/docs/en/msg_docs/HomePosition.md +++ b/docs/en/msg_docs/HomePosition.md @@ -10,23 +10,23 @@ GPS home position in WGS84 coordinates. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------ | --------- | ------------ | ---------- | -------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| lat | `float64` | | | Latitude in degrees | -| lon | `float64` | | | Longitude in degrees | -| alt | `float32` | | | Altitude in meters (AMSL) | -| x | `float32` | | | X coordinate in meters | -| y | `float32` | | | Y coordinate in meters | -| z | `float32` | | | Z coordinate in meters | -| roll | `float32` | | | Pitch angle in radians | -| pitch | `float32` | | | Roll angle in radians | -| yaw | `float32` | | | Yaw angle in radians | -| valid_alt | `bool` | | | true when the altitude has been set | -| valid_hpos | `bool` | | | true when the latitude and longitude have been set | -| valid_lpos | `bool` | | | true when the local position (xyz) has been set | -| manual_home | `bool` | | | true when home position was set manually | -| update_count | `uint32` | | | update counter of the home position | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------- | --------- | ------------ | ---------- | -------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| lat | `float64` | | | Latitude in degrees | +| lon | `float64` | | | Longitude in degrees | +| alt | `float32` | | | Altitude in meters (AMSL) | +| x | `float32` | | | X coordinate in meters | +| y | `float32` | | | Y coordinate in meters | +| z | `float32` | | | Z coordinate in meters | +| roll | `float32` | | | Pitch angle in radians | +| pitch | `float32` | | | Roll angle in radians | +| yaw | `float32` | | | Yaw angle in radians | +| valid_alt | `bool` | | | true when the altitude has been set | +| valid_hpos | `bool` | | | true when the latitude and longitude have been set | +| valid_lpos | `bool` | | | true when the local position (xyz) has been set | +| manual_home | `bool` | | | true when home position was set manually | +| update_count | `uint32` | | | update counter of the home position | ## Constants diff --git a/docs/en/msg_docs/HomePositionV0.md b/docs/en/msg_docs/HomePositionV0.md index 38ab01055db..3e6e974c4b6 100644 --- a/docs/en/msg_docs/HomePositionV0.md +++ b/docs/en/msg_docs/HomePositionV0.md @@ -10,21 +10,21 @@ GPS home position in WGS84 coordinates. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------ | --------- | ------------ | ---------- | -------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| lat | `float64` | | | Latitude in degrees | -| lon | `float64` | | | Longitude in degrees | -| alt | `float32` | | | Altitude in meters (AMSL) | -| x | `float32` | | | X coordinate in meters | -| y | `float32` | | | Y coordinate in meters | -| z | `float32` | | | Z coordinate in meters | -| yaw | `float32` | | | Yaw angle in radians | -| valid_alt | `bool` | | | true when the altitude has been set | -| valid_hpos | `bool` | | | true when the latitude and longitude have been set | -| valid_lpos | `bool` | | | true when the local position (xyz) has been set | -| manual_home | `bool` | | | true when home position was set manually | -| update_count | `uint32` | | | update counter of the home position | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------- | --------- | ------------ | ---------- | -------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| lat | `float64` | | | Latitude in degrees | +| lon | `float64` | | | Longitude in degrees | +| alt | `float32` | | | Altitude in meters (AMSL) | +| x | `float32` | | | X coordinate in meters | +| y | `float32` | | | Y coordinate in meters | +| z | `float32` | | | Z coordinate in meters | +| yaw | `float32` | | | Yaw angle in radians | +| valid_alt | `bool` | | | true when the altitude has been set | +| valid_hpos | `bool` | | | true when the latitude and longitude have been set | +| valid_lpos | `bool` | | | true when the local position (xyz) has been set | +| manual_home | `bool` | | | true when home position was set manually | +| update_count | `uint32` | | | update counter of the home position | ## Constants diff --git a/docs/en/msg_docs/HoverThrustEstimate.md b/docs/en/msg_docs/HoverThrustEstimate.md index d24b513c5db..2d6426918b5 100644 --- a/docs/en/msg_docs/HoverThrustEstimate.md +++ b/docs/en/msg_docs/HoverThrustEstimate.md @@ -8,17 +8,17 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------------- | --------- | ------------ | ---------- | ----------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | time of corresponding sensor data last used for this estimate | -| hover_thrust | `float32` | | | estimated hover thrust [0.1, 0.9] | -| hover_thrust_var | `float32` | | | estimated hover thrust variance | -| accel_innov | `float32` | | | innovation of the last acceleration fusion | -| accel_innov_var | `float32` | | | innovation variance of the last acceleration fusion | -| accel_innov_test_ratio | `float32` | | | normalized innovation squared test ratio | -| accel_noise_var | `float32` | | | vertical acceleration noise variance estimated form innovation residual | -| valid | `bool` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------- | --------- | ------------ | ---------- | ----------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | time of corresponding sensor data last used for this estimate | +| hover_thrust | `float32` | | | estimated hover thrust [0.1, 0.9] | +| hover_thrust_var | `float32` | | | estimated hover thrust variance | +| accel_innov | `float32` | | | innovation of the last acceleration fusion | +| accel_innov_var | `float32` | | | innovation variance of the last acceleration fusion | +| accel_innov_test_ratio | `float32` | | | normalized innovation squared test ratio | +| accel_noise_var | `float32` | | | vertical acceleration noise variance estimated form innovation residual | +| valid | `bool` | | | ## Source Message diff --git a/docs/en/msg_docs/InputRc.md b/docs/en/msg_docs/InputRc.md index 1fdb8607d7d..45870d1e350 100644 --- a/docs/en/msg_docs/InputRc.md +++ b/docs/en/msg_docs/InputRc.md @@ -8,23 +8,23 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------------------- | ------------ | ------------ | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_last_signal | `uint64` | | | last valid reception time | -| channel_count | `uint8` | | | number of channels actually being seen | -| rssi | `int32` | | | receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 100: full reception | -| rc_failsafe | `bool` | | | explicit failsafe flag: true on TX failure or TX out of range , false otherwise. Only the true state is reliable, as there are some (PPM) receivers on the market going into failsafe without telling us explicitly. | -| rc_lost | `bool` | | | RC receiver connection status: True,if no frame has arrived in the expected time, false otherwise. True usually means that the receiver has been disconnected, but can also indicate a radio link loss on "stupid" systems. Will remain false, if a RX with failsafe option continues to transmit frames after a link loss. | -| rc_lost_frame_count | `uint16` | | | Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality. | -| rc_total_frame_count | `uint16` | | | Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality. | -| rc_ppm_frame_length | `uint16` | | | Length of a single PPM frame. Zero for non-PPM systems | -| rc_frame_rate | `uint16` | | | RC frame rate in msg/second. 0 = invalid | -| input_source | `uint8` | | | Input source | -| values | `uint16[18]` | | | measured pulse widths for each of the supported channels | -| link_quality | `int8` | | | link quality. Percentage 0-100%. -1 = invalid | -| rssi_dbm | `float32` | | | Actual rssi in units of dBm. NaN = invalid | -| link_snr | `int8` | | | link signal to noise ratio in units of dB. -1 = invalid | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------------- | ------------ | ------------ | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_last_signal | `uint64` | | | last valid reception time | +| channel_count | `uint8` | | | number of channels actually being seen | +| rssi | `int32` | | | receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 100: full reception | +| rc_failsafe | `bool` | | | explicit failsafe flag: true on TX failure or TX out of range , false otherwise. Only the true state is reliable, as there are some (PPM) receivers on the market going into failsafe without telling us explicitly. | +| rc_lost | `bool` | | | RC receiver connection status: True,if no frame has arrived in the expected time, false otherwise. True usually means that the receiver has been disconnected, but can also indicate a radio link loss on "stupid" systems. Will remain false, if a RX with failsafe option continues to transmit frames after a link loss. | +| rc_lost_frame_count | `uint16` | | | Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality. | +| rc_total_frame_count | `uint16` | | | Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality. | +| rc_ppm_frame_length | `uint16` | | | Length of a single PPM frame. Zero for non-PPM systems | +| rc_frame_rate | `uint16` | | | RC frame rate in msg/second. 0 = invalid | +| input_source | `uint8` | | | Input source | +| values | `uint16[18]` | | | measured pulse widths for each of the supported channels | +| link_quality | `int8` | | | link quality. Percentage 0-100%. -1 = invalid | +| rssi_dbm | `float32` | | | Actual rssi in units of dBm. NaN = invalid | +| link_snr | `int8` | | | link signal to noise ratio in units of dB. -1 = invalid | ## Constants diff --git a/docs/en/msg_docs/InternalCombustionEngineControl.md b/docs/en/msg_docs/InternalCombustionEngineControl.md index dc0a1cb60fa..9da327faa71 100644 --- a/docs/en/msg_docs/InternalCombustionEngineControl.md +++ b/docs/en/msg_docs/InternalCombustionEngineControl.md @@ -8,14 +8,14 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------------- | --------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| ignition_on | `bool` | | | activate/deactivate ignition (spark plug) | -| throttle_control | `float32` | | | setpoint for throttle actuator, with slew rate if enabled, idles with 0 [norm] [@range 0,1] [@uncontrolled NAN to stop motor] | -| choke_control | `float32` | | | setpoint for choke actuator, 1: fully closed [norm] [@range 0,1] | -| starter_engine_control | `float32` | | | setpoint for (electric) starter motor [norm] [@range 0,1] | -| user_request | `uint8` | | | user intent for the ICE being on/off | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------- | --------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| ignition_on | `bool` | | | activate/deactivate ignition (spark plug) | +| throttle_control | `float32` | | | setpoint for throttle actuator, with slew rate if enabled, idles with 0 [norm] [@range 0,1] [@uncontrolled NAN to stop motor] | +| choke_control | `float32` | | | setpoint for choke actuator, 1: fully closed [norm] [@range 0,1] | +| starter_engine_control | `float32` | | | setpoint for (electric) starter motor [norm] [@range 0,1] | +| user_request | `uint8` | | | user intent for the ICE being on/off | ## Source Message diff --git a/docs/en/msg_docs/InternalCombustionEngineStatus.md b/docs/en/msg_docs/InternalCombustionEngineStatus.md index 67655c0e4b3..9bb1bf9f517 100644 --- a/docs/en/msg_docs/InternalCombustionEngineStatus.md +++ b/docs/en/msg_docs/InternalCombustionEngineStatus.md @@ -8,31 +8,31 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| state | `uint8` | | | -| flags | `uint32` | | | -| engine_load_percent | `uint8` | | | Engine load estimate, percent, [0, 127] | -| engine_speed_rpm | `uint32` | | | Engine speed, revolutions per minute | -| spark_dwell_time_ms | `float32` | | | Spark dwell time, millisecond | -| atmospheric_pressure_kpa | `float32` | | | Atmospheric (barometric) pressure, kilopascal | -| intake_manifold_pressure_kpa | `float32` | | | Engine intake manifold pressure, kilopascal | -| intake_manifold_temperature | `float32` | | | Engine intake manifold temperature, kelvin | -| coolant_temperature | `float32` | | | Engine coolant temperature, kelvin | -| oil_pressure | `float32` | | | Oil pressure, kilopascal | -| oil_temperature | `float32` | | | Oil temperature, kelvin | -| fuel_pressure | `float32` | | | Fuel pressure, kilopascal | -| fuel_consumption_rate_cm3pm | `float32` | | | Instant fuel consumption estimate, (centimeter^3)/minute | -| estimated_consumed_fuel_volume_cm3 | `float32` | | | Estimate of the consumed fuel since the start of the engine, centimeter^3 | -| throttle_position_percent | `uint8` | | | Throttle position, percent | -| ecu_index | `uint8` | | | The index of the publishing ECU | -| spark_plug_usage | `uint8` | | | Spark plug activity report. | -| ignition_timing_deg | `float32` | | | Cylinder ignition timing, angular degrees of the crankshaft | -| injection_time_ms | `float32` | | | Fuel injection time, millisecond | -| cylinder_head_temperature | `float32` | | | Cylinder head temperature (CHT), kelvin | -| exhaust_gas_temperature | `float32` | | | Exhaust gas temperature (EGT), kelvin | -| lambda_coefficient | `float32` | | | Estimated lambda coefficient, dimensionless ratio | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| state | `uint8` | | | +| flags | `uint32` | | | +| engine_load_percent | `uint8` | | | Engine load estimate, percent, [0, 127] | +| engine_speed_rpm | `uint32` | | | Engine speed, revolutions per minute | +| spark_dwell_time_ms | `float32` | | | Spark dwell time, millisecond | +| atmospheric_pressure_kpa | `float32` | | | Atmospheric (barometric) pressure, kilopascal | +| intake_manifold_pressure_kpa | `float32` | | | Engine intake manifold pressure, kilopascal | +| intake_manifold_temperature | `float32` | | | Engine intake manifold temperature, kelvin | +| coolant_temperature | `float32` | | | Engine coolant temperature, kelvin | +| oil_pressure | `float32` | | | Oil pressure, kilopascal | +| oil_temperature | `float32` | | | Oil temperature, kelvin | +| fuel_pressure | `float32` | | | Fuel pressure, kilopascal | +| fuel_consumption_rate_cm3pm | `float32` | | | Instant fuel consumption estimate, (centimeter^3)/minute | +| estimated_consumed_fuel_volume_cm3 | `float32` | | | Estimate of the consumed fuel since the start of the engine, centimeter^3 | +| throttle_position_percent | `uint8` | | | Throttle position, percent | +| ecu_index | `uint8` | | | The index of the publishing ECU | +| spark_plug_usage | `uint8` | | | Spark plug activity report. | +| ignition_timing_deg | `float32` | | | Cylinder ignition timing, angular degrees of the crankshaft | +| injection_time_ms | `float32` | | | Fuel injection time, millisecond | +| cylinder_head_temperature | `float32` | | | Cylinder head temperature (CHT), kelvin | +| exhaust_gas_temperature | `float32` | | | Exhaust gas temperature (EGT), kelvin | +| lambda_coefficient | `float32` | | | Estimated lambda coefficient, dimensionless ratio | ## Constants diff --git a/docs/en/msg_docs/IridiumsbdStatus.md b/docs/en/msg_docs/IridiumsbdStatus.md index 02263b69227..d5692f358d6 100644 --- a/docs/en/msg_docs/IridiumsbdStatus.md +++ b/docs/en/msg_docs/IridiumsbdStatus.md @@ -8,23 +8,23 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------------- | -------- | ------------ | ---------- | ------------------------------------------------------------------------------------ | -| timestamp | `uint64` | | | time since system start (microseconds) | -| last_at_ok_timestamp | `uint64` | | | timestamp of the last "OK" received after the "AT" command | -| tx_buf_write_index | `uint16` | | | current size of the tx buffer | -| rx_buf_read_index | `uint16` | | | the rx buffer is parsed up to that index | -| rx_buf_end_index | `uint16` | | | current size of the rx buffer | -| failed_sbd_sessions | `uint16` | | | number of failed sbd sessions | -| successful_sbd_sessions | `uint16` | | | number of successful sbd sessions | -| num_tx_buf_reset | `uint16` | | | number of times the tx buffer was reset | -| signal_quality | `uint8` | | | current signal quality, 0 is no signal, 5 the best | -| state | `uint8` | | | current state of the driver, see the satcom_state of IridiumSBD.h for the definition | -| ring_pending | `bool` | | | indicates if a ring call is pending | -| tx_buf_write_pending | `bool` | | | indicates if a tx buffer write is pending | -| tx_session_pending | `bool` | | | indicates if a tx session is pending | -| rx_read_pending | `bool` | | | indicates if a rx read is pending | -| rx_session_pending | `bool` | | | indicates if a rx session is pending | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------------- | -------- | ------------ | ---------- | ------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| last_at_ok_timestamp | `uint64` | | | timestamp of the last "OK" received after the "AT" command | +| tx_buf_write_index | `uint16` | | | current size of the tx buffer | +| rx_buf_read_index | `uint16` | | | the rx buffer is parsed up to that index | +| rx_buf_end_index | `uint16` | | | current size of the rx buffer | +| failed_sbd_sessions | `uint16` | | | number of failed sbd sessions | +| successful_sbd_sessions | `uint16` | | | number of successful sbd sessions | +| num_tx_buf_reset | `uint16` | | | number of times the tx buffer was reset | +| signal_quality | `uint8` | | | current signal quality, 0 is no signal, 5 the best | +| state | `uint8` | | | current state of the driver, see the satcom_state of IridiumSBD.h for the definition | +| ring_pending | `bool` | | | indicates if a ring call is pending | +| tx_buf_write_pending | `bool` | | | indicates if a tx buffer write is pending | +| tx_session_pending | `bool` | | | indicates if a tx session is pending | +| rx_read_pending | `bool` | | | indicates if a rx read is pending | +| rx_session_pending | `bool` | | | indicates if a rx session is pending | ## Source Message diff --git a/docs/en/msg_docs/IrlockReport.md b/docs/en/msg_docs/IrlockReport.md index fbe26d9649e..d1cf94aa565 100644 --- a/docs/en/msg_docs/IrlockReport.md +++ b/docs/en/msg_docs/IrlockReport.md @@ -10,14 +10,14 @@ IRLOCK_REPORT message data. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------------ | -| timestamp | `uint64` | | | time since system start (microseconds) | -| signature | `uint16` | | | -| pos_x | `float32` | | | tan(theta), where theta is the angle between the target and the camera center of projection in camera x-axis | -| pos_y | `float32` | | | tan(theta), where theta is the angle between the target and the camera center of projection in camera y-axis | -| size_x | `float32` | | | /** size of target along camera x-axis in units of tan(theta) **/ | -| size_y | `float32` | | | /** size of target along camera y-axis in units of tan(theta) **/ | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| signature | `uint16` | | | +| pos_x | `float32` | | | tan(theta), where theta is the angle between the target and the camera center of projection in camera x-axis | +| pos_y | `float32` | | | tan(theta), where theta is the angle between the target and the camera center of projection in camera y-axis | +| size_x | `float32` | | | /** size of target along camera x-axis in units of tan(theta) **/ | +| size_y | `float32` | | | /** size of target along camera y-axis in units of tan(theta) **/ | ## Source Message diff --git a/docs/en/msg_docs/LandingGear.md b/docs/en/msg_docs/LandingGear.md index 92438ee5aa4..b8c220f2d37 100644 --- a/docs/en/msg_docs/LandingGear.md +++ b/docs/en/msg_docs/LandingGear.md @@ -8,10 +8,10 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------ | -------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| landing_gear | `int8` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------- | -------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| landing_gear | `int8` | | | ## Constants diff --git a/docs/en/msg_docs/LandingGearWheel.md b/docs/en/msg_docs/LandingGearWheel.md index 70a314160ff..fe72114d0cc 100644 --- a/docs/en/msg_docs/LandingGearWheel.md +++ b/docs/en/msg_docs/LandingGearWheel.md @@ -8,10 +8,10 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------------- | --------- | ------------ | ---------- | -------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| normalized_wheel_setpoint | `float32` | | | negative is turning left, positive turning right [-1, 1] | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------------- | --------- | ------------ | ---------- | -------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| normalized_wheel_setpoint | `float32` | | | negative is turning left, positive turning right [-1, 1] | ## Source Message diff --git a/docs/en/msg_docs/LandingTargetInnovations.md b/docs/en/msg_docs/LandingTargetInnovations.md index 52aff5910a1..9a898532009 100644 --- a/docs/en/msg_docs/LandingTargetInnovations.md +++ b/docs/en/msg_docs/LandingTargetInnovations.md @@ -8,13 +8,13 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------- | --------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| innov_x | `float32` | | | -| innov_y | `float32` | | | -| innov_cov_x | `float32` | | | -| innov_cov_y | `float32` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------- | --------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| innov_x | `float32` | | | +| innov_y | `float32` | | | +| innov_cov_x | `float32` | | | +| innov_cov_y | `float32` | | | ## Source Message diff --git a/docs/en/msg_docs/LandingTargetPose.md b/docs/en/msg_docs/LandingTargetPose.md index 5627679919c..cc0fc34fa79 100644 --- a/docs/en/msg_docs/LandingTargetPose.md +++ b/docs/en/msg_docs/LandingTargetPose.md @@ -10,29 +10,29 @@ Relative position of precision land target in navigation (body fixed, north alig ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------ | --------- | ------------ | ---------- | ----------------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| is_static | `bool` | | | Flag indicating whether the landing target is static or moving with respect to the ground | -| rel_pos_valid | `bool` | | | Flag showing whether relative position is valid | -| rel_vel_valid | `bool` | | | Flag showing whether relative velocity is valid | -| rel_vel_ekf2_valid | `bool` | | | Flag showing whether relative velocity is valid for EKF2 auxiliary velocity aiding | -| x_rel | `float32` | m | | X/north position of target, relative to vehicle (navigation frame) | -| y_rel | `float32` | m | | Y/east position of target, relative to vehicle (navigation frame) | -| z_rel | `float32` | m | | Z/down position of target, relative to vehicle (navigation frame) | -| vx_rel | `float32` | m/s | | X/north velocity of target, relative to vehicle (navigation frame) | -| vy_rel | `float32` | m/s | | Y/east velocity of target, relative to vehicle (navigation frame) | -| vz_rel | `float32` | m/s | | Z/down velocity of target, relative to vehicle (navigation frame) | -| cov_x_rel | `float32` | m^2 | | X/north position variance | -| cov_y_rel | `float32` | m^2 | | Y/east position variance | -| cov_z_rel | `float32` | m^2 | | Z/down position variance | -| cov_vx_rel | `float32` | (m/s)^2 | | X/north velocity variance | -| cov_vy_rel | `float32` | (m/s)^2 | | Y/east velocity variance | -| cov_vz_rel | `float32` | (m/s)^2 | | Z/down velocity variance | -| abs_pos_valid | `bool` | | | Flag showing whether absolute position is valid | -| x_abs | `float32` | m | | X/north position of target, relative to origin (navigation frame) | -| y_abs | `float32` | m | | Y/east position of target, relative to origin (navigation frame) | -| z_abs | `float32` | m | | Z/down position of target, relative to origin (navigation frame) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------- | --------- | ------------ | ---------- | ----------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| is_static | `bool` | | | Flag indicating whether the landing target is static or moving with respect to the ground | +| rel_pos_valid | `bool` | | | Flag showing whether relative position is valid | +| rel_vel_valid | `bool` | | | Flag showing whether relative velocity is valid | +| rel_vel_ekf2_valid | `bool` | | | Flag showing whether relative velocity is valid for EKF2 auxiliary velocity aiding | +| x_rel | `float32` | m | | X/north position of target, relative to vehicle (navigation frame) | +| y_rel | `float32` | m | | Y/east position of target, relative to vehicle (navigation frame) | +| z_rel | `float32` | m | | Z/down position of target, relative to vehicle (navigation frame) | +| vx_rel | `float32` | m/s | | X/north velocity of target, relative to vehicle (navigation frame) | +| vy_rel | `float32` | m/s | | Y/east velocity of target, relative to vehicle (navigation frame) | +| vz_rel | `float32` | m/s | | Z/down velocity of target, relative to vehicle (navigation frame) | +| cov_x_rel | `float32` | m^2 | | X/north position variance | +| cov_y_rel | `float32` | m^2 | | Y/east position variance | +| cov_z_rel | `float32` | m^2 | | Z/down position variance | +| cov_vx_rel | `float32` | (m/s)^2 | | X/north velocity variance | +| cov_vy_rel | `float32` | (m/s)^2 | | Y/east velocity variance | +| cov_vz_rel | `float32` | (m/s)^2 | | Z/down velocity variance | +| abs_pos_valid | `bool` | | | Flag showing whether absolute position is valid | +| x_abs | `float32` | m | | X/north position of target, relative to origin (navigation frame) | +| y_abs | `float32` | m | | Y/east position of target, relative to origin (navigation frame) | +| z_abs | `float32` | m | | Z/down position of target, relative to origin (navigation frame) | ## Source Message diff --git a/docs/en/msg_docs/LateralControlConfiguration.md b/docs/en/msg_docs/LateralControlConfiguration.md index 08e714ad7cf..6816262c352 100644 --- a/docs/en/msg_docs/LateralControlConfiguration.md +++ b/docs/en/msg_docs/LateralControlConfiguration.md @@ -12,10 +12,10 @@ Used by the fw_lateral_longitudinal_control module to constrain FixedWingLateral ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------- | --------- | ------------ | ---------- | ---------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| lateral_accel_max | `float32` | m/s^2 | | Currently maps to a maximum roll angle, accel_max = tan(roll_max) \* GRAVITY | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------- | --------- | ------------ | ---------- | ---------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| lateral_accel_max | `float32` | m/s^2 | | Currently maps to a maximum roll angle, accel_max = tan(roll_max) \* GRAVITY | ## Constants diff --git a/docs/en/msg_docs/LaunchDetectionStatus.md b/docs/en/msg_docs/LaunchDetectionStatus.md index 4db2d09153e..1592b8e417b 100644 --- a/docs/en/msg_docs/LaunchDetectionStatus.md +++ b/docs/en/msg_docs/LaunchDetectionStatus.md @@ -10,11 +10,11 @@ Status of the launch detection state machine (fixed-wing only). ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------------------------------- | -------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| launch_detection_state | `uint8` | | | -| selected_control_surface_disarmed | `bool` | | | flag indicating whether selected actuators should kept disarmed (have to be configured in control allocation) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------------------------------------- | -------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| launch_detection_state | `uint8` | | | +| selected_control_surface_disarmed | `bool` | | | flag indicating whether selected actuators should kept disarmed (have to be configured in control allocation) | ## Constants diff --git a/docs/en/msg_docs/LedControl.md b/docs/en/msg_docs/LedControl.md index f37d56d815d..98ac0d40f5b 100644 --- a/docs/en/msg_docs/LedControl.md +++ b/docs/en/msg_docs/LedControl.md @@ -10,14 +10,14 @@ LED control: control a single or multiple LED's. These are the externally visibl ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------- | -------- | ------------ | ---------- | --------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| led_mask | `uint8` | | | bitmask which LED(s) to control, set to 0xff for all | -| color | `uint8` | | | see COLOR\_\* | -| mode | `uint8` | | | see MODE\_\* | -| num_blinks | `uint8` | | | how many times to blink (number of on-off cycles if mode is one of MODE*BLINK*\*) . Set to 0 for infinite | -| priority | `uint8` | | | priority: higher priority events will override current lower priority events (see MAX_PRIORITY) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------- | -------- | ------------ | ---------- | --------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| led_mask | `uint8` | | | bitmask which LED(s) to control, set to 0xff for all | +| color | `uint8` | | | see COLOR\_\* | +| mode | `uint8` | | | see MODE\_\* | +| num_blinks | `uint8` | | | how many times to blink (number of on-off cycles if mode is one of MODE*BLINK*\*) . Set to 0 for infinite | +| priority | `uint8` | | | priority: higher priority events will override current lower priority events (see MAX_PRIORITY) | ## Constants diff --git a/docs/en/msg_docs/LogMessage.md b/docs/en/msg_docs/LogMessage.md index b58188cfd96..4d151761739 100644 --- a/docs/en/msg_docs/LogMessage.md +++ b/docs/en/msg_docs/LogMessage.md @@ -10,11 +10,11 @@ A logging message, output with PX4_WARN, PX4_ERR, PX4_INFO. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | ----------- | ------------ | ---------- | -------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| severity | `uint8` | | | log level (same as in the linux kernel, starting with 0) | -| text | `char[127]` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | ----------- | ------------ | ---------- | -------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| severity | `uint8` | | | log level (same as in the linux kernel, starting with 0) | +| text | `char[127]` | | | ## Constants diff --git a/docs/en/msg_docs/LoggerStatus.md b/docs/en/msg_docs/LoggerStatus.md index 76c65f4afd3..bef843e41ee 100644 --- a/docs/en/msg_docs/LoggerStatus.md +++ b/docs/en/msg_docs/LoggerStatus.md @@ -8,19 +8,19 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------- | --------- | ------------ | ---------- | ----------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| type | `uint8` | | | -| backend | `uint8` | | | -| is_logging | `bool` | | | -| total_written_kb | `float32` | | | total written to log in kiloBytes | -| write_rate_kb_s | `float32` | | | write rate in kiloBytes/s | -| dropouts | `uint32` | | | number of failed buffer writes due to buffer overflow | -| message_gaps | `uint32` | | | messages misssed | -| buffer_used_bytes | `uint32` | | | current buffer fill in Bytes | -| buffer_size_bytes | `uint32` | | | total buffer size in Bytes | -| num_messages | `uint8` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------- | --------- | ------------ | ---------- | ----------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| type | `uint8` | | | +| backend | `uint8` | | | +| is_logging | `bool` | | | +| total_written_kb | `float32` | | | total written to log in kiloBytes | +| write_rate_kb_s | `float32` | | | write rate in kiloBytes/s | +| dropouts | `uint32` | | | number of failed buffer writes due to buffer overflow | +| message_gaps | `uint32` | | | messages misssed | +| buffer_used_bytes | `uint32` | | | current buffer fill in Bytes | +| buffer_size_bytes | `uint32` | | | total buffer size in Bytes | +| num_messages | `uint8` | | | ## Constants diff --git a/docs/en/msg_docs/LongitudinalControlConfiguration.md b/docs/en/msg_docs/LongitudinalControlConfiguration.md index b88916dfa12..e655e225d85 100644 --- a/docs/en/msg_docs/LongitudinalControlConfiguration.md +++ b/docs/en/msg_docs/LongitudinalControlConfiguration.md @@ -13,18 +13,18 @@ and configure the resultant setpoints. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| pitch_min | `float32` | rad | [-pi : pi] | Defaults to FW_P_LIM_MIN if NAN. | -| pitch_max | `float32` | rad | [-pi : pi] | Defaults to FW_P_LIM_MAX if NAN. | -| throttle_min | `float32` | norm | [0 : 1] | Defaults to FW_THR_MIN if NAN. | -| throttle_max | `float32` | norm | [0 : 1] | Defaults to FW_THR_MAX if NAN. | -| climb_rate_target | `float32` | m/s | | Target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. | -| sink_rate_target | `float32` | m/s | | Target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. | -| speed_weight | `float32` | | [0 : 2] | 0=pitch controls altitude only, 2=pitch controls airspeed only | -| enforce_low_height_condition | `bool` | | | If true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking | -| disable_underspeed_protection | `bool` | | | If true, underspeed handling is disabled in the altitude controller | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| pitch_min | `float32` | rad | [-pi : pi] | Defaults to FW_P_LIM_MIN if NAN. | +| pitch_max | `float32` | rad | [-pi : pi] | Defaults to FW_P_LIM_MAX if NAN. | +| throttle_min | `float32` | norm | [0 : 1] | Defaults to FW_THR_MIN if NAN. | +| throttle_max | `float32` | norm | [0 : 1] | Defaults to FW_THR_MAX if NAN. | +| climb_rate_target | `float32` | m/s | | Target climbrate to change altitude. Defaults to FW_T_CLIMB_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. | +| sink_rate_target | `float32` | m/s | | Target sinkrate to change altitude. Defaults to FW_T_SINK_MAX if NAN. Not used if height_rate is directly set in FixedWingLongitudinalSetpoint. | +| speed_weight | `float32` | | [0 : 2] | 0=pitch controls altitude only, 2=pitch controls airspeed only | +| enforce_low_height_condition | `bool` | | | If true, the altitude controller is configured with an alternative timeconstant for tighter altitude tracking | +| disable_underspeed_protection | `bool` | | | If true, underspeed handling is disabled in the altitude controller | ## Constants diff --git a/docs/en/msg_docs/MagWorkerData.md b/docs/en/msg_docs/MagWorkerData.md index 50343e828c4..92fbe91f9b4 100644 --- a/docs/en/msg_docs/MagWorkerData.md +++ b/docs/en/msg_docs/MagWorkerData.md @@ -8,18 +8,18 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------------------- | ------------ | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | -| done_count | `uint32` | | | -| calibration_points_perside | `uint32` | | | -| calibration_interval_perside_us | `uint64` | | | -| calibration_counter_total | `uint32[4]` | | | -| side_data_collected | `bool[4]` | | | -| x | `float32[4]` | | | -| y | `float32[4]` | | | -| z | `float32[4]` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | +| done_count | `uint32` | | | +| calibration_points_perside | `uint32` | | | +| calibration_interval_perside_us | `uint64` | | | +| calibration_counter_total | `uint32[4]` | | | +| side_data_collected | `bool[4]` | | | +| x | `float32[4]` | | | +| y | `float32[4]` | | | +| z | `float32[4]` | | | ## Constants diff --git a/docs/en/msg_docs/MagnetometerBiasEstimate.md b/docs/en/msg_docs/MagnetometerBiasEstimate.md index b85178f4fc6..cb13ebd9680 100644 --- a/docs/en/msg_docs/MagnetometerBiasEstimate.md +++ b/docs/en/msg_docs/MagnetometerBiasEstimate.md @@ -8,14 +8,14 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | ------------ | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| bias_x | `float32[4]` | | | estimated X-bias of all the sensors | -| bias_y | `float32[4]` | | | estimated Y-bias of all the sensors | -| bias_z | `float32[4]` | | | estimated Z-bias of all the sensors | -| valid | `bool[4]` | | | true if the estimator has converged | -| stable | `bool[4]` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | ------------ | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| bias_x | `float32[4]` | | | estimated X-bias of all the sensors | +| bias_y | `float32[4]` | | | estimated Y-bias of all the sensors | +| bias_z | `float32[4]` | | | estimated Z-bias of all the sensors | +| valid | `bool[4]` | | | true if the estimator has converged | +| stable | `bool[4]` | | | ## Source Message diff --git a/docs/en/msg_docs/ManualControlSetpoint.md b/docs/en/msg_docs/ManualControlSetpoint.md index abb4be68649..1d153563929 100644 --- a/docs/en/msg_docs/ManualControlSetpoint.md +++ b/docs/en/msg_docs/ManualControlSetpoint.md @@ -8,25 +8,25 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | -| valid | `bool` | | | -| data_source | `uint8` | | | -| roll | `float32` | | | move right, positive roll rotation, right side down | -| pitch | `float32` | | | move forward, negative pitch rotation, nose down | -| yaw | `float32` | | | positive yaw rotation, clockwise when seen top down | -| throttle | `float32` | | | move up, positive thrust, -1 is minimum available 0% or -100% +1 is 100% thrust | -| flaps | `float32` | | | position of flaps switch/knob/lever [-1, 1] | -| aux1 | `float32` | | | -| aux2 | `float32` | | | -| aux3 | `float32` | | | -| aux4 | `float32` | | | -| aux5 | `float32` | | | -| aux6 | `float32` | | | -| sticks_moving | `bool` | | | -| buttons | `uint16` | | | From uint16 buttons field of Mavlink manual_control message | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| valid | `bool` | | | +| data_source | `uint8` | | | +| roll | `float32` | | | move right, positive roll rotation, right side down | +| pitch | `float32` | | | move forward, negative pitch rotation, nose down | +| yaw | `float32` | | | positive yaw rotation, clockwise when seen top down | +| throttle | `float32` | | | move up, positive thrust, -1 is minimum available 0% or -100% +1 is 100% thrust | +| flaps | `float32` | | | position of flaps switch/knob/lever [-1, 1] | +| aux1 | `float32` | | | +| aux2 | `float32` | | | +| aux3 | `float32` | | | +| aux4 | `float32` | | | +| aux5 | `float32` | | | +| aux6 | `float32` | | | +| sticks_moving | `bool` | | | +| buttons | `uint16` | | | From uint16 buttons field of Mavlink manual_control message | ## Constants diff --git a/docs/en/msg_docs/ManualControlSwitches.md b/docs/en/msg_docs/ManualControlSwitches.md index a443726eb29..466e759b5e4 100644 --- a/docs/en/msg_docs/ManualControlSwitches.md +++ b/docs/en/msg_docs/ManualControlSwitches.md @@ -8,24 +8,24 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------------ | -------- | ------------ | ---------- | ------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | -| mode_slot | `uint8` | | | the slot a specific model selector is in | -| arm_switch | `uint8` | | | arm/disarm switch: _DISARMED_, ARMED | -| return_switch | `uint8` | | | return to launch 2 position switch (mandatory): _NORMAL_, RTL | -| loiter_switch | `uint8` | | | loiter 2 position switch (optional): _MISSION_, LOITER | -| offboard_switch | `uint8` | | | offboard 2 position switch (optional): _NORMAL_, OFFBOARD | -| kill_switch | `uint8` | | | throttle kill: _NORMAL_, KILL | -| termination_switch | `uint8` | | | trigger termination which cannot be undone | -| gear_switch | `uint8` | | | landing gear switch: _DOWN_, UP | -| transition_switch | `uint8` | | | VTOL transition switch: \_HOVER, FORWARD_FLIGHT | -| photo_switch | `uint8` | | | Photo trigger switch | -| video_switch | `uint8` | | | Photo trigger switch | -| engage_main_motor_switch | `uint8` | | | Engage the main motor (for helicopters) | -| payload_power_switch | `uint8` | | | Payload power switch | -| switch_changes | `uint32` | | | number of switch changes | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------------------- | -------- | ------------ | ---------- | ------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| mode_slot | `uint8` | | | the slot a specific model selector is in | +| arm_switch | `uint8` | | | arm/disarm switch: _DISARMED_, ARMED | +| return_switch | `uint8` | | | return to launch 2 position switch (mandatory): _NORMAL_, RTL | +| loiter_switch | `uint8` | | | loiter 2 position switch (optional): _MISSION_, LOITER | +| offboard_switch | `uint8` | | | offboard 2 position switch (optional): _NORMAL_, OFFBOARD | +| kill_switch | `uint8` | | | throttle kill: _NORMAL_, KILL | +| termination_switch | `uint8` | | | trigger termination which cannot be undone | +| gear_switch | `uint8` | | | landing gear switch: _DOWN_, UP | +| transition_switch | `uint8` | | | VTOL transition switch: \_HOVER, FORWARD_FLIGHT | +| photo_switch | `uint8` | | | Photo trigger switch | +| video_switch | `uint8` | | | Photo trigger switch | +| engage_main_motor_switch | `uint8` | | | Engage the main motor (for helicopters) | +| payload_power_switch | `uint8` | | | Payload power switch | +| switch_changes | `uint32` | | | number of switch changes | ## Constants diff --git a/docs/en/msg_docs/MavlinkLog.md b/docs/en/msg_docs/MavlinkLog.md index 102a020dd67..916b573ee92 100644 --- a/docs/en/msg_docs/MavlinkLog.md +++ b/docs/en/msg_docs/MavlinkLog.md @@ -8,11 +8,11 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | ----------- | ------------ | ---------- | -------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| text | `char[127]` | | | -| severity | `uint8` | | | log level (same as in the linux kernel, starting with 0) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | ----------- | ------------ | ---------- | -------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| text | `char[127]` | | | +| severity | `uint8` | | | log level (same as in the linux kernel, starting with 0) | ## Constants diff --git a/docs/en/msg_docs/MavlinkTunnel.md b/docs/en/msg_docs/MavlinkTunnel.md index 0e88f9c71e5..8bea712333e 100644 --- a/docs/en/msg_docs/MavlinkTunnel.md +++ b/docs/en/msg_docs/MavlinkTunnel.md @@ -10,14 +10,14 @@ MAV_TUNNEL_PAYLOAD_TYPE enum. