UAV-develop/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-07-26 16:28:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

docs: auto-sync metadata [skip ci]

Browse Source 
Co-Authored-By: PX4 BuildBot <bot@px4.io>
This commit is contained in:
PX4BuildBot
2026-05-27 02:57:43 +00:00
parent b52464059e
commit be784e21f7
276 changed files with 3540 additions and 3469 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
docs/en/msg_docs/ActionRequest.md
View File

@@ -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 |
| ----------------------------------- | -------- | ------------ | ----------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_action"></a>action | `uint8` | | [ACTION](#ACTION) | Requested action |
| <a id="fld_source"></a>source | `uint8` | | [SOURCE](#SOURCE) | Request trigger type, such as a switch, button or gesture |
| <a id="fld_mode"></a>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 |
| ----------------------------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------------------- |
| <a id="#ACTION_DISARM"></a> 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 |
| ------------------------------------------------------- | ------- | ----- | --------------------------------------------------------------- |
| <a id="#SOURCE_STICK_GESTURE"></a> SOURCE_STICK_GESTURE | `uint8` | 0 | Triggered by holding the sticks in a certain position |

20
docs/en/msg_docs/ActuatorArmed.md
View File

@@ -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 |
| --------------------------------------------------------------- | -------- | ------------ | ---------- | ------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_armed"></a>armed | `bool` | | | Set to true if system is armed |
| <a id="fld_prearmed"></a>prearmed | `bool` | | | Set to true if the actuator safety is disabled but motors are not armed |
| <a id="fld_ready_to_arm"></a>ready_to_arm | `bool` | | | Set to true if system is ready to be armed |
| <a id="fld_lockdown"></a>lockdown | `bool` | | | Set to true if actuators are forced to being disabled (due to emergency or HIL) |
| <a id="fld_kill"></a>kill | `bool` | | | Set to true if manual throttle kill switch is engaged |
| <a id="fld_termination"></a>termination | `bool` | | | Send out failsafe (by default same as disarmed) output |
| <a id="fld_in_esc_calibration_mode"></a>in_esc_calibration_mode | `bool` | | | IO/FMU should ignore messages from the actuator controls topics |
## Source Message

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

@@ -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 |
| ------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_control_power"></a>control_power | `float32[3]` | | |
## Source Message

12
docs/en/msg_docs/ActuatorMotors.md
View File

@@ -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 |
| ------------------------------------------------- | ------------- | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on |
| <a id="fld_reversible_flags"></a>reversible_flags | `uint16` | | | Bitset indicating which motors are configured to be reversible |
| <a id="fld_control"></a>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

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

@@ -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 |
| ----------------------------------- | ------------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_noutputs"></a>noutputs | `uint32` | | | valid outputs |
| <a id="fld_output"></a