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | Time since system start (microseconds) | -| payload_type | `uint16` | | | A code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase. | -| target_system | `uint8` | | | System ID (can be 0 for broadcast, but this is discouraged) | -| target_component | `uint8` | | | Component ID (can be 0 for broadcast, but this is discouraged) | -| payload_length | `uint8` | | | Length of the data transported in payload | -| payload | `uint8[128]` | | | Data itself | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | Time since system start (microseconds) | +| payload_type | `uint16` | | | A code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase. | +| target_system | `uint8` | | | System ID (can be 0 for broadcast, but this is discouraged) | +| target_component | `uint8` | | | Component ID (can be 0 for broadcast, but this is discouraged) | +| payload_length | `uint8` | | | Length of the data transported in payload | +| payload | `uint8[128]` | | | Data itself | ## Constants diff --git a/docs/en/msg_docs/MessageFormatRequest.md b/docs/en/msg_docs/MessageFormatRequest.md index c6e9c2fb2b8..64ff12e754d 100644 --- a/docs/en/msg_docs/MessageFormatRequest.md +++ b/docs/en/msg_docs/MessageFormatRequest.md @@ -8,11 +8,11 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ---------- | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| protocol_version | `uint16` | | | Must be set to LATEST_PROTOCOL_VERSION. Do not change this field, it must be the first field after the timestamp | -| topic_name | `char[50]` | | | E.g. /fmu/in/vehicle_command | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ---------- | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| protocol_version | `uint16` | | | Must be set to LATEST_PROTOCOL_VERSION. Do not change this field, it must be the first field after the timestamp | +| topic_name | `char[50]` | | | E.g. /fmu/in/vehicle_command | ## Constants diff --git a/docs/en/msg_docs/MessageFormatResponse.md b/docs/en/msg_docs/MessageFormatResponse.md index 8716f64a296..497572718ba 100644 --- a/docs/en/msg_docs/MessageFormatResponse.md +++ b/docs/en/msg_docs/MessageFormatResponse.md @@ -8,13 +8,13 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ---------- | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| protocol_version | `uint16` | | | Must be set to LATEST_PROTOCOL_VERSION. Do not change this field, it must be the first field after the timestamp | -| topic_name | `char[50]` | | | E.g. /fmu/in/vehicle_command | -| success | `bool` | | | -| message_hash | `uint32` | | | hash over all message fields | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ---------- | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| protocol_version | `uint16` | | | Must be set to LATEST_PROTOCOL_VERSION. Do not change this field, it must be the first field after the timestamp | +| topic_name | `char[50]` | | | E.g. /fmu/in/vehicle_command | +| success | `bool` | | | +| message_hash | `uint32` | | | hash over all message fields | ## Source Message diff --git a/docs/en/msg_docs/Mission.md b/docs/en/msg_docs/Mission.md index 69771d01c08..75259f8a671 100644 --- a/docs/en/msg_docs/Mission.md +++ b/docs/en/msg_docs/Mission.md @@ -8,19 +8,19 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------------- | -------- | ------------ | ---------- | ----------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| mission_dataman_id | `uint8` | | | default 0, there are two offboard storage places in the dataman: 0 or 1 | -| fence_dataman_id | `uint8` | | | default 0, there are two offboard storage places in the dataman: 0 or 1 | -| safepoint_dataman_id | `uint8` | | | default 0, there are two offboard storage places in the dataman: 0 or 1 | -| count | `uint16` | | | count of the missions stored in the dataman | -| current_seq | `int32` | | | default -1, start at the one changed latest | -| land_start_index | `int32` | | | Index of the land start marker, if unavailable index of the land item, -1 otherwise | -| land_index | `int32` | | | Index of the land item, -1 otherwise | -| mission_id | `uint32` | | | indicates updates to the mission, reload from dataman if changed | -| geofence_id | `uint32` | | | indicates updates to the geofence, reload from dataman if changed | -| safe_points_id | `uint32` | | | indicates updates to the safe points, reload from dataman if changed | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------- | -------- | ------------ | ---------- | ----------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| mission_dataman_id | `uint8` | | | default 0, there are two offboard storage places in the dataman: 0 or 1 | +| fence_dataman_id | `uint8` | | | default 0, there are two offboard storage places in the dataman: 0 or 1 | +| safepoint_dataman_id | `uint8` | | | default 0, there are two offboard storage places in the dataman: 0 or 1 | +| count | `uint16` | | | count of the missions stored in the dataman | +| current_seq | `int32` | | | default -1, start at the one changed latest | +| land_start_index | `int32` | | | Index of the land start marker, if unavailable index of the land item, -1 otherwise | +| land_index | `int32` | | | Index of the land item, -1 otherwise | +| mission_id | `uint32` | | | indicates updates to the mission, reload from dataman if changed | +| geofence_id | `uint32` | | | indicates updates to the geofence, reload from dataman if changed | +| safe_points_id | `uint32` | | | indicates updates to the safe points, reload from dataman if changed | ## Source Message diff --git a/docs/en/msg_docs/MissionResult.md b/docs/en/msg_docs/MissionResult.md index 05be6aea8ad..afa882048c3 100644 --- a/docs/en/msg_docs/MissionResult.md +++ b/docs/en/msg_docs/MissionResult.md @@ -8,23 +8,23 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------------- | -------- | ------------ | ---------- | --------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| mission_id | `uint32` | | | Id for the mission for which the result was generated | -| geofence_id | `uint32` | | | Id for the corresponding geofence for which the result was generated (used for mission feasibility) | -| home_position_counter | `uint32` | | | Counter of the home position for which the result was generated (used for mission feasibility) | -| seq_reached | `int32` | | | Sequence of the mission item which has been reached, default -1 | -| seq_current | `uint16` | | | Sequence of the current mission item | -| seq_total | `uint16` | | | Total number of mission items | -| valid | `bool` | | | true if mission is valid | -| warning | `bool` | | | true if mission is valid, but has potentially problematic items leading to safety warnings | -| finished | `bool` | | | true if mission has been completed | -| failure | `bool` | | | true if the mission cannot continue or be completed for some reason | -| item_do_jump_changed | `bool` | | | true if the number of do jumps remaining has changed | -| item_changed_index | `uint16` | | | indicate which item has changed | -| item_do_jump_remaining | `uint16` | | | set to the number of do jumps remaining for that item | -| execution_mode | `uint8` | | | indicates the mode in which the mission is executed | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------- | -------- | ------------ | ---------- | --------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| mission_id | `uint32` | | | Id for the mission for which the result was generated | +| geofence_id | `uint32` | | | Id for the corresponding geofence for which the result was generated (used for mission feasibility) | +| home_position_counter | `uint32` | | | Counter of the home position for which the result was generated (used for mission feasibility) | +| seq_reached | `int32` | | | Sequence of the mission item which has been reached, default -1 | +| seq_current | `uint16` | | | Sequence of the current mission item | +| seq_total | `uint16` | | | Total number of mission items | +| valid | `bool` | | | true if mission is valid | +| warning | `bool` | | | true if mission is valid, but has potentially problematic items leading to safety warnings | +| finished | `bool` | | | true if mission has been completed | +| failure | `bool` | | | true if the mission cannot continue or be completed for some reason | +| item_do_jump_changed | `bool` | | | true if the number of do jumps remaining has changed | +| item_changed_index | `uint16` | | | indicate which item has changed | +| item_do_jump_remaining | `uint16` | | | set to the number of do jumps remaining for that item | +| execution_mode | `uint8` | | | indicates the mode in which the mission is executed | ## Source Message diff --git a/docs/en/msg_docs/ModeCompleted.md b/docs/en/msg_docs/ModeCompleted.md index 913246e7d2b..c588a1d3841 100644 --- a/docs/en/msg_docs/ModeCompleted.md +++ b/docs/en/msg_docs/ModeCompleted.md @@ -10,11 +10,11 @@ Mode completion result, published by an active mode. The possible values of nav_ ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | -------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| result | `uint8` | | | One of RESULT\_\* | -| nav_state | `uint8` | | | Source mode (values in VehicleStatus) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | -------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| result | `uint8` | | | One of RESULT\_\* | +| nav_state | `uint8` | | | Source mode (values in VehicleStatus) | ## Constants diff --git a/docs/en/msg_docs/MountOrientation.md b/docs/en/msg_docs/MountOrientation.md index 1928e141ccb..1933147d134 100644 --- a/docs/en/msg_docs/MountOrientation.md +++ b/docs/en/msg_docs/MountOrientation.md @@ -8,10 +8,10 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------ | -| timestamp | `uint64` | | | time since system start (microseconds) | -| attitude_euler_angle | `float32[3]` | | | Attitude/direction of the mount as euler angles in rad | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| attitude_euler_angle | `float32[3]` | | | Attitude/direction of the mount as euler angles in rad | ## Source Message diff --git a/docs/en/msg_docs/NavigatorMissionItem.md b/docs/en/msg_docs/NavigatorMissionItem.md index c4830d095be..9bb011d4030 100644 --- a/docs/en/msg_docs/NavigatorMissionItem.md +++ b/docs/en/msg_docs/NavigatorMissionItem.md @@ -8,25 +8,25 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------ | -| timestamp | `uint64` | | | time since system start (microseconds) | -| sequence_current | `uint16` | | | Sequence of the current mission item | -| nav_cmd | `uint16` | | | -| latitude | `float32` | | | -| longitude | `float32` | | | -| time_inside | `float32` | | | time that the MAV should stay inside the radius before advancing in seconds | -| acceptance_radius | `float32` | | | default radius in which the mission is accepted as reached in meters | -| loiter_radius | `float32` | | | loiter radius in meters, 0 for a VTOL to hover, negative for counter-clockwise | -| yaw | `float32` | | | in radians NED -PI..+PI, NAN means don't change yaw | -| altitude | `float32` | | | altitude in meters (AMSL) | -| frame | `uint8` | | | mission frame | -| origin | `uint8` | | | mission item origin (onboard or mavlink) | -| loiter_exit_xtrack | `bool` | | | exit xtrack location: 0 for center of loiter wp, 1 for exit location | -| force_heading | `bool` | | | heading needs to be reached | -| altitude_is_relative | `bool` | | | true if altitude is relative from start point | -| autocontinue | `bool` | | | true if next waypoint should follow after this one | -| vtol_back_transition | `bool` | | | part of the vtol back transition sequence | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| sequence_current | `uint16` | | | Sequence of the current mission item | +| nav_cmd | `uint16` | | | +| latitude | `float32` | | | +| longitude | `float32` | | | +| time_inside | `float32` | | | time that the MAV should stay inside the radius before advancing in seconds | +| acceptance_radius | `float32` | | | default radius in which the mission is accepted as reached in meters | +| loiter_radius | `float32` | | | loiter radius in meters, 0 for a VTOL to hover, negative for counter-clockwise | +| yaw | `float32` | | | in radians NED -PI..+PI, NAN means don't change yaw | +| altitude | `float32` | | | altitude in meters (AMSL) | +| frame | `uint8` | | | mission frame | +| origin | `uint8` | | | mission item origin (onboard or mavlink) | +| loiter_exit_xtrack | `bool` | | | exit xtrack location: 0 for center of loiter wp, 1 for exit location | +| force_heading | `bool` | | | heading needs to be reached | +| altitude_is_relative | `bool` | | | true if altitude is relative from start point | +| autocontinue | `bool` | | | true if next waypoint should follow after this one | +| vtol_back_transition | `bool` | | | part of the vtol back transition sequence | ## Source Message diff --git a/docs/en/msg_docs/NavigatorStatus.md b/docs/en/msg_docs/NavigatorStatus.md index dc8c0bc427f..0532100f13f 100644 --- a/docs/en/msg_docs/NavigatorStatus.md +++ b/docs/en/msg_docs/NavigatorStatus.md @@ -10,11 +10,11 @@ Current status of a Navigator mode. The possible values of nav_state are defined ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | -------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| nav_state | `uint8` | | | Source mode (values in VehicleStatus) | -| failure | `uint8` | | | Navigator failure enum | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | -------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| nav_state | `uint8` | | | Source mode (values in VehicleStatus) | +| failure | `uint8` | | | Navigator failure enum | ## Constants diff --git a/docs/en/msg_docs/NeuralControl.md b/docs/en/msg_docs/NeuralControl.md index bb62fdb33b0..a07058e9b43 100644 --- a/docs/en/msg_docs/NeuralControl.md +++ b/docs/en/msg_docs/NeuralControl.md @@ -14,13 +14,13 @@ Subscriber: logger ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------------- | ------------- | ------------ | ---------- | ---------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| observation | `float32[15]` | | | Observation vector (pos error (3), att (6d), lin vel (3), ang vel (3)) | -| network_output | `float32[4]` | | | Output from neural network | -| controller_time | `int32` | us | | Time spent from input to output | -| inference_time | `int32` | us | | Time spent for NN inference | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------- | ------------- | ------------ | ---------- | ---------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| observation | `float32[15]` | | | Observation vector (pos error (3), att (6d), lin vel (3), ang vel (3)) | +| network_output | `float32[4]` | | | Output from neural network | +| controller_time | `int32` | us | | Time spent from input to output | +| inference_time | `int32` | us | | Time spent for NN inference | ## Source Message diff --git a/docs/en/msg_docs/NormalizedUnsignedSetpoint.md b/docs/en/msg_docs/NormalizedUnsignedSetpoint.md index 521881a0a98..9565a8e22b1 100644 --- a/docs/en/msg_docs/NormalizedUnsignedSetpoint.md +++ b/docs/en/msg_docs/NormalizedUnsignedSetpoint.md @@ -8,10 +8,10 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------- | --------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| normalized_setpoint | `float32` | 0, 1 | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------- | --------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| normalized_setpoint | `float32` | 0, 1 | | ## Source Message diff --git a/docs/en/msg_docs/ObstacleDistance.md b/docs/en/msg_docs/ObstacleDistance.md index c422c3e0d91..cd82f6b9ee4 100644 --- a/docs/en/msg_docs/ObstacleDistance.md +++ b/docs/en/msg_docs/ObstacleDistance.md @@ -10,16 +10,16 @@ Obstacle distances in front of the sensor. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------ | ------------ | ------------ | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| frame | `uint8` | | | Coordinate frame of reference for the yaw rotation and offset of the sensor data. Defaults to MAV_FRAME_GLOBAL, which is North aligned. For body-mounted sensors use MAV_FRAME_BODY_FRD, which is vehicle front aligned. | -| sensor_type | `uint8` | | | Type from MAV_DISTANCE_SENSOR enum. | -| distances | `uint16[72]` | | | Distance of obstacles around the UAV with index 0 corresponding to local North. A value of 0 means that the obstacle is right in front of the sensor. A value of max_distance +1 means no obstacle is present. A value of UINT16_MAX for unknown/not used. In a array element, one unit corresponds to 1cm. | -| increment | `float32` | | | Angular width in degrees of each array element. | -| min_distance | `uint16` | | | Minimum distance the sensor can measure in centimeters. | -| max_distance | `uint16` | | | Maximum distance the sensor can measure in centimeters. | -| angle_offset | `float32` | | | Relative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive is clockwise direction, negative is counter-clockwise. | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------- | ------------ | ------------ | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| frame | `uint8` | | | Coordinate frame of reference for the yaw rotation and offset of the sensor data. Defaults to MAV_FRAME_GLOBAL, which is North aligned. For body-mounted sensors use MAV_FRAME_BODY_FRD, which is vehicle front aligned. | +| sensor_type | `uint8` | | | Type from MAV_DISTANCE_SENSOR enum. | +| distances | `uint16[72]` | | | Distance of obstacles around the UAV with index 0 corresponding to local North. A value of 0 means that the obstacle is right in front of the sensor. A value of max_distance +1 means no obstacle is present. A value of UINT16_MAX for unknown/not used. In a array element, one unit corresponds to 1cm. | +| increment | `float32` | | | Angular width in degrees of each array element. | +| min_distance | `uint16` | | | Minimum distance the sensor can measure in centimeters. | +| max_distance | `uint16` | | | Maximum distance the sensor can measure in centimeters. | +| angle_offset | `float32` | | | Relative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive is clockwise direction, negative is counter-clockwise. | ## Constants diff --git a/docs/en/msg_docs/OffboardControlMode.md b/docs/en/msg_docs/OffboardControlMode.md index 31f2a4e6068..734f09dcafb 100644 --- a/docs/en/msg_docs/OffboardControlMode.md +++ b/docs/en/msg_docs/OffboardControlMode.md @@ -10,16 +10,16 @@ Off-board control mode. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------- | -------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| position | `bool` | | | -| velocity | `bool` | | | -| acceleration | `bool` | | | -| attitude | `bool` | | | -| body_rate | `bool` | | | -| thrust_and_torque | `bool` | | | -| direct_actuator | `bool` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------- | -------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| position | `bool` | | | +| velocity | `bool` | | | +| acceleration | `bool` | | | +| attitude | `bool` | | | +| body_rate | `bool` | | | +| thrust_and_torque | `bool` | | | +| direct_actuator | `bool` | | | ## Source Message diff --git a/docs/en/msg_docs/OnboardComputerStatus.md b/docs/en/msg_docs/OnboardComputerStatus.md index c8ddca6925f..1b0dbb1d162 100644 --- a/docs/en/msg_docs/OnboardComputerStatus.md +++ b/docs/en/msg_docs/OnboardComputerStatus.md @@ -10,28 +10,28 @@ ONBOARD_COMPUTER_STATUS message data. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------- | ----------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | time since system start (microseconds) | -| uptime | `uint32` | ms | | time since system boot of the companion (milliseconds) | -| type | `uint8` | | | type of onboard computer 0: Mission computer primary, 1: Mission computer backup 1, 2: Mission computer backup 2, 3: Compute node, 4-5: Compute spares, 6-9: Payload computers. | -| cpu_cores | `uint8[8]` | | | CPU usage on the component in percent | -| cpu_combined | `uint8[10]` | | | Combined CPU usage as the last 10 slices of 100 MS | -| gpu_cores | `uint8[4]` | | | GPU usage on the component in percent | -| gpu_combined | `uint8[10]` | | | Combined GPU usage as the last 10 slices of 100 MS | -| temperature_board | `int8` | degC | | Temperature of the board | -| temperature_core | `int8[8]` | degC | | Temperature of the CPU core | -| fan_speed | `int16[4]` | rpm | | Fan speeds | -| ram_usage | `uint32` | MB | | Amount of used RAM on the component system | -| ram_total | `uint32` | MB | | Total amount of RAM on the component system | -| storage_type | `uint32[4]` | | | Storage type: 0: HDD, 1: SSD, 2: EMMC, 3: SD card (non-removable), 4: SD card (removable) | -| storage_usage | `uint32[4]` | MB | | Amount of used storage space on the component system | -| storage_total | `uint32[4]` | MB | | Total amount of storage space on the component system | -| link_type | `uint32[6]` | Kb/s | | Link type: 0-9: UART, 10-19: Wired network, 20-29: Wifi, 30-39: Point-to-point proprietary, 40-49: Mesh proprietary | -| link_tx_rate | `uint32[6]` | Kb/s | | Network traffic from the component system | -| link_rx_rate | `uint32[6]` | Kb/s | | Network traffic to the component system | -| link_tx_max | `uint32[6]` | Kb/s | | Network capacity from the component system | -| link_rx_max | `uint32[6]` | Kb/s | | Network capacity to the component system | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------- | ----------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | time since system start (microseconds) | +| uptime | `uint32` | ms | | time since system boot of the companion (milliseconds) | +| type | `uint8` | | | type of onboard computer 0: Mission computer primary, 1: Mission computer backup 1, 2: Mission computer backup 2, 3: Compute node, 4-5: Compute spares, 6-9: Payload computers. | +| cpu_cores | `uint8[8]` | | | CPU usage on the component in percent | +| cpu_combined | `uint8[10]` | | | Combined CPU usage as the last 10 slices of 100 MS | +| gpu_cores | `uint8[4]` | | | GPU usage on the component in percent | +| gpu_combined | `uint8[10]` | | | Combined GPU usage as the last 10 slices of 100 MS | +| temperature_board | `int8` | degC | | Temperature of the board | +| temperature_core | `int8[8]` | degC | | Temperature of the CPU core | +| fan_speed | `int16[4]` | rpm | | Fan speeds | +| ram_usage | `uint32` | MB | | Amount of used RAM on the component system | +| ram_total | `uint32` | MB | | Total amount of RAM on the component system | +| storage_type | `uint32[4]` | | | Storage type: 0: HDD, 1: SSD, 2: EMMC, 3: SD card (non-removable), 4: SD card (removable) | +| storage_usage | `uint32[4]` | MB | | Amount of used storage space on the component system | +| storage_total | `uint32[4]` | MB | | Total amount of storage space on the component system | +| link_type | `uint32[6]` | Kb/s | | Link type: 0-9: UART, 10-19: Wired network, 20-29: Wifi, 30-39: Point-to-point proprietary, 40-49: Mesh proprietary | +| link_tx_rate | `uint32[6]` | Kb/s | | Network traffic from the component system | +| link_rx_rate | `uint32[6]` | Kb/s | | Network traffic to the component system | +| link_tx_max | `uint32[6]` | Kb/s | | Network capacity from the component system | +| link_rx_max | `uint32[6]` | Kb/s | | Network capacity to the component system | ## Source Message diff --git a/docs/en/msg_docs/OpenDroneIdArmStatus.md b/docs/en/msg_docs/OpenDroneIdArmStatus.md index 6af43037338..262cde940bf 100644 --- a/docs/en/msg_docs/OpenDroneIdArmStatus.md +++ b/docs/en/msg_docs/OpenDroneIdArmStatus.md @@ -8,11 +8,11 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | ---------- | ------------ | ---------- | ----------- | -| timestamp | `uint64` | | | -| status | `uint8` | | | -| error | `char[50]` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | ---------- | ------------ | ---------- | ----------- | +| timestamp | `uint64` | | | +| status | `uint8` | | | +| error | `char[50]` | | | ## Source Message diff --git a/docs/en/msg_docs/OpenDroneIdOperatorId.md b/docs/en/msg_docs/OpenDroneIdOperatorId.md index b2a0fb2a2b8..f4cf9836afa 100644 --- a/docs/en/msg_docs/OpenDroneIdOperatorId.md +++ b/docs/en/msg_docs/OpenDroneIdOperatorId.md @@ -8,12 +8,12 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ----------- | ------------ | ---------- | ----------- | -| timestamp | `uint64` | | | -| id_or_mac | `uint8[20]` | | | -| operator_id_type | `uint8` | | | -| operator_id | `char[20]` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ----------- | ------------ | ---------- | ----------- | +| timestamp | `uint64` | | | +| id_or_mac | `uint8[20]` | | | +| operator_id_type | `uint8` | | | +| operator_id | `char[20]` | | | ## Source Message diff --git a/docs/en/msg_docs/OpenDroneIdSelfId.md b/docs/en/msg_docs/OpenDroneIdSelfId.md index a5cd9b74a44..2415c3528e0 100644 --- a/docs/en/msg_docs/OpenDroneIdSelfId.md +++ b/docs/en/msg_docs/OpenDroneIdSelfId.md @@ -8,12 +8,12 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ----------- | ------------ | ---------- | ----------- | -| timestamp | `uint64` | | | -| id_or_mac | `uint8[20]` | | | -| description_type | `uint8` | | | -| description | `char[23]` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ----------- | ------------ | ---------- | ----------- | +| timestamp | `uint64` | | | +| id_or_mac | `uint8[20]` | | | +| description_type | `uint8` | | | +| description | `char[23]` | | | ## Source Message diff --git a/docs/en/msg_docs/OpenDroneIdSystem.md b/docs/en/msg_docs/OpenDroneIdSystem.md index 970838f6b7b..796d35b02c1 100644 --- a/docs/en/msg_docs/OpenDroneIdSystem.md +++ b/docs/en/msg_docs/OpenDroneIdSystem.md @@ -8,21 +8,21 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------------- | ----------- | ------------ | ---------- | ----------- | -| timestamp | `uint64` | | | -| id_or_mac | `uint8[20]` | | | -| operator_location_type | `uint8` | | | -| classification_type | `uint8` | | | -| operator_latitude | `int32` | | | -| operator_longitude | `int32` | | | -| area_count | `uint16` | | | -| area_radius | `uint16` | | | -| area_ceiling | `float32` | | | -| area_floor | `float32` | | | -| category_eu | `uint8` | | | -| class_eu | `uint8` | | | -| operator_altitude_geo | `float32` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------- | ----------- | ------------ | ---------- | ----------- | +| timestamp | `uint64` | | | +| id_or_mac | `uint8[20]` | | | +| operator_location_type | `uint8` | | | +| classification_type | `uint8` | | | +| operator_latitude | `int32` | | | +| operator_longitude | `int32` | | | +| area_count | `uint16` | | | +| area_radius | `uint16` | | | +| area_ceiling | `float32` | | | +| area_floor | `float32` | | | +| category_eu | `uint8` | | | +| class_eu | `uint8` | | | +| operator_altitude_geo | `float32` | | | ## Source Message diff --git a/docs/en/msg_docs/OrbTest.md b/docs/en/msg_docs/OrbTest.md index 5e6ea41cc92..7cce04101b0 100644 --- a/docs/en/msg_docs/OrbTest.md +++ b/docs/en/msg_docs/OrbTest.md @@ -8,10 +8,10 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | -------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| val | `int32` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | -------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| val | `int32` | | | ## Source Message diff --git a/docs/en/msg_docs/OrbTestLarge.md b/docs/en/msg_docs/OrbTestLarge.md index 34fc07b941f..90c3b52f45b 100644 --- a/docs/en/msg_docs/OrbTestLarge.md +++ b/docs/en/msg_docs/OrbTestLarge.md @@ -8,11 +8,11 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | ------------ | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| val | `int32` | | | -| junk | `uint8[512]` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | ------------ | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| val | `int32` | | | +| junk | `uint8[512]` | | | ## Source Message diff --git a/docs/en/msg_docs/OrbTestMedium.md b/docs/en/msg_docs/OrbTestMedium.md index 456a2f4ce44..8b8d1158b78 100644 --- a/docs/en/msg_docs/OrbTestMedium.md +++ b/docs/en/msg_docs/OrbTestMedium.md @@ -8,11 +8,11 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | ----------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| val | `int32` | | | -| junk | `uint8[64]` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | ----------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| val | `int32` | | | +| junk | `uint8[64]` | | | ## Constants diff --git a/docs/en/msg_docs/OrbitStatus.md b/docs/en/msg_docs/OrbitStatus.md index 49207c039c6..85681b74da7 100644 --- a/docs/en/msg_docs/OrbitStatus.md +++ b/docs/en/msg_docs/OrbitStatus.md @@ -16,20 +16,22 @@ Subscribed by the MAVLink module and streamed to the GCS as ORBIT_EXECUTION_STAT ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------- | --------- | ------------ | ------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| radius | `float32` | m | | Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise. | -| frame | `uint8` | | [FRAME](#FRAME) | The coordinate system of the fields: x, y, z | -| x | `float64` | | | X coordinate of center point. Coordinate system depends on frame field: `local = x position in meters * 1e4`, `global = latitude in degrees * 1e7`. | -| y | `float64` | | | Y coordinate of center point. Coordinate system depends on frame field: `local = y position in meters * 1e4`, `global = longitude in degrees * 1e7`. | -| z | `float32` | | | Altitude of center point. Coordinate system depends on frame field. | -| yaw_behaviour | `uint8` | | [ORBIT_YAW_BEHAVIOUR](#ORBIT_YAW_BEHAVIOUR) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------- | --------- | ------------ | ------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| radius | `float32` | m | | Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise. | +| frame | `uint8` | | [FRAME](#FRAME) | The coordinate system of the fields: x, y, z | +| x | `float64` | | | X coordinate of center point. Coordinate system depends on frame field: `local = x position in meters * 1e4`, `global = latitude in degrees * 1e7`. | +| y | `float64` | | | Y coordinate of center point. Coordinate system depends on frame field: `local = y position in meters * 1e4`, `global = longitude in degrees * 1e7`. | +| z | `float32` | | | Altitude of center point. Coordinate system depends on frame field. | +| yaw_behaviour | `uint8` | | [ORBIT_YAW_BEHAVIOUR](#ORBIT_YAW_BEHAVIOUR) | ## Enums ### FRAME {#FRAME} +Used in field(s): [frame](#fld_frame) + | Name | Type | Value | Description | | ----------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------ | | FRAME_GLOBAL | `uint8` | 0 | WGS84 global frame, MSL altitude. x/y = latitude/longitude (degrees × 1e7) | @@ -39,6 +41,8 @@ Subscribed by the MAVLink module and streamed to the GCS as ORBIT_EXECUTION_STAT ### ORBIT_YAW_BEHAVIOUR {#ORBIT_YAW_BEHAVIOUR} +Used in field(s): [yaw_behaviour](#fld_yaw_behaviour) + | Name | Type | Value | Description | | --------------------------------------------------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------------------------------------------------------------------------------------------------- | | ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER | `uint8` | 0 | Vehicle front points to the center (default). | diff --git a/docs/en/msg_docs/ParameterResetRequest.md b/docs/en/msg_docs/ParameterResetRequest.md index 8cf0a658e04..b743b3ae3a7 100644 --- a/docs/en/msg_docs/ParameterResetRequest.md +++ b/docs/en/msg_docs/ParameterResetRequest.md @@ -10,11 +10,11 @@ ParameterResetRequest : Used by the primary to reset one or all parameter value( ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------------- | -------- | ------------ | ---------- | ------------------------------------------- | -| timestamp | `uint64` | | | -| parameter_index | `uint16` | | | -| reset_all | `bool` | | | If this is true then ignore parameter_index | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------- | -------- | ------------ | ---------- | ------------------------------------------- | +| timestamp | `uint64` | | | +| parameter_index | `uint16` | | | +| reset_all | `bool` | | | If this is true then ignore parameter_index | ## Constants diff --git a/docs/en/msg_docs/ParameterSetUsedRequest.md b/docs/en/msg_docs/ParameterSetUsedRequest.md index f4c6ba11530..4c71928b5b8 100644 --- a/docs/en/msg_docs/ParameterSetUsedRequest.md +++ b/docs/en/msg_docs/ParameterSetUsedRequest.md @@ -10,10 +10,10 @@ ParameterSetUsedRequest : Used by a remote to update the used flag for a paramet ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------------- | -------- | ------------ | ---------- | ----------- | -| timestamp | `uint64` | | | -| parameter_index | `uint16` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------- | -------- | ------------ | ---------- | ----------- | +| timestamp | `uint64` | | | +| parameter_index | `uint16` | | | ## Constants diff --git a/docs/en/msg_docs/ParameterSetValueRequest.md b/docs/en/msg_docs/ParameterSetValueRequest.md index 96523f3a96d..52975b4a125 100644 --- a/docs/en/msg_docs/ParameterSetValueRequest.md +++ b/docs/en/msg_docs/ParameterSetValueRequest.md @@ -10,12 +10,12 @@ ParameterSetValueRequest : Used by a remote or primary to update the value for a ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------------- | --------- | ------------ | ---------- | --------------------------------------- | -| timestamp | `uint64` | | | -| parameter_index | `uint16` | | | -| int_value | `int32` | | | Optional value for an integer parameter | -| float_value | `float32` | | | Optional value for a float parameter | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------- | --------- | ------------ | ---------- | --------------------------------------- | +| timestamp | `uint64` | | | +| parameter_index | `uint16` | | | +| int_value | `int32` | | | Optional value for an integer parameter | +| float_value | `float32` | | | Optional value for a float parameter | ## Constants diff --git a/docs/en/msg_docs/ParameterSetValueResponse.md b/docs/en/msg_docs/ParameterSetValueResponse.md index 622eba399f7..7519754c3c1 100644 --- a/docs/en/msg_docs/ParameterSetValueResponse.md +++ b/docs/en/msg_docs/ParameterSetValueResponse.md @@ -10,11 +10,11 @@ ParameterSetValueResponse : Response to a set value request by either primary or ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------- | -------- | ------------ | ---------- | ----------- | -| timestamp | `uint64` | | | -| request_timestamp | `uint64` | | | -| parameter_index | `uint16` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------- | -------- | ------------ | ---------- | ----------- | +| timestamp | `uint64` | | | +| request_timestamp | `uint64` | | | +| parameter_index | `uint16` | | | ## Constants diff --git a/docs/en/msg_docs/ParameterUpdate.md b/docs/en/msg_docs/ParameterUpdate.md index 47df977aa4d..2fd6a98fcef 100644 --- a/docs/en/msg_docs/ParameterUpdate.md +++ b/docs/en/msg_docs/ParameterUpdate.md @@ -10,17 +10,17 @@ This message is used to notify the system about one or more parameter changes. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------- | -------- | ------------ | ---------- | ---------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| instance | `uint32` | | | Instance count - constantly incrementing | -| get_count | `uint32` | | | -| set_count | `uint32` | | | -| find_count | `uint32` | | | -| export_count | `uint32` | | | -| active | `uint16` | | | -| changed | `uint16` | | | -| custom_default | `uint16` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------- | -------- | ------------ | ---------- | ---------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| instance | `uint32` | | | Instance count - constantly incrementing | +| get_count | `uint32` | | | +| set_count | `uint32` | | | +| find_count | `uint32` | | | +| export_count | `uint32` | | | +| active | `uint16` | | | +| changed | `uint16` | | | +| custom_default | `uint16` | | | ## Source Message diff --git a/docs/en/msg_docs/Ping.md b/docs/en/msg_docs/Ping.md index c27bfbac410..66320960687 100644 --- a/docs/en/msg_docs/Ping.md +++ b/docs/en/msg_docs/Ping.md @@ -8,15 +8,15 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------------- | --------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| ping_time | `uint64` | | | Timestamp of the ping packet | -| ping_sequence | `uint32` | | | Sequence number of the ping packet | -| dropped_packets | `uint32` | | | Number of dropped ping packets | -| rtt_ms | `float32` | | | Round trip time (in ms) | -| system_id | `uint8` | | | System ID of the remote system | -| component_id | `uint8` | | | Component ID of the remote system | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------- | --------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| ping_time | `uint64` | | | Timestamp of the ping packet | +| ping_sequence | `uint32` | | | Sequence number of the ping packet | +| dropped_packets | `uint32` | | | Number of dropped ping packets | +| rtt_ms | `float32` | | | Round trip time (in ms) | +| system_id | `uint8` | | | System ID of the remote system | +| component_id | `uint8` | | | Component ID of the remote system | ## Source Message diff --git a/docs/en/msg_docs/PositionControllerLandingStatus.md b/docs/en/msg_docs/PositionControllerLandingStatus.md index 7139db9d414..08002dbf507 100644 --- a/docs/en/msg_docs/PositionControllerLandingStatus.md +++ b/docs/en/msg_docs/PositionControllerLandingStatus.md @@ -8,12 +8,12 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------------ | --------- | ------------ | ---------- | ------------------------------------------------------------------- | -| timestamp | `uint64` | us | | time since system start | -| lateral_touchdown_offset | `float32` | m | | lateral touchdown position offset manually commanded during landing | -| flaring | `bool` | | | true if the aircraft is flaring | -| abort_status | `uint8` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------- | +| timestamp | `uint64` | us | | time since system start | +| lateral_touchdown_offset | `float32` | m | | lateral touchdown position offset manually commanded during landing | +| flaring | `bool` | | | true if the aircraft is flaring | +| abort_status | `uint8` | | | ## Constants diff --git a/docs/en/msg_docs/PositionControllerStatus.md b/docs/en/msg_docs/PositionControllerStatus.md index 43c4d3dd946..ecc70c487bf 100644 --- a/docs/en/msg_docs/PositionControllerStatus.md +++ b/docs/en/msg_docs/PositionControllerStatus.md @@ -8,17 +8,17 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| nav_roll | `float32` | | | Roll setpoint [rad] | -| nav_pitch | `float32` | | | Pitch setpoint [rad] | -| nav_bearing | `float32` | | | Bearing angle[rad] | -| target_bearing | `float32` | | | Bearing angle from aircraft to current target [rad] | -| xtrack_error | `float32` | | | Signed track error [m] | -| wp_dist | `float32` | | | Distance to active (next) waypoint [m] | -| acceptance_radius | `float32` | | | Current horizontal acceptance radius [m] | -| type | `uint8` | | | Current (applied) position setpoint type (see PositionSetpoint.msg) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| nav_roll | `float32` | | | Roll setpoint [rad] | +| nav_pitch | `float32` | | | Pitch setpoint [rad] | +| nav_bearing | `float32` | | | Bearing angle[rad] | +| target_bearing | `float32` | | | Bearing angle from aircraft to current target [rad] | +| xtrack_error | `float32` | | | Signed track error [m] | +| wp_dist | `float32` | | | Distance to active (next) waypoint [m] | +| acceptance_radius | `float32` | | | Current horizontal acceptance radius [m] | +| type | `uint8` | | | Current (applied) position setpoint type (see PositionSetpoint.msg) | ## Source Message diff --git a/docs/en/msg_docs/PositionSetpoint.md b/docs/en/msg_docs/PositionSetpoint.md index 325987fd795..b31db0a4be1 100644 --- a/docs/en/msg_docs/PositionSetpoint.md +++ b/docs/en/msg_docs/PositionSetpoint.md @@ -10,28 +10,28 @@ this file is only used in the position_setpoint triple as a dependency. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| valid | `bool` | | | true if setpoint is valid | -| type | `uint8` | | | setpoint type to adjust behavior of position controller | -| vx | `float32` | | | local velocity setpoint in m/s in NED | -| vy | `float32` | | | local velocity setpoint in m/s in NED | -| vz | `float32` | | | local velocity setpoint in m/s in NED | -| lat | `float64` | | | latitude, in deg | -| lon | `float64` | | | longitude, in deg | -| alt | `float32` | | | altitude AMSL, in m | -| yaw | `float32` | | | yaw (only in hover), in rad [-PI..PI), NaN = leave to flight task | -| loiter_radius | `float32` | m | [0 : INF] | loiter major axis radius | -| loiter_minor_radius | `float32` | m | [0 : INF] | loiter minor axis radius (used for non-circular loiter shapes) | -| loiter_direction_counter_clockwise | `bool` | | | loiter direction is clockwise by default and can be changed using this field | -| loiter_orientation | `float32` | rad | [-pi : pi] | orientation of the major axis with respect to true north | -| loiter_pattern | `uint8` | | | loitern pattern to follow | -| acceptance_radius | `float32` | | | horizontal acceptance_radius (meters) | -| alt_acceptance_radius | `float32` | | | vertical acceptance radius, only used for fixed wing guidance, NAN = let guidance choose (meters) | -| cruising_speed | `float32` | | | the generally desired cruising speed (not a hard constraint) | -| gliding_enabled | `bool` | | | commands the vehicle to glide if the capability is available (fixed wing only) | -| cruising_throttle | `float32` | | | the generally desired cruising throttle (not a hard constraint), only has an effect for rover | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| valid | `bool` | | | true if setpoint is valid | +| type | `uint8` | | | setpoint type to adjust behavior of position controller | +| vx | `float32` | | | local velocity setpoint in m/s in NED | +| vy | `float32` | | | local velocity setpoint in m/s in NED | +| vz | `float32` | | | local velocity setpoint in m/s in NED | +| lat | `float64` | | | latitude, in deg | +| lon | `float64` | | | longitude, in deg | +| alt | `float32` | | | altitude AMSL, in m | +| yaw | `float32` | | | yaw (only in hover), in rad [-PI..PI), NaN = leave to flight task | +| loiter_radius | `float32` | m | [0 : INF] | loiter major axis radius | +| loiter_minor_radius | `float32` | m | [0 : INF] | loiter minor axis radius (used for non-circular loiter shapes) | +| loiter_direction_counter_clockwise | `bool` | | | loiter direction is clockwise by default and can be changed using this field | +| loiter_orientation | `float32` | rad | [-pi : pi] | orientation of the major axis with respect to true north | +| loiter_pattern | `uint8` | | | loitern pattern to follow | +| acceptance_radius | `float32` | | | horizontal acceptance_radius (meters) | +| alt_acceptance_radius | `float32` | | | vertical acceptance radius, only used for fixed wing guidance, NAN = let guidance choose (meters) | +| cruising_speed | `float32` | | | the generally desired cruising speed (not a hard constraint) | +| gliding_enabled | `bool` | | | commands the vehicle to glide if the capability is available (fixed wing only) | +| cruising_throttle | `float32` | | | the generally desired cruising throttle (not a hard constraint), only has an effect for rover | ## Constants diff --git a/docs/en/msg_docs/PositionSetpointTriplet.md b/docs/en/msg_docs/PositionSetpointTriplet.md index b1f1f42f4cb..ce78df4e5b2 100644 --- a/docs/en/msg_docs/PositionSetpointTriplet.md +++ b/docs/en/msg_docs/PositionSetpointTriplet.md @@ -10,12 +10,12 @@ Global position setpoint triplet in WGS84 coordinates. This are the three next w ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | ------------------ | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| previous | `PositionSetpoint` | | | -| current | `PositionSetpoint` | | | -| next | `PositionSetpoint` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | ------------------ | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| previous | `PositionSetpoint` | | | +| current | `PositionSetpoint` | | | +| next | `PositionSetpoint` | | | ## Source Message diff --git a/docs/en/msg_docs/PowerButtonState.md b/docs/en/msg_docs/PowerButtonState.md index 3b30f2e4849..77aa2b88931 100644 --- a/docs/en/msg_docs/PowerButtonState.md +++ b/docs/en/msg_docs/PowerButtonState.md @@ -10,10 +10,10 @@ power button state notification message. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | -------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| event | `uint8` | | | one of PWR*BUTTON_STATE*\* | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | -------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| event | `uint8` | | | one of PWR*BUTTON_STATE*\* | ## Constants diff --git a/docs/en/msg_docs/PowerMonitor.md b/docs/en/msg_docs/PowerMonitor.md index 082a23b3d8e..e863ef26279 100644 --- a/docs/en/msg_docs/PowerMonitor.md +++ b/docs/en/msg_docs/PowerMonitor.md @@ -10,20 +10,20 @@ power monitor message. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | --------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | Time since system start (microseconds) | -| voltage_v | `float32` | | | Voltage in volts, 0 if unknown | -| current_a | `float32` | | | Current in amperes, -1 if unknown | -| power_w | `float32` | | | power in watts, -1 if unknown | -| rconf | `int16` | | | -| rsv | `int16` | | | -| rbv | `int16` | | | -| rp | `int16` | | | -| rc | `int16` | | | -| rcal | `int16` | | | -| me | `int16` | | | -| al | `int16` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | --------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | Time since system start (microseconds) | +| voltage_v | `float32` | | | Voltage in volts, 0 if unknown | +| current_a | `float32` | | | Current in amperes, -1 if unknown | +| power_w | `float32` | | | power in watts, -1 if unknown | +| rconf | `int16` | | | +| rsv | `int16` | | | +| rbv | `int16` | | | +| rp | `int16` | | | +| rc | `int16` | | | +| rcal | `int16` | | | +| me | `int16` | | | +| al | `int16` | | | ## Source Message diff --git a/docs/en/msg_docs/PpsCapture.md b/docs/en/msg_docs/PpsCapture.md index 5d1a14348d7..68788964528 100644 --- a/docs/en/msg_docs/PpsCapture.md +++ b/docs/en/msg_docs/PpsCapture.md @@ -8,11 +8,11 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------- | -------- | ------------ | ----------------------------- | ----------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) at PPS capture event | -| rtc_timestamp | `uint64` | | | Corrected GPS UTC timestamp at PPS capture event | -| `uint8` | | | Increments when PPS dt < 50ms | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------- | -------- | ------------ | ---------- | ----------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) at PPS capture event | +| rtc_timestamp | `uint64` | | | Corrected GPS UTC timestamp at PPS capture event | +| | `uint8` | | | Increments when PPS dt < 50ms | ## Source Message diff --git a/docs/en/msg_docs/PrecLandStatus.md b/docs/en/msg_docs/PrecLandStatus.md index f259b50b7a0..258e2287eb6 100644 --- a/docs/en/msg_docs/PrecLandStatus.md +++ b/docs/en/msg_docs/PrecLandStatus.md @@ -17,15 +17,17 @@ DONE is published once on successful completion, then STOPPED on the subsequent ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | -------- | ------------ | ----------------------------------- | ------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| state | `uint8` | | [PREC_LAND_STATE](#PREC_LAND_STATE) | Current precision-landing state | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | -------- | ------------ | ----------------------------------- | ------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| state | `uint8` | | [PREC_LAND_STATE](#PREC_LAND_STATE) | Current precision-landing state | ## Enums ### PREC_LAND_STATE {#PREC_LAND_STATE} +Used in field(s): [state](#fld_state) + | Name | Type | Value | Description | | ------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------------- | | PREC_LAND_STATE_STOPPED | `uint8` | 0 | Task not active (inactivated or never started) | diff --git a/docs/en/msg_docs/PurePursuitStatus.md b/docs/en/msg_docs/PurePursuitStatus.md index 4329fc2f776..28fed6bd597 100644 --- a/docs/en/msg_docs/PurePursuitStatus.md +++ b/docs/en/msg_docs/PurePursuitStatus.md @@ -10,14 +10,14 @@ Pure pursuit status. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------------- | --------- | ------------ | --------------------------------------------------- | -------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| lookahead_distance | `float32` | m | [0 : inf] | Lookahead distance of pure the pursuit controller | -| target_bearing | `float32` | rad [NED] | [-pi : pi] | Target bearing calculated by the pure pursuit controller | -| crosstrack_error | `float32` | m | [-inf (Left of the path) : inf (Right of the path)] | Shortest distance from the vehicle to the path | -| distance_to_waypoint | `float32` | m | [-inf : inf] | Distance from the vehicle to the current waypoint | -| bearing_to_waypoint | `float32` | rad [NED] | [-pi : pi] | Bearing towards current waypoint | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------- | --------- | ------------ | --------------------------------------------------- | -------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| lookahead_distance | `float32` | m | [0 : inf] | Lookahead distance of pure the pursuit controller | +| target_bearing | `float32` | rad [NED] | [-pi : pi] | Target bearing calculated by the pure pursuit controller | +| crosstrack_error | `float32` | m | [-inf (Left of the path) : inf (Right of the path)] | Shortest distance from the vehicle to the path | +| distance_to_waypoint | `float32` | m | [-inf : inf] | Distance from the vehicle to the current waypoint | +| bearing_to_waypoint | `float32` | rad [NED] | [-pi : pi] | Bearing towards current waypoint | ## Source Message diff --git a/docs/en/msg_docs/PwmInput.md b/docs/en/msg_docs/PwmInput.md index ca4d9ed41f7..93c3a378b67 100644 --- a/docs/en/msg_docs/PwmInput.md +++ b/docs/en/msg_docs/PwmInput.md @@ -8,12 +8,12 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------- | -------- | ------------ | ---------- | -------------------------------------------- | -| timestamp | `uint64` | | | Time since system start (microseconds) | -| error_count | `uint64` | | | Timer overcapture error flag (AUX5 or MAIN5) | -| pulse_width | `uint32` | | | Pulse width, timer counts (microseconds) | -| period | `uint32` | | | Period, timer counts (microseconds) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------- | -------- | ------------ | ---------- | -------------------------------------------- | +| timestamp | `uint64` | | | Time since system start (microseconds) | +| error_count | `uint64` | | | Timer overcapture error flag (AUX5 or MAIN5) | +| pulse_width | `uint32` | | | Pulse width, timer counts (microseconds) | +| period | `uint32` | | | Period, timer counts (microseconds) | ## Source Message diff --git a/docs/en/msg_docs/Px4ioStatus.md b/docs/en/msg_docs/Px4ioStatus.md index cbc5e0f3393..b8fd7db0d45 100644 --- a/docs/en/msg_docs/Px4ioStatus.md +++ b/docs/en/msg_docs/Px4ioStatus.md @@ -8,40 +8,40 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------------------------- | ------------ | ------------ | ---------- | -------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| free_memory_bytes | `uint16` | | | -| voltage_v | `float32` | | | Servo rail voltage in volts | -| rssi_v | `float32` | | | RSSI pin voltage in volts | -| status_arm_sync | `bool` | | | -| status_failsafe | `bool` | | | -| status_fmu_initialized | `bool` | | | -| status_fmu_ok | `bool` | | | -| status_init_ok | `bool` | | | -| status_outputs_armed | `bool` | | | -| status_raw_pwm | `bool` | | | -| status_rc_ok | `bool` | | | -| status_rc_dsm | `bool` | | | -| status_rc_ppm | `bool` | | | -| status_rc_sbus | `bool` | | | -| status_rc_st24 | `bool` | | | -| status_rc_sumd | `bool` | | | -| status_safety_button_event | `bool` | | | px4io safety button was pressed for longer than 1 second | -| alarm_pwm_error | `bool` | | | -| alarm_rc_lost | `bool` | | | -| arming_failsafe_custom | `bool` | | | -| arming_fmu_armed | `bool` | | | -| arming_fmu_prearmed | `bool` | | | -| arming_termination | `bool` | | | -| arming_io_arm_ok | `bool` | | | -| arming_lockdown | `bool` | | | -| arming_termination_failsafe | `bool` | | | -| pwm | `uint16[8]` | | | -| pwm_disarmed | `uint16[8]` | | | -| pwm_failsafe | `uint16[8]` | | | -| pwm_rate_hz | `uint16[8]` | | | -| raw_inputs | `uint16[18]` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| free_memory_bytes | `uint16` | | | +| voltage_v | `float32` | | | Servo rail voltage in volts | +| rssi_v | `float32` | | | RSSI pin voltage in volts | +| status_arm_sync | `bool` | | | +| status_failsafe | `bool` | | | +| status_fmu_initialized | `bool` | | | +| status_fmu_ok | `bool` | | | +| status_init_ok | `bool` | | | +| status_outputs_armed | `bool` | | | +| status_raw_pwm | `bool` | | | +| status_rc_ok | `bool` | | | +| status_rc_dsm | `bool` | | | +| status_rc_ppm | `bool` | | | +| status_rc_sbus | `bool` | | | +| status_rc_st24 | `bool` | | | +| status_rc_sumd | `bool` | | | +| status_safety_button_event | `bool` | | | px4io safety button was pressed for longer than 1 second | +| alarm_pwm_error | `bool` | | | +| alarm_rc_lost | `bool` | | | +| arming_failsafe_custom | `bool` | | | +| arming_fmu_armed | `bool` | | | +| arming_fmu_prearmed | `bool` | | | +| arming_termination | `bool` | | | +| arming_io_arm_ok | `bool` | | | +| arming_lockdown | `bool` | | | +| arming_termination_failsafe | `bool` | | | +| pwm | `uint16[8]` | | | +| pwm_disarmed | `uint16[8]` | | | +| pwm_failsafe | `uint16[8]` | | | +| pwm_rate_hz | `uint16[8]` | | | +| raw_inputs | `uint16[18]` | | | ## Source Message diff --git a/docs/en/msg_docs/QshellReq.md b/docs/en/msg_docs/QshellReq.md index 4bc7b693399..93295ef4da8 100644 --- a/docs/en/msg_docs/QshellReq.md +++ b/docs/en/msg_docs/QshellReq.md @@ -8,12 +8,12 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ----------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| cmd | `char[100]` | | | -| strlen | `uint32` | | | -| request_sequence | `uint32` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ----------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| cmd | `char[100]` | | | +| strlen | `uint32` | | | +| request_sequence | `uint32` | | | ## Constants diff --git a/docs/en/msg_docs/QshellRetval.md b/docs/en/msg_docs/QshellRetval.md index c37afd652e6..bf3ab57f5f7 100644 --- a/docs/en/msg_docs/QshellRetval.md +++ b/docs/en/msg_docs/QshellRetval.md @@ -8,11 +8,11 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------------- | -------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| return_value | `int32` | | | -| return_sequence | `uint32` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------- | -------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| return_value | `int32` | | | +| return_sequence | `uint32` | | | ## Source Message diff --git a/docs/en/msg_docs/RadioStatus.md b/docs/en/msg_docs/RadioStatus.md index 2712fdea13a..1e1863a339e 100644 --- a/docs/en/msg_docs/RadioStatus.md +++ b/docs/en/msg_docs/RadioStatus.md @@ -8,16 +8,16 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------ | -------- | ------------ | ---------- | ----------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| rssi | `uint8` | | | local signal strength | -| remote_rssi | `uint8` | | | remote signal strength | -| txbuf | `uint8` | | | how full the tx buffer is as a percentage | -| noise | `uint8` | | | background noise level | -| remote_noise | `uint8` | | | remote background noise level | -| rxerrors | `uint16` | | | receive errors | -| fix | `uint16` | | | count of error corrected packets | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------- | -------- | ------------ | ---------- | ----------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| rssi | `uint8` | | | local signal strength | +| remote_rssi | `uint8` | | | remote signal strength | +| txbuf | `uint8` | | | how full the tx buffer is as a percentage | +| noise | `uint8` | | | background noise level | +| remote_noise | `uint8` | | | remote background noise level | +| rxerrors | `uint16` | | | receive errors | +| fix | `uint16` | | | count of error corrected packets | ## Source Message diff --git a/docs/en/msg_docs/RangingBeacon.md b/docs/en/msg_docs/RangingBeacon.md index 0fe99f07d8c..6bb6ecade86 100644 --- a/docs/en/msg_docs/RangingBeacon.md +++ b/docs/en/msg_docs/RangingBeacon.md @@ -10,27 +10,29 @@ Ranging beacon measurement data (e.g. LoRa, UWB). ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | --------- | ------------ | --------------------- | ------------------------------------------- | -| timestamp | `uint64` | us | | time since system start | -| timestamp_sample | `uint64` | us | | the timestamp of the raw data | -| beacon_id | `uint8` | | | -| range | `float32` | m | | Range measurement | -| lat | `float64` | deg | | Latitude | -| lon | `float64` | deg | | Longitude | -| alt | `float32` | m | | Beacon altitude (frame defined in alt_type) | -| alt_type | `uint8` | | [ALT_TYPE](#ALT_TYPE) | Altitude frame for alt field | -| hacc | `float32` | m | | Groundbeacon horizontal accuracy | -| vacc | `float32` | m | | Groundbeacon vertical accuracy | -| sequence_nr | `uint8` | | | -| status | `uint8` | | | -| carrier_freq | `uint16` | MHz | | Carrier frequency | -| range_accuracy | `float32` | m | | Range accuracy estimate | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | --------- | ------------ | --------------------- | ------------------------------------------- | +| timestamp | `uint64` | us | | time since system start | +| timestamp_sample | `uint64` | us | | the timestamp of the raw data | +| beacon_id | `uint8` | | | +| range | `float32` | m | | Range measurement | +| lat | `float64` | deg | | Latitude | +| lon | `float64` | deg | | Longitude | +| alt | `float32` | m | | Beacon altitude (frame defined in alt_type) | +| alt_type | `uint8` | | [ALT_TYPE](#ALT_TYPE) | Altitude frame for alt field | +| hacc | `float32` | m | | Groundbeacon horizontal accuracy | +| vacc | `float32` | m | | Groundbeacon vertical accuracy | +| sequence_nr | `uint8` | | | +| status | `uint8` | | | +| carrier_freq | `uint16` | MHz | | Carrier frequency | +| range_accuracy | `float32` | m | | Range accuracy estimate | ## Enums ### ALT_TYPE {#ALT_TYPE} +Used in field(s): [alt_type](#fld_alt_type) + | Name | Type | Value | Description | | ------------------------------------------- | ------- | ----- | ------------------------------------ | | ALT_TYPE_WGS84 | `uint8` | 0 | Altitude above WGS84 ellipsoid | diff --git a/docs/en/msg_docs/RaptorInput.md b/docs/en/msg_docs/RaptorInput.md index 4f067c6d322..13349378d17 100644 --- a/docs/en/msg_docs/RaptorInput.md +++ b/docs/en/msg_docs/RaptorInput.md @@ -10,16 +10,16 @@ Raptor Input. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on | -| active | `bool` | | | Signals if the policy is active (aka publishing actuator_motors) | -| position | `float32[3]` | m [FLU] | | Position of the vehicle_local_position frame | -| orientation | `float32[4]` | | | Orientation in the vehicle_attitude frame but using the FLU convention as a unit quaternion (w, x, y, z) | -| linear_velocity | `float32[3]` | m/s [FLU] | | Linear velocity in the vehicle_local_position frame | -| angular_velocity | `float32[3]` | rad/s [FLU] | | Angular velocity in the body frame | -| previous_action | `float32[4]` | | [-1 : 1] | Previous action. Motor commands normalized to [-1, 1] | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on | +| active | `bool` | | | Signals if the policy is active (aka publishing actuator_motors) | +| position | `float32[3]` | m [FLU] | | Position of the vehicle_local_position frame | +| orientation | `float32[4]` | | | Orientation in the vehicle_attitude frame but using the FLU convention as a unit quaternion (w, x, y, z) | +| linear_velocity | `float32[3]` | m/s [FLU] | | Linear velocity in the vehicle_local_position frame | +| angular_velocity | `float32[3]` | rad/s [FLU] | | Angular velocity in the body frame | +| previous_action | `float32[4]` | | [-1 : 1] | Previous action. Motor commands normalized to [-1, 1] | ## Constants diff --git a/docs/en/msg_docs/RaptorStatus.md b/docs/en/msg_docs/RaptorStatus.md index 085a6ca81f6..8a98bcf7803 100644 --- a/docs/en/msg_docs/RaptorStatus.md +++ b/docs/en/msg_docs/RaptorStatus.md @@ -10,32 +10,32 @@ Raptor Status. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------------------------------- | ------------ | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on | -| subscription_update_angular_velocity | `bool` | bool | | Flag signalling if the vehicle_angular_velocity was updated | -| subscription_update_local_position | `bool` | bool | | Flag signalling if the vehicle_local_position was updated | -| subscription_update_attitude | `bool` | bool | | Flag signalling if the vehicle_attitude was updated | -| subscription_update_trajectory_setpoint | `bool` | bool | | Flag signalling if the trajectory_setpoint was updated | -| subscription_update_vehicle_status | `bool` | bool | | Flag signalling if the vehicle_status was updated | -| exit_reason | `uint8` | enum | | Exit reason identifier. Representing conditions that lead to the Raptor policy not being executed | -| timestamp_last_vehicle_angular_velocity | `uint32` | us | | Timestamp of the last received vehicle_angular_velocity message | -| timestamp_last_vehicle_local_position | `uint32` | us | | Timestamp of the last received vehicle_local_position message | -| timestamp_last_vehicle_attitude | `uint32` | us | | Timestamp of the last received vehicle_attitude message | -| timestamp_last_trajectory_setpoint | `uint32` | us | | Timestamp of the last received trajectory_setpoint message | -| vehicle_angular_velocity_stale | `bool` | bool | | True if vehicle_angular_velocity data is considered stale (exceeded timeout) | -| vehicle_local_position_stale | `bool` | bool | | True if vehicle_local_position data is considered stale (exceeded timeout) | -| vehicle_attitude_stale | `bool` | bool | | True if vehicle_attitude data is considered stale (exceeded timeout) | -| trajectory_setpoint_stale | `bool` | bool | | True if trajectory_setpoint data is considered stale (exceeded timeout) | -| active | `bool` | bool | | True if the Raptor policy is currently active (publishing actuator_motors) | -| substep | `uint8` | | | 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). | -| control_interval | `float32` | s | | Time interval between control updates | -| trajectory_setpoint_dt_mean | `float32` | us | | The average trajectory setpoint arrival time interval (since Raptor mode activation within NUM_TRAJECTORY_SETPOINT_DTS received trajectory_setpoint messages) | -| trajectory_setpoint_dt_max | `float32` | us | | The max trajectory setpoint arrival time interval (since Raptor mode activation and within NUM_TRAJECTORY_SETPOINT_DTS received trajectory_setpoint messages) | -| trajectory_setpoint_dt_max_since_activation | `float32` | us | | The max trajectory setpoint arrival time interval (since Raptor mode activation) | -| internal_reference_position | `float32[3]` | m [FLU] | | Internal reference position | -| internal_reference_linear_velocity | `float32[3]` | m/s [FLU] | | Internal reference linear velocity | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------------------------------------------------- | ------------ | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on | +| subscription_update_angular_velocity | `bool` | bool | | Flag signalling if the vehicle_angular_velocity was updated | +| subscription_update_local_position | `bool` | bool | | Flag signalling if the vehicle_local_position was updated | +| subscription_update_attitude | `bool` | bool | | Flag signalling if the vehicle_attitude was updated | +| subscription_update_trajectory_setpoint | `bool` | bool | | Flag signalling if the trajectory_setpoint was updated | +| subscription_update_vehicle_status | `bool` | bool | | Flag signalling if the vehicle_status was updated | +| exit_reason | `uint8` | enum | | Exit reason identifier. Representing conditions that lead to the Raptor policy not being executed | +| timestamp_last_vehicle_angular_velocity | `uint32` | us | | Timestamp of the last received vehicle_angular_velocity message | +| timestamp_last_vehicle_local_position | `uint32` | us | | Timestamp of the last received vehicle_local_position message | +| timestamp_last_vehicle_attitude | `uint32` | us | | Timestamp of the last received vehicle_attitude message | +| timestamp_last_trajectory_setpoint | `uint32` | us | | Timestamp of the last received trajectory_setpoint message | +| vehicle_angular_velocity_stale | `bool` | bool | | True if vehicle_angular_velocity data is considered stale (exceeded timeout) | +| vehicle_local_position_stale | `bool` | bool | | True if vehicle_local_position data is considered stale (exceeded timeout) | +| vehicle_attitude_stale | `bool` | bool | | True if vehicle_attitude data is considered stale (exceeded timeout) | +| trajectory_setpoint_stale | `bool` | bool | | True if trajectory_setpoint data is considered stale (exceeded timeout) | +| active | `bool` | bool | | True if the Raptor policy is currently active (publishing actuator_motors) | +| substep | `uint8` | | | 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). | +| control_interval | `float32` | s | | Time interval between control updates | +| trajectory_setpoint_dt_mean | `float32` | us | | The average trajectory setpoint arrival time interval (since Raptor mode activation within NUM_TRAJECTORY_SETPOINT_DTS received trajectory_setpoint messages) | +| trajectory_setpoint_dt_max | `float32` | us | | The max trajectory setpoint arrival time interval (since Raptor mode activation and within NUM_TRAJECTORY_SETPOINT_DTS received trajectory_setpoint messages) | +| trajectory_setpoint_dt_max_since_activation | `float32` | us | | The max trajectory setpoint arrival time interval (since Raptor mode activation) | +| internal_reference_position | `float32[3]` | m [FLU] | | Internal reference position | +| internal_reference_linear_velocity | `float32[3]` | m/s [FLU] | | Internal reference linear velocity | ## Constants diff --git a/docs/en/msg_docs/RateCtrlStatus.md b/docs/en/msg_docs/RateCtrlStatus.md index ad061fbdaa3..7bd78a8eb2e 100644 --- a/docs/en/msg_docs/RateCtrlStatus.md +++ b/docs/en/msg_docs/RateCtrlStatus.md @@ -8,12 +8,12 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | --------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| rollspeed_integ | `float32` | | | -| pitchspeed_integ | `float32` | | | -| yawspeed_integ | `float32` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | --------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| rollspeed_integ | `float32` | | | +| pitchspeed_integ | `float32` | | | +| yawspeed_integ | `float32` | | | ## Source Message diff --git a/docs/en/msg_docs/RcChannels.md b/docs/en/msg_docs/RcChannels.md index dab85439f6a..b62267c337d 100644 --- a/docs/en/msg_docs/RcChannels.md +++ b/docs/en/msg_docs/RcChannels.md @@ -8,16 +8,16 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------------- | ------------- | ------------ | ---------- | ------------------------------------------------------------------ | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_last_valid | `uint64` | | | Timestamp of last valid RC signal | -| channels | `float32[18]` | | | Scaled to -1..1 (throttle: 0..1) | -| channel_count | `uint8` | | | Number of valid channels | -| function | `int8[30]` | | | Functions mapping | -| rssi | `uint8` | | | Receive signal strength index | -| signal_lost | `bool` | | | Control signal lost, should be checked together with topic timeout | -| frame_drop_count | `uint32` | | | Number of dropped frames | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------- | ------------- | ------------ | ---------- | ------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_last_valid | `uint64` | | | Timestamp of last valid RC signal | +| channels | `float32[18]` | | | Scaled to -1..1 (throttle: 0..1) | +| channel_count | `uint8` | | | Number of valid channels | +| function | `int8[30]` | | | Functions mapping | +| rssi | `uint8` | | | Receive signal strength index | +| signal_lost | `bool` | | | Control signal lost, should be checked together with topic timeout | +| frame_drop_count | `uint32` | | | Number of dropped frames | ## Constants diff --git a/docs/en/msg_docs/RcParameterMap.md b/docs/en/msg_docs/RcParameterMap.md index 750f5d76b34..8352bad5907 100644 --- a/docs/en/msg_docs/RcParameterMap.md +++ b/docs/en/msg_docs/RcParameterMap.md @@ -8,16 +8,16 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| valid | `bool[3]` | | | true for RC-Param channels which are mapped to a param | -| param_index | `int32[3]` | | | corresponding param index, this field is ignored if set to -1, in this case param_id will be used | -| param_id | `char[51]` | | | MAP_NCHAN \* (ID_LEN + 1) chars, corresponding param id, null terminated | -| scale | `float32[3]` | | | scale to map the RC input [-1, 1] to a parameter value | -| value0 | `float32[3]` | | | initial value around which the parameter value is changed | -| value_min | `float32[3]` | | | minimal parameter value | -| value_max | `float32[3]` | | | minimal parameter value | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| valid | `bool[3]` | | | true for RC-Param channels which are mapped to a param | +| param_index | `int32[3]` | | | corresponding param index, this field is ignored if set to -1, in this case param_id will be used | +| param_id | `char[51]` | | | MAP_NCHAN \* (ID_LEN + 1) chars, corresponding param id, null terminated | +| scale | `float32[3]` | | | scale to map the RC input [-1, 1] to a parameter value | +| value0 | `float32[3]` | | | initial value around which the parameter value is changed | +| value_min | `float32[3]` | | | minimal parameter value | +| value_max | `float32[3]` | | | minimal parameter value | ## Constants diff --git a/docs/en/msg_docs/RegisterExtComponentReply.md b/docs/en/msg_docs/RegisterExtComponentReply.md index c6f483cc328..c7e02df0727 100644 --- a/docs/en/msg_docs/RegisterExtComponentReply.md +++ b/docs/en/msg_docs/RegisterExtComponentReply.md @@ -8,17 +8,17 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------------- | ---------- | ------------ | ---------- | -------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| request_id | `uint64` | | | ID from the request | -| name | `char[25]` | | | name from the request | -| px4_ros2_api_version | `uint16` | | | -| success | `bool` | | | -| arming_check_id | `int8` | | | arming check registration ID (-1 if invalid) | -| mode_id | `int8` | | | assigned mode ID (-1 if invalid) | -| mode_executor_id | `int8` | | | assigned mode executor ID (-1 if invalid) | -| not_user_selectable | `bool` | | | mode cannot be selected by the user | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------- | ---------- | ------------ | ---------- | -------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| request_id | `uint64` | | | ID from the request | +| name | `char[25]` | | | name from the request | +| px4_ros2_api_version | `uint16` | | | +| success | `bool` | | | +| arming_check_id | `int8` | | | arming check registration ID (-1 if invalid) | +| mode_id | `int8` | | | assigned mode ID (-1 if invalid) | +| mode_executor_id | `int8` | | | assigned mode executor ID (-1 if invalid) | +| not_user_selectable | `bool` | | | mode cannot be selected by the user | ## Constants diff --git a/docs/en/msg_docs/RegisterExtComponentReplyV0.md b/docs/en/msg_docs/RegisterExtComponentReplyV0.md index 45e288206ed..3b7d45cb887 100644 --- a/docs/en/msg_docs/RegisterExtComponentReplyV0.md +++ b/docs/en/msg_docs/RegisterExtComponentReplyV0.md @@ -8,16 +8,16 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------------- | ---------- | ------------ | ---------- | -------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| request_id | `uint64` | | | ID from the request | -| name | `char[25]` | | | name from the request | -| px4_ros2_api_version | `uint16` | | | -| success | `bool` | | | -| arming_check_id | `int8` | | | arming check registration ID (-1 if invalid) | -| mode_id | `int8` | | | assigned mode ID (-1 if invalid) | -| mode_executor_id | `int8` | | | assigned mode executor ID (-1 if invalid) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------- | ---------- | ------------ | ---------- | -------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| request_id | `uint64` | | | ID from the request | +| name | `char[25]` | | | name from the request | +| px4_ros2_api_version | `uint16` | | | +| success | `bool` | | | +| arming_check_id | `int8` | | | arming check registration ID (-1 if invalid) | +| mode_id | `int8` | | | assigned mode ID (-1 if invalid) | +| mode_executor_id | `int8` | | | assigned mode executor ID (-1 if invalid) | ## Constants diff --git a/docs/en/msg_docs/RegisterExtComponentRequest.md b/docs/en/msg_docs/RegisterExtComponentRequest.md index c37c15672c9..0585e8aec74 100644 --- a/docs/en/msg_docs/RegisterExtComponentRequest.md +++ b/docs/en/msg_docs/RegisterExtComponentRequest.md @@ -10,20 +10,20 @@ Request to register an external component. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------------------- | ---------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| request_id | `uint64` | | | ID, set this to a random value | -| name | `char[25]` | | | either the requested mode name, or component name | -| px4_ros2_api_version | `uint16` | | | Set to LATEST_PX4_ROS2_API_VERSION | -| register_arming_check | `bool` | | | -| register_mode | `bool` | | | registering a mode also requires arming_check to be set | -| register_mode_executor | `bool` | | | registering an executor also requires a mode to be registered (which is the owned mode by the executor) | -| enable_replace_internal_mode | `bool` | | | set to true if an internal mode should be replaced | -| replace_internal_mode | `uint8` | | | vehicle*status::NAVIGATION_STATE*\* | -| activate_mode_immediately | `bool` | | | switch to the registered mode (can only be set in combination with an executor) | -| not_user_selectable | `bool` | | | mode cannot be selected by the user | -| request_offboard_setpoints | `bool` | | | set to true if the registered mode wants to receive offboard trajectory setpoints via MAVLink | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------------------- | ---------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| request_id | `uint64` | | | ID, set this to a random value | +| name | `char[25]` | | | either the requested mode name, or component name | +| px4_ros2_api_version | `uint16` | | | Set to LATEST_PX4_ROS2_API_VERSION | +| register_arming_check | `bool` | | | +| register_mode | `bool` | | | registering a mode also requires arming_check to be set | +| register_mode_executor | `bool` | | | registering an executor also requires a mode to be registered (which is the owned mode by the executor) | +| enable_replace_internal_mode | `bool` | | | set to true if an internal mode should be replaced | +| replace_internal_mode | `uint8` | | | vehicle*status::NAVIGATION_STATE*\* | +| activate_mode_immediately | `bool` | | | switch to the registered mode (can only be set in combination with an executor) | +| not_user_selectable | `bool` | | | mode cannot be selected by the user | +| request_offboard_setpoints | `bool` | | | set to true if the registered mode wants to receive offboard trajectory setpoints via MAVLink | ## Constants diff --git a/docs/en/msg_docs/RegisterExtComponentRequestV0.md b/docs/en/msg_docs/RegisterExtComponentRequestV0.md index fff8c5c5734..703b257585e 100644 --- a/docs/en/msg_docs/RegisterExtComponentRequestV0.md +++ b/docs/en/msg_docs/RegisterExtComponentRequestV0.md @@ -10,18 +10,18 @@ Request to register an external component. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------------------- | ---------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| request_id | `uint64` | | | ID, set this to a random value | -| name | `char[25]` | | | either the requested mode name, or component name | -| px4_ros2_api_version | `uint16` | | | Set to LATEST_PX4_ROS2_API_VERSION | -| register_arming_check | `bool` | | | -| register_mode | `bool` | | | registering a mode also requires arming_check to be set | -| register_mode_executor | `bool` | | | registering an executor also requires a mode to be registered (which is the owned mode by the executor) | -| enable_replace_internal_mode | `bool` | | | set to true if an internal mode should be replaced | -| replace_internal_mode | `uint8` | | | vehicle*status::NAVIGATION_STATE*\* | -| activate_mode_immediately | `bool` | | | switch to the registered mode (can only be set in combination with an executor) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------------------- | ---------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| request_id | `uint64` | | | ID, set this to a random value | +| name | `char[25]` | | | either the requested mode name, or component name | +| px4_ros2_api_version | `uint16` | | | Set to LATEST_PX4_ROS2_API_VERSION | +| register_arming_check | `bool` | | | +| register_mode | `bool` | | | registering a mode also requires arming_check to be set | +| register_mode_executor | `bool` | | | registering an executor also requires a mode to be registered (which is the owned mode by the executor) | +| enable_replace_internal_mode | `bool` | | | set to true if an internal mode should be replaced | +| replace_internal_mode | `uint8` | | | vehicle*status::NAVIGATION_STATE*\* | +| activate_mode_immediately | `bool` | | | switch to the registered mode (can only be set in combination with an executor) | ## Constants diff --git a/docs/en/msg_docs/RegisterExtComponentRequestV1.md b/docs/en/msg_docs/RegisterExtComponentRequestV1.md index ce12115eda3..dd0b152c267 100644 --- a/docs/en/msg_docs/RegisterExtComponentRequestV1.md +++ b/docs/en/msg_docs/RegisterExtComponentRequestV1.md @@ -10,19 +10,19 @@ Request to register an external component. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------------------- | ---------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| request_id | `uint64` | | | ID, set this to a random value | -| name | `char[25]` | | | either the requested mode name, or component name | -| px4_ros2_api_version | `uint16` | | | Set to LATEST_PX4_ROS2_API_VERSION | -| register_arming_check | `bool` | | | -| register_mode | `bool` | | | registering a mode also requires arming_check to be set | -| register_mode_executor | `bool` | | | registering an executor also requires a mode to be registered (which is the owned mode by the executor) | -| enable_replace_internal_mode | `bool` | | | set to true if an internal mode should be replaced | -| replace_internal_mode | `uint8` | | | vehicle*status::NAVIGATION_STATE*\* | -| activate_mode_immediately | `bool` | | | switch to the registered mode (can only be set in combination with an executor) | -| not_user_selectable | `bool` | | | mode cannot be selected by the user | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------------------- | ---------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| request_id | `uint64` | | | ID, set this to a random value | +| name | `char[25]` | | | either the requested mode name, or component name | +| px4_ros2_api_version | `uint16` | | | Set to LATEST_PX4_ROS2_API_VERSION | +| register_arming_check | `bool` | | | +| register_mode | `bool` | | | registering a mode also requires arming_check to be set | +| register_mode_executor | `bool` | | | registering an executor also requires a mode to be registered (which is the owned mode by the executor) | +| enable_replace_internal_mode | `bool` | | | set to true if an internal mode should be replaced | +| replace_internal_mode | `uint8` | | | vehicle*status::NAVIGATION_STATE*\* | +| activate_mode_immediately | `bool` | | | switch to the registered mode (can only be set in combination with an executor) | +| not_user_selectable | `bool` | | | mode cannot be selected by the user | ## Constants diff --git a/docs/en/msg_docs/RoverAttitudeSetpoint.md b/docs/en/msg_docs/RoverAttitudeSetpoint.md index 52afdcaa98a..2dd9b7d96cd 100644 --- a/docs/en/msg_docs/RoverAttitudeSetpoint.md +++ b/docs/en/msg_docs/RoverAttitudeSetpoint.md @@ -10,10 +10,10 @@ Rover Attitude Setpoint. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------ | --------- | ------------ | ------------ | ----------------------- | -| timestamp | `uint64` | us | | Time since system start | -| yaw_setpoint | `float32` | rad [NED] | [-inf : inf] | Yaw setpoint | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------- | --------- | ------------ | ------------ | ----------------------- | +| timestamp | `uint64` | us | | Time since system start | +| yaw_setpoint | `float32` | rad [NED] | [-inf : inf] | Yaw setpoint | ## Source Message diff --git a/docs/en/msg_docs/RoverAttitudeStatus.md b/docs/en/msg_docs/RoverAttitudeStatus.md index 95725c81b01..ec6ca293587 100644 --- a/docs/en/msg_docs/RoverAttitudeStatus.md +++ b/docs/en/msg_docs/RoverAttitudeStatus.md @@ -10,11 +10,11 @@ Rover Attitude Status. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------------------- | --------- | ------------ | ---------- | ------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| measured_yaw | `float32` | rad [NED] | [-pi : pi] | Measured yaw | -| adjusted_yaw_setpoint | `float32` | rad [NED] | [-pi : pi] | Yaw setpoint that is being tracked (Applied slew rates) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| measured_yaw | `float32` | rad [NED] | [-pi : pi] | Measured yaw | +| adjusted_yaw_setpoint | `float32` | rad [NED] | [-pi : pi] | Yaw setpoint that is being tracked (Applied slew rates) | ## Source Message diff --git a/docs/en/msg_docs/RoverPositionSetpoint.md b/docs/en/msg_docs/RoverPositionSetpoint.md index 2cba70b38fc..3ccf34317ac 100644 --- a/docs/en/msg_docs/RoverPositionSetpoint.md +++ b/docs/en/msg_docs/RoverPositionSetpoint.md @@ -10,14 +10,14 @@ Rover Position Setpoint. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------- | ------------ | ------------ | ------------ | -------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| position_ned | `float32[2]` | m [NED] | [-inf : inf] | Target position | -| start_ned | `float32[2]` | m [NED] | [-inf : inf] | Start position which specifies a line for the rover to track (Invalid: NaN Defaults to vehicle position) | -| cruising_speed | `float32` | m/s | [0 : inf] | Cruising speed (Invalid: NaN Defaults to maximum speed) | -| arrival_speed | `float32` | m/s | [0 : inf] | Speed the rover should arrive at the target with (Invalid: NaN Defaults to 0) | -| yaw | `float32` | rad [NED] | [-pi : pi] | Mecanum only: Specify vehicle yaw during travel (Invalid: NaN Defaults to vehicle yaw) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------- | ------------ | ------------ | ------------ | -------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| position_ned | `float32[2]` | m [NED] | [-inf : inf] | Target position | +| start_ned | `float32[2]` | m [NED] | [-inf : inf] | Start position which specifies a line for the rover to track (Invalid: NaN Defaults to vehicle position) | +| cruising_speed | `float32` | m/s | [0 : inf] | Cruising speed (Invalid: NaN Defaults to maximum speed) | +| arrival_speed | `float32` | m/s | [0 : inf] | Speed the rover should arrive at the target with (Invalid: NaN Defaults to 0) | +| yaw | `float32` | rad [NED] | [-pi : pi] | Mecanum only: Specify vehicle yaw during travel (Invalid: NaN Defaults to vehicle yaw) | ## Source Message diff --git a/docs/en/msg_docs/RoverRateSetpoint.md b/docs/en/msg_docs/RoverRateSetpoint.md index 94e35fd1a81..57ffdeea2d0 100644 --- a/docs/en/msg_docs/RoverRateSetpoint.md +++ b/docs/en/msg_docs/RoverRateSetpoint.md @@ -10,10 +10,10 @@ Rover Rate setpoint. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------- | --------- | ------------ | ------------ | ----------------------- | -| timestamp | `uint64` | us | | Time since system start | -| yaw_rate_setpoint | `float32` | rad/s [NED] | [-inf : inf] | Yaw rate setpoint | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------- | --------- | ------------ | ------------ | ----------------------- | +| timestamp | `uint64` | us | | Time since system start | +| yaw_rate_setpoint | `float32` | rad/s [NED] | [-inf : inf] | Yaw rate setpoint | ## Source Message diff --git a/docs/en/msg_docs/RoverRateStatus.md b/docs/en/msg_docs/RoverRateStatus.md index 253c20803af..3e6a2563ff7 100644 --- a/docs/en/msg_docs/RoverRateStatus.md +++ b/docs/en/msg_docs/RoverRateStatus.md @@ -10,12 +10,12 @@ Rover Rate Status. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------------------- | --------- | ------------ | ------------ | ------------------------------------------------------------ | -| timestamp | `uint64` | us | | Time since system start | -| measured_yaw_rate | `float32` | rad/s [NED] | [-inf : inf] | Measured yaw rate | -| adjusted_yaw_rate_setpoint | `float32` | rad/s [NED] | [-inf : inf] | Yaw rate setpoint that is being tracked (Applied slew rates) | -| pid_yaw_rate_integral | `float32` | | [-1 : 1] | Integral of the PID for the closed loop yaw rate controller | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------------------- | --------- | ------------ | ------------ | ------------------------------------------------------------ | +| timestamp | `uint64` | us | | Time since system start | +| measured_yaw_rate | `float32` | rad/s [NED] | [-inf : inf] | Measured yaw rate | +| adjusted_yaw_rate_setpoint | `float32` | rad/s [NED] | [-inf : inf] | Yaw rate setpoint that is being tracked (Applied slew rates) | +| pid_yaw_rate_integral | `float32` | | [-1 : 1] | Integral of the PID for the closed loop yaw rate controller | ## Source Message diff --git a/docs/en/msg_docs/RoverSpeedSetpoint.md b/docs/en/msg_docs/RoverSpeedSetpoint.md index f2f11abd30d..2ca677c0aca 100644 --- a/docs/en/msg_docs/RoverSpeedSetpoint.md +++ b/docs/en/msg_docs/RoverSpeedSetpoint.md @@ -10,11 +10,11 @@ Rover Speed Setpoint. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------ | --------- | ------------ | ----------------------------------- | ------------------------------------------------------------------------------ | -| timestamp | `uint64` | us | | Time since system start | -| speed_body_x | `float32` | m/s [Body] | [-inf (Backwards) : inf (Forwards)] | Speed setpoint in body x direction | -| speed_body_y | `float32` | m/s [Body] | [-inf (Left) : inf (Right)] | Mecanum only: Speed setpoint in body y direction (Invalid: NaN If not mecanum) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------- | --------- | ------------ | ----------------------------------- | ------------------------------------------------------------------------------ | +| timestamp | `uint64` | us | | Time since system start | +| speed_body_x | `float32` | m/s [Body] | [-inf (Backwards) : inf (Forwards)] | Speed setpoint in body x direction | +| speed_body_y | `float32` | m/s [Body] | [-inf (Left) : inf (Right)] | Mecanum only: Speed setpoint in body y direction (Invalid: NaN If not mecanum) | ## Source Message diff --git a/docs/en/msg_docs/RoverSpeedStatus.md b/docs/en/msg_docs/RoverSpeedStatus.md index b4d4740cb10..3df015a4554 100644 --- a/docs/en/msg_docs/RoverSpeedStatus.md +++ b/docs/en/msg_docs/RoverSpeedStatus.md @@ -10,15 +10,15 @@ Rover Velocity Status. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------------------ | --------- | ------------ | ----------------------------------- | ------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| measured_speed_body_x | `float32` | m/s [Body] | [-inf (Backwards) : inf (Forwards)] | Measured speed in body x direction | -| adjusted_speed_body_x_setpoint | `float32` | m/s [Body] | [-inf (Backwards) : inf (Forwards)] | Speed setpoint in body x direction that is being tracked (Applied slew rates) | -| pid_throttle_body_x_integral | `float32` | | [-1 : 1] | Integral of the PID for the closed loop controller of the speed in body x direction | -| measured_speed_body_y | `float32` | m/s [Body] | [-inf (Left) : inf (Right)] | Mecanum only: Measured speed in body y direction (Invalid: NaN If not mecanum) | -| adjusted_speed_body_y_setpoint | `float32` | m/s [Body] | [-inf (Left) : inf (Right)] | Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates) (Invalid: NaN If not mecanum) | -| pid_throttle_body_y_integral | `float32` | | [-1 : 1] | Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction (Invalid: NaN If not mecanum) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------------------------------- | --------- | ------------ | ----------------------------------- | ------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| measured_speed_body_x | `float32` | m/s [Body] | [-inf (Backwards) : inf (Forwards)] | Measured speed in body x direction | +| adjusted_speed_body_x_setpoint | `float32` | m/s [Body] | [-inf (Backwards) : inf (Forwards)] | Speed setpoint in body x direction that is being tracked (Applied slew rates) | +| pid_throttle_body_x_integral | `float32` | | [-1 : 1] | Integral of the PID for the closed loop controller of the speed in body x direction | +| measured_speed_body_y | `float32` | m/s [Body] | [-inf (Left) : inf (Right)] | Mecanum only: Measured speed in body y direction (Invalid: NaN If not mecanum) | +| adjusted_speed_body_y_setpoint | `float32` | m/s [Body] | [-inf (Left) : inf (Right)] | Mecanum only: Speed setpoint in body y direction that is being tracked (Applied slew rates) (Invalid: NaN If not mecanum) | +| pid_throttle_body_y_integral | `float32` | | [-1 : 1] | Mecanum only: Integral of the PID for the closed loop controller of the speed in body y direction (Invalid: NaN If not mecanum) | ## Source Message diff --git a/docs/en/msg_docs/RoverSteeringSetpoint.md b/docs/en/msg_docs/RoverSteeringSetpoint.md index ea6e2c52089..72e534f12bb 100644 --- a/docs/en/msg_docs/RoverSteeringSetpoint.md +++ b/docs/en/msg_docs/RoverSteeringSetpoint.md @@ -10,10 +10,10 @@ Rover Steering setpoint. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------------------- | --------- | ------------ | ----------------------- | ------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| normalized_steering_setpoint | `float32` | [Body] | [-1 (Left) : 1 (Right)] | Ackermann: Normalized steering angle, Differential/Mecanum: Normalized speed difference between the left and right wheels | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------------------- | --------- | ------------ | ----------------------- | ------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| normalized_steering_setpoint | `float32` | [Body] | [-1 (Left) : 1 (Right)] | Ackermann: Normalized steering angle, Differential/Mecanum: Normalized speed difference between the left and right wheels | ## Source Message diff --git a/docs/en/msg_docs/RoverThrottleSetpoint.md b/docs/en/msg_docs/RoverThrottleSetpoint.md index 260309a14d6..ee861f7d66d 100644 --- a/docs/en/msg_docs/RoverThrottleSetpoint.md +++ b/docs/en/msg_docs/RoverThrottleSetpoint.md @@ -10,11 +10,11 @@ Rover Throttle setpoint. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------------- | --------- | ------------ | ------------------------------- | ------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| throttle_body_x | `float32` | [Body] | [-1 (Backwards) : 1 (Forwards)] | Throttle setpoint along body X axis | -| throttle_body_y | `float32` | [Body] | [-1 (Left) : 1 (Right)] | Mecanum only: Throttle setpoint along body Y axis (Invalid: NaN If not mecanum) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------- | --------- | ------------ | ------------------------------- | ------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| throttle_body_x | `float32` | [Body] | [-1 (Backwards) : 1 (Forwards)] | Throttle setpoint along body X axis | +| throttle_body_y | `float32` | [Body] | [-1 (Left) : 1 (Right)] | Mecanum only: Throttle setpoint along body Y axis (Invalid: NaN If not mecanum) | ## Source Message diff --git a/docs/en/msg_docs/Rpm.md b/docs/en/msg_docs/Rpm.md index a2ad43c1531..b77605ecf05 100644 --- a/docs/en/msg_docs/Rpm.md +++ b/docs/en/msg_docs/Rpm.md @@ -8,11 +8,11 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------ | --------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| rpm_estimate | `float32` | | | filtered revolutions per minute | -| rpm_raw | `float32` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------- | --------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| rpm_estimate | `float32` | | | filtered revolutions per minute | +| rpm_raw | `float32` | | | ## Source Message diff --git a/docs/en/msg_docs/RtlStatus.md b/docs/en/msg_docs/RtlStatus.md index e23b16c6a75..b752d8316f9 100644 --- a/docs/en/msg_docs/RtlStatus.md +++ b/docs/en/msg_docs/RtlStatus.md @@ -8,14 +8,14 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------------------- | -------- | ------------ | ---------- | -------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| safe_points_id | `uint32` | | | unique ID of active set of safe_point_items | -| is_evaluation_pending | `bool` | | | flag if the RTL point needs reevaluation (e.g. new safe points available, but need loading). | -| has_vtol_approach | `bool` | | | flag if approaches are defined for current RTL_TYPE parameter setting | -| rtl_type | `uint8` | | | Type of RTL chosen | -| safe_point_index | `uint8` | | | index of the chosen safe point, UINT8_MAX if no rally point was chosen | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------------- | -------- | ------------ | ---------- | -------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| safe_points_id | `uint32` | | | unique ID of active set of safe_point_items | +| is_evaluation_pending | `bool` | | | flag if the RTL point needs reevaluation (e.g. new safe points available, but need loading). | +| has_vtol_approach | `bool` | | | flag if approaches are defined for current RTL_TYPE parameter setting | +| rtl_type | `uint8` | | | Type of RTL chosen | +| safe_point_index | `uint8` | | | index of the chosen safe point, UINT8_MAX if no rally point was chosen | ## Constants diff --git a/docs/en/msg_docs/RtlTimeEstimate.md b/docs/en/msg_docs/RtlTimeEstimate.md index 98ffa6422ca..1779a21095d 100644 --- a/docs/en/msg_docs/RtlTimeEstimate.md +++ b/docs/en/msg_docs/RtlTimeEstimate.md @@ -8,12 +8,12 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------ | --------- | ------------ | ---------- | --------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| valid | `bool` | | | Flag indicating whether the time estiamtes are valid | -| time_estimate | `float32` | s | | Estimated time for RTL | -| safe_time_estimate | `float32` | s | | Same as time_estimate, but with safety factor and safety margin included (factor\*t + margin) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------- | --------- | ------------ | ---------- | --------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| valid | `bool` | | | Flag indicating whether the time estiamtes are valid | +| time_estimate | `float32` | s | | Estimated time for RTL | +| safe_time_estimate | `float32` | s | | Same as time_estimate, but with safety factor and safety margin included (factor\*t + margin) | ## Source Message diff --git a/docs/en/msg_docs/SatelliteInfo.md b/docs/en/msg_docs/SatelliteInfo.md index ca26b802845..eb6dbb6be94 100644 --- a/docs/en/msg_docs/SatelliteInfo.md +++ b/docs/en/msg_docs/SatelliteInfo.md @@ -8,16 +8,16 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | ----------- | ------------ | ---------- | -------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| count | `uint8` | | | Number of satellites visible to the receiver | -| svid | `uint8[40]` | | | Space vehicle ID [1..255], see scheme below | -| used | `uint8[40]` | | | 0: Satellite not used, 1: used for navigation | -| elevation | `uint8[40]` | | | Elevation (0: right on top of receiver, 90: on the horizon) of satellite | -| azimuth | `uint8[40]` | | | Direction of satellite, 0: 0 deg, 255: 360 deg. | -| snr | `uint8[40]` | | | dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. | -| prn | `uint8[40]` | | | Satellite PRN code assignment, (psuedorandom number SBAS, valid codes are 120-144) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | ----------- | ------------ | ---------- | -------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| count | `uint8` | | | Number of satellites visible to the receiver | +| svid | `uint8[40]` | | | Space vehicle ID [1..255], see scheme below | +| used | `uint8[40]` | | | 0: Satellite not used, 1: used for navigation | +| elevation | `uint8[40]` | | | Elevation (0: right on top of receiver, 90: on the horizon) of satellite | +| azimuth | `uint8[40]` | | | Direction of satellite, 0: 0 deg, 255: 360 deg. | +| snr | `uint8[40]` | | | dBHz, Signal to noise ratio of satellite C/N0, range 0..99, zero when not tracking this satellite. | +| prn | `uint8[40]` | | | Satellite PRN code assignment, (psuedorandom number SBAS, valid codes are 120-144) | ## Constants diff --git a/docs/en/msg_docs/SensorAccel.md b/docs/en/msg_docs/SensorAccel.md index 3a14c8a20eb..dc080350888 100644 --- a/docs/en/msg_docs/SensorAccel.md +++ b/docs/en/msg_docs/SensorAccel.md @@ -8,18 +8,18 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ---------- | ------------ | ---------- | ------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | -| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | -| x | `float32` | | | acceleration in the FRD board frame X-axis in m/s^2 | -| y | `float32` | | | acceleration in the FRD board frame Y-axis in m/s^2 | -| z | `float32` | | | acceleration in the FRD board frame Z-axis in m/s^2 | -| temperature | `float32` | | | temperature in degrees Celsius | -| error_count | `uint32` | | | -| clip_counter | `uint8[3]` | | | clip count per axis in the sample period | -| samples | `uint8` | | | number of raw samples that went into this message | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ---------- | ------------ | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| x | `float32` | | | acceleration in the FRD board frame X-axis in m/s^2 | +| y | `float32` | | | acceleration in the FRD board frame Y-axis in m/s^2 | +| z | `float32` | | | acceleration in the FRD board frame Z-axis in m/s^2 | +| temperature | `float32` | | | temperature in degrees Celsius | +| error_count | `uint32` | | | +| clip_counter | `uint8[3]` | | | clip count per axis in the sample period | +| samples | `uint8` | | | number of raw samples that went into this message | ## Constants diff --git a/docs/en/msg_docs/SensorAccelFifo.md b/docs/en/msg_docs/SensorAccelFifo.md index bebc6afac02..5f488239e27 100644 --- a/docs/en/msg_docs/SensorAccelFifo.md +++ b/docs/en/msg_docs/SensorAccelFifo.md @@ -8,17 +8,17 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ----------- | ------------ | ---------- | ------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | -| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | -| dt | `float32` | | | delta time between samples (microseconds) | -| scale | `float32` | | | -| samples | `uint8` | | | number of valid samples | -| x | `int16[32]` | | | acceleration in the FRD board frame X-axis in m/s^2 | -| y | `int16[32]` | | | acceleration in the FRD board frame Y-axis in m/s^2 | -| z | `int16[32]` | | | acceleration in the FRD board frame Z-axis in m/s^2 | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ----------- | ------------ | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| dt | `float32` | | | delta time between samples (microseconds) | +| scale | `float32` | | | +| samples | `uint8` | | | number of valid samples | +| x | `int16[32]` | | | acceleration in the FRD board frame X-axis in m/s^2 | +| y | `int16[32]` | | | acceleration in the FRD board frame Y-axis in m/s^2 | +| z | `int16[32]` | | | acceleration in the FRD board frame Z-axis in m/s^2 | ## Source Message diff --git a/docs/en/msg_docs/SensorAirflow.md b/docs/en/msg_docs/SensorAirflow.md index 05b066c70e7..10f04cdcd89 100644 --- a/docs/en/msg_docs/SensorAirflow.md +++ b/docs/en/msg_docs/SensorAirflow.md @@ -8,13 +8,13 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | -| speed | `float32` | | | the speed being reported by the wind / airflow sensor | -| direction | `float32` | | | the direction being reported by the wind / airflow sensor | -| status | `uint8` | | | Status code from the sensor | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| speed | `float32` | | | the speed being reported by the wind / airflow sensor | +| direction | `float32` | | | the direction being reported by the wind / airflow sensor | +| status | `uint8` | | | Status code from the sensor | ## Source Message diff --git a/docs/en/msg_docs/SensorBaro.md b/docs/en/msg_docs/SensorBaro.md index 3603ba504a6..b1fa1cea285 100644 --- a/docs/en/msg_docs/SensorBaro.md +++ b/docs/en/msg_docs/SensorBaro.md @@ -13,14 +13,14 @@ The information is published in the `SCALED_PRESSURE_n` MAVLink messages (along ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time of publication (since system start) | -| timestamp_sample | `uint64` | us | | Time of raw data capture | -| device_id | `uint32` | | | Unique device ID for the sensor that does not change between power cycles | -| pressure | `float32` | Pa | | Static pressure measurement | -| temperature | `float32` | degC | | Temperature. | -| error_count | `uint32` | | | Number of errors detected by driver. | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time of publication (since system start) | +| timestamp_sample | `uint64` | us | | Time of raw data capture | +| device_id | `uint32` | | | Unique device ID for the sensor that does not change between power cycles | +| pressure | `float32` | Pa | | Static pressure measurement | +| temperature | `float32` | degC | | Temperature. | +| error_count | `uint32` | | | Number of errors detected by driver. | ## Constants diff --git a/docs/en/msg_docs/SensorCombined.md b/docs/en/msg_docs/SensorCombined.md index 44f02dab946..b813eccc6ce 100644 --- a/docs/en/msg_docs/SensorCombined.md +++ b/docs/en/msg_docs/SensorCombined.md @@ -10,18 +10,18 @@ Sensor readings in SI-unit form. These fields are scaled and offset-compensated ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------------------------- | ------------ | ------------ | ---------- | ----------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| gyro_rad | `float32[3]` | | | average angular rate measured in the FRD body frame XYZ-axis in rad/s over the last gyro sampling period | -| gyro_integral_dt | `uint32` | | | gyro measurement sampling period in microseconds | -| accelerometer_timestamp_relative | `int32` | | | timestamp + accelerometer_timestamp_relative = Accelerometer timestamp | -| accelerometer_m_s2 | `float32[3]` | | | average value acceleration measured in the FRD body frame XYZ-axis in m/s^2 over the last accelerometer sampling period | -| accelerometer_integral_dt | `uint32` | | | accelerometer measurement sampling period in microseconds | -| accelerometer_clipping | `uint8` | | | bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame | -| gyro_clipping | `uint8` | | | bitfield indicating if there was any gyro clipping (per axis) during the integration time frame | -| accel_calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever accelermeter calibration changes. | -| gyro_calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever rate gyro calibration changes. | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------------------------------- | ------------ | ------------ | ---------- | ----------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| gyro_rad | `float32[3]` | | | average angular rate measured in the FRD body frame XYZ-axis in rad/s over the last gyro sampling period | +| gyro_integral_dt | `uint32` | | | gyro measurement sampling period in microseconds | +| accelerometer_timestamp_relative | `int32` | | | timestamp + accelerometer_timestamp_relative = Accelerometer timestamp | +| accelerometer_m_s2 | `float32[3]` | | | average value acceleration measured in the FRD body frame XYZ-axis in m/s^2 over the last accelerometer sampling period | +| accelerometer_integral_dt | `uint32` | | | accelerometer measurement sampling period in microseconds | +| accelerometer_clipping | `uint8` | | | bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame | +| gyro_clipping | `uint8` | | | bitfield indicating if there was any gyro clipping (per axis) during the integration time frame | +| accel_calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever accelermeter calibration changes. | +| gyro_calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever rate gyro calibration changes. | ## Constants diff --git a/docs/en/msg_docs/SensorCorrection.md b/docs/en/msg_docs/SensorCorrection.md index 649fbf57148..9fbdea5fb47 100644 --- a/docs/en/msg_docs/SensorCorrection.md +++ b/docs/en/msg_docs/SensorCorrection.md @@ -10,33 +10,33 @@ Sensor corrections in SI-unit form for the voted sensor. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------- | ------------ | ------------ | ---------- | ---------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| accel_device_ids | `uint32[4]` | | | -| accel_temperature | `float32[4]` | | | -| accel_offset_0 | `float32[3]` | | | accelerometer 0 offsets in the FRD board frame XYZ-axis in m/s^s | -| accel_offset_1 | `float32[3]` | | | accelerometer 1 offsets in the FRD board frame XYZ-axis in m/s^s | -| accel_offset_2 | `float32[3]` | | | accelerometer 2 offsets in the FRD board frame XYZ-axis in m/s^s | -| accel_offset_3 | `float32[3]` | | | accelerometer 3 offsets in the FRD board frame XYZ-axis in m/s^s | -| gyro_device_ids | `uint32[4]` | | | -| gyro_temperature | `float32[4]` | | | -| gyro_offset_0 | `float32[3]` | | | gyro 0 XYZ offsets in the sensor frame in rad/s | -| gyro_offset_1 | `float32[3]` | | | gyro 1 XYZ offsets in the sensor frame in rad/s | -| gyro_offset_2 | `float32[3]` | | | gyro 2 XYZ offsets in the sensor frame in rad/s | -| gyro_offset_3 | `float32[3]` | | | gyro 3 XYZ offsets in the sensor frame in rad/s | -| mag_device_ids | `uint32[4]` | | | -| mag_temperature | `float32[4]` | | | -| mag_offset_0 | `float32[3]` | | | magnetometer 0 offsets in the FRD board frame XYZ-axis in m/s^s | -| mag_offset_1 | `float32[3]` | | | magnetometer 1 offsets in the FRD board frame XYZ-axis in m/s^s | -| mag_offset_2 | `float32[3]` | | | magnetometer 2 offsets in the FRD board frame XYZ-axis in m/s^s | -| mag_offset_3 | `float32[3]` | | | magnetometer 3 offsets in the FRD board frame XYZ-axis in m/s^s | -| baro_device_ids | `uint32[4]` | | | -| baro_temperature | `float32[4]` | | | -| baro_offset_0 | `float32` | | | barometric pressure 0 offsets in the sensor frame in Pascals | -| baro_offset_1 | `float32` | | | barometric pressure 1 offsets in the sensor frame in Pascals | -| baro_offset_2 | `float32` | | | barometric pressure 2 offsets in the sensor frame in Pascals | -| baro_offset_3 | `float32` | | | barometric pressure 3 offsets in the sensor frame in Pascals | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------- | ------------ | ------------ | ---------- | ---------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| accel_device_ids | `uint32[4]` | | | +| accel_temperature | `float32[4]` | | | +| accel_offset_0 | `float32[3]` | | | accelerometer 0 offsets in the FRD board frame XYZ-axis in m/s^s | +| accel_offset_1 | `float32[3]` | | | accelerometer 1 offsets in the FRD board frame XYZ-axis in m/s^s | +| accel_offset_2 | `float32[3]` | | | accelerometer 2 offsets in the FRD board frame XYZ-axis in m/s^s | +| accel_offset_3 | `float32[3]` | | | accelerometer 3 offsets in the FRD board frame XYZ-axis in m/s^s | +| gyro_device_ids | `uint32[4]` | | | +| gyro_temperature | `float32[4]` | | | +| gyro_offset_0 | `float32[3]` | | | gyro 0 XYZ offsets in the sensor frame in rad/s | +| gyro_offset_1 | `float32[3]` | | | gyro 1 XYZ offsets in the sensor frame in rad/s | +| gyro_offset_2 | `float32[3]` | | | gyro 2 XYZ offsets in the sensor frame in rad/s | +| gyro_offset_3 | `float32[3]` | | | gyro 3 XYZ offsets in the sensor frame in rad/s | +| mag_device_ids | `uint32[4]` | | | +| mag_temperature | `float32[4]` | | | +| mag_offset_0 | `float32[3]` | | | magnetometer 0 offsets in the FRD board frame XYZ-axis in m/s^s | +| mag_offset_1 | `float32[3]` | | | magnetometer 1 offsets in the FRD board frame XYZ-axis in m/s^s | +| mag_offset_2 | `float32[3]` | | | magnetometer 2 offsets in the FRD board frame XYZ-axis in m/s^s | +| mag_offset_3 | `float32[3]` | | | magnetometer 3 offsets in the FRD board frame XYZ-axis in m/s^s | +| baro_device_ids | `uint32[4]` | | | +| baro_temperature | `float32[4]` | | | +| baro_offset_0 | `float32` | | | barometric pressure 0 offsets in the sensor frame in Pascals | +| baro_offset_1 | `float32` | | | barometric pressure 1 offsets in the sensor frame in Pascals | +| baro_offset_2 | `float32` | | | barometric pressure 2 offsets in the sensor frame in Pascals | +| baro_offset_3 | `float32` | | | barometric pressure 3 offsets in the sensor frame in Pascals | ## Source Message diff --git a/docs/en/msg_docs/SensorGnssRelative.md b/docs/en/msg_docs/SensorGnssRelative.md index 8e69a775a7b..e169851f247 100644 --- a/docs/en/msg_docs/SensorGnssRelative.md +++ b/docs/en/msg_docs/SensorGnssRelative.md @@ -10,29 +10,29 @@ GNSS relative positioning information in NED frame. The NED frame is defined as ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------------------- | ------------ | ------------ | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | time since system start (microseconds) | -| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | -| time_utc_usec | `uint64` | | | Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 | -| reference_station_id | `uint16` | | | Reference Station ID | -| position | `float32[3]` | | | GPS NED relative position vector (m) | -| position_accuracy | `float32[3]` | | | Accuracy of relative position (m) | -| heading | `float32` | | | Heading of the relative position vector (radians) | -| heading_accuracy | `float32` | | | Accuracy of heading of the relative position vector (radians) | -| position_length | `float32` | | | Length of the position vector (m) | -| accuracy_length | `float32` | | | Accuracy of the position length (m) | -| gnss_fix_ok | `bool` | | | GNSS valid fix (i.e within DOP & accuracy masks) | -| differential_solution | `bool` | | | differential corrections were applied | -| relative_position_valid | `bool` | | | -| carrier_solution_floating | `bool` | | | carrier phase range solution with floating ambiguities | -| carrier_solution_fixed | `bool` | | | carrier phase range solution with fixed ambiguities | -| moving_base_mode | `bool` | | | if the receiver is operating in moving base mode | -| reference_position_miss | `bool` | | | extrapolated reference position was used to compute moving base solution this epoch | -| reference_observations_miss | `bool` | | | extrapolated reference observations were used to compute moving base solution this epoch | -| heading_valid | `bool` | | | -| relative_position_normalized | `bool` | | | the components of the relative position vector (including the high-precision parts) are normalized | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------------------- | ------------ | ------------ | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| time_utc_usec | `uint64` | | | Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 | +| reference_station_id | `uint16` | | | Reference Station ID | +| position | `float32[3]` | | | GPS NED relative position vector (m) | +| position_accuracy | `float32[3]` | | | Accuracy of relative position (m) | +| heading | `float32` | | | Heading of the relative position vector (radians) | +| heading_accuracy | `float32` | | | Accuracy of heading of the relative position vector (radians) | +| position_length | `float32` | | | Length of the position vector (m) | +| accuracy_length | `float32` | | | Accuracy of the position length (m) | +| gnss_fix_ok | `bool` | | | GNSS valid fix (i.e within DOP & accuracy masks) | +| differential_solution | `bool` | | | differential corrections were applied | +| relative_position_valid | `bool` | | | +| carrier_solution_floating | `bool` | | | carrier phase range solution with floating ambiguities | +| carrier_solution_fixed | `bool` | | | carrier phase range solution with fixed ambiguities | +| moving_base_mode | `bool` | | | if the receiver is operating in moving base mode | +| reference_position_miss | `bool` | | | extrapolated reference position was used to compute moving base solution this epoch | +| reference_observations_miss | `bool` | | | extrapolated reference observations were used to compute moving base solution this epoch | +| heading_valid | `bool` | | | +| relative_position_normalized | `bool` | | | the components of the relative position vector (including the high-precision parts) are normalized | ## Source Message diff --git a/docs/en/msg_docs/SensorGnssStatus.md b/docs/en/msg_docs/SensorGnssStatus.md index bcbff5adbe6..1fa68daae21 100644 --- a/docs/en/msg_docs/SensorGnssStatus.md +++ b/docs/en/msg_docs/SensorGnssStatus.md @@ -10,15 +10,15 @@ Gnss quality indicators. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------------- | -------- | ------------ | ----------------------------------------------- | ------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | -| `bool` | | | Set to true if quality indicators are available | -| quality_corrections | `uint8` | | | Corrections quality from 0 to 10, or 255 if not available | -| quality_receiver | `uint8` | | | Overall receiver operating status from 0 to 10, or 255 if not available | -| quality_gnss_signals | `uint8` | | | Quality of GNSS signals from 0 to 10, or 255 if not available | -| quality_post_processing | `uint8` | | | Expected post processing quality from 0 to 10, or 255 if not available | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------------- | -------- | ------------ | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| | `bool` | | | Set to true if quality indicators are available | +| quality_corrections | `uint8` | | | Corrections quality from 0 to 10, or 255 if not available | +| quality_receiver | `uint8` | | | Overall receiver operating status from 0 to 10, or 255 if not available | +| quality_gnss_signals | `uint8` | | | Quality of GNSS signals from 0 to 10, or 255 if not available | +| quality_post_processing | `uint8` | | | Expected post processing quality from 0 to 10, or 255 if not available | ## Source Message diff --git a/docs/en/msg_docs/SensorGps.md b/docs/en/msg_docs/SensorGps.md index 831ff2e5f5d..e01c9978caa 100644 --- a/docs/en/msg_docs/SensorGps.md +++ b/docs/en/msg_docs/SensorGps.md @@ -10,48 +10,48 @@ GPS position in WGS84 coordinates. the field 'timestamp' is for the position & v ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------------- | --------- | ------------------ | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | -| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | -| latitude_deg | `float64` | | | Latitude in degrees, allows centimeter level RTK precision | -| longitude_deg | `float64` | | | Longitude in degrees, allows centimeter level RTK precision | -| altitude_msl_m | `float64` | | | Altitude above MSL, meters | -| altitude_ellipsoid_m | `float64` | | | Altitude above Ellipsoid, meters | -| s_variance_m_s | `float32` | | | GPS speed accuracy estimate, (metres/sec) | -| c_variance_rad | `float32` | | | GPS course accuracy estimate, (radians) | -| fix_type | `uint8` | | | Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. | -| eph | `float32` | | | GPS horizontal position accuracy (metres) | -| epv | `float32` | | | GPS vertical position accuracy (metres) | -| hdop | `float32` | | | Horizontal dilution of precision | -| vdop | `float32` | | | Vertical dilution of precision | -| noise_per_ms | `int32` | | | GPS noise per millisecond | -| automatic_gain_control | `uint16` | | | Automatic gain control monitor | -| jamming_state | `uint8` | | | indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected | -| jamming_indicator | `int32` | | | indicates jamming is occurring | -| spoofing_state | `uint8` | | | indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected | -| authentication_state | `uint8` | | | GPS signal authentication state | -| vel_m_s | `float32` | | | GPS ground speed, (metres/sec) | -| vel_n_m_s | `float32` | | | GPS North velocity, (metres/sec) | -| vel_e_m_s | `float32` | | | GPS East velocity, (metres/sec) | -| vel_d_m_s | `float32` | | | GPS Down velocity, (metres/sec) | -| cog_rad | `float32` | | | Course over ground (NOT heading, but direction of movement), -PI..PI, (radians) | -| vel_ned_valid | `bool` | | | True if NED velocity is valid | -| timestamp_time_relative | `int32` | | | timestamp + timestamp_time_relative = Time of the UTC timestamp since system start, (microseconds) | -| time_utc_usec | `uint64` | | | Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 | -| satellites_used | `uint8` | | | Number of satellites used | -| system_error | `uint32` | | | General errors with the connected GPS receiver | -| heading | `float32` | | | heading angle of XYZ body frame rel to NED. Set to NaN if not available and updated (used for dual antenna GPS), (rad, [-PI, PI]) | -| heading_offset | `float32` | | | heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI]) | -| heading_accuracy | `float32` | | | heading accuracy (rad, [0, 2PI]) | -| rtcm_injection_rate | `float32` | | | RTCM message injection rate Hz | -| selected_rtcm_instance | `uint8` | | | uorb instance that is being used for RTCM corrections | -| rtcm_crc_failed | `bool` | | | RTCM message CRC failure detected | -| rtcm_msg_used | `uint8` | | | Indicates if the RTCM message was used successfully by the receiver | -| antenna_offset_x | `float32` | m [body frame FRD] | | X Position of GNSS antenna | -| antenna_offset_y | `float32` | m [body frame FRD] | | Y Position of GNSS antenna | -| antenna_offset_z | `float32` | m [body frame FRD] | | Z Position of GNSS antenna | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------------- | --------- | ------------------ | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| latitude_deg | `float64` | | | Latitude in degrees, allows centimeter level RTK precision | +| longitude_deg | `float64` | | | Longitude in degrees, allows centimeter level RTK precision | +| altitude_msl_m | `float64` | | | Altitude above MSL, meters | +| altitude_ellipsoid_m | `float64` | | | Altitude above Ellipsoid, meters | +| s_variance_m_s | `float32` | | | GPS speed accuracy estimate, (metres/sec) | +| c_variance_rad | `float32` | | | GPS course accuracy estimate, (radians) | +| fix_type | `uint8` | | | Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. | +| eph | `float32` | | | GPS horizontal position accuracy (metres) | +| epv | `float32` | | | GPS vertical position accuracy (metres) | +| hdop | `float32` | | | Horizontal dilution of precision | +| vdop | `float32` | | | Vertical dilution of precision | +| noise_per_ms | `int32` | | | GPS noise per millisecond | +| automatic_gain_control | `uint16` | | | Automatic gain control monitor | +| jamming_state | `uint8` | | | indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected | +| jamming_indicator | `int32` | | | indicates jamming is occurring | +| spoofing_state | `uint8` | | | indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Mitigated, 3: Detected | +| authentication_state | `uint8` | | | GPS signal authentication state | +| vel_m_s | `float32` | | | GPS ground speed, (metres/sec) | +| vel_n_m_s | `float32` | | | GPS North velocity, (metres/sec) | +| vel_e_m_s | `float32` | | | GPS East velocity, (metres/sec) | +| vel_d_m_s | `float32` | | | GPS Down velocity, (metres/sec) | +| cog_rad | `float32` | | | Course over ground (NOT heading, but direction of movement), -PI..PI, (radians) | +| vel_ned_valid | `bool` | | | True if NED velocity is valid | +| timestamp_time_relative | `int32` | | | timestamp + timestamp_time_relative = Time of the UTC timestamp since system start, (microseconds) | +| time_utc_usec | `uint64` | | | Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0 | +| satellites_used | `uint8` | | | Number of satellites used | +| system_error | `uint32` | | | General errors with the connected GPS receiver | +| heading | `float32` | | | heading angle of XYZ body frame rel to NED. Set to NaN if not available and updated (used for dual antenna GPS), (rad, [-PI, PI]) | +| heading_offset | `float32` | | | heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI]) | +| heading_accuracy | `float32` | | | heading accuracy (rad, [0, 2PI]) | +| rtcm_injection_rate | `float32` | | | RTCM message injection rate Hz | +| selected_rtcm_instance | `uint8` | | | uorb instance that is being used for RTCM corrections | +| rtcm_crc_failed | `bool` | | | RTCM message CRC failure detected | +| rtcm_msg_used | `uint8` | | | Indicates if the RTCM message was used successfully by the receiver | +| antenna_offset_x | `float32` | m [body frame FRD] | | X Position of GNSS antenna | +| antenna_offset_y | `float32` | m [body frame FRD] | | Y Position of GNSS antenna | +| antenna_offset_z | `float32` | m [body frame FRD] | | Z Position of GNSS antenna | ## Constants diff --git a/docs/en/msg_docs/SensorGyro.md b/docs/en/msg_docs/SensorGyro.md index 8e4c63b5b4d..61653ff9e8a 100644 --- a/docs/en/msg_docs/SensorGyro.md +++ b/docs/en/msg_docs/SensorGyro.md @@ -8,18 +8,18 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ---------- | ------------ | ---------- | ------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | -| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | -| x | `float32` | | | angular velocity in the FRD board frame X-axis in rad/s | -| y | `float32` | | | angular velocity in the FRD board frame Y-axis in rad/s | -| z | `float32` | | | angular velocity in the FRD board frame Z-axis in rad/s | -| temperature | `float32` | | | temperature in degrees Celsius | -| error_count | `uint32` | | | -| clip_counter | `uint8[3]` | | | clip count per axis in the sample period | -| samples | `uint8` | | | number of raw samples that went into this message | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ---------- | ------------ | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| x | `float32` | | | angular velocity in the FRD board frame X-axis in rad/s | +| y | `float32` | | | angular velocity in the FRD board frame Y-axis in rad/s | +| z | `float32` | | | angular velocity in the FRD board frame Z-axis in rad/s | +| temperature | `float32` | | | temperature in degrees Celsius | +| error_count | `uint32` | | | +| clip_counter | `uint8[3]` | | | clip count per axis in the sample period | +| samples | `uint8` | | | number of raw samples that went into this message | ## Constants diff --git a/docs/en/msg_docs/SensorGyroFft.md b/docs/en/msg_docs/SensorGyroFft.md index 4c893ff6118..9950f92fec8 100644 --- a/docs/en/msg_docs/SensorGyroFft.md +++ b/docs/en/msg_docs/SensorGyroFft.md @@ -8,19 +8,19 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | -| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | -| sensor_sample_rate_hz | `float32` | | | -| resolution_hz | `float32` | | | -| peak_frequencies_x | `float32[3]` | | | x axis peak frequencies | -| peak_frequencies_y | `float32[3]` | | | y axis peak frequencies | -| peak_frequencies_z | `float32[3]` | | | z axis peak frequencies | -| peak_snr_x | `float32[3]` | | | x axis peak SNR | -| peak_snr_y | `float32[3]` | | | y axis peak SNR | -| peak_snr_z | `float32[3]` | | | z axis peak SNR | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| sensor_sample_rate_hz | `float32` | | | +| resolution_hz | `float32` | | | +| peak_frequencies_x | `float32[3]` | | | x axis peak frequencies | +| peak_frequencies_y | `float32[3]` | | | y axis peak frequencies | +| peak_frequencies_z | `float32[3]` | | | z axis peak frequencies | +| peak_snr_x | `float32[3]` | | | x axis peak SNR | +| peak_snr_y | `float32[3]` | | | y axis peak SNR | +| peak_snr_z | `float32[3]` | | | z axis peak SNR | ## Source Message diff --git a/docs/en/msg_docs/SensorGyroFifo.md b/docs/en/msg_docs/SensorGyroFifo.md index e2cabb51907..56ce51a3285 100644 --- a/docs/en/msg_docs/SensorGyroFifo.md +++ b/docs/en/msg_docs/SensorGyroFifo.md @@ -8,17 +8,17 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ----------- | ------------ | ---------- | ------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | -| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | -| dt | `float32` | | | delta time between samples (microseconds) | -| scale | `float32` | | | -| samples | `uint8` | | | number of valid samples | -| x | `int16[32]` | | | angular velocity in the FRD board frame X-axis in rad/s | -| y | `int16[32]` | | | angular velocity in the FRD board frame Y-axis in rad/s | -| z | `int16[32]` | | | angular velocity in the FRD board frame Z-axis in rad/s | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ----------- | ------------ | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| dt | `float32` | | | delta time between samples (microseconds) | +| scale | `float32` | | | +| samples | `uint8` | | | number of valid samples | +| x | `int16[32]` | | | angular velocity in the FRD board frame X-axis in rad/s | +| y | `int16[32]` | | | angular velocity in the FRD board frame Y-axis in rad/s | +| z | `int16[32]` | | | angular velocity in the FRD board frame Z-axis in rad/s | ## Constants diff --git a/docs/en/msg_docs/SensorHygrometer.md b/docs/en/msg_docs/SensorHygrometer.md index 0d86c2d9baa..00c3c77f989 100644 --- a/docs/en/msg_docs/SensorHygrometer.md +++ b/docs/en/msg_docs/SensorHygrometer.md @@ -8,13 +8,13 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | --------- | ------------ | ---------------------------------------- | ------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | -| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | -| `float32` | | | Temperature provided by sensor (Celsius) | -| humidity | `float32` | | | Humidity provided by sensor | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| | `float32` | | | Temperature provided by sensor (Celsius) | +| humidity | `float32` | | | Humidity provided by sensor | ## Source Message diff --git a/docs/en/msg_docs/SensorMag.md b/docs/en/msg_docs/SensorMag.md index f689f003800..5119ad338e1 100644 --- a/docs/en/msg_docs/SensorMag.md +++ b/docs/en/msg_docs/SensorMag.md @@ -8,16 +8,16 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | -| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | -| x | `float32` | | | magnetic field in the FRD board frame X-axis in Gauss | -| y | `float32` | | | magnetic field in the FRD board frame Y-axis in Gauss | -| z | `float32` | | | magnetic field in the FRD board frame Z-axis in Gauss | -| temperature | `float32` | | | temperature in degrees Celsius | -| error_count | `uint32` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| x | `float32` | | | magnetic field in the FRD board frame X-axis in Gauss | +| y | `float32` | | | magnetic field in the FRD board frame Y-axis in Gauss | +| z | `float32` | | | magnetic field in the FRD board frame Z-axis in Gauss | +| temperature | `float32` | | | temperature in degrees Celsius | +| error_count | `uint32` | | | ## Constants diff --git a/docs/en/msg_docs/SensorOpticalFlow.md b/docs/en/msg_docs/SensorOpticalFlow.md index fc3af0e977c..8f55e765595 100644 --- a/docs/en/msg_docs/SensorOpticalFlow.md +++ b/docs/en/msg_docs/SensorOpticalFlow.md @@ -8,23 +8,23 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------------- | ------------ | ------------ | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | -| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | -| pixel_flow | `float32[2]` | | | (radians) optical flow in radians where a positive value is produced by a RH rotation of the sensor about the body axis | -| delta_angle | `float32[3]` | | | (radians) accumulated gyro radians where a positive value is produced by a RH rotation about the body axis. Set to NaN if flow sensor does not have 3-axis gyro data. | -| delta_angle_available | `bool` | | | -| distance_m | `float32` | | | (meters) Distance to the center of the flow field | -| distance_available | `bool` | | | -| integration_timespan_us | `uint32` | | | (microseconds) accumulation timespan in microseconds | -| quality | `uint8` | | | quality, 0: bad quality, 255: maximum quality | -| error_count | `uint32` | | | -| max_flow_rate | `float32` | | | (radians/s) Magnitude of maximum angular which the optical flow sensor can measure reliably | -| min_ground_distance | `float32` | | | (meters) Minimum distance from ground at which the optical flow sensor operates reliably | -| max_ground_distance | `float32` | | | (meters) Maximum distance from ground at which the optical flow sensor operates reliably | -| mode | `uint8` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------------- | ------------ | ------------ | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| pixel_flow | `float32[2]` | | | (radians) optical flow in radians where a positive value is produced by a RH rotation of the sensor about the body axis | +| delta_angle | `float32[3]` | | | (radians) accumulated gyro radians where a positive value is produced by a RH rotation about the body axis. Set to NaN if flow sensor does not have 3-axis gyro data. | +| delta_angle_available | `bool` | | | +| distance_m | `float32` | | | (meters) Distance to the center of the flow field | +| distance_available | `bool` | | | +| integration_timespan_us | `uint32` | | | (microseconds) accumulation timespan in microseconds | +| quality | `uint8` | | | quality, 0: bad quality, 255: maximum quality | +| error_count | `uint32` | | | +| max_flow_rate | `float32` | | | (radians/s) Magnitude of maximum angular which the optical flow sensor can measure reliably | +| min_ground_distance | `float32` | | | (meters) Minimum distance from ground at which the optical flow sensor operates reliably | +| max_ground_distance | `float32` | | | (meters) Maximum distance from ground at which the optical flow sensor operates reliably | +| mode | `uint8` | | | ## Constants diff --git a/docs/en/msg_docs/SensorPreflightMag.md b/docs/en/msg_docs/SensorPreflightMag.md index 904317e58fc..55032f258d8 100644 --- a/docs/en/msg_docs/SensorPreflightMag.md +++ b/docs/en/msg_docs/SensorPreflightMag.md @@ -10,10 +10,10 @@ Pre-flight sensor check metrics. The topic will not be updated when the vehicle ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------------- | --------- | ------------ | ---------- | --------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| mag_inconsistency_angle | `float32` | | | maximum angle between magnetometer instance field vectors in radians. | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------------- | --------- | ------------ | ---------- | --------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| mag_inconsistency_angle | `float32` | | | maximum angle between magnetometer instance field vectors in radians. | ## Source Message diff --git a/docs/en/msg_docs/SensorSelection.md b/docs/en/msg_docs/SensorSelection.md index d2f0ee5546e..d9b5bfb0d9c 100644 --- a/docs/en/msg_docs/SensorSelection.md +++ b/docs/en/msg_docs/SensorSelection.md @@ -10,11 +10,11 @@ Sensor ID's for the voted sensors output on the sensor_combined topic. Will be u ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------------- | -------- | ------------ | ---------- | ------------------------------------------------ | -| timestamp | `uint64` | | | time since system start (microseconds) | -| accel_device_id | `uint32` | | | unique device ID for the selected accelerometers | -| gyro_device_id | `uint32` | | | unique device ID for the selected rate gyros | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------- | -------- | ------------ | ---------- | ------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| accel_device_id | `uint32` | | | unique device ID for the selected accelerometers | +| gyro_device_id | `uint32` | | | unique device ID for the selected rate gyros | ## Source Message diff --git a/docs/en/msg_docs/SensorTemp.md b/docs/en/msg_docs/SensorTemp.md index 8c68e73dd9d..87d6cb1c2a4 100644 --- a/docs/en/msg_docs/SensorTemp.md +++ b/docs/en/msg_docs/SensorTemp.md @@ -8,11 +8,11 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------- | -------- | ------------ | ---------------------------------------- | ------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | -| `float32` | | | Temperature provided by sensor (Celsius) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| | `float32` | | | Temperature provided by sensor (Celsius) | ## Source Message diff --git a/docs/en/msg_docs/SensorUwb.md b/docs/en/msg_docs/SensorUwb.md index afd888517a9..dc23fc29b07 100644 --- a/docs/en/msg_docs/SensorUwb.md +++ b/docs/en/msg_docs/SensorUwb.md @@ -10,29 +10,29 @@ UWB distance contains the distance information measured by an ultra-wideband pos ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------------- | --------- | ------------ | ---------- | ----------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| sessionid | `uint32` | | | UWB SessionID | -| time_offset | `uint32` | | | Time between Ranging Rounds in ms | -| counter | `uint32` | | | Number of Ranges since last Start of Ranging | -| mac | `uint16` | | | MAC adress of Initiator (controller) | -| mac_dest | `uint16` | | | MAC adress of Responder (Controlee) | -| status | `uint16` | | | status feedback # | -| nlos | `uint8` | | | None line of site condition y/n | -| distance | `float32` | | | distance in m to the UWB receiver | -| aoa_azimuth_dev | `float32` | | | Angle of arrival of first incomming RX msg | -| aoa_elevation_dev | `float32` | | | Angle of arrival of first incomming RX msg | -| aoa_azimuth_resp | `float32` | | | Angle of arrival of first incomming RX msg at the responder | -| aoa_elevation_resp | `float32` | | | Angle of arrival of first incomming RX msg at the responder | -| aoa_azimuth_fom | `uint8` | | | AOA Azimuth FOM | -| aoa_elevation_fom | `uint8` | | | AOA Elevation FOM | -| aoa_dest_azimuth_fom | `uint8` | | | AOA Azimuth FOM | -| aoa_dest_elevation_fom | `uint8` | | | AOA Elevation FOM | -| orientation | `uint8` | | | Direction the sensor faces from MAV_SENSOR_ORIENTATION enum | -| offset_x | `float32` | | | UWB initiator offset in X axis (NED drone frame) | -| offset_y | `float32` | | | UWB initiator offset in Y axis (NED drone frame) | -| offset_z | `float32` | | | UWB initiator offset in Z axis (NED drone frame) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------- | --------- | ------------ | ---------- | ----------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| sessionid | `uint32` | | | UWB SessionID | +| time_offset | `uint32` | | | Time between Ranging Rounds in ms | +| counter | `uint32` | | | Number of Ranges since last Start of Ranging | +| mac | `uint16` | | | MAC adress of Initiator (controller) | +| mac_dest | `uint16` | | | MAC adress of Responder (Controlee) | +| status | `uint16` | | | status feedback # | +| nlos | `uint8` | | | None line of site condition y/n | +| distance | `float32` | | | distance in m to the UWB receiver | +| aoa_azimuth_dev | `float32` | | | Angle of arrival of first incomming RX msg | +| aoa_elevation_dev | `float32` | | | Angle of arrival of first incomming RX msg | +| aoa_azimuth_resp | `float32` | | | Angle of arrival of first incomming RX msg at the responder | +| aoa_elevation_resp | `float32` | | | Angle of arrival of first incomming RX msg at the responder | +| aoa_azimuth_fom | `uint8` | | | AOA Azimuth FOM | +| aoa_elevation_fom | `uint8` | | | AOA Elevation FOM | +| aoa_dest_azimuth_fom | `uint8` | | | AOA Azimuth FOM | +| aoa_dest_elevation_fom | `uint8` | | | AOA Elevation FOM | +| orientation | `uint8` | | | Direction the sensor faces from MAV_SENSOR_ORIENTATION enum | +| offset_x | `float32` | | | UWB initiator offset in X axis (NED drone frame) | +| offset_y | `float32` | | | UWB initiator offset in Y axis (NED drone frame) | +| offset_z | `float32` | | | UWB initiator offset in Z axis (NED drone frame) | ## Source Message diff --git a/docs/en/msg_docs/SensorsStatus.md b/docs/en/msg_docs/SensorsStatus.md index cdac8397236..44021dad755 100644 --- a/docs/en/msg_docs/SensorsStatus.md +++ b/docs/en/msg_docs/SensorsStatus.md @@ -10,16 +10,16 @@ Sensor check metrics. This will be zero for a sensor that's primary or unpopulat ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------- | ------------ | ------------ | ---------- | -------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| device_id_primary | `uint32` | | | current primary device id for reference | -| device_ids | `uint32[4]` | | | -| inconsistency | `float32[4]` | | | magnitude of difference between sensor instance and mean | -| healthy | `bool[4]` | | | sensor healthy | -| priority | `uint8[4]` | | | -| enabled | `bool[4]` | | | -| external | `bool[4]` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| device_id_primary | `uint32` | | | current primary device id for reference | +| device_ids | `uint32[4]` | | | +| inconsistency | `float32[4]` | | | magnitude of difference between sensor instance and mean | +| healthy | `bool[4]` | | | sensor healthy | +| priority | `uint8[4]` | | | +| enabled | `bool[4]` | | | +| external | `bool[4]` | | | ## Source Message diff --git a/docs/en/msg_docs/SensorsStatusImu.md b/docs/en/msg_docs/SensorsStatusImu.md index 9ded6c0dcb5..3ae4aab6c7b 100644 --- a/docs/en/msg_docs/SensorsStatusImu.md +++ b/docs/en/msg_docs/SensorsStatusImu.md @@ -10,19 +10,19 @@ Sensor check metrics. This will be zero for a sensor that's primary or unpopulat ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------------ | -| timestamp | `uint64` | | | time since system start (microseconds) | -| accel_device_id_primary | `uint32` | | | current primary accel device id for reference | -| accel_device_ids | `uint32[4]` | | | -| accel_inconsistency_m_s_s | `float32[4]` | | | magnitude of acceleration difference between IMU instance and mean in m/s^2. | -| accel_healthy | `bool[4]` | | | -| accel_priority | `uint8[4]` | | | -| gyro_device_id_primary | `uint32` | | | current primary gyro device id for reference | -| gyro_device_ids | `uint32[4]` | | | -| gyro_inconsistency_rad_s | `float32[4]` | | | magnitude of angular rate difference between IMU instance and mean in (rad/s). | -| gyro_healthy | `bool[4]` | | | -| gyro_priority | `uint8[4]` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| accel_device_id_primary | `uint32` | | | current primary accel device id for reference | +| accel_device_ids | `uint32[4]` | | | +| accel_inconsistency_m_s_s | `float32[4]` | | | magnitude of acceleration difference between IMU instance and mean in m/s^2. | +| accel_healthy | `bool[4]` | | | +| accel_priority | `uint8[4]` | | | +| gyro_device_id_primary | `uint32` | | | current primary gyro device id for reference | +| gyro_device_ids | `uint32[4]` | | | +| gyro_inconsistency_rad_s | `float32[4]` | | | magnitude of angular rate difference between IMU instance and mean in (rad/s). | +| gyro_healthy | `bool[4]` | | | +| gyro_priority | `uint8[4]` | | | ## Source Message diff --git a/docs/en/msg_docs/SystemPower.md b/docs/en/msg_docs/SystemPower.md index 3d9c8caf93f..9a189f25b49 100644 --- a/docs/en/msg_docs/SystemPower.md +++ b/docs/en/msg_docs/SystemPower.md @@ -8,22 +8,22 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------ | ------------ | ------------ | ---------- | --------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| voltage5v_v | `float32` | | | peripheral 5V rail voltage | -| voltage_payload_v | `float32` | | | payload rail voltage | -| sensors3v3 | `float32[4]` | | | Sensors 3V3 rail voltage | -| sensors3v3_valid | `uint8` | | | Sensors 3V3 rail voltage was read (bitfield). | -| usb_connected | `uint8` | | | USB is connected when 1 | -| brick_valid | `uint8` | | | brick bits power is good when bit 1 | -| usb_valid | `uint8` | | | USB is valid when 1 | -| servo_valid | `uint8` | | | servo power is good when 1 | -| periph_5v_oc | `uint8` | | | peripheral overcurrent when 1 | -| hipower_5v_oc | `uint8` | | | high power peripheral overcurrent when 1 | -| comp_5v_valid | `uint8` | | | 5V to companion valid | -| can1_gps1_5v_valid | `uint8` | | | 5V for CAN1/GPS1 valid | -| payload_v_valid | `uint8` | | | payload rail voltage is valid | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------- | ------------ | ------------ | ---------- | --------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| voltage5v_v | `float32` | | | peripheral 5V rail voltage | +| voltage_payload_v | `float32` | | | payload rail voltage | +| sensors3v3 | `float32[4]` | | | Sensors 3V3 rail voltage | +| sensors3v3_valid | `uint8` | | | Sensors 3V3 rail voltage was read (bitfield). | +| usb_connected | `uint8` | | | USB is connected when 1 | +| brick_valid | `uint8` | | | brick bits power is good when bit 1 | +| usb_valid | `uint8` | | | USB is valid when 1 | +| servo_valid | `uint8` | | | servo power is good when 1 | +| periph_5v_oc | `uint8` | | | peripheral overcurrent when 1 | +| hipower_5v_oc | `uint8` | | | high power peripheral overcurrent when 1 | +| comp_5v_valid | `uint8` | | | 5V to companion valid | +| can1_gps1_5v_valid | `uint8` | | | 5V for CAN1/GPS1 valid | +| payload_v_valid | `uint8` | | | payload rail voltage is valid | ## Constants diff --git a/docs/en/msg_docs/TakeoffStatus.md b/docs/en/msg_docs/TakeoffStatus.md index 6176bb4b8fa..a54b4284a00 100644 --- a/docs/en/msg_docs/TakeoffStatus.md +++ b/docs/en/msg_docs/TakeoffStatus.md @@ -10,11 +10,11 @@ Status of the takeoff state machine currently just available for multicopters. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------ | -| timestamp | `uint64` | | | time since system start (microseconds) | -| takeoff_state | `uint8` | | | -| tilt_limit | `float32` | | | limited tilt feasibility during takeoff, contains maximum tilt otherwise | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| takeoff_state | `uint8` | | | +| tilt_limit | `float32` | | | limited tilt feasibility during takeoff, contains maximum tilt otherwise | ## Constants diff --git a/docs/en/msg_docs/TargetGnss.md b/docs/en/msg_docs/TargetGnss.md index 17e73e1a4d8..c4259c6604d 100644 --- a/docs/en/msg_docs/TargetGnss.md +++ b/docs/en/msg_docs/TargetGnss.md @@ -15,21 +15,21 @@ abs_pos_updated / vel_ned_updated tell the estimator which fields in this sample ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | --------- | ------------ | ---------- | ------------------------------------------------ | -| timestamp | `uint64` | us | | Time since system start | -| timestamp_sample | `uint64` | us | | Timestamp of the raw observation | -| latitude_deg | `float64` | deg | | Latitude, allows centimeter level RTK precision | -| longitude_deg | `float64` | deg | | Longitude, allows centimeter level RTK precision | -| altitude_msl_m | `float32` | m | | Altitude above MSL | -| eph | `float32` | m | | GNSS horizontal position accuracy | -| epv | `float32` | m | | GNSS vertical position accuracy | -| abs_pos_updated | `bool` | | | True if WGS84 position is updated | -| vel_n_m_s | `float32` | m/s | | GNSS North velocity | -| vel_e_m_s | `float32` | m/s | | GNSS East velocity | -| vel_d_m_s | `float32` | m/s | | GNSS Down velocity | -| s_acc_m_s | `float32` | m/s | | GNSS speed accuracy estimate | -| vel_ned_updated | `bool` | | | True if NED velocity is updated | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------ | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Timestamp of the raw observation | +| latitude_deg | `float64` | deg | | Latitude, allows centimeter level RTK precision | +| longitude_deg | `float64` | deg | | Longitude, allows centimeter level RTK precision | +| altitude_msl_m | `float32` | m | | Altitude above MSL | +| eph | `float32` | m | | GNSS horizontal position accuracy | +| epv | `float32` | m | | GNSS vertical position accuracy | +| abs_pos_updated | `bool` | | | True if WGS84 position is updated | +| vel_n_m_s | `float32` | m/s | | GNSS North velocity | +| vel_e_m_s | `float32` | m/s | | GNSS East velocity | +| vel_d_m_s | `float32` | m/s | | GNSS Down velocity | +| s_acc_m_s | `float32` | m/s | | GNSS speed accuracy estimate | +| vel_ned_updated | `bool` | | | True if NED velocity is updated | ## Source Message diff --git a/docs/en/msg_docs/TaskStackInfo.md b/docs/en/msg_docs/TaskStackInfo.md index 50794256a9e..3c70d465199 100644 --- a/docs/en/msg_docs/TaskStackInfo.md +++ b/docs/en/msg_docs/TaskStackInfo.md @@ -10,11 +10,11 @@ stack information for a single running process. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------- | ---------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| stack_free | `uint16` | | | -| task_name | `char[24]` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------- | ---------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| stack_free | `uint16` | | | +| task_name | `char[24]` | | | ## Constants diff --git a/docs/en/msg_docs/TecsStatus.md b/docs/en/msg_docs/TecsStatus.md index a225729f528..cbeeb01090e 100644 --- a/docs/en/msg_docs/TecsStatus.md +++ b/docs/en/msg_docs/TecsStatus.md @@ -8,33 +8,33 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------------------- | --------- | ------------ | ---------- | -------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| altitude_sp | `float32` | | | Altitude setpoint AMSL [m] | -| altitude_reference | `float32` | | | Altitude setpoint reference AMSL [m] | -| altitude_time_constant | `float32` | | | Time constant of the altitude tracker [s] | -| height_rate_reference | `float32` | | | Height rate setpoint reference [m/s] | -| height_rate_direct | `float32` | | | Direct height rate setpoint from velocity reference generator [m/s] | -| height_rate_setpoint | `float32` | | | Height rate setpoint [m/s] | -| height_rate | `float32` | | | Height rate [m/s] | -| equivalent_airspeed_sp | `float32` | | | Equivalent airspeed setpoint [m/s] | -| true_airspeed_sp | `float32` | | | True airspeed setpoint [m/s] | -| true_airspeed_filtered | `float32` | | | True airspeed filtered [m/s] | -| true_airspeed_derivative_sp | `float32` | | | True airspeed derivative setpoint [m/s^2] | -| true_airspeed_derivative | `float32` | | | True airspeed derivative [m/s^2] | -| true_airspeed_derivative_raw | `float32` | | | True airspeed derivative raw [m/s^2] | -| total_energy_rate_sp | `float32` | | | Total energy rate setpoint [m^2/s^3] | -| total_energy_rate | `float32` | | | Total energy rate estimate [m^2/s^3] | -| total_energy_balance_rate_sp | `float32` | | | Energy balance rate setpoint [m^2/s^3] | -| total_energy_balance_rate | `float32` | | | Energy balance rate estimate [m^2/s^3] | -| throttle_integ | `float32` | | | Throttle integrator value [-] | -| pitch_integ | `float32` | | | Pitch integrator value [rad] | -| throttle_sp | `float32` | | | Current throttle setpoint [-] | -| pitch_sp_rad | `float32` | | | Current pitch setpoint [rad] | -| throttle_trim | `float32` | | | estimated throttle value [0,1] required to fly level at equivalent_airspeed_sp in the current atmospheric conditions | -| underspeed_ratio | `float32` | | | 0: no underspeed, 1: maximal underspeed. Controller takes measures to avoid stall proportional to ratio if >0. | -| fast_descend_ratio | `float32` | | | value indicating if fast descend mode is enabled with ramp up and ramp down [0-1] | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------------------- | --------- | ------------ | ---------- | -------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| altitude_sp | `float32` | | | Altitude setpoint AMSL [m] | +| altitude_reference | `float32` | | | Altitude setpoint reference AMSL [m] | +| altitude_time_constant | `float32` | | | Time constant of the altitude tracker [s] | +| height_rate_reference | `float32` | | | Height rate setpoint reference [m/s] | +| height_rate_direct | `float32` | | | Direct height rate setpoint from velocity reference generator [m/s] | +| height_rate_setpoint | `float32` | | | Height rate setpoint [m/s] | +| height_rate | `float32` | | | Height rate [m/s] | +| equivalent_airspeed_sp | `float32` | | | Equivalent airspeed setpoint [m/s] | +| true_airspeed_sp | `float32` | | | True airspeed setpoint [m/s] | +| true_airspeed_filtered | `float32` | | | True airspeed filtered [m/s] | +| true_airspeed_derivative_sp | `float32` | | | True airspeed derivative setpoint [m/s^2] | +| true_airspeed_derivative | `float32` | | | True airspeed derivative [m/s^2] | +| true_airspeed_derivative_raw | `float32` | | | True airspeed derivative raw [m/s^2] | +| total_energy_rate_sp | `float32` | | | Total energy rate setpoint [m^2/s^3] | +| total_energy_rate | `float32` | | | Total energy rate estimate [m^2/s^3] | +| total_energy_balance_rate_sp | `float32` | | | Energy balance rate setpoint [m^2/s^3] | +| total_energy_balance_rate | `float32` | | | Energy balance rate estimate [m^2/s^3] | +| throttle_integ | `float32` | | | Throttle integrator value [-] | +| pitch_integ | `float32` | | | Pitch integrator value [rad] | +| throttle_sp | `float32` | | | Current throttle setpoint [-] | +| pitch_sp_rad | `float32` | | | Current pitch setpoint [rad] | +| throttle_trim | `float32` | | | estimated throttle value [0,1] required to fly level at equivalent_airspeed_sp in the current atmospheric conditions | +| underspeed_ratio | `float32` | | | 0: no underspeed, 1: maximal underspeed. Controller takes measures to avoid stall proportional to ratio if >0. | +| fast_descend_ratio | `float32` | | | value indicating if fast descend mode is enabled with ramp up and ramp down [0-1] | ## Source Message diff --git a/docs/en/msg_docs/TelemetryStatus.md b/docs/en/msg_docs/TelemetryStatus.md index 4693292061b..f0a2e4b525a 100644 --- a/docs/en/msg_docs/TelemetryStatus.md +++ b/docs/en/msg_docs/TelemetryStatus.md @@ -8,47 +8,47 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------------------------- | --------- | ------------ | ---------- | ----------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| type | `uint8` | | | type of the radio hardware (LINK*TYPE*\*) | -| mode | `uint8` | | | -| flow_control | `bool` | | | -| forwarding | `bool` | | | -| mavlink_v2 | `bool` | | | -| ftp | `bool` | | | -| streams | `uint8` | | | -| data_rate | `float32` | | | configured maximum data rate (Bytes/s) | -| rate_multiplier | `float32` | | | -| tx_rate_avg | `float32` | | | transmit rate average (Bytes/s) | -| tx_error_rate_avg | `float32` | | | transmit error rate average (Bytes/s) | -| tx_message_count | `uint32` | | | total message sent count | -| tx_buffer_overruns | `uint32` | | | number of TX buffer overruns | -| rx_rate_avg | `float32` | | | transmit rate average (Bytes/s) | -| rx_message_count | `uint32` | | | count of total messages received | -| rx_message_lost_count | `uint32` | | | -| rx_buffer_overruns | `uint32` | | | number of RX buffer overruns | -| rx_parse_errors | `uint32` | | | number of parse errors | -| rx_packet_drop_count | `uint32` | | | number of packet drops | -| rx_message_lost_rate | `float32` | | | -| heartbeat_type_antenna_tracker | `bool` | | | MAV_TYPE_ANTENNA_TRACKER | -| heartbeat_type_gcs | `bool` | | | MAV_TYPE_GCS | -| heartbeat_type_onboard_controller | `bool` | | | MAV_TYPE_ONBOARD_CONTROLLER | -| heartbeat_type_gimbal | `bool` | | | MAV_TYPE_GIMBAL | -| heartbeat_type_adsb | `bool` | | | MAV_TYPE_ADSB | -| heartbeat_type_flarm | `bool` | | | MAV_TYPE_FLARM | -| heartbeat_type_camera | `bool` | | | MAV_TYPE_CAMERA | -| heartbeat_type_parachute | `bool` | | | MAV_TYPE_PARACHUTE | -| heartbeat_type_open_drone_id | `bool` | | | MAV_TYPE_ODID | -| heartbeat_component_telemetry_radio | `bool` | | | MAV_COMP_ID_TELEMETRY_RADIO | -| heartbeat_component_log | `bool` | | | MAV_COMP_ID_LOG | -| heartbeat_component_osd | `bool` | | | MAV_COMP_ID_OSD | -| heartbeat_component_vio | `bool` | | | MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY | -| heartbeat_component_pairing_manager | `bool` | | | MAV_COMP_ID_PAIRING_MANAGER | -| heartbeat_component_udp_bridge | `bool` | | | MAV_COMP_ID_UDP_BRIDGE | -| heartbeat_component_uart_bridge | `bool` | | | MAV_COMP_ID_UART_BRIDGE | -| open_drone_id_system_healthy | `bool` | | | -| parachute_system_healthy | `bool` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------------------------------------- | --------- | ------------ | ---------- | ----------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| type | `uint8` | | | type of the radio hardware (LINK*TYPE*\*) | +| mode | `uint8` | | | +| flow_control | `bool` | | | +| forwarding | `bool` | | | +| mavlink_v2 | `bool` | | | +| ftp | `bool` | | | +| streams | `uint8` | | | +| data_rate | `float32` | | | configured maximum data rate (Bytes/s) | +| rate_multiplier | `float32` | | | +| tx_rate_avg | `float32` | | | transmit rate average (Bytes/s) | +| tx_error_rate_avg | `float32` | | | transmit error rate average (Bytes/s) | +| tx_message_count | `uint32` | | | total message sent count | +| tx_buffer_overruns | `uint32` | | | number of TX buffer overruns | +| rx_rate_avg | `float32` | | | transmit rate average (Bytes/s) | +| rx_message_count | `uint32` | | | count of total messages received | +| rx_message_lost_count | `uint32` | | | +| rx_buffer_overruns | `uint32` | | | number of RX buffer overruns | +| rx_parse_errors | `uint32` | | | number of parse errors | +| rx_packet_drop_count | `uint32` | | | number of packet drops | +| rx_message_lost_rate | `float32` | | | +| heartbeat_type_antenna_tracker | `bool` | | | MAV_TYPE_ANTENNA_TRACKER | +| heartbeat_type_gcs | `bool` | | | MAV_TYPE_GCS | +| heartbeat_type_onboard_controller | `bool` | | | MAV_TYPE_ONBOARD_CONTROLLER | +| heartbeat_type_gimbal | `bool` | | | MAV_TYPE_GIMBAL | +| heartbeat_type_adsb | `bool` | | | MAV_TYPE_ADSB | +| heartbeat_type_flarm | `bool` | | | MAV_TYPE_FLARM | +| heartbeat_type_camera | `bool` | | | MAV_TYPE_CAMERA | +| heartbeat_type_parachute | `bool` | | | MAV_TYPE_PARACHUTE | +| heartbeat_type_open_drone_id | `bool` | | | MAV_TYPE_ODID | +| heartbeat_component_telemetry_radio | `bool` | | | MAV_COMP_ID_TELEMETRY_RADIO | +| heartbeat_component_log | `bool` | | | MAV_COMP_ID_LOG | +| heartbeat_component_osd | `bool` | | | MAV_COMP_ID_OSD | +| heartbeat_component_vio | `bool` | | | MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY | +| heartbeat_component_pairing_manager | `bool` | | | MAV_COMP_ID_PAIRING_MANAGER | +| heartbeat_component_udp_bridge | `bool` | | | MAV_COMP_ID_UDP_BRIDGE | +| heartbeat_component_uart_bridge | `bool` | | | MAV_COMP_ID_UART_BRIDGE | +| open_drone_id_system_healthy | `bool` | | | +| parachute_system_healthy | `bool` | | | ## Constants diff --git a/docs/en/msg_docs/TiltrotorExtraControls.md b/docs/en/msg_docs/TiltrotorExtraControls.md index 357774f945f..fc45b7ddd8b 100644 --- a/docs/en/msg_docs/TiltrotorExtraControls.md +++ b/docs/en/msg_docs/TiltrotorExtraControls.md @@ -8,11 +8,11 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| collective_tilt_normalized_setpoint | `float32` | | | Collective tilt angle of motors of tiltrotor, 0: vertical, 1: horizontal [0, 1] | -| collective_thrust_normalized_setpoint | `float32` | | | Collective thrust setpoint [0, 1] | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| collective_tilt_normalized_setpoint | `float32` | | | Collective tilt angle of motors of tiltrotor, 0: vertical, 1: horizontal [0, 1] | +| collective_thrust_normalized_setpoint | `float32` | | | Collective thrust setpoint [0, 1] | ## Source Message diff --git a/docs/en/msg_docs/TimesyncStatus.md b/docs/en/msg_docs/TimesyncStatus.md index 41623648609..09e9b3a805f 100644 --- a/docs/en/msg_docs/TimesyncStatus.md +++ b/docs/en/msg_docs/TimesyncStatus.md @@ -8,14 +8,14 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | -------- | ------------ | ---------- | -------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| source_protocol | `uint8` | | | timesync source | -| remote_timestamp | `uint64` | | | remote system timestamp (microseconds) | -| observed_offset | `int64` | | | raw time offset directly observed from this timesync packet (microseconds) | -| estimated_offset | `int64` | | | smoothed time offset between companion system and PX4 (microseconds) | -| round_trip_time | `uint32` | | | round trip time of this timesync packet (microseconds) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | -------- | ------------ | ---------- | -------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| source_protocol | `uint8` | | | timesync source | +| remote_timestamp | `uint64` | | | remote system timestamp (microseconds) | +| observed_offset | `int64` | | | raw time offset directly observed from this timesync packet (microseconds) | +| estimated_offset | `int64` | | | smoothed time offset between companion system and PX4 (microseconds) | +| round_trip_time | `uint32` | | | round trip time of this timesync packet (microseconds) | ## Constants diff --git a/docs/en/msg_docs/TrajectorySetpoint.md b/docs/en/msg_docs/TrajectorySetpoint.md index 1a6f1af1f29..564421a8437 100644 --- a/docs/en/msg_docs/TrajectorySetpoint.md +++ b/docs/en/msg_docs/TrajectorySetpoint.md @@ -10,15 +10,15 @@ Trajectory setpoint in NED frame. Input to PID position controller. Needs to be ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------ | ------------ | ------------ | ---------- | ---------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| position | `float32[3]` | | | in meters | -| velocity | `float32[3]` | | | in meters/second | -| acceleration | `float32[3]` | | | in meters/second^2 | -| jerk | `float32[3]` | | | in meters/second^3 (for logging only) | -| yaw | `float32` | | | euler angle of desired attitude in radians -PI..+PI | -| yawspeed | `float32` | | | angular velocity around NED frame z-axis in radians/second | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------- | ------------ | ------------ | ---------- | ---------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| position | `float32[3]` | | | in meters | +| velocity | `float32[3]` | | | in meters/second | +| acceleration | `float32[3]` | | | in meters/second^2 | +| jerk | `float32[3]` | | | in meters/second^3 (for logging only) | +| yaw | `float32` | | | euler angle of desired attitude in radians -PI..+PI | +| yawspeed | `float32` | | | angular velocity around NED frame z-axis in radians/second | ## Constants diff --git a/docs/en/msg_docs/TrajectorySetpoint6dof.md b/docs/en/msg_docs/TrajectorySetpoint6dof.md index 4b6b4e820c8..394b4c9a2e2 100644 --- a/docs/en/msg_docs/TrajectorySetpoint6dof.md +++ b/docs/en/msg_docs/TrajectorySetpoint6dof.md @@ -10,15 +10,15 @@ Trajectory setpoint in NED frame. Input to position controller. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ------------ | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| position | `float32[3]` | | | in meters | -| velocity | `float32[3]` | | | in meters/second | -| acceleration | `float32[3]` | | | in meters/second^2 | -| jerk | `float32[3]` | | | in meters/second^3 (for logging only) | -| quaternion | `float32[4]` | | | unit quaternion | -| angular_velocity | `float32[3]` | | | angular velocity in radians/second | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| position | `float32[3]` | | | in meters | +| velocity | `float32[3]` | | | in meters/second | +| acceleration | `float32[3]` | | | in meters/second^2 | +| jerk | `float32[3]` | | | in meters/second^3 (for logging only) | +| quaternion | `float32[4]` | | | unit quaternion | +| angular_velocity | `float32[3]` | | | angular velocity in radians/second | ## Source Message diff --git a/docs/en/msg_docs/TransponderReport.md b/docs/en/msg_docs/TransponderReport.md index fb39f901537..97403504843 100644 --- a/docs/en/msg_docs/TransponderReport.md +++ b/docs/en/msg_docs/TransponderReport.md @@ -8,23 +8,23 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------- | ----------- | ------------ | ---------- | -------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| icao_address | `uint32` | | | ICAO address | -| lat | `float64` | | | Latitude, expressed as degrees | -| lon | `float64` | | | Longitude, expressed as degrees | -| altitude_type | `uint8` | | | Type from ADSB_ALTITUDE_TYPE enum | -| altitude | `float32` | | | Altitude(ASL) in meters | -| heading | `float32` | | | Course over ground in radians, 0 to 2pi, 0 is north | -| hor_velocity | `float32` | | | The horizontal velocity in m/s | -| ver_velocity | `float32` | | | The vertical velocity in m/s, positive is up | -| callsign | `char[9]` | | | The callsign, 8+null | -| emitter_type | `uint8` | | | Type from ADSB_EMITTER_TYPE enum | -| tslc | `uint8` | | | Time since last communication in seconds | -| flags | `uint16` | | | Flags to indicate various statuses including valid data fields | -| squawk | `uint16` | | | Squawk code | -| uas_id | `uint8[18]` | | | Unique UAS ID | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------- | ----------- | ------------ | ---------- | -------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| icao_address | `uint32` | | | ICAO address | +| lat | `float64` | | | Latitude, expressed as degrees | +| lon | `float64` | | | Longitude, expressed as degrees | +| altitude_type | `uint8` | | | Type from ADSB_ALTITUDE_TYPE enum | +| altitude | `float32` | | | Altitude(ASL) in meters | +| heading | `float32` | | | Course over ground in radians, 0 to 2pi, 0 is north | +| hor_velocity | `float32` | | | The horizontal velocity in m/s | +| ver_velocity | `float32` | | | The vertical velocity in m/s, positive is up | +| callsign | `char[9]` | | | The callsign, 8+null | +| emitter_type | `uint8` | | | Type from ADSB_EMITTER_TYPE enum | +| tslc | `uint8` | | | Time since last communication in seconds | +| flags | `uint16` | | | Flags to indicate various statuses including valid data fields | +| squawk | `uint16` | | | Squawk code | +| uas_id | `uint8[18]` | | | Unique UAS ID | ## Constants diff --git a/docs/en/msg_docs/TuneControl.md b/docs/en/msg_docs/TuneControl.md index af44d088f2d..84f621064d9 100644 --- a/docs/en/msg_docs/TuneControl.md +++ b/docs/en/msg_docs/TuneControl.md @@ -10,15 +10,15 @@ This message is used to control the tunes, when the tune_id is set to CUSTOM. th ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------- | -------- | ------------ | ---------- | --------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| tune_id | `uint8` | | | tune_id corresponding to TuneID::\* from the tune_defaults.h in the tunes library | -| tune_override | `bool` | | | if true the tune which is playing will be stopped and the new started | -| frequency | `uint16` | | | in Hz | -| duration | `uint32` | | | in us | -| silence | `uint32` | | | in us | -| volume | `uint8` | | | value between 0-100 if supported by backend | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------- | -------- | ------------ | ---------- | --------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| tune_id | `uint8` | | | tune_id corresponding to TuneID::\* from the tune_defaults.h in the tunes library | +| tune_override | `bool` | | | if true the tune which is playing will be stopped and the new started | +| frequency | `uint16` | | | in Hz | +| duration | `uint32` | | | in us | +| silence | `uint32` | | | in us | +| volume | `uint8` | | | value between 0-100 if supported by backend | ## Constants diff --git a/docs/en/msg_docs/UavcanParameterRequest.md b/docs/en/msg_docs/UavcanParameterRequest.md index b9dfe137afc..9c543277080 100644 --- a/docs/en/msg_docs/UavcanParameterRequest.md +++ b/docs/en/msg_docs/UavcanParameterRequest.md @@ -10,16 +10,16 @@ UAVCAN-MAVLink parameter bridge request type. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------ | ---------- | ------------ | ---------- | ----------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| message_type | `uint8` | | | MAVLink message type: PARAM_REQUEST_READ, PARAM_REQUEST_LIST, PARAM_SET | -| node_id | `uint8` | | | UAVCAN node ID mapped from MAVLink component ID | -| param_id | `char[17]` | | | MAVLink/UAVCAN parameter name | -| param_index | `int16` | | | -1 if the param_id field should be used as identifier | -| param_type | `uint8` | | | MAVLink parameter type | -| int_value | `int64` | | | current value if param_type is int-like | -| real_value | `float32` | | | current value if param_type is float-like | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------- | ---------- | ------------ | ---------- | ----------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| message_type | `uint8` | | | MAVLink message type: PARAM_REQUEST_READ, PARAM_REQUEST_LIST, PARAM_SET | +| node_id | `uint8` | | | UAVCAN node ID mapped from MAVLink component ID | +| param_id | `char[17]` | | | MAVLink/UAVCAN parameter name | +| param_index | `int16` | | | -1 if the param_id field should be used as identifier | +| param_type | `uint8` | | | MAVLink parameter type | +| int_value | `int64` | | | current value if param_type is int-like | +| real_value | `float32` | | | current value if param_type is float-like | ## Constants diff --git a/docs/en/msg_docs/UavcanParameterValue.md b/docs/en/msg_docs/UavcanParameterValue.md index e49ca1ede2a..6d076092a60 100644 --- a/docs/en/msg_docs/UavcanParameterValue.md +++ b/docs/en/msg_docs/UavcanParameterValue.md @@ -10,16 +10,16 @@ UAVCAN-MAVLink parameter bridge response type. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------- | ---------- | ------------ | ---------- | ----------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| node_id | `uint8` | | | UAVCAN node ID mapped from MAVLink component ID | -| param_id | `char[17]` | | | MAVLink/UAVCAN parameter name | -| param_index | `int16` | | | parameter index, if known | -| param_count | `uint16` | | | number of parameters exposed by the node | -| param_type | `uint8` | | | MAVLink parameter type | -| int_value | `int64` | | | current value if param_type is int-like | -| real_value | `float32` | | | current value if param_type is float-like | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------- | ---------- | ------------ | ---------- | ----------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| node_id | `uint8` | | | UAVCAN node ID mapped from MAVLink component ID | +| param_id | `char[17]` | | | MAVLink/UAVCAN parameter name | +| param_index | `int16` | | | parameter index, if known | +| param_count | `uint16` | | | number of parameters exposed by the node | +| param_type | `uint8` | | | MAVLink parameter type | +| int_value | `int64` | | | current value if param_type is int-like | +| real_value | `float32` | | | current value if param_type is float-like | ## Source Message diff --git a/docs/en/msg_docs/UlogStream.md b/docs/en/msg_docs/UlogStream.md index 6702b9f9f5c..6b42132c575 100644 --- a/docs/en/msg_docs/UlogStream.md +++ b/docs/en/msg_docs/UlogStream.md @@ -10,14 +10,14 @@ Message to stream ULog data from the logger. Corresponds to the LOGGING_DATA. ma ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------------- | ------------ | ------------ | ---------- | ------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| length | `uint8` | | | length of data | -| first_message_offset | `uint8` | | | offset into data where first message starts. This | -| msg_sequence | `uint16` | | | allows determine drops | -| flags | `uint8` | | | see FLAGS\_\* | -| data | `uint8[249]` | | | ulog data | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------- | ------------ | ------------ | ---------- | ------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| length | `uint8` | | | length of data | +| first_message_offset | `uint8` | | | offset into data where first message starts. This | +| msg_sequence | `uint16` | | | allows determine drops | +| flags | `uint8` | | | see FLAGS\_\* | +| data | `uint8[249]` | | | ulog data | ## Constants diff --git a/docs/en/msg_docs/UlogStreamAck.md b/docs/en/msg_docs/UlogStreamAck.md index 55ba8e70485..6409bbc2ec4 100644 --- a/docs/en/msg_docs/UlogStreamAck.md +++ b/docs/en/msg_docs/UlogStreamAck.md @@ -10,10 +10,10 @@ Ack a previously sent ulog_stream message that had. the NEED_ACK flag set. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------ | -------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| msg_sequence | `uint16` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------- | -------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| msg_sequence | `uint16` | | | ## Constants diff --git a/docs/en/msg_docs/UnregisterExtComponent.md b/docs/en/msg_docs/UnregisterExtComponent.md index 7325d3b083f..12524a26179 100644 --- a/docs/en/msg_docs/UnregisterExtComponent.md +++ b/docs/en/msg_docs/UnregisterExtComponent.md @@ -8,13 +8,13 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ---------- | ------------ | ---------- | --------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| name | `char[25]` | | | either the mode name, or component name | -| arming_check_id | `int8` | | | arming check registration ID (-1 if not registered) | -| mode_id | `int8` | | | assigned mode ID (-1 if not registered) | -| mode_executor_id | `int8` | | | assigned mode executor ID (-1 if not registered) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ---------- | ------------ | ---------- | --------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| name | `char[25]` | | | either the mode name, or component name | +| arming_check_id | `int8` | | | arming check registration ID (-1 if not registered) | +| mode_id | `int8` | | | assigned mode ID (-1 if not registered) | +| mode_executor_id | `int8` | | | assigned mode executor ID (-1 if not registered) | ## Constants diff --git a/docs/en/msg_docs/VehicleAcceleration.md b/docs/en/msg_docs/VehicleAcceleration.md index e463dedd187..b844bb89958 100644 --- a/docs/en/msg_docs/VehicleAcceleration.md +++ b/docs/en/msg_docs/VehicleAcceleration.md @@ -8,11 +8,11 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ------------ | ------------ | ---------- | --------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | -| xyz | `float32[3]` | | | Bias corrected acceleration (including gravity) in the FRD body frame XYZ-axis in m/s^2 | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ------------ | ------------ | ---------- | --------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| xyz | `float32[3]` | | | Bias corrected acceleration (including gravity) in the FRD body frame XYZ-axis in m/s^2 | ## Source Message diff --git a/docs/en/msg_docs/VehicleAirData.md b/docs/en/msg_docs/VehicleAirData.md index d40bc9c5d70..cfd927b63e2 100644 --- a/docs/en/msg_docs/VehicleAirData.md +++ b/docs/en/msg_docs/VehicleAirData.md @@ -13,17 +13,17 @@ Includes calculated data such as barometric altitude and air density. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------- | --------- | ------------ | ---------- | --------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| timestamp_sample | `uint64` | us | | Timestamp of the raw data | -| baro_device_id | `uint32` | | | Unique device ID for the selected barometer | -| baro_alt_meter | `float32` | m [MSL] | | Altitude above MSL calculated from temperature compensated baro sensor data using an ISA corrected for sea level pressure SENS_BARO_QNH | -| baro_pressure_pa | `float32` | Pa | | Absolute pressure | -| ambient_temperature | `float32` | degC | | Ambient temperature | -| temperature_source | `uint8` | | | Source of temperature data: 0: Default Temperature (15°C), 1: External Baro, 2: Airspeed | -| rho | `float32` | kg/m^3 | | Air density | -| calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever calibration changes. | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------- | --------- | ------------ | ---------- | --------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Timestamp of the raw data | +| baro_device_id | `uint32` | | | Unique device ID for the selected barometer | +| baro_alt_meter | `float32` | m [MSL] | | Altitude above MSL calculated from temperature compensated baro sensor data using an ISA corrected for sea level pressure SENS_BARO_QNH | +| baro_pressure_pa | `float32` | Pa | | Absolute pressure | +| ambient_temperature | `float32` | degC | | Ambient temperature | +| temperature_source | `uint8` | | | Source of temperature data: 0: Default Temperature (15°C), 1: External Baro, 2: Airspeed | +| rho | `float32` | kg/m^3 | | Air density | +| calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever calibration changes. | ## Source Message diff --git a/docs/en/msg_docs/VehicleAngularAccelerationSetpoint.md b/docs/en/msg_docs/VehicleAngularAccelerationSetpoint.md index 94df997b556..c16f889d47a 100644 --- a/docs/en/msg_docs/VehicleAngularAccelerationSetpoint.md +++ b/docs/en/msg_docs/VehicleAngularAccelerationSetpoint.md @@ -8,11 +8,11 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | timestamp of the data sample on which this message is based (microseconds) | -| xyz | `float32[3]` | | | angular acceleration about X, Y, Z body axis in rad/s^2 | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | timestamp of the data sample on which this message is based (microseconds) | +| xyz | `float32[3]` | | | angular acceleration about X, Y, Z body axis in rad/s^2 | ## Source Message diff --git a/docs/en/msg_docs/VehicleAngularVelocity.md b/docs/en/msg_docs/VehicleAngularVelocity.md index 3359202a6b1..e22645f9d45 100644 --- a/docs/en/msg_docs/VehicleAngularVelocity.md +++ b/docs/en/msg_docs/VehicleAngularVelocity.md @@ -8,12 +8,12 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | timestamp of the data sample on which this message is based (microseconds) | -| xyz | `float32[3]` | | | Bias corrected angular velocity about the FRD body frame XYZ-axis in rad/s | -| xyz_derivative | `float32[3]` | | | angular acceleration about the FRD body frame XYZ-axis in rad/s^2 | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | timestamp of the data sample on which this message is based (microseconds) | +| xyz | `float32[3]` | | | Bias corrected angular velocity about the FRD body frame XYZ-axis in rad/s | +| xyz_derivative | `float32[3]` | | | angular acceleration about the FRD body frame XYZ-axis in rad/s^2 | ## Constants diff --git a/docs/en/msg_docs/VehicleAttitude.md b/docs/en/msg_docs/VehicleAttitude.md index 157597339e2..adb3245dd46 100644 --- a/docs/en/msg_docs/VehicleAttitude.md +++ b/docs/en/msg_docs/VehicleAttitude.md @@ -10,13 +10,13 @@ This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------ | ------------ | ------------ | ---------- | ------------------------------------------------------------------ | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | -| q | `float32[4]` | | | Quaternion rotation from the FRD body frame to the NED earth frame | -| delta_q_reset | `float32[4]` | | | Amount by which quaternion has changed during last reset | -| quat_reset_counter | `uint8` | | | Quaternion reset counter | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------ | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| q | `float32[4]` | | | Quaternion rotation from the FRD body frame to the NED earth frame | +| delta_q_reset | `float32[4]` | | | Amount by which quaternion has changed during last reset | +| quat_reset_counter | `uint8` | | | Quaternion reset counter | ## Constants diff --git a/docs/en/msg_docs/VehicleAttitudeSetpoint.md b/docs/en/msg_docs/VehicleAttitudeSetpoint.md index 0e14ead96fd..bc6eb364957 100644 --- a/docs/en/msg_docs/VehicleAttitudeSetpoint.md +++ b/docs/en/msg_docs/VehicleAttitudeSetpoint.md @@ -8,12 +8,12 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ------------ | ------------ | ---------- | -------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| yaw_sp_move_rate | `float32` | | | rad/s (commanded by user) | -| q_d | `float32[4]` | | | Desired quaternion for quaternion control | -| thrust_body | `float32[3]` | | | Normalized thrust command in body FRD frame [-1,1] | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| yaw_sp_move_rate | `float32` | | | rad/s (commanded by user) | +| q_d | `float32[4]` | | | Desired quaternion for quaternion control | +| thrust_body | `float32[3]` | | | Normalized thrust command in body FRD frame [-1,1] | ## Constants diff --git a/docs/en/msg_docs/VehicleAttitudeSetpointV0.md b/docs/en/msg_docs/VehicleAttitudeSetpointV0.md index 465082a772e..7608f9c8b56 100644 --- a/docs/en/msg_docs/VehicleAttitudeSetpointV0.md +++ b/docs/en/msg_docs/VehicleAttitudeSetpointV0.md @@ -8,14 +8,14 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------------- | ------------ | ------------ | ---------- | --------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| yaw_sp_move_rate | `float32` | | | rad/s (commanded by user) | -| q_d | `float32[4]` | | | Desired quaternion for quaternion control | -| thrust_body | `float32[3]` | | | Normalized thrust command in body FRD frame [-1,1] | -| reset_integral | `bool` | | | Reset roll/pitch/yaw integrals (navigation logic change) | -| fw_control_yaw_wheel | `bool` | | | control heading with steering wheel (used for auto takeoff on runway) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------- | ------------ | ------------ | ---------- | --------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| yaw_sp_move_rate | `float32` | | | rad/s (commanded by user) | +| q_d | `float32[4]` | | | Desired quaternion for quaternion control | +| thrust_body | `float32[3]` | | | Normalized thrust command in body FRD frame [-1,1] | +| reset_integral | `bool` | | | Reset roll/pitch/yaw integrals (navigation logic change) | +| fw_control_yaw_wheel | `bool` | | | control heading with steering wheel (used for auto takeoff on runway) | ## Constants diff --git a/docs/en/msg_docs/VehicleCommand.md b/docs/en/msg_docs/VehicleCommand.md index 884aedb20ee..ddeb6f8a33c 100644 --- a/docs/en/msg_docs/VehicleCommand.md +++ b/docs/en/msg_docs/VehicleCommand.md @@ -10,23 +10,23 @@ Vehicle Command uORB message. Used for commanding a mission / action / etc. Foll ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start. | -| param1 | `float32` | | | Parameter 1, as defined by MAVLink uint16 VEHICLE_CMD enum. | -| param2 | `float32` | | | Parameter 2, as defined by MAVLink uint16 VEHICLE_CMD enum. | -| param3 | `float32` | | | Parameter 3, as defined by MAVLink uint16 VEHICLE_CMD enum. | -| param4 | `float32` | | | Parameter 4, as defined by MAVLink uint16 VEHICLE_CMD enum. | -| param5 | `float64` | | | Parameter 5, as defined by MAVLink uint16 VEHICLE_CMD enum. | -| param6 | `float64` | | | Parameter 6, as defined by MAVLink uint16 VEHICLE_CMD enum. | -| param7 | `float32` | | | Parameter 7, as defined by MAVLink uint16 VEHICLE_CMD enum. | -| command | `uint32` | | | Command ID. | -| target_system | `uint8` | | | System which should execute the command. | -| target_component | `uint8` | | | Component which should execute the command, 0 for all components. | -| source_system | `uint8` | | | System sending the command. | -| source_component | `uint16` | | | Component / mode executor sending the command. | -| confirmation | `uint8` | | | 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command). | -| from_external | `bool` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start. | +| param1 | `float32` | | | Parameter 1, as defined by MAVLink uint16 VEHICLE_CMD enum. | +| param2 | `float32` | | | Parameter 2, as defined by MAVLink uint16 VEHICLE_CMD enum. | +| param3 | `float32` | | | Parameter 3, as defined by MAVLink uint16 VEHICLE_CMD enum. | +| param4 | `float32` | | | Parameter 4, as defined by MAVLink uint16 VEHICLE_CMD enum. | +| param5 | `float64` | | | Parameter 5, as defined by MAVLink uint16 VEHICLE_CMD enum. | +| param6 | `float64` | | | Parameter 6, as defined by MAVLink uint16 VEHICLE_CMD enum. | +| param7 | `float32` | | | Parameter 7, as defined by MAVLink uint16 VEHICLE_CMD enum. | +| command | `uint32` | | | Command ID. | +| target_system | `uint8` | | | System which should execute the command. | +| target_component | `uint8` | | | Component which should execute the command, 0 for all components. | +| source_system | `uint8` | | | System sending the command. | +| source_component | `uint16` | | | Component / mode executor sending the command. | +| confirmation | `uint8` | | | 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command). | +| from_external | `bool` | | | ## Commands diff --git a/docs/en/msg_docs/VehicleCommandAck.md b/docs/en/msg_docs/VehicleCommandAck.md index 7aea6ba850a..ac6f5f05cf2 100644 --- a/docs/en/msg_docs/VehicleCommandAck.md +++ b/docs/en/msg_docs/VehicleCommandAck.md @@ -13,21 +13,23 @@ Follows the MAVLink COMMAND_ACK message definition ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | -------- | --------------------------- | ----------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | time since system start | -| command | `uint32` | | | Command that is being acknowledged | -| result | `uint8` | | [VEHICLE_CMD_RESULT](#VEHICLE_CMD_RESULT) | Command result | -| result_param1 | `uint8` | | | Can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS (%) | -| result_param2 | `int32` | enum ARM_AUTH_DENIED_REASON | | Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied, or what ARM_AUTH_DENIED_REASON | -| target_system | `uint8` | | | Target system | -| target_component | `uint16` | | | Target component / mode executor | -| from_external | `bool` | | | Indicates if the command came from an external source | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | -------- | --------------------------- | ----------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | time since system start | +| command | `uint32` | | | Command that is being acknowledged | +| result | `uint8` | | [VEHICLE_CMD_RESULT](#VEHICLE_CMD_RESULT) | Command result | +| result_param1 | `uint8` | | | Can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS (%) | +| result_param2 | `int32` | enum ARM_AUTH_DENIED_REASON | | Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied, or what ARM_AUTH_DENIED_REASON | +| target_system | `uint8` | | | Target system | +| target_component | `uint16` | | | Target component / mode executor | +| from_external | `bool` | | | Indicates if the command came from an external source | ## Enums ### VEHICLE_CMD_RESULT {#VEHICLE_CMD_RESULT} +Used in field(s): [result](#fld_result) + | Name | Type | Value | Description | | ----------------------------------------------------------------------------------------------- | ------- | ----- | ---------------------------------------------------- | | VEHICLE_CMD_RESULT_ACCEPTED | `uint8` | 0 | Command ACCEPTED and EXECUTED | diff --git a/docs/en/msg_docs/VehicleCommandAckV0.md b/docs/en/msg_docs/VehicleCommandAckV0.md index 89a638853a5..da94b81788c 100644 --- a/docs/en/msg_docs/VehicleCommandAckV0.md +++ b/docs/en/msg_docs/VehicleCommandAckV0.md @@ -10,16 +10,16 @@ Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | -------- | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| command | `uint32` | | | Command that is being acknowledged | -| result | `uint8` | | | Command result | -| result_param1 | `uint8` | | | Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS | -| result_param2 | `int32` | | | Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied. | -| target_system | `uint8` | | | -| target_component | `uint16` | | | Target component / mode executor | -| from_external | `bool` | | | Indicates if the command came from an external source | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | -------- | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| command | `uint32` | | | Command that is being acknowledged | +| result | `uint8` | | | Command result | +| result_param1 | `uint8` | | | Also used as progress[%], it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS | +| result_param2 | `int32` | | | Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied. | +| target_system | `uint8` | | | +| target_component | `uint16` | | | Target component / mode executor | +| from_external | `bool` | | | Indicates if the command came from an external source | ## Constants diff --git a/docs/en/msg_docs/VehicleConstraints.md b/docs/en/msg_docs/VehicleConstraints.md index ecca9d3576f..0bf0ef9d021 100644 --- a/docs/en/msg_docs/VehicleConstraints.md +++ b/docs/en/msg_docs/VehicleConstraints.md @@ -10,12 +10,12 @@ Local setpoint constraints in NED frame. setting something to NaN means that no ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------ | --------- | ------------ | ---------- | --------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| speed_up | `float32` | | | in meters/sec | -| speed_down | `float32` | | | in meters/sec | -| want_takeoff | `bool` | | | tell the controller to initiate takeoff when idling (ignored during flight) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------- | --------- | ------------ | ---------- | --------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| speed_up | `float32` | | | in meters/sec | +| speed_down | `float32` | | | in meters/sec | +| want_takeoff | `bool` | | | tell the controller to initiate takeoff when idling (ignored during flight) | ## Source Message diff --git a/docs/en/msg_docs/VehicleControlMode.md b/docs/en/msg_docs/VehicleControlMode.md index b5e05a60587..e1cacee2b84 100644 --- a/docs/en/msg_docs/VehicleControlMode.md +++ b/docs/en/msg_docs/VehicleControlMode.md @@ -8,24 +8,24 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------------------------------- | -------- | ------------ | ---------- | ------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| flag_armed | `bool` | | | synonym for actuator_armed.armed | -| flag_multicopter_position_control_enabled | `bool` | | | -| flag_control_manual_enabled | `bool` | | | true if manual input is mixed in | -| flag_control_auto_enabled | `bool` | | | true if onboard autopilot should act | -| flag_control_offboard_enabled | `bool` | | | true if offboard control should be used | -| flag_control_position_enabled | `bool` | | | true if position is controlled | -| flag_control_velocity_enabled | `bool` | | | true if horizontal velocity (implies direction) is controlled | -| flag_control_altitude_enabled | `bool` | | | true if altitude is controlled | -| flag_control_climb_rate_enabled | `bool` | | | true if climb rate is controlled | -| flag_control_acceleration_enabled | `bool` | | | true if acceleration is controlled | -| flag_control_attitude_enabled | `bool` | | | true if attitude stabilization is mixed in | -| flag_control_rates_enabled | `bool` | | | true if rates are stabilized | -| flag_control_allocation_enabled | `bool` | | | true if control allocation is enabled | -| flag_control_termination_enabled | `bool` | | | true if flighttermination is enabled | -| source_id | `uint8` | | | Mode ID (nav_state) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------------------------------------------------- | -------- | ------------ | ---------- | ------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| flag_armed | `bool` | | | synonym for actuator_armed.armed | +| flag_multicopter_position_control_enabled | `bool` | | | +| flag_control_manual_enabled | `bool` | | | true if manual input is mixed in | +| flag_control_auto_enabled | `bool` | | | true if onboard autopilot should act | +| flag_control_offboard_enabled | `bool` | | | true if offboard control should be used | +| flag_control_position_enabled | `bool` | | | true if position is controlled | +| flag_control_velocity_enabled | `bool` | | | true if horizontal velocity (implies direction) is controlled | +| flag_control_altitude_enabled | `bool` | | | true if altitude is controlled | +| flag_control_climb_rate_enabled | `bool` | | | true if climb rate is controlled | +| flag_control_acceleration_enabled | `bool` | | | true if acceleration is controlled | +| flag_control_attitude_enabled | `bool` | | | true if attitude stabilization is mixed in | +| flag_control_rates_enabled | `bool` | | | true if rates are stabilized | +| flag_control_allocation_enabled | `bool` | | | true if control allocation is enabled | +| flag_control_termination_enabled | `bool` | | | true if flighttermination is enabled | +| source_id | `uint8` | | | Mode ID (nav_state) | ## Constants diff --git a/docs/en/msg_docs/VehicleGlobalPosition.md b/docs/en/msg_docs/VehicleGlobalPosition.md index 1d2634d8b87..2affcbd54c0 100644 --- a/docs/en/msg_docs/VehicleGlobalPosition.md +++ b/docs/en/msg_docs/VehicleGlobalPosition.md @@ -10,26 +10,26 @@ Fused global position in WGS84. This struct contains global position estimation. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------------------- | --------- | ------------ | ---------- | ----------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | -| lat | `float64` | | | Latitude, (degrees) | -| lon | `float64` | | | Longitude, (degrees) | -| alt | `float32` | | | Altitude AMSL, (meters) | -| alt_ellipsoid | `float32` | | | Altitude above ellipsoid, (meters) | -| lat_lon_valid | `bool` | | | -| alt_valid | `bool` | | | -| delta_alt | `float32` | | | Reset delta for altitude | -| delta_terrain | `float32` | | | Reset delta for terrain | -| lat_lon_reset_counter | `uint8` | | | Counter for reset events on horizontal position coordinates | -| alt_reset_counter | `uint8` | | | Counter for reset events on altitude | -| terrain_reset_counter | `uint8` | | | Counter for reset events on terrain | -| eph | `float32` | | | Standard deviation of horizontal position error, (metres) | -| epv | `float32` | | | Standard deviation of vertical position error, (metres) | -| terrain_alt | `float32` | | | Terrain altitude WGS84, (metres) | -| terrain_alt_valid | `bool` | | | Terrain altitude estimate is valid | -| dead_reckoning | `bool` | | | True if this position is estimated through dead-reckoning | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------------- | --------- | ------------ | ---------- | ----------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| lat | `float64` | | | Latitude, (degrees) | +| lon | `float64` | | | Longitude, (degrees) | +| alt | `float32` | | | Altitude AMSL, (meters) | +| alt_ellipsoid | `float32` | | | Altitude above ellipsoid, (meters) | +| lat_lon_valid | `bool` | | | +| alt_valid | `bool` | | | +| delta_alt | `float32` | | | Reset delta for altitude | +| delta_terrain | `float32` | | | Reset delta for terrain | +| lat_lon_reset_counter | `uint8` | | | Counter for reset events on horizontal position coordinates | +| alt_reset_counter | `uint8` | | | Counter for reset events on altitude | +| terrain_reset_counter | `uint8` | | | Counter for reset events on terrain | +| eph | `float32` | | | Standard deviation of horizontal position error, (metres) | +| epv | `float32` | | | Standard deviation of vertical position error, (metres) | +| terrain_alt | `float32` | | | Terrain altitude WGS84, (metres) | +| terrain_alt_valid | `bool` | | | Terrain altitude estimate is valid | +| dead_reckoning | `bool` | | | True if this position is estimated through dead-reckoning | ## Constants diff --git a/docs/en/msg_docs/VehicleGlobalPositionV0.md b/docs/en/msg_docs/VehicleGlobalPositionV0.md index fe0d3b1858e..593607a29fa 100644 --- a/docs/en/msg_docs/VehicleGlobalPositionV0.md +++ b/docs/en/msg_docs/VehicleGlobalPositionV0.md @@ -10,26 +10,26 @@ Fused global position in WGS84. This struct contains global position estimation. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------------------- | --------- | ------------ | ---------- | ----------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | -| lat | `float64` | | | Latitude, (degrees) | -| lon | `float64` | | | Longitude, (degrees) | -| alt | `float32` | | | Altitude AMSL, (meters) | -| alt_ellipsoid | `float32` | | | Altitude above ellipsoid, (meters) | -| lat_lon_valid | `bool` | | | -| alt_valid | `bool` | | | -| delta_alt | `float32` | | | Reset delta for altitude | -| delta_terrain | `float32` | | | Reset delta for terrain | -| lat_lon_reset_counter | `uint8` | | | Counter for reset events on horizontal position coordinates | -| alt_reset_counter | `uint8` | | | Counter for reset events on altitude | -| terrain_reset_counter | `uint8` | | | Counter for reset events on terrain | -| eph | `float32` | | | Standard deviation of horizontal position error, (metres) | -| epv | `float32` | | | Standard deviation of vertical position error, (metres) | -| terrain_alt | `float32` | | | Terrain altitude WGS84, (metres) | -| terrain_alt_valid | `bool` | | | Terrain altitude estimate is valid | -| dead_reckoning | `bool` | | | True if this position is estimated through dead-reckoning | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------------- | --------- | ------------ | ---------- | ----------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| lat | `float64` | | | Latitude, (degrees) | +| lon | `float64` | | | Longitude, (degrees) | +| alt | `float32` | | | Altitude AMSL, (meters) | +| alt_ellipsoid | `float32` | | | Altitude above ellipsoid, (meters) | +| lat_lon_valid | `bool` | | | +| alt_valid | `bool` | | | +| delta_alt | `float32` | | | Reset delta for altitude | +| delta_terrain | `float32` | | | Reset delta for terrain | +| lat_lon_reset_counter | `uint8` | | | Counter for reset events on horizontal position coordinates | +| alt_reset_counter | `uint8` | | | Counter for reset events on altitude | +| terrain_reset_counter | `uint8` | | | Counter for reset events on terrain | +| eph | `float32` | | | Standard deviation of horizontal position error, (metres) | +| epv | `float32` | | | Standard deviation of vertical position error, (metres) | +| terrain_alt | `float32` | | | Terrain altitude WGS84, (metres) | +| terrain_alt_valid | `bool` | | | Terrain altitude estimate is valid | +| dead_reckoning | `bool` | | | True if this position is estimated through dead-reckoning | ## Constants diff --git a/docs/en/msg_docs/VehicleImu.md b/docs/en/msg_docs/VehicleImu.md index 7e30180a538..c7ac4bc9472 100644 --- a/docs/en/msg_docs/VehicleImu.md +++ b/docs/en/msg_docs/VehicleImu.md @@ -10,20 +10,20 @@ IMU readings in SI-unit form. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | -| accel_device_id | `uint32` | | | Accelerometer unique device ID for the sensor that does not change between power cycles | -| gyro_device_id | `uint32` | | | Gyroscope unique device ID for the sensor that does not change between power cycles | -| delta_angle | `float32[3]` | | | delta angle about the FRD body frame XYZ-axis in rad over the integration time frame (delta_angle_dt) | -| delta_velocity | `float32[3]` | | | delta velocity in the FRD body frame XYZ-axis in m/s over the integration time frame (delta_velocity_dt) | -| delta_angle_dt | `uint32` | | | integration period in microseconds | -| delta_velocity_dt | `uint32` | | | integration period in microseconds | -| delta_angle_clipping | `uint8` | | | bitfield indicating if there was any gyro clipping (per axis) during the integration time frame | -| delta_velocity_clipping | `uint8` | | | bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame | -| accel_calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever accelermeter calibration changes. | -| gyro_calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever rate gyro calibration changes. | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | +| accel_device_id | `uint32` | | | Accelerometer unique device ID for the sensor that does not change between power cycles | +| gyro_device_id | `uint32` | | | Gyroscope unique device ID for the sensor that does not change between power cycles | +| delta_angle | `float32[3]` | | | delta angle about the FRD body frame XYZ-axis in rad over the integration time frame (delta_angle_dt) | +| delta_velocity | `float32[3]` | | | delta velocity in the FRD body frame XYZ-axis in m/s over the integration time frame (delta_velocity_dt) | +| delta_angle_dt | `uint32` | | | integration period in microseconds | +| delta_velocity_dt | `uint32` | | | integration period in microseconds | +| delta_angle_clipping | `uint8` | | | bitfield indicating if there was any gyro clipping (per axis) during the integration time frame | +| delta_velocity_clipping | `uint8` | | | bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame | +| accel_calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever accelermeter calibration changes. | +| gyro_calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever rate gyro calibration changes. | ## Constants diff --git a/docs/en/msg_docs/VehicleImuStatus.md b/docs/en/msg_docs/VehicleImuStatus.md index 1adb5e7e89c..f4dc0afb397 100644 --- a/docs/en/msg_docs/VehicleImuStatus.md +++ b/docs/en/msg_docs/VehicleImuStatus.md @@ -8,28 +8,28 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| accel_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | -| gyro_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | -| accel_clipping | `uint32[3]` | | | total clipping per axis | -| gyro_clipping | `uint32[3]` | | | total clipping per axis | -| accel_error_count | `uint32` | | | -| gyro_error_count | `uint32` | | | -| accel_rate_hz | `float32` | | | -| gyro_rate_hz | `float32` | | | -| accel_raw_rate_hz | `float32` | | | full raw sensor sample rate (Hz) | -| gyro_raw_rate_hz | `float32` | | | full raw sensor sample rate (Hz) | -| accel_vibration_metric | `float32` | | | high frequency vibration level in the accelerometer data (m/s/s) | -| gyro_vibration_metric | `float32` | | | high frequency vibration level in the gyro data (rad/s) | -| delta_angle_coning_metric | `float32` | | | average IMU delta angle coning correction (rad^2) | -| mean_accel | `float32[3]` | | | average accelerometer readings since last publication | -| mean_gyro | `float32[3]` | | | average gyroscope readings since last publication | -| var_accel | `float32[3]` | | | accelerometer variance since last publication | -| var_gyro | `float32[3]` | | | gyroscope variance since last publication | -| temperature_accel | `float32` | | | -| temperature_gyro | `float32` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| accel_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| gyro_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| accel_clipping | `uint32[3]` | | | total clipping per axis | +| gyro_clipping | `uint32[3]` | | | total clipping per axis | +| accel_error_count | `uint32` | | | +| gyro_error_count | `uint32` | | | +| accel_rate_hz | `float32` | | | +| gyro_rate_hz | `float32` | | | +| accel_raw_rate_hz | `float32` | | | full raw sensor sample rate (Hz) | +| gyro_raw_rate_hz | `float32` | | | full raw sensor sample rate (Hz) | +| accel_vibration_metric | `float32` | | | high frequency vibration level in the accelerometer data (m/s/s) | +| gyro_vibration_metric | `float32` | | | high frequency vibration level in the gyro data (rad/s) | +| delta_angle_coning_metric | `float32` | | | average IMU delta angle coning correction (rad^2) | +| mean_accel | `float32[3]` | | | average accelerometer readings since last publication | +| mean_gyro | `float32[3]` | | | average gyroscope readings since last publication | +| var_accel | `float32[3]` | | | accelerometer variance since last publication | +| var_gyro | `float32[3]` | | | gyroscope variance since last publication | +| temperature_accel | `float32` | | | +| temperature_gyro | `float32` | | | ## Source Message diff --git a/docs/en/msg_docs/VehicleLandDetected.md b/docs/en/msg_docs/VehicleLandDetected.md index 9b9b357b73d..2973ad22ea8 100644 --- a/docs/en/msg_docs/VehicleLandDetected.md +++ b/docs/en/msg_docs/VehicleLandDetected.md @@ -8,21 +8,21 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------------------------- | -------- | ------------ | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| freefall | `bool` | | | true if vehicle is currently in free-fall | -| ground_contact | `bool` | | | true if vehicle has ground contact but is not landed (1. stage) | -| maybe_landed | `bool` | | | true if the vehicle might have landed (2. stage) | -| landed | `bool` | | | true if vehicle is currently landed on the ground (3. stage) | -| in_ground_effect | `bool` | | | indicates if from the perspective of the landing detector the vehicle might be in ground effect (baro). This flag will become true if the vehicle is not moving horizontally and is descending (crude assumption that user is landing). | -| in_descend | `bool` | | | -| has_low_throttle | `bool` | | | -| vertical_movement | `bool` | | | -| horizontal_movement | `bool` | | | -| rotational_movement | `bool` | | | -| close_to_ground_or_skipped_check | `bool` | | | -| at_rest | `bool` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------------------------------- | -------- | ------------ | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| freefall | `bool` | | | true if vehicle is currently in free-fall | +| ground_contact | `bool` | | | true if vehicle has ground contact but is not landed (1. stage) | +| maybe_landed | `bool` | | | true if the vehicle might have landed (2. stage) | +| landed | `bool` | | | true if vehicle is currently landed on the ground (3. stage) | +| in_ground_effect | `bool` | | | indicates if from the perspective of the landing detector the vehicle might be in ground effect (baro). This flag will become true if the vehicle is not moving horizontally and is descending (crude assumption that user is landing). | +| in_descend | `bool` | | | +| has_low_throttle | `bool` | | | +| vertical_movement | `bool` | | | +| horizontal_movement | `bool` | | | +| rotational_movement | `bool` | | | +| close_to_ground_or_skipped_check | `bool` | | | +| at_rest | `bool` | | | ## Constants diff --git a/docs/en/msg_docs/VehicleLocalPosition.md b/docs/en/msg_docs/VehicleLocalPosition.md index 4d99231bd3b..6d470254e3f 100644 --- a/docs/en/msg_docs/VehicleLocalPosition.md +++ b/docs/en/msg_docs/VehicleLocalPosition.md @@ -10,61 +10,61 @@ Fused local position in NED. The coordinate system origin is the vehicle positio ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------------------------- | ------------ | ------------ | ---------- | ----------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | -| xy_valid | `bool` | | | true if x and y are valid | -| z_valid | `bool` | | | true if z is valid | -| v_xy_valid | `bool` | | | true if vx and vy are valid | -| v_z_valid | `bool` | | | true if vz is valid | -| x | `float32` | | | North position in NED earth-fixed frame, (metres) | -| y | `float32` | | | East position in NED earth-fixed frame, (metres) | -| z | `float32` | | | Down position (negative altitude) in NED earth-fixed frame, (metres) | -| delta_xy | `float32[2]` | | | Amount of lateral shift of position estimate in latest reset (in x and y) [m] | -| xy_reset_counter | `uint8` | | | Index of latest lateral position estimate reset | -| delta_z | `float32` | | | Amount of vertical shift of position estimate in latest reset [m] | -| z_reset_counter | `uint8` | | | Index of latest vertical position estimate reset | -| vx | `float32` | | | North velocity in NED earth-fixed frame, (metres/sec) | -| vy | `float32` | | | East velocity in NED earth-fixed frame, (metres/sec) | -| vz | `float32` | | | Down velocity in NED earth-fixed frame, (metres/sec) | -| z_deriv | `float32` | | | Down position time derivative in NED earth-fixed frame, (metres/sec) | -| delta_vxy | `float32[2]` | | | Amount of lateral shift of velocity estimate in latest reset (in x and y) [m/s] | -| vxy_reset_counter | `uint8` | | | Index of latest vertical velocity estimate reset | -| delta_vz | `float32` | | | Amount of vertical shift of velocity estimate in latest reset [m/s] | -| vz_reset_counter | `uint8` | | | Index of latest vertical velocity estimate reset | -| ax | `float32` | | | North velocity derivative in NED earth-fixed frame, (metres/sec^2) | -| ay | `float32` | | | East velocity derivative in NED earth-fixed frame, (metres/sec^2) | -| az | `float32` | | | Down velocity derivative in NED earth-fixed frame, (metres/sec^2) | -| heading | `float32` | | | Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians) | -| heading_var | `float32` | | | -| unaided_heading | `float32` | | | Same as heading but generated by integrating corrected gyro data only | -| delta_heading | `float32` | | | Heading delta caused by latest heading reset [rad] | -| heading_reset_counter | `uint8` | | | Index of latest heading reset | -| heading_good_for_control | `bool` | | | -| tilt_var | `float32` | | | -| xy_global | `bool` | | | true if position (x, y) has a valid global reference (ref_lat, ref_lon) | -| z_global | `bool` | | | true if z has a valid global reference (ref_alt) | -| ref_timestamp | `uint64` | | | Time when reference position was set since system start, (microseconds) | -| ref_lat | `float64` | | | Reference point latitude, (degrees) | -| ref_lon | `float64` | | | Reference point longitude, (degrees) | -| ref_alt | `float32` | | | Reference altitude AMSL, (metres) | -| dist_bottom_valid | `bool` | | | true if distance to bottom surface is valid | -| dist_bottom | `float32` | | | Distance from from bottom surface to ground, (metres) | -| dist_bottom_var | `float32` | | | height above ground estimate variance (m^2) | -| delta_dist_bottom | `float32` | | | Amount of vertical shift of dist bottom estimate in latest reset [m] | -| dist_bottom_reset_counter | `uint8` | | | Index of latest dist bottom estimate reset | -| dist_bottom_sensor_bitfield | `uint8` | | | bitfield indicating what type of sensor is used to estimate dist_bottom | -| eph | `float32` | | | Standard deviation of horizontal position error, (metres) | -| epv | `float32` | | | Standard deviation of vertical position error, (metres) | -| evh | `float32` | | | Standard deviation of horizontal velocity error, (metres/sec) | -| evv | `float32` | | | Standard deviation of vertical velocity error, (metres/sec) | -| dead_reckoning | `bool` | | | True if this position is estimated through dead-reckoning | -| vxy_max | `float32` | | | maximum horizontal speed (meters/sec) | -| vz_max | `float32` | | | maximum vertical speed (meters/sec) | -| hagl_min | `float32` | | | minimum height above ground level (meters) | -| hagl_max_z | `float32` | | | maximum height above ground level for z-control (meters) | -| hagl_max_xy | `float32` | | | maximum height above ground level for xy-control (meters) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------------------------- | ------------ | ------------ | ---------- | ----------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| xy_valid | `bool` | | | true if x and y are valid | +| z_valid | `bool` | | | true if z is valid | +| v_xy_valid | `bool` | | | true if vx and vy are valid | +| v_z_valid | `bool` | | | true if vz is valid | +| x | `float32` | | | North position in NED earth-fixed frame, (metres) | +| y | `float32` | | | East position in NED earth-fixed frame, (metres) | +| z | `float32` | | | Down position (negative altitude) in NED earth-fixed frame, (metres) | +| delta_xy | `float32[2]` | | | Amount of lateral shift of position estimate in latest reset (in x and y) [m] | +| xy_reset_counter | `uint8` | | | Index of latest lateral position estimate reset | +| delta_z | `float32` | | | Amount of vertical shift of position estimate in latest reset [m] | +| z_reset_counter | `uint8` | | | Index of latest vertical position estimate reset | +| vx | `float32` | | | North velocity in NED earth-fixed frame, (metres/sec) | +| vy | `float32` | | | East velocity in NED earth-fixed frame, (metres/sec) | +| vz | `float32` | | | Down velocity in NED earth-fixed frame, (metres/sec) | +| z_deriv | `float32` | | | Down position time derivative in NED earth-fixed frame, (metres/sec) | +| delta_vxy | `float32[2]` | | | Amount of lateral shift of velocity estimate in latest reset (in x and y) [m/s] | +| vxy_reset_counter | `uint8` | | | Index of latest vertical velocity estimate reset | +| delta_vz | `float32` | | | Amount of vertical shift of velocity estimate in latest reset [m/s] | +| vz_reset_counter | `uint8` | | | Index of latest vertical velocity estimate reset | +| ax | `float32` | | | North velocity derivative in NED earth-fixed frame, (metres/sec^2) | +| ay | `float32` | | | East velocity derivative in NED earth-fixed frame, (metres/sec^2) | +| az | `float32` | | | Down velocity derivative in NED earth-fixed frame, (metres/sec^2) | +| heading | `float32` | | | Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians) | +| heading_var | `float32` | | | +| unaided_heading | `float32` | | | Same as heading but generated by integrating corrected gyro data only | +| delta_heading | `float32` | | | Heading delta caused by latest heading reset [rad] | +| heading_reset_counter | `uint8` | | | Index of latest heading reset | +| heading_good_for_control | `bool` | | | +| tilt_var | `float32` | | | +| xy_global | `bool` | | | true if position (x, y) has a valid global reference (ref_lat, ref_lon) | +| z_global | `bool` | | | true if z has a valid global reference (ref_alt) | +| ref_timestamp | `uint64` | | | Time when reference position was set since system start, (microseconds) | +| ref_lat | `float64` | | | Reference point latitude, (degrees) | +| ref_lon | `float64` | | | Reference point longitude, (degrees) | +| ref_alt | `float32` | | | Reference altitude AMSL, (metres) | +| dist_bottom_valid | `bool` | | | true if distance to bottom surface is valid | +| dist_bottom | `float32` | | | Distance from from bottom surface to ground, (metres) | +| dist_bottom_var | `float32` | | | height above ground estimate variance (m^2) | +| delta_dist_bottom | `float32` | | | Amount of vertical shift of dist bottom estimate in latest reset [m] | +| dist_bottom_reset_counter | `uint8` | | | Index of latest dist bottom estimate reset | +| dist_bottom_sensor_bitfield | `uint8` | | | bitfield indicating what type of sensor is used to estimate dist_bottom | +| eph | `float32` | | | Standard deviation of horizontal position error, (metres) | +| epv | `float32` | | | Standard deviation of vertical position error, (metres) | +| evh | `float32` | | | Standard deviation of horizontal velocity error, (metres/sec) | +| evv | `float32` | | | Standard deviation of vertical velocity error, (metres/sec) | +| dead_reckoning | `bool` | | | True if this position is estimated through dead-reckoning | +| vxy_max | `float32` | | | maximum horizontal speed (meters/sec) | +| vz_max | `float32` | | | maximum vertical speed (meters/sec) | +| hagl_min | `float32` | | | minimum height above ground level (meters) | +| hagl_max_z | `float32` | | | maximum height above ground level for z-control (meters) | +| hagl_max_xy | `float32` | | | maximum height above ground level for xy-control (meters) | ## Constants diff --git a/docs/en/msg_docs/VehicleLocalPositionSetpoint.md b/docs/en/msg_docs/VehicleLocalPositionSetpoint.md index de30e6701df..543eb2832bb 100644 --- a/docs/en/msg_docs/VehicleLocalPositionSetpoint.md +++ b/docs/en/msg_docs/VehicleLocalPositionSetpoint.md @@ -10,19 +10,19 @@ Local position setpoint in NED frame. Telemetry of PID position controller to mo ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------ | ------------ | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| x | `float32` | | | in meters NED | -| y | `float32` | | | in meters NED | -| z | `float32` | | | in meters NED | -| vx | `float32` | | | in meters/sec | -| vy | `float32` | | | in meters/sec | -| vz | `float32` | | | in meters/sec | -| acceleration | `float32[3]` | | | in meters/sec^2 | -| thrust | `float32[3]` | | | normalized thrust vector in NED | -| yaw | `float32` | | | in radians NED -PI..+PI | -| yawspeed | `float32` | | | in radians/sec | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| x | `float32` | | | in meters NED | +| y | `float32` | | | in meters NED | +| z | `float32` | | | in meters NED | +| vx | `float32` | | | in meters/sec | +| vy | `float32` | | | in meters/sec | +| vz | `float32` | | | in meters/sec | +| acceleration | `float32[3]` | | | in meters/sec^2 | +| thrust | `float32[3]` | | | normalized thrust vector in NED | +| yaw | `float32` | | | in radians NED -PI..+PI | +| yawspeed | `float32` | | | in radians/sec | ## Source Message diff --git a/docs/en/msg_docs/VehicleLocalPositionV0.md b/docs/en/msg_docs/VehicleLocalPositionV0.md index 535f0cee6ff..2d51dff510b 100644 --- a/docs/en/msg_docs/VehicleLocalPositionV0.md +++ b/docs/en/msg_docs/VehicleLocalPositionV0.md @@ -10,60 +10,60 @@ Fused local position in NED. The coordinate system origin is the vehicle positio ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| --------------------------- | ------------ | ------------ | ---------- | ----------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | -| xy_valid | `bool` | | | true if x and y are valid | -| z_valid | `bool` | | | true if z is valid | -| v_xy_valid | `bool` | | | true if vx and vy are valid | -| v_z_valid | `bool` | | | true if vz is valid | -| x | `float32` | | | North position in NED earth-fixed frame, (metres) | -| y | `float32` | | | East position in NED earth-fixed frame, (metres) | -| z | `float32` | | | Down position (negative altitude) in NED earth-fixed frame, (metres) | -| delta_xy | `float32[2]` | | | Amount of lateral shift of position estimate in latest reset (in x and y) [m] | -| xy_reset_counter | `uint8` | | | Index of latest lateral position estimate reset | -| delta_z | `float32` | | | Amount of vertical shift of position estimate in latest reset [m] | -| z_reset_counter | `uint8` | | | Index of latest vertical position estimate reset | -| vx | `float32` | | | North velocity in NED earth-fixed frame, (metres/sec) | -| vy | `float32` | | | East velocity in NED earth-fixed frame, (metres/sec) | -| vz | `float32` | | | Down velocity in NED earth-fixed frame, (metres/sec) | -| z_deriv | `float32` | | | Down position time derivative in NED earth-fixed frame, (metres/sec) | -| delta_vxy | `float32[2]` | | | Amount of lateral shift of velocity estimate in latest reset (in x and y) [m/s] | -| vxy_reset_counter | `uint8` | | | Index of latest vertical velocity estimate reset | -| delta_vz | `float32` | | | Amount of vertical shift of velocity estimate in latest reset [m/s] | -| vz_reset_counter | `uint8` | | | Index of latest vertical velocity estimate reset | -| ax | `float32` | | | North velocity derivative in NED earth-fixed frame, (metres/sec^2) | -| ay | `float32` | | | East velocity derivative in NED earth-fixed frame, (metres/sec^2) | -| az | `float32` | | | Down velocity derivative in NED earth-fixed frame, (metres/sec^2) | -| heading | `float32` | | | Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians) | -| heading_var | `float32` | | | -| unaided_heading | `float32` | | | Same as heading but generated by integrating corrected gyro data only | -| delta_heading | `float32` | | | Heading delta caused by latest heading reset [rad] | -| heading_reset_counter | `uint8` | | | Index of latest heading reset | -| heading_good_for_control | `bool` | | | -| tilt_var | `float32` | | | -| xy_global | `bool` | | | true if position (x, y) has a valid global reference (ref_lat, ref_lon) | -| z_global | `bool` | | | true if z has a valid global reference (ref_alt) | -| ref_timestamp | `uint64` | | | Time when reference position was set since system start, (microseconds) | -| ref_lat | `float64` | | | Reference point latitude, (degrees) | -| ref_lon | `float64` | | | Reference point longitude, (degrees) | -| ref_alt | `float32` | | | Reference altitude AMSL, (metres) | -| dist_bottom_valid | `bool` | | | true if distance to bottom surface is valid | -| dist_bottom | `float32` | | | Distance from from bottom surface to ground, (metres) | -| dist_bottom_var | `float32` | | | terrain estimate variance (m^2) | -| delta_dist_bottom | `float32` | | | Amount of vertical shift of dist bottom estimate in latest reset [m] | -| dist_bottom_reset_counter | `uint8` | | | Index of latest dist bottom estimate reset | -| dist_bottom_sensor_bitfield | `uint8` | | | bitfield indicating what type of sensor is used to estimate dist_bottom | -| eph | `float32` | | | Standard deviation of horizontal position error, (metres) | -| epv | `float32` | | | Standard deviation of vertical position error, (metres) | -| evh | `float32` | | | Standard deviation of horizontal velocity error, (metres/sec) | -| evv | `float32` | | | Standard deviation of vertical velocity error, (metres/sec) | -| dead_reckoning | `bool` | | | True if this position is estimated through dead-reckoning | -| vxy_max | `float32` | | | maximum horizontal speed - set to 0 when limiting not required (meters/sec) | -| vz_max | `float32` | | | maximum vertical speed - set to 0 when limiting not required (meters/sec) | -| hagl_min | `float32` | | | minimum height above ground level - set to 0 when limiting not required (meters) | -| hagl_max | `float32` | | | maximum height above ground level - set to 0 when limiting not required (meters) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------------------------------------- | ------------ | ------------ | ---------- | ----------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| xy_valid | `bool` | | | true if x and y are valid | +| z_valid | `bool` | | | true if z is valid | +| v_xy_valid | `bool` | | | true if vx and vy are valid | +| v_z_valid | `bool` | | | true if vz is valid | +| x | `float32` | | | North position in NED earth-fixed frame, (metres) | +| y | `float32` | | | East position in NED earth-fixed frame, (metres) | +| z | `float32` | | | Down position (negative altitude) in NED earth-fixed frame, (metres) | +| delta_xy | `float32[2]` | | | Amount of lateral shift of position estimate in latest reset (in x and y) [m] | +| xy_reset_counter | `uint8` | | | Index of latest lateral position estimate reset | +| delta_z | `float32` | | | Amount of vertical shift of position estimate in latest reset [m] | +| z_reset_counter | `uint8` | | | Index of latest vertical position estimate reset | +| vx | `float32` | | | North velocity in NED earth-fixed frame, (metres/sec) | +| vy | `float32` | | | East velocity in NED earth-fixed frame, (metres/sec) | +| vz | `float32` | | | Down velocity in NED earth-fixed frame, (metres/sec) | +| z_deriv | `float32` | | | Down position time derivative in NED earth-fixed frame, (metres/sec) | +| delta_vxy | `float32[2]` | | | Amount of lateral shift of velocity estimate in latest reset (in x and y) [m/s] | +| vxy_reset_counter | `uint8` | | | Index of latest vertical velocity estimate reset | +| delta_vz | `float32` | | | Amount of vertical shift of velocity estimate in latest reset [m/s] | +| vz_reset_counter | `uint8` | | | Index of latest vertical velocity estimate reset | +| ax | `float32` | | | North velocity derivative in NED earth-fixed frame, (metres/sec^2) | +| ay | `float32` | | | East velocity derivative in NED earth-fixed frame, (metres/sec^2) | +| az | `float32` | | | Down velocity derivative in NED earth-fixed frame, (metres/sec^2) | +| heading | `float32` | | | Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians) | +| heading_var | `float32` | | | +| unaided_heading | `float32` | | | Same as heading but generated by integrating corrected gyro data only | +| delta_heading | `float32` | | | Heading delta caused by latest heading reset [rad] | +| heading_reset_counter | `uint8` | | | Index of latest heading reset | +| heading_good_for_control | `bool` | | | +| tilt_var | `float32` | | | +| xy_global | `bool` | | | true if position (x, y) has a valid global reference (ref_lat, ref_lon) | +| z_global | `bool` | | | true if z has a valid global reference (ref_alt) | +| ref_timestamp | `uint64` | | | Time when reference position was set since system start, (microseconds) | +| ref_lat | `float64` | | | Reference point latitude, (degrees) | +| ref_lon | `float64` | | | Reference point longitude, (degrees) | +| ref_alt | `float32` | | | Reference altitude AMSL, (metres) | +| dist_bottom_valid | `bool` | | | true if distance to bottom surface is valid | +| dist_bottom | `float32` | | | Distance from from bottom surface to ground, (metres) | +| dist_bottom_var | `float32` | | | terrain estimate variance (m^2) | +| delta_dist_bottom | `float32` | | | Amount of vertical shift of dist bottom estimate in latest reset [m] | +| dist_bottom_reset_counter | `uint8` | | | Index of latest dist bottom estimate reset | +| dist_bottom_sensor_bitfield | `uint8` | | | bitfield indicating what type of sensor is used to estimate dist_bottom | +| eph | `float32` | | | Standard deviation of horizontal position error, (metres) | +| epv | `float32` | | | Standard deviation of vertical position error, (metres) | +| evh | `float32` | | | Standard deviation of horizontal velocity error, (metres/sec) | +| evv | `float32` | | | Standard deviation of vertical velocity error, (metres/sec) | +| dead_reckoning | `bool` | | | True if this position is estimated through dead-reckoning | +| vxy_max | `float32` | | | maximum horizontal speed - set to 0 when limiting not required (meters/sec) | +| vz_max | `float32` | | | maximum vertical speed - set to 0 when limiting not required (meters/sec) | +| hagl_min | `float32` | | | minimum height above ground level - set to 0 when limiting not required (meters) | +| hagl_max | `float32` | | | maximum height above ground level - set to 0 when limiting not required (meters) | ## Constants diff --git a/docs/en/msg_docs/VehicleMagnetometer.md b/docs/en/msg_docs/VehicleMagnetometer.md index 23be7d68963..470839d9ae1 100644 --- a/docs/en/msg_docs/VehicleMagnetometer.md +++ b/docs/en/msg_docs/VehicleMagnetometer.md @@ -8,13 +8,13 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------- | ------------ | ------------ | ---------- | ---------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | -| device_id | `uint32` | | | unique device ID for the selected magnetometer | -| magnetometer_ga | `float32[3]` | | | Magnetic field in the FRD body frame XYZ-axis in Gauss | -| calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever calibration changes. | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------- | ------------ | ------------ | ---------- | ---------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| device_id | `uint32` | | | unique device ID for the selected magnetometer | +| magnetometer_ga | `float32[3]` | | | Magnetic field in the FRD body frame XYZ-axis in Gauss | +| calibration_count | `uint8` | | | Calibration changed counter. Monotonically increases whenever calibration changes. | ## Source Message diff --git a/docs/en/msg_docs/VehicleOdometry.md b/docs/en/msg_docs/VehicleOdometry.md index a3c6d201fd0..0f81cb36201 100644 --- a/docs/en/msg_docs/VehicleOdometry.md +++ b/docs/en/msg_docs/VehicleOdometry.md @@ -12,26 +12,28 @@ Fits ROS REP 147 for aerial vehicles ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------------- | ------------ | -------------------------------- | --------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| timestamp_sample | `uint64` | us | | Timestamp sample | -| pose_frame | `uint8` | | [POSE_FRAME](#POSE_FRAME) | Position and orientation frame of reference | -| position | `float32[3]` | m [local frame] | | Position. Origin is position of GC at startup. (Invalid: NaN If invalid/unknown) | -| q | `float32[4]` | | | 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) (Invalid: NaN First value if invalid/unknown) | -| velocity_frame | `uint8` | | [VELOCITY_FRAME](#VELOCITY_FRAME) | Reference frame of the velocity data | -| velocity | `float32[3]` | m/s [@velocity_frame] | | Velocity. (Invalid: NaN If invalid/unknown) | -| angular_velocity | `float32[3]` | rad/s [@VELOCITY_FRAME_BODY_FRD] | | Angular velocity in body-fixed frame (Invalid: NaN If invalid/unknown) | -| position_variance | `float32[3]` | m^2 | | Variance of position error | -| orientation_variance | `float32[3]` | rad^2 | | Variance of orientation/attitude error (expressed in body frame) | -| velocity_variance | `float32[3]` | m^2/s^2 | | Variance of velocity error | -| reset_counter | `uint8` | | | Reset counter. Counts reset events on attitude, velocity and position. | -| quality | `int8` | | | Quality. Unused. (Invalid: 0) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------- | ------------ | -------------------------------- | --------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Timestamp sample | +| pose_frame | `uint8` | | [POSE_FRAME](#POSE_FRAME) | Position and orientation frame of reference | +| position | `float32[3]` | m [local frame] | | Position. Origin is position of GC at startup. (Invalid: NaN If invalid/unknown) | +| q | `float32[4]` | | | 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) (Invalid: NaN First value if invalid/unknown) | +| velocity_frame | `uint8` | | [VELOCITY_FRAME](#VELOCITY_FRAME) | Reference frame of the velocity data | +| velocity | `float32[3]` | m/s [@velocity_frame] | | Velocity. (Invalid: NaN If invalid/unknown) | +| angular_velocity | `float32[3]` | rad/s [@VELOCITY_FRAME_BODY_FRD] | | Angular velocity in body-fixed frame (Invalid: NaN If invalid/unknown) | +| position_variance | `float32[3]` | m^2 | | Variance of position error | +| orientation_variance | `float32[3]` | rad^2 | | Variance of orientation/attitude error (expressed in body frame) | +| velocity_variance | `float32[3]` | m^2/s^2 | | Variance of velocity error | +| reset_counter | `uint8` | | | Reset counter. Counts reset events on attitude, velocity and position. | +| quality | `int8` | | | Quality. Unused. (Invalid: 0) | ## Enums ### POSE_FRAME {#POSE_FRAME} +Used in field(s): [pose_frame](#fld_pose_frame) + | Name | Type | Value | Description | | --------------------------------------------------- | ------- | ----- | --------------------------------------------------------------------------------------------- | | POSE_FRAME_UNKNOWN | `uint8` | 0 | Unknown frame | @@ -40,6 +42,8 @@ Fits ROS REP 147 for aerial vehicles ### VELOCITY_FRAME {#VELOCITY_FRAME} +Used in field(s): [velocity_frame](#fld_velocity_frame) + | Name | Type | Value | Description | | ------------------------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------------------------- | | VELOCITY_FRAME_UNKNOWN | `uint8` | 0 | Unknown frame | diff --git a/docs/en/msg_docs/VehicleOpticalFlow.md b/docs/en/msg_docs/VehicleOpticalFlow.md index 31af8bdbb7f..a3e4277318c 100644 --- a/docs/en/msg_docs/VehicleOpticalFlow.md +++ b/docs/en/msg_docs/VehicleOpticalFlow.md @@ -10,19 +10,19 @@ Optical flow in XYZ body frame in SI units. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------------- | ------------ | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | -| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | -| pixel_flow | `float32[2]` | | | (radians) accumulated optical flow in radians where a positive value is produced by a RH rotation about the body axis | -| delta_angle | `float32[3]` | | | (radians) accumulated gyro radians where a positive value is produced by a RH rotation of the sensor about the body axis. (NAN if unavailable) | -| distance_m | `float32` | | | (meters) Distance to the center of the flow field (NAN if unavailable) | -| integration_timespan_us | `uint32` | | | (microseconds) accumulation timespan in microseconds | -| quality | `uint8` | | | Average of quality of accumulated frames, 0: bad quality, 255: maximum quality | -| max_flow_rate | `float32` | | | (radians/s) Magnitude of maximum angular which the optical flow sensor can measure reliably | -| min_ground_distance | `float32` | | | (meters) Minimum distance from ground at which the optical flow sensor operates reliably | -| max_ground_distance | `float32` | | | (meters) Maximum distance from ground at which the optical flow sensor operates reliably | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------------- | ------------ | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | +| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles | +| pixel_flow | `float32[2]` | | | (radians) accumulated optical flow in radians where a positive value is produced by a RH rotation about the body axis | +| delta_angle | `float32[3]` | | | (radians) accumulated gyro radians where a positive value is produced by a RH rotation of the sensor about the body axis. (NAN if unavailable) | +| distance_m | `float32` | | | (meters) Distance to the center of the flow field (NAN if unavailable) | +| integration_timespan_us | `uint32` | | | (microseconds) accumulation timespan in microseconds | +| quality | `uint8` | | | Average of quality of accumulated frames, 0: bad quality, 255: maximum quality | +| max_flow_rate | `float32` | | | (radians/s) Magnitude of maximum angular which the optical flow sensor can measure reliably | +| min_ground_distance | `float32` | | | (meters) Minimum distance from ground at which the optical flow sensor operates reliably | +| max_ground_distance | `float32` | | | (meters) Maximum distance from ground at which the optical flow sensor operates reliably | ## Source Message diff --git a/docs/en/msg_docs/VehicleOpticalFlowVel.md b/docs/en/msg_docs/VehicleOpticalFlowVel.md index 7431dafc15e..7fb43d240c0 100644 --- a/docs/en/msg_docs/VehicleOpticalFlowVel.md +++ b/docs/en/msg_docs/VehicleOpticalFlowVel.md @@ -8,19 +8,19 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------------- | ------------ | ------------ | ---------- | --------------------------------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | -| vel_body | `float32[2]` | | | velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s) | -| vel_ne | `float32[2]` | | | same as vel_body but in local frame (m/s) | -| vel_body_filtered | `float32[2]` | | | filtered velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s) | -| vel_ne_filtered | `float32[2]` | | | filtered same as vel_body_filtered but in local frame (m/s) | -| flow_rate_uncompensated | `float32[2]` | | | integrated optical flow measurement (rad/s) | -| flow_rate_compensated | `float32[2]` | | | integrated optical flow measurement compensated for angular motion (rad/s) | -| gyro_rate | `float32[3]` | | | gyro measurement synchronized with flow measurements (rad/s) | -| gyro_bias | `float32[3]` | | | -| ref_gyro | `float32[3]` | | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------------- | ------------ | ------------ | ---------- | --------------------------------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| vel_body | `float32[2]` | | | velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s) | +| vel_ne | `float32[2]` | | | same as vel_body but in local frame (m/s) | +| vel_body_filtered | `float32[2]` | | | filtered velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s) | +| vel_ne_filtered | `float32[2]` | | | filtered same as vel_body_filtered but in local frame (m/s) | +| flow_rate_uncompensated | `float32[2]` | | | integrated optical flow measurement (rad/s) | +| flow_rate_compensated | `float32[2]` | | | integrated optical flow measurement compensated for angular motion (rad/s) | +| gyro_rate | `float32[3]` | | | gyro measurement synchronized with flow measurements (rad/s) | +| gyro_bias | `float32[3]` | | | +| ref_gyro | `float32[3]` | | | ## Source Message diff --git a/docs/en/msg_docs/VehicleRatesSetpoint.md b/docs/en/msg_docs/VehicleRatesSetpoint.md index edfc3ada80b..9757fd5e3ed 100644 --- a/docs/en/msg_docs/VehicleRatesSetpoint.md +++ b/docs/en/msg_docs/VehicleRatesSetpoint.md @@ -8,14 +8,14 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------- | ------------ | ------------ | ---------- | -------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| roll | `float32` | rad/s | | roll rate setpoint | -| pitch | `float32` | rad/s | | pitch rate setpoint | -| yaw | `float32` | rad/s | | yaw rate setpoint | -| thrust_body | `float32[3]` | | | Normalized thrust command in body NED frame [-1,1] | -| reset_integral | `bool` | | | Reset roll/pitch/yaw integrals (navigation logic change) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| roll | `float32` | rad/s | | roll rate setpoint | +| pitch | `float32` | rad/s | | pitch rate setpoint | +| yaw | `float32` | rad/s | | yaw rate setpoint | +| thrust_body | `float32[3]` | | | Normalized thrust command in body NED frame [-1,1] | +| reset_integral | `bool` | | | Reset roll/pitch/yaw integrals (navigation logic change) | ## Constants diff --git a/docs/en/msg_docs/VehicleRoi.md b/docs/en/msg_docs/VehicleRoi.md index af6fbd086e4..7a94ccfe214 100644 --- a/docs/en/msg_docs/VehicleRoi.md +++ b/docs/en/msg_docs/VehicleRoi.md @@ -10,16 +10,16 @@ Vehicle Region Of Interest (ROI). ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------ | --------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| mode | `uint8` | | | ROI mode (see above) | -| lat | `float64` | | | Latitude to point to | -| lon | `float64` | | | Longitude to point to | -| alt | `float32` | | | Altitude to point to | -| roll_offset | `float32` | | | angle offset in rad | -| pitch_offset | `float32` | | | angle offset in rad | -| yaw_offset | `float32` | | | angle offset in rad | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ----------------------------------------- | --------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| mode | `uint8` | | | ROI mode (see above) | +| lat | `float64` | | | Latitude to point to | +| lon | `float64` | | | Longitude to point to | +| alt | `float32` | | | Altitude to point to | +| roll_offset | `float32` | | | angle offset in rad | +| pitch_offset | `float32` | | | angle offset in rad | +| yaw_offset | `float32` | | | angle offset in rad | ## Constants diff --git a/docs/en/msg_docs/VehicleStatus.md b/docs/en/msg_docs/VehicleStatus.md index 86c6e9df89e..edb9580eded 100644 --- a/docs/en/msg_docs/VehicleStatus.md +++ b/docs/en/msg_docs/VehicleStatus.md @@ -10,49 +10,49 @@ Encodes the system state of the vehicle published by commander. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------------------------- | -------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| armed_time | `uint64` | | | Arming timestamp (microseconds) | -| takeoff_time | `uint64` | | | Takeoff timestamp (microseconds) | -| arming_state | `uint8` | | | -| latest_arming_reason | `uint8` | | | -| latest_disarming_reason | `uint8` | | | -| nav_state_timestamp | `uint64` | | | time when current nav_state activated | -| nav_state_user_intention | `uint8` | | | Mode that the user selected (might be different from nav_state in a failsafe situation) | -| nav_state | `uint8` | | | Currently active mode | -| executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) | -| nav_state_display | `uint8` | | | User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state) | -| accepts_offboard_setpoints | `bool` | | | True if the current mode accepts offboard trajectory setpoints via MAVLink | -| valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values | -| can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select | -| hil_state | `uint8` | | | -| vehicle_type | `uint8` | | | -| failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) | -| failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control | -| failsafe_defer_state | `uint8` | | | one of FAILSAFE*DEFER_STATE*\* | -| gcs_connection_lost | `bool` | | | datalink to GCS lost | -| gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events | -| high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost | -| is_vtol | `bool` | | | True if the system is VTOL capable | -| is_vtol_tailsitter | `bool` | | | True if the system performs a 90° pitch down rotation during transition from MC to FW | -| in_transition_mode | `bool` | | | True if VTOL is doing a transition | -| in_transition_to_fw | `bool` | | | True if VTOL is doing a transition from MC to FW | -| system_type | `uint8` | | | system type, contains mavlink MAV_TYPE | -| system_id | `uint8` | | | system id, contains MAVLink's system ID field | -| component_id | `uint8` | | | subsystem / component id, contains MAVLink's component ID field | -| safety_button_available | `bool` | | | Set to true if a safety button is connected | -| safety_off | `bool` | | | Set to true if safety is off | -| power_input_valid | `bool` | | | set if input power is valid | -| usb_connected | `bool` | | | set to true (never cleared) once telemetry received from usb link | -| open_drone_id_system_present | `bool` | | | -| open_drone_id_system_healthy | `bool` | | | -| parachute_system_present | `bool` | | | -| parachute_system_healthy | `bool` | | | -| traffic_avoidance_system_present | `bool` | | | -| rc_calibration_in_progress | `bool` | | | -| calibration_enabled | `bool` | | | -| pre_flight_checks_pass | `bool` | | | true if all checks necessary to arm pass | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------------------------------- | -------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| armed_time | `uint64` | | | Arming timestamp (microseconds) | +| takeoff_time | `uint64` | | | Takeoff timestamp (microseconds) | +| arming_state | `uint8` | | | +| latest_arming_reason | `uint8` | | | +| latest_disarming_reason | `uint8` | | | +| nav_state_timestamp | `uint64` | | | time when current nav_state activated | +| nav_state_user_intention | `uint8` | | | Mode that the user selected (might be different from nav_state in a failsafe situation) | +| nav_state | `uint8` | | | Currently active mode | +| executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) | +| nav_state_display | `uint8` | | | User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state) | +| accepts_offboard_setpoints | `bool` | | | True if the current mode accepts offboard trajectory setpoints via MAVLink | +| valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values | +| can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select | +| hil_state | `uint8` | | | +| vehicle_type | `uint8` | | | +| failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) | +| failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control | +| failsafe_defer_state | `uint8` | | | one of FAILSAFE*DEFER_STATE*\* | +| gcs_connection_lost | `bool` | | | datalink to GCS lost | +| gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events | +| high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost | +| is_vtol | `bool` | | | True if the system is VTOL capable | +| is_vtol_tailsitter | `bool` | | | True if the system performs a 90° pitch down rotation during transition from MC to FW | +| in_transition_mode | `bool` | | | True if VTOL is doing a transition | +| in_transition_to_fw | `bool` | | | True if VTOL is doing a transition from MC to FW | +| system_type | `uint8` | | | system type, contains mavlink MAV_TYPE | +| system_id | `uint8` | | | system id, contains MAVLink's system ID field | +| component_id | `uint8` | | | subsystem / component id, contains MAVLink's component ID field | +| safety_button_available | `bool` | | | Set to true if a safety button is connected | +| safety_off | `bool` | | | Set to true if safety is off | +| power_input_valid | `bool` | | | set if input power is valid | +| usb_connected | `bool` | | | set to true (never cleared) once telemetry received from usb link | +| open_drone_id_system_present | `bool` | | | +| open_drone_id_system_healthy | `bool` | | | +| parachute_system_present | `bool` | | | +| parachute_system_healthy | `bool` | | | +| traffic_avoidance_system_present | `bool` | | | +| rc_calibration_in_progress | `bool` | | | +| calibration_enabled | `bool` | | | +| pre_flight_checks_pass | `bool` | | | true if all checks necessary to arm pass | ## Constants diff --git a/docs/en/msg_docs/VehicleStatusV0.md b/docs/en/msg_docs/VehicleStatusV0.md index 1475bce8ea6..558c991dc0e 100644 --- a/docs/en/msg_docs/VehicleStatusV0.md +++ b/docs/en/msg_docs/VehicleStatusV0.md @@ -10,49 +10,49 @@ Encodes the system state of the vehicle published by commander. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------------------- | -------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| armed_time | `uint64` | | | Arming timestamp (microseconds) | -| takeoff_time | `uint64` | | | Takeoff timestamp (microseconds) | -| arming_state | `uint8` | | | -| latest_arming_reason | `uint8` | | | -| latest_disarming_reason | `uint8` | | | -| nav_state_timestamp | `uint64` | | | time when current nav_state activated | -| nav_state_user_intention | `uint8` | | | Mode that the user selected (might be different from nav_state in a failsafe situation) | -| nav_state | `uint8` | | | Currently active mode | -| executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) | -| valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values | -| can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select | -| failure_detector_status | `uint16` | | | -| hil_state | `uint8` | | | -| vehicle_type | `uint8` | | | -| failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) | -| failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control | -| failsafe_defer_state | `uint8` | | | one of FAILSAFE*DEFER_STATE*\* | -| gcs_connection_lost | `bool` | | | datalink to GCS lost | -| gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events | -| high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost | -| is_vtol | `bool` | | | True if the system is VTOL capable | -| is_vtol_tailsitter | `bool` | | | True if the system performs a 90° pitch down rotation during transition from MC to FW | -| in_transition_mode | `bool` | | | True if VTOL is doing a transition | -| in_transition_to_fw | `bool` | | | True if VTOL is doing a transition from MC to FW | -| system_type | `uint8` | | | system type, contains mavlink MAV_TYPE | -| system_id | `uint8` | | | system id, contains MAVLink's system ID field | -| component_id | `uint8` | | | subsystem / component id, contains MAVLink's component ID field | -| safety_button_available | `bool` | | | Set to true if a safety button is connected | -| safety_off | `bool` | | | Set to true if safety is off | -| power_input_valid | `bool` | | | set if input power is valid | -| usb_connected | `bool` | | | set to true (never cleared) once telemetry received from usb link | -| open_drone_id_system_present | `bool` | | | -| open_drone_id_system_healthy | `bool` | | | -| parachute_system_present | `bool` | | | -| parachute_system_healthy | `bool` | | | -| avoidance_system_required | `bool` | | | Set to true if avoidance system is enabled via COM_OBS_AVOID parameter | -| avoidance_system_valid | `bool` | | | Status of the obstacle avoidance system | -| rc_calibration_in_progress | `bool` | | | -| calibration_enabled | `bool` | | | -| pre_flight_checks_pass | `bool` | | | true if all checks necessary to arm pass | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------------------- | -------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| armed_time | `uint64` | | | Arming timestamp (microseconds) | +| takeoff_time | `uint64` | | | Takeoff timestamp (microseconds) | +| arming_state | `uint8` | | | +| latest_arming_reason | `uint8` | | | +| latest_disarming_reason | `uint8` | | | +| nav_state_timestamp | `uint64` | | | time when current nav_state activated | +| nav_state_user_intention | `uint8` | | | Mode that the user selected (might be different from nav_state in a failsafe situation) | +| nav_state | `uint8` | | | Currently active mode | +| executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) | +| valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values | +| can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select | +| failure_detector_status | `uint16` | | | +| hil_state | `uint8` | | | +| vehicle_type | `uint8` | | | +| failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) | +| failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control | +| failsafe_defer_state | `uint8` | | | one of FAILSAFE*DEFER_STATE*\* | +| gcs_connection_lost | `bool` | | | datalink to GCS lost | +| gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events | +| high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost | +| is_vtol | `bool` | | | True if the system is VTOL capable | +| is_vtol_tailsitter | `bool` | | | True if the system performs a 90° pitch down rotation during transition from MC to FW | +| in_transition_mode | `bool` | | | True if VTOL is doing a transition | +| in_transition_to_fw | `bool` | | | True if VTOL is doing a transition from MC to FW | +| system_type | `uint8` | | | system type, contains mavlink MAV_TYPE | +| system_id | `uint8` | | | system id, contains MAVLink's system ID field | +| component_id | `uint8` | | | subsystem / component id, contains MAVLink's component ID field | +| safety_button_available | `bool` | | | Set to true if a safety button is connected | +| safety_off | `bool` | | | Set to true if safety is off | +| power_input_valid | `bool` | | | set if input power is valid | +| usb_connected | `bool` | | | set to true (never cleared) once telemetry received from usb link | +| open_drone_id_system_present | `bool` | | | +| open_drone_id_system_healthy | `bool` | | | +| parachute_system_present | `bool` | | | +| parachute_system_healthy | `bool` | | | +| avoidance_system_required | `bool` | | | Set to true if avoidance system is enabled via COM_OBS_AVOID parameter | +| avoidance_system_valid | `bool` | | | Status of the obstacle avoidance system | +| rc_calibration_in_progress | `bool` | | | +| calibration_enabled | `bool` | | | +| pre_flight_checks_pass | `bool` | | | true if all checks necessary to arm pass | ## Constants diff --git a/docs/en/msg_docs/VehicleStatusV1.md b/docs/en/msg_docs/VehicleStatusV1.md index c38ce82a9e0..56435211776 100644 --- a/docs/en/msg_docs/VehicleStatusV1.md +++ b/docs/en/msg_docs/VehicleStatusV1.md @@ -10,52 +10,54 @@ Encodes the system state of the vehicle published by commander. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------------------- | -------- | -------------- | --------------------------------------------- | ----------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| armed_time | `uint64` | us | | Arming timestamp | -| takeoff_time | `uint64` | us | | Takeoff timestamp | -| arming_state | `uint8` | | | -| latest_arming_reason | `uint8` | | | -| latest_disarming_reason | `uint8` | | | -| nav_state_timestamp | `uint64` | | | Time when current nav_state activated | -| nav_state_user_intention | `uint8` | | | Mode that the user selected (might be different from nav_state in a failsafe situation) | -| nav_state | `uint8` | | [NAVIGATION_STATE](#NAVIGATION_STATE) | Currently active mode | -| executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) | -| valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values | -| can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select | -| failure_detector_status | `uint16` | | [FAILURE](#FAILURE) | -| hil_state | `uint8` | enum HIL_STATE | | -| vehicle_type | `uint8` | | [VEHICLE_TYPE](#VEHICLE_TYPE) | -| failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) | -| failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control | -| failsafe_defer_state | `uint8` | | [FAILSAFE_DEFER_STATE](#FAILSAFE_DEFER_STATE) | -| gcs_connection_lost | `bool` | | | datalink to GCS lost | -| gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events | -| high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost | -| is_vtol | `bool` | | | True if the system is VTOL capable | -| is_vtol_tailsitter | `bool` | | | True if the system performs a 90° pitch down rotation during transition from MC to FW | -| in_transition_mode | `bool` | | | True if VTOL is doing a transition | -| in_transition_to_fw | `bool` | | | True if VTOL is doing a transition from MC to FW | -| system_type | `uint8` | | | system type, contains mavlink MAV_TYPE | -| system_id | `uint8` | | | system id, contains MAVLink's system ID field | -| component_id | `uint8` | | | subsystem / component id, contains MAVLink's component ID field | -| safety_button_available | `bool` | | | Set to true if a safety button is connected | -| safety_off | `bool` | | | Set to true if safety is off | -| power_input_valid | `bool` | | | Set if input power is valid | -| usb_connected | `bool` | | | Set to true (never cleared) once telemetry received from usb link | -| open_drone_id_system_present | `bool` | | | -| open_drone_id_system_healthy | `bool` | | | -| parachute_system_present | `bool` | | | -| parachute_system_healthy | `bool` | | | -| rc_calibration_in_progress | `bool` | | | -| calibration_enabled | `bool` | | | -| pre_flight_checks_pass | `bool` | | | true if all checks necessary to arm pass | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------------------- | -------- | -------------- | --------------------------------------------- | ----------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| armed_time | `uint64` | us | | Arming timestamp | +| takeoff_time | `uint64` | us | | Takeoff timestamp | +| arming_state | `uint8` | | | +| latest_arming_reason | `uint8` | | | +| latest_disarming_reason | `uint8` | | | +| nav_state_timestamp | `uint64` | | | Time when current nav_state activated | +| nav_state_user_intention | `uint8` | | | Mode that the user selected (might be different from nav_state in a failsafe situation) | +| nav_state | `uint8` | | [NAVIGATION_STATE](#NAVIGATION_STATE) | Currently active mode | +| executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) | +| valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values | +| can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select | +| failure_detector_status | `uint16` | | [FAILURE](#FAILURE) | +| hil_state | `uint8` | enum HIL_STATE | | +| vehicle_type | `uint8` | | [VEHICLE_TYPE](#VEHICLE_TYPE) | +| failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) | +| failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control | +| failsafe_defer_state | `uint8` | | [FAILSAFE_DEFER_STATE](#FAILSAFE_DEFER_STATE) | +| gcs_connection_lost | `bool` | | | datalink to GCS lost | +| gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events | +| high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost | +| is_vtol | `bool` | | | True if the system is VTOL capable | +| is_vtol_tailsitter | `bool` | | | True if the system performs a 90° pitch down rotation during transition from MC to FW | +| in_transition_mode | `bool` | | | True if VTOL is doing a transition | +| in_transition_to_fw | `bool` | | | True if VTOL is doing a transition from MC to FW | +| system_type | `uint8` | | | system type, contains mavlink MAV_TYPE | +| system_id | `uint8` | | | system id, contains MAVLink's system ID field | +| component_id | `uint8` | | | subsystem / component id, contains MAVLink's component ID field | +| safety_button_available | `bool` | | | Set to true if a safety button is connected | +| safety_off | `bool` | | | Set to true if safety is off | +| power_input_valid | `bool` | | | Set if input power is valid | +| usb_connected | `bool` | | | Set to true (never cleared) once telemetry received from usb link | +| open_drone_id_system_present | `bool` | | | +| open_drone_id_system_healthy | `bool` | | | +| parachute_system_present | `bool` | | | +| parachute_system_healthy | `bool` | | | +| rc_calibration_in_progress | `bool` | | | +| calibration_enabled | `bool` | | | +| pre_flight_checks_pass | `bool` | | | true if all checks necessary to arm pass | ## Enums ### NAVIGATION_STATE {#NAVIGATION_STATE} +Used in field(s): [nav_state](#fld_nav_state) + | Name | Type | Value | Description | | ------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------- | | NAVIGATION_STATE_MANUAL | `uint8` | 0 | Manual mode | @@ -93,6 +95,8 @@ Encodes the system state of the vehicle published by commander. ### FAILURE {#FAILURE} +Used in field(s): [failure_detector_status](#fld_failure_detector_status) + | Name | Type | Value | Description | | ------------------------------------------------------------- | -------- | ----- | ----------- | | FAILURE_NONE | `uint16` | 0 | @@ -107,6 +111,8 @@ Encodes the system state of the vehicle published by commander. ### VEHICLE_TYPE {#VEHICLE_TYPE} +Used in field(s): [vehicle_type](#fld_vehicle_type) + | Name | Type | Value | Description | | --------------------------------------------------------------- | ------- | ----- | ----------- | | VEHICLE_TYPE_UNSPECIFIED | `uint8` | 0 | @@ -116,6 +122,8 @@ Encodes the system state of the vehicle published by commander. ### FAILSAFE_DEFER_STATE {#FAILSAFE_DEFER_STATE} +Used in field(s): [failsafe_defer_state](#fld_failsafe_defer_state) + | Name | Type | Value | Description | | ------------------------------------------------------------------------------------- | ------- | ----- | ------------------------------------------------ | | FAILSAFE_DEFER_STATE_DISABLED | `uint8` | 0 | diff --git a/docs/en/msg_docs/VehicleStatusV2.md b/docs/en/msg_docs/VehicleStatusV2.md index 29e3d1a3a95..69e2e55743b 100644 --- a/docs/en/msg_docs/VehicleStatusV2.md +++ b/docs/en/msg_docs/VehicleStatusV2.md @@ -10,49 +10,49 @@ Encodes the system state of the vehicle published by commander. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------------------------- | -------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| armed_time | `uint64` | | | Arming timestamp (microseconds) | -| takeoff_time | `uint64` | | | Takeoff timestamp (microseconds) | -| arming_state | `uint8` | | | -| latest_arming_reason | `uint8` | | | -| latest_disarming_reason | `uint8` | | | -| nav_state_timestamp | `uint64` | | | time when current nav_state activated | -| nav_state_user_intention | `uint8` | | | Mode that the user selected (might be different from nav_state in a failsafe situation) | -| nav_state | `uint8` | | | Currently active mode | -| executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) | -| nav_state_display | `uint8` | | | User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state) | -| valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values | -| can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select | -| failure_detector_status | `uint16` | | | -| hil_state | `uint8` | | | -| vehicle_type | `uint8` | | | -| failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) | -| failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control | -| failsafe_defer_state | `uint8` | | | one of FAILSAFE*DEFER_STATE*\* | -| gcs_connection_lost | `bool` | | | datalink to GCS lost | -| gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events | -| high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost | -| is_vtol | `bool` | | | True if the system is VTOL capable | -| is_vtol_tailsitter | `bool` | | | True if the system performs a 90° pitch down rotation during transition from MC to FW | -| in_transition_mode | `bool` | | | True if VTOL is doing a transition | -| in_transition_to_fw | `bool` | | | True if VTOL is doing a transition from MC to FW | -| system_type | `uint8` | | | system type, contains mavlink MAV_TYPE | -| system_id | `uint8` | | | system id, contains MAVLink's system ID field | -| component_id | `uint8` | | | subsystem / component id, contains MAVLink's component ID field | -| safety_button_available | `bool` | | | Set to true if a safety button is connected | -| safety_off | `bool` | | | Set to true if safety is off | -| power_input_valid | `bool` | | | set if input power is valid | -| usb_connected | `bool` | | | set to true (never cleared) once telemetry received from usb link | -| open_drone_id_system_present | `bool` | | | -| open_drone_id_system_healthy | `bool` | | | -| parachute_system_present | `bool` | | | -| parachute_system_healthy | `bool` | | | -| traffic_avoidance_system_present | `bool` | | | -| rc_calibration_in_progress | `bool` | | | -| calibration_enabled | `bool` | | | -| pre_flight_checks_pass | `bool` | | | true if all checks necessary to arm pass | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------------------------------- | -------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| armed_time | `uint64` | | | Arming timestamp (microseconds) | +| takeoff_time | `uint64` | | | Takeoff timestamp (microseconds) | +| arming_state | `uint8` | | | +| latest_arming_reason | `uint8` | | | +| latest_disarming_reason | `uint8` | | | +| nav_state_timestamp | `uint64` | | | time when current nav_state activated | +| nav_state_user_intention | `uint8` | | | Mode that the user selected (might be different from nav_state in a failsafe situation) | +| nav_state | `uint8` | | | Currently active mode | +| executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) | +| nav_state_display | `uint8` | | | User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state) | +| valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values | +| can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select | +| failure_detector_status | `uint16` | | | +| hil_state | `uint8` | | | +| vehicle_type | `uint8` | | | +| failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) | +| failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control | +| failsafe_defer_state | `uint8` | | | one of FAILSAFE*DEFER_STATE*\* | +| gcs_connection_lost | `bool` | | | datalink to GCS lost | +| gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events | +| high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost | +| is_vtol | `bool` | | | True if the system is VTOL capable | +| is_vtol_tailsitter | `bool` | | | True if the system performs a 90° pitch down rotation during transition from MC to FW | +| in_transition_mode | `bool` | | | True if VTOL is doing a transition | +| in_transition_to_fw | `bool` | | | True if VTOL is doing a transition from MC to FW | +| system_type | `uint8` | | | system type, contains mavlink MAV_TYPE | +| system_id | `uint8` | | | system id, contains MAVLink's system ID field | +| component_id | `uint8` | | | subsystem / component id, contains MAVLink's component ID field | +| safety_button_available | `bool` | | | Set to true if a safety button is connected | +| safety_off | `bool` | | | Set to true if safety is off | +| power_input_valid | `bool` | | | set if input power is valid | +| usb_connected | `bool` | | | set to true (never cleared) once telemetry received from usb link | +| open_drone_id_system_present | `bool` | | | +| open_drone_id_system_healthy | `bool` | | | +| parachute_system_present | `bool` | | | +| parachute_system_healthy | `bool` | | | +| traffic_avoidance_system_present | `bool` | | | +| rc_calibration_in_progress | `bool` | | | +| calibration_enabled | `bool` | | | +| pre_flight_checks_pass | `bool` | | | true if all checks necessary to arm pass | ## Constants diff --git a/docs/en/msg_docs/VehicleStatusV3.md b/docs/en/msg_docs/VehicleStatusV3.md index 9be48b41cbc..36c42e53705 100644 --- a/docs/en/msg_docs/VehicleStatusV3.md +++ b/docs/en/msg_docs/VehicleStatusV3.md @@ -10,48 +10,48 @@ Encodes the system state of the vehicle published by commander. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------------------------- | -------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| armed_time | `uint64` | | | Arming timestamp (microseconds) | -| takeoff_time | `uint64` | | | Takeoff timestamp (microseconds) | -| arming_state | `uint8` | | | -| latest_arming_reason | `uint8` | | | -| latest_disarming_reason | `uint8` | | | -| nav_state_timestamp | `uint64` | | | time when current nav_state activated | -| nav_state_user_intention | `uint8` | | | Mode that the user selected (might be different from nav_state in a failsafe situation) | -| nav_state | `uint8` | | | Currently active mode | -| executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) | -| nav_state_display | `uint8` | | | User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state) | -| valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values | -| can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select | -| hil_state | `uint8` | | | -| vehicle_type | `uint8` | | | -| failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) | -| failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control | -| failsafe_defer_state | `uint8` | | | one of FAILSAFE*DEFER_STATE*\* | -| gcs_connection_lost | `bool` | | | datalink to GCS lost | -| gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events | -| high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost | -| is_vtol | `bool` | | | True if the system is VTOL capable | -| is_vtol_tailsitter | `bool` | | | True if the system performs a 90° pitch down rotation during transition from MC to FW | -| in_transition_mode | `bool` | | | True if VTOL is doing a transition | -| in_transition_to_fw | `bool` | | | True if VTOL is doing a transition from MC to FW | -| system_type | `uint8` | | | system type, contains mavlink MAV_TYPE | -| system_id | `uint8` | | | system id, contains MAVLink's system ID field | -| component_id | `uint8` | | | subsystem / component id, contains MAVLink's component ID field | -| safety_button_available | `bool` | | | Set to true if a safety button is connected | -| safety_off | `bool` | | | Set to true if safety is off | -| power_input_valid | `bool` | | | set if input power is valid | -| usb_connected | `bool` | | | set to true (never cleared) once telemetry received from usb link | -| open_drone_id_system_present | `bool` | | | -| open_drone_id_system_healthy | `bool` | | | -| parachute_system_present | `bool` | | | -| parachute_system_healthy | `bool` | | | -| traffic_avoidance_system_present | `bool` | | | -| rc_calibration_in_progress | `bool` | | | -| calibration_enabled | `bool` | | | -| pre_flight_checks_pass | `bool` | | | true if all checks necessary to arm pass | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------------------------------- | -------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| armed_time | `uint64` | | | Arming timestamp (microseconds) | +| takeoff_time | `uint64` | | | Takeoff timestamp (microseconds) | +| arming_state | `uint8` | | | +| latest_arming_reason | `uint8` | | | +| latest_disarming_reason | `uint8` | | | +| nav_state_timestamp | `uint64` | | | time when current nav_state activated | +| nav_state_user_intention | `uint8` | | | Mode that the user selected (might be different from nav_state in a failsafe situation) | +| nav_state | `uint8` | | | Currently active mode | +| executor_in_charge | `uint8` | | | Current mode executor in charge (0=Autopilot) | +| nav_state_display | `uint8` | | | User-visible nav state sent via MAVLink (executor state if active, otherwise nav_state) | +| valid_nav_states_mask | `uint32` | | | Bitmask for all valid nav_state values | +| can_set_nav_states_mask | `uint32` | | | Bitmask for all modes that a user can select | +| hil_state | `uint8` | | | +| vehicle_type | `uint8` | | | +| failsafe | `bool` | | | true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...) | +| failsafe_and_user_took_over | `bool` | | | true if system is in failsafe state but the user took over control | +| failsafe_defer_state | `uint8` | | | one of FAILSAFE*DEFER_STATE*\* | +| gcs_connection_lost | `bool` | | | datalink to GCS lost | +| gcs_connection_lost_counter | `uint8` | | | counts unique GCS connection lost events | +| high_latency_data_link_lost | `bool` | | | Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost | +| is_vtol | `bool` | | | True if the system is VTOL capable | +| is_vtol_tailsitter | `bool` | | | True if the system performs a 90° pitch down rotation during transition from MC to FW | +| in_transition_mode | `bool` | | | True if VTOL is doing a transition | +| in_transition_to_fw | `bool` | | | True if VTOL is doing a transition from MC to FW | +| system_type | `uint8` | | | system type, contains mavlink MAV_TYPE | +| system_id | `uint8` | | | system id, contains MAVLink's system ID field | +| component_id | `uint8` | | | subsystem / component id, contains MAVLink's component ID field | +| safety_button_available | `bool` | | | Set to true if a safety button is connected | +| safety_off | `bool` | | | Set to true if safety is off | +| power_input_valid | `bool` | | | set if input power is valid | +| usb_connected | `bool` | | | set to true (never cleared) once telemetry received from usb link | +| open_drone_id_system_present | `bool` | | | +| open_drone_id_system_healthy | `bool` | | | +| parachute_system_present | `bool` | | | +| parachute_system_healthy | `bool` | | | +| traffic_avoidance_system_present | `bool` | | | +| rc_calibration_in_progress | `bool` | | | +| calibration_enabled | `bool` | | | +| pre_flight_checks_pass | `bool` | | | true if all checks necessary to arm pass | ## Constants diff --git a/docs/en/msg_docs/VehicleThrustSetpoint.md b/docs/en/msg_docs/VehicleThrustSetpoint.md index 2b5324b0983..8864ed77b79 100644 --- a/docs/en/msg_docs/VehicleThrustSetpoint.md +++ b/docs/en/msg_docs/VehicleThrustSetpoint.md @@ -8,11 +8,11 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | timestamp of the data sample on which this message is based (microseconds) | -| xyz | `float32[3]` | | | thrust setpoint along X, Y, Z body axis [-1, 1] | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | timestamp of the data sample on which this message is based (microseconds) | +| xyz | `float32[3]` | | | thrust setpoint along X, Y, Z body axis [-1, 1] | ## Source Message diff --git a/docs/en/msg_docs/VehicleTorqueSetpoint.md b/docs/en/msg_docs/VehicleTorqueSetpoint.md index a0449a47114..273af77dee3 100644 --- a/docs/en/msg_docs/VehicleTorqueSetpoint.md +++ b/docs/en/msg_docs/VehicleTorqueSetpoint.md @@ -8,11 +8,11 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | timestamp of the data sample on which this message is based (microseconds) | -| xyz | `float32[3]` | | | torque setpoint about X, Y, Z body axis (normalized) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | timestamp of the data sample on which this message is based (microseconds) | +| xyz | `float32[3]` | | | torque setpoint about X, Y, Z body axis (normalized) | ## Source Message diff --git a/docs/en/msg_docs/VelocityLimits.md b/docs/en/msg_docs/VelocityLimits.md index 007088412a9..96aa9971882 100644 --- a/docs/en/msg_docs/VelocityLimits.md +++ b/docs/en/msg_docs/VelocityLimits.md @@ -10,12 +10,12 @@ Velocity and yaw rate limits for a multicopter position slow mode only. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------- | --------- | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| horizontal_velocity | `float32` | m/s | | -| vertical_velocity | `float32` | m/s | | -| yaw_rate | `float32` | rad/s | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------- | --------- | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| horizontal_velocity | `float32` | m/s | | +| vertical_velocity | `float32` | m/s | | +| yaw_rate | `float32` | rad/s | | ## Source Message diff --git a/docs/en/msg_docs/VteAidSource1d.md b/docs/en/msg_docs/VteAidSource1d.md index 204fc7f620c..a09918dfce0 100644 --- a/docs/en/msg_docs/VteAidSource1d.md +++ b/docs/en/msg_docs/VteAidSource1d.md @@ -13,24 +13,26 @@ Subscribed by: logger only. Inspect observation, innovation, test_ratio, and fus ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------------- | --------- | ------------ | --------------------------------------- | --------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| timestamp_sample | `uint64` | us | | Timestamp of the raw observation | -| time_last_predict | `uint64` | us | | Timestamp of last filter prediction | -| observation | `float32` | | | Observation attempted to be fused | -| observation_variance | `float32` | | | Variance of observation attempted to be fused | -| innovation | `float32` | | | Kalman Filter innovation (y = z - Hx) | -| innovation_variance | `float32` | | | Kalman Filter variance of the innovation | -| test_ratio | `float32` | | | Normalized innovation squared (NIS) | -| fusion_status | `uint8` | | [VTE_FUSION_STATUS](#VTE_FUSION_STATUS) | Fusion status code | -| time_since_meas_ms | `float32` | ms | | (now - timestamp_sample) | -| history_steps | `uint8` | | | Number of steps replayed in OOSM (0 if current or failed) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------- | --------- | ------------ | --------------------------------------- | --------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Timestamp of the raw observation | +| time_last_predict | `uint64` | us | | Timestamp of last filter prediction | +| observation | `float32` | | | Observation attempted to be fused | +| observation_variance | `float32` | | | Variance of observation attempted to be fused | +| innovation | `float32` | | | Kalman Filter innovation (y = z - Hx) | +| innovation_variance | `float32` | | | Kalman Filter variance of the innovation | +| test_ratio | `float32` | | | Normalized innovation squared (NIS) | +| fusion_status | `uint8` | | [VTE_FUSION_STATUS](#VTE_FUSION_STATUS) | Fusion status code | +| time_since_meas_ms | `float32` | ms | | (now - timestamp_sample) | +| history_steps | `uint8` | | | Number of steps replayed in OOSM (0 if current or failed) | ## Enums ### VTE_FUSION_STATUS {#VTE_FUSION_STATUS} +Used in field(s): [fusion_status](#fld_fusion_status) + | Name | Type | Value | Description | | ---- | ---- | ----- | ----------- | diff --git a/docs/en/msg_docs/VteAidSource3d.md b/docs/en/msg_docs/VteAidSource3d.md index b6c95fba65e..db2cf2bfc60 100644 --- a/docs/en/msg_docs/VteAidSource3d.md +++ b/docs/en/msg_docs/VteAidSource3d.md @@ -13,24 +13,26 @@ Subscribed by: logger only. Inspect observation, innovation, test_ratio, and per ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------------- | ------------ | ------------ | --------------------------------------- | --------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| timestamp_sample | `uint64` | us | | Timestamp of the raw observation | -| time_last_predict | `uint64` | us | | Timestamp of last filter prediction | -| observation | `float32[3]` | [NED] | | Sensor observation attempted to be fused | -| observation_variance | `float32[3]` | [NED] | | Variance of the observation attempted to be fused | -| innovation | `float32[3]` | [NED] | | Kalman Filter innovation (y = z - Hx) | -| innovation_variance | `float32[3]` | [NED] | | Kalman Filter variance of the innovation | -| test_ratio | `float32[3]` | | | Normalized innovation squared (NIS) | -| fusion_status | `uint8[3]` | | [VTE_FUSION_STATUS](#VTE_FUSION_STATUS) | Fusion status code per axis | -| time_since_meas_ms | `float32` | ms | | (now - timestamp_sample) | -| history_steps | `uint8` | | | Number of steps replayed in OOSM (0 if current or failed) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------------- | ------------ | ------------ | --------------------------------------- | --------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Timestamp of the raw observation | +| time_last_predict | `uint64` | us | | Timestamp of last filter prediction | +| observation | `float32[3]` | [NED] | | Sensor observation attempted to be fused | +| observation_variance | `float32[3]` | [NED] | | Variance of the observation attempted to be fused | +| innovation | `float32[3]` | [NED] | | Kalman Filter innovation (y = z - Hx) | +| innovation_variance | `float32[3]` | [NED] | | Kalman Filter variance of the innovation | +| test_ratio | `float32[3]` | | | Normalized innovation squared (NIS) | +| fusion_status | `uint8[3]` | | [VTE_FUSION_STATUS](#VTE_FUSION_STATUS) | Fusion status code per axis | +| time_since_meas_ms | `float32` | ms | | (now - timestamp_sample) | +| history_steps | `uint8` | | | Number of steps replayed in OOSM (0 if current or failed) | ## Enums ### VTE_FUSION_STATUS {#VTE_FUSION_STATUS} +Used in field(s): [fusion_status](#fld_fusion_status) + | Name | Type | Value | Description | | ---- | ---- | ----- | ----------- | diff --git a/docs/en/msg_docs/VteBiasInitStatus.md b/docs/en/msg_docs/VteBiasInitStatus.md index 88ef5b6382f..55e786dc1b3 100644 --- a/docs/en/msg_docs/VteBiasInitStatus.md +++ b/docs/en/msg_docs/VteBiasInitStatus.md @@ -13,12 +13,12 @@ Subscribed by: logger only, to verify that the bias settles before the estimator ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------- | ------------ | ------------ | ---------- | ------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| raw_bias | `float32[3]` | m [NED] | | Current GNSS-vision bias sample | -| filtered_bias | `float32[3]` | m [NED] | | Low-pass filtered bias sample | -| delta_norm | `float32` | m | | norm(raw_bias_k - raw_bias_k-1) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------- | ------------ | ------------ | ---------- | ------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| raw_bias | `float32[3]` | m [NED] | | Current GNSS-vision bias sample | +| filtered_bias | `float32[3]` | m [NED] | | Low-pass filtered bias sample | +| delta_norm | `float32` | m | | norm(raw_bias_k - raw_bias_k-1) | ## Source Message diff --git a/docs/en/msg_docs/VteInput.md b/docs/en/msg_docs/VteInput.md index 14e01f39394..fc09537880c 100644 --- a/docs/en/msg_docs/VteInput.md +++ b/docs/en/msg_docs/VteInput.md @@ -13,13 +13,13 @@ Subscribed by: logger only. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | ------------ | ------------ | ---------- | --------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| timestamp_sample | `uint64` | us | | Timestamp of the raw input data | -| acc_xyz | `float32[3]` | m/s^2 [NED] | | Downsampled UAV bias-corrected acceleration (including gravity) | -| q_att | `float32[4]` | | | Downsampled UAV attitude quaternion (FRD body -> NED earth) | -| acc_sample_count | `uint32` | | | Number of raw samples averaged into acc_xyz this cycle | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | ------------ | ------------ | ---------- | --------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Timestamp of the raw input data | +| acc_xyz | `float32[3]` | m/s^2 [NED] | | Downsampled UAV bias-corrected acceleration (including gravity) | +| q_att | `float32[4]` | | | Downsampled UAV attitude quaternion (FRD body -> NED earth) | +| acc_sample_count | `uint32` | | | Number of raw samples averaged into acc_xyz this cycle | ## Source Message diff --git a/docs/en/msg_docs/VteOrientation.md b/docs/en/msg_docs/VteOrientation.md index d978149ccc9..ac87bc928d6 100644 --- a/docs/en/msg_docs/VteOrientation.md +++ b/docs/en/msg_docs/VteOrientation.md @@ -13,14 +13,14 @@ Subscribed by: logger only. The orientation-related fields consumed elsewhere (p ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------------- | --------- | ------------ | ---------- | ----------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| orientation_valid | `bool` | | | Relative orientation estimate valid | -| yaw | `float32` | rad [NED] | | Target yaw angle | -| cov_yaw | `float32` | rad^2 | | Variance of yaw | -| yaw_rate | `float32` | rad/s [NED] | | Target yaw rate | -| cov_yaw_rate | `float32` | (rad/s)^2 | | Variance of yaw_rate | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------------- | --------- | ------------ | ---------- | ----------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| orientation_valid | `bool` | | | Relative orientation estimate valid | +| yaw | `float32` | rad [NED] | | Target yaw angle | +| cov_yaw | `float32` | rad^2 | | Variance of yaw | +| yaw_rate | `float32` | rad/s [NED] | | Target yaw rate | +| cov_yaw_rate | `float32` | (rad/s)^2 | | Variance of yaw_rate | ## Source Message diff --git a/docs/en/msg_docs/VtePosition.md b/docs/en/msg_docs/VtePosition.md index 99a7b0deb21..085d1a55cf9 100644 --- a/docs/en/msg_docs/VtePosition.md +++ b/docs/en/msg_docs/VtePosition.md @@ -15,21 +15,21 @@ vel_target and acc_target are only populated when the firmware is built with CON ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| -------------- | ------------ | --------------- | ---------- | ---------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| rel_pos_valid | `bool` | | | Relative position estimate valid | -| rel_vel_valid | `bool` | | | Relative velocity estimate valid | -| rel_pos | `float32[3]` | m [NED] | | Target position relative to vehicle | -| vel_uav | `float32[3]` | m/s [NED] | | Vehicle velocity | -| vel_target | `float32[3]` | m/s [NED] | | Target velocity | -| bias | `float32[3]` | m [NED] | | GNSS bias between vehicle and target receivers | -| acc_target | `float32[3]` | m/s^2 [NED] | | Target acceleration | -| cov_rel_pos | `float32[3]` | m^2 [NED] | | Variance of rel_pos | -| cov_vel_uav | `float32[3]` | (m/s)^2 [NED] | | Variance of vel_uav | -| cov_bias | `float32[3]` | m^2 [NED] | | Variance of bias | -| cov_vel_target | `float32[3]` | (m/s)^2 [NED] | | Variance of vel_target | -| cov_acc_target | `float32[3]` | (m/s^2)^2 [NED] | | Variance of acc_target | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------------- | ------------ | --------------- | ---------- | ---------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| rel_pos_valid | `bool` | | | Relative position estimate valid | +| rel_vel_valid | `bool` | | | Relative velocity estimate valid | +| rel_pos | `float32[3]` | m [NED] | | Target position relative to vehicle | +| vel_uav | `float32[3]` | m/s [NED] | | Vehicle velocity | +| vel_target | `float32[3]` | m/s [NED] | | Target velocity | +| bias | `float32[3]` | m [NED] | | GNSS bias between vehicle and target receivers | +| acc_target | `float32[3]` | m/s^2 [NED] | | Target acceleration | +| cov_rel_pos | `float32[3]` | m^2 [NED] | | Variance of rel_pos | +| cov_vel_uav | `float32[3]` | (m/s)^2 [NED] | | Variance of vel_uav | +| cov_bias | `float32[3]` | m^2 [NED] | | Variance of bias | +| cov_vel_target | `float32[3]` | (m/s)^2 [NED] | | Variance of vel_target | +| cov_acc_target | `float32[3]` | (m/s^2)^2 [NED] | | Variance of acc_target | ## Source Message diff --git a/docs/en/msg_docs/VtolVehicleStatus.md b/docs/en/msg_docs/VtolVehicleStatus.md index fb949e14132..4842c49d4ef 100644 --- a/docs/en/msg_docs/VtolVehicleStatus.md +++ b/docs/en/msg_docs/VtolVehicleStatus.md @@ -10,11 +10,11 @@ VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE. ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------------- | -------- | ------------ | ---------- | --------------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| vehicle_vtol_state | `uint8` | | | current state of the vtol, see VEHICLE_VTOL_STATE | -| fixed_wing_system_failure | `bool` | | | vehicle in fixed-wing system failure failsafe mode (after quad-chute) | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------------------- | -------- | ------------ | ---------- | --------------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| vehicle_vtol_state | `uint8` | | | current state of the vtol, see VEHICLE_VTOL_STATE | +| fixed_wing_system_failure | `bool` | | | vehicle in fixed-wing system failure failsafe mode (after quad-chute) | ## Constants diff --git a/docs/en/msg_docs/Vtx.md b/docs/en/msg_docs/Vtx.md index 855d464767a..109ba586d84 100644 --- a/docs/en/msg_docs/Vtx.md +++ b/docs/en/msg_docs/Vtx.md @@ -8,19 +8,19 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------- | ----------- | ------------ | ---------- | -------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| protocol | `uint8` | | | -| device | `uint8` | | | -| mode | `uint8` | | | -| band | `int8` | | | Band number (0-23), negative values indicate frequency mode | -| channel | `int8` | | | Channel number (0-15), negative values indicate frequency mode | -| frequency | `uint16` | | | Frequency in MHz, zero indicates unknown | -| band_letter | `uint8` | | | Band letter as ASCII | -| band_name | `uint8[12]` | | | Band name in ASCII without null termination | -| power_level | `int8` | | | Current power level (0-15), negative values indicate unknown | -| power_label | `uint8[4]` | | | Current power label in ASCII without null termination | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------- | ----------- | ------------ | ---------- | -------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| protocol | `uint8` | | | +| device | `uint8` | | | +| mode | `uint8` | | | +| band | `int8` | | | Band number (0-23), negative values indicate frequency mode | +| channel | `int8` | | | Channel number (0-15), negative values indicate frequency mode | +| frequency | `uint16` | | | Frequency in MHz, zero indicates unknown | +| band_letter | `uint8` | | | Band letter as ASCII | +| band_name | `uint8[12]` | | | Band name in ASCII without null termination | +| power_level | `int8` | | | Current power level (0-15), negative values indicate unknown | +| power_label | `uint8[4]` | | | Current power label in ASCII without null termination | ## Constants diff --git a/docs/en/msg_docs/WheelEncoders.md b/docs/en/msg_docs/WheelEncoders.md index d5ae526c7a8..984a48634fd 100644 --- a/docs/en/msg_docs/WheelEncoders.md +++ b/docs/en/msg_docs/WheelEncoders.md @@ -8,11 +8,11 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ----------- | ------------ | ------------ | ---------- | -------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| wheel_speed | `float32[2]` | rad/s | | -| wheel_angle | `float32[2]` | rad | | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| --------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| wheel_speed | `float32[2]` | rad/s | | +| wheel_angle | `float32[2]` | rad | | ## Source Message diff --git a/docs/en/msg_docs/Wind.md b/docs/en/msg_docs/Wind.md index 67f3f762113..54b3261b545 100644 --- a/docs/en/msg_docs/Wind.md +++ b/docs/en/msg_docs/Wind.md @@ -13,18 +13,18 @@ Published by the navigation filter (EKF2) for use by other flight modules and li ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ---------------- | --------- | ------------ | ---------- | --------------------------------------------------------------------------------- | -| timestamp | `uint64` | us | | Time since system start | -| timestamp_sample | `uint64` | us | | Timestamp of the raw data | -| windspeed_north | `float32` | m/s | | Wind component in north / X direction | -| windspeed_east | `float32` | m/s | | Wind component in east / Y direction | -| variance_north | `float32` | (m/s)^2 | | Wind estimate error variance in north / X direction (Invalid: 0 if not estimated) | -| variance_east | `float32` | (m/s)^2 | | Wind estimate error variance in east / Y direction (Invalid: 0 if not estimated) | -| tas_innov | `float32` | m/s | | True airspeed innovation | -| tas_innov_var | `float32` | (m/s)^2 | | True airspeed innovation variance | -| beta_innov | `float32` | rad | | Sideslip measurement innovation | -| beta_innov_var | `float32` | rad^2 | | Sideslip measurement innovation variance | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------- | --------- | ------------ | ---------- | --------------------------------------------------------------------------------- | +| timestamp | `uint64` | us | | Time since system start | +| timestamp_sample | `uint64` | us | | Timestamp of the raw data | +| windspeed_north | `float32` | m/s | | Wind component in north / X direction | +| windspeed_east | `float32` | m/s | | Wind component in east / Y direction | +| variance_north | `float32` | (m/s)^2 | | Wind estimate error variance in north / X direction (Invalid: 0 if not estimated) | +| variance_east | `float32` | (m/s)^2 | | Wind estimate error variance in east / Y direction (Invalid: 0 if not estimated) | +| tas_innov | `float32` | m/s | | True airspeed innovation | +| tas_innov_var | `float32` | (m/s)^2 | | True airspeed innovation variance | +| beta_innov | `float32` | rad | | Sideslip measurement innovation | +| beta_innov_var | `float32` | rad^2 | | Sideslip measurement innovation variance | ## Constants diff --git a/docs/en/msg_docs/YawEstimatorStatus.md b/docs/en/msg_docs/YawEstimatorStatus.md index 9afdf7cec86..46f2b1f4be1 100644 --- a/docs/en/msg_docs/YawEstimatorStatus.md +++ b/docs/en/msg_docs/YawEstimatorStatus.md @@ -8,17 +8,17 @@ pageClass: is-wide-page ## Fields -| Name | Type | Unit [Frame] | Range/Enum | Description | -| ------------------- | ------------ | ------------ | ---------- | ----------------------------------------------------------------- | -| timestamp | `uint64` | | | time since system start (microseconds) | -| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | -| yaw_composite | `float32` | | | composite yaw from GSF (rad) | -| yaw_variance | `float32` | | | composite yaw variance from GSF (rad^2) | -| yaw_composite_valid | `bool` | | | -| yaw | `float32[5]` | | | yaw estimate for each model in the filter bank (rad) | -| innov_vn | `float32[5]` | | | North velocity innovation for each model in the filter bank (m/s) | -| innov_ve | `float32[5]` | | | East velocity innovation for each model in the filter bank (m/s) | -| weight | `float32[5]` | | | weighting for each model in the filter bank | +| Name | Type | Unit [Frame] | Range/Enum | Description | +| ------------------------------------------------------- | ------------ | ------------ | ---------- | ----------------------------------------------------------------- | +| timestamp | `uint64` | | | time since system start (microseconds) | +| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) | +| yaw_composite | `float32` | | | composite yaw from GSF (rad) | +| yaw_variance | `float32` | | | composite yaw variance from GSF (rad^2) | +| yaw_composite_valid | `bool` | | | +| yaw | `float32[5]` | | | yaw estimate for each model in the filter bank (rad) | +| innov_vn | `float32[5]` | | | North velocity innovation for each model in the filter bank (m/s) | +| innov_ve | `float32[5]` | | | East velocity innovation for each model in the filter bank (m/s) | +| weight | `float32[5]` | | | weighting for each model in the filter bank | ## Source Message diff --git a/docs/en/msg_docs/index.md b/docs/en/msg_docs/index.md index 962016f770a..9190bfb0629 100644 --- a/docs/en/msg_docs/index.md +++ b/docs/en/msg_docs/index.md @@ -13,6 +13,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m ## Versioned Messages +### Current Versions + - [ActuatorMotors](ActuatorMotors.md) — Motor control message. - [ActuatorServos](ActuatorServos.md) — Servo control message. - [AirspeedValidated](AirspeedValidated.md) — Validated airspeed. @@ -51,6 +53,27 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE. - [Wind](Wind.md) — Wind estimate (from EKF2). +### Historic Versions + +- [AirspeedValidatedV0](AirspeedValidatedV0.md) +- [ArmingCheckReplyV0](ArmingCheckReplyV0.md) +- [ArmingCheckRequestV0](ArmingCheckRequestV0.md) — Arming check request. +- [BatteryStatusV0](BatteryStatusV0.md) — Battery status. +- [ConfigOverridesV0](ConfigOverridesV0.md) — Configurable overrides by (external) modes or mode executors. +- [EventV0](EventV0.md) — this message is required here in the msg_old folder because other msg are depending on it. Events interface. +- [HomePositionV0](HomePositionV0.md) — GPS home position in WGS84 coordinates. +- [RegisterExtComponentReplyV0](RegisterExtComponentReplyV0.md) +- [RegisterExtComponentRequestV0](RegisterExtComponentRequestV0.md) — Request to register an external component. +- [RegisterExtComponentRequestV1](RegisterExtComponentRequestV1.md) — Request to register an external component. +- [VehicleAttitudeSetpointV0](VehicleAttitudeSetpointV0.md) +- [VehicleCommandAckV0](VehicleCommandAckV0.md) — Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition. +- [VehicleGlobalPositionV0](VehicleGlobalPositionV0.md) — Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation. +- [VehicleLocalPositionV0](VehicleLocalPositionV0.md) — Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started. +- [VehicleStatusV0](VehicleStatusV0.md) — Encodes the system state of the vehicle published by commander. +- [VehicleStatusV1](VehicleStatusV1.md) — Encodes the system state of the vehicle published by commander. +- [VehicleStatusV2](VehicleStatusV2.md) — Encodes the system state of the vehicle published by commander. +- [VehicleStatusV3](VehicleStatusV3.md) — Encodes the system state of the vehicle published by commander. + ## Unversioned Messages - [ActionRequest](ActionRequest.md) — Action request for the vehicle's main state. @@ -272,21 +295,3 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [Vtx](Vtx.md) - [WheelEncoders](WheelEncoders.md) - [YawEstimatorStatus](YawEstimatorStatus.md) -- [AirspeedValidatedV0](AirspeedValidatedV0.md) -- [ArmingCheckReplyV0](ArmingCheckReplyV0.md) -- [ArmingCheckRequestV0](ArmingCheckRequestV0.md) — Arming check request. -- [BatteryStatusV0](BatteryStatusV0.md) — Battery status. -- [ConfigOverridesV0](ConfigOverridesV0.md) — Configurable overrides by (external) modes or mode executors. -- [EventV0](EventV0.md) — this message is required here in the msg_old folder because other msg are depending on it. Events interface. -- [HomePositionV0](HomePositionV0.md) — GPS home position in WGS84 coordinates. -- [RegisterExtComponentReplyV0](RegisterExtComponentReplyV0.md) -- [RegisterExtComponentRequestV0](RegisterExtComponentRequestV0.md) — Request to register an external component. -- [RegisterExtComponentRequestV1](RegisterExtComponentRequestV1.md) — Request to register an external component. -- [VehicleAttitudeSetpointV0](VehicleAttitudeSetpointV0.md) -- [VehicleCommandAckV0](VehicleCommandAckV0.md) — Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition. -- [VehicleGlobalPositionV0](VehicleGlobalPositionV0.md) — Fused global position in WGS84. This struct contains global position estimation. It is not the raw GPS. measurement (@see vehicle_gps_position). This topic is usually published by the position. estimator, which will take more sources of information into account than just GPS,. e.g. control inputs of the vehicle in a Kalman-filter implementation. -- [VehicleLocalPositionV0](VehicleLocalPositionV0.md) — Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started. -- [VehicleStatusV0](VehicleStatusV0.md) — Encodes the system state of the vehicle published by commander. -- [VehicleStatusV1](VehicleStatusV1.md) — Encodes the system state of the vehicle published by commander. -- [VehicleStatusV2](VehicleStatusV2.md) — Encodes the system state of the vehicle published by commander. -- [VehicleStatusV3](VehicleStatusV3.md) — Encodes the system state of the vehicle published by commander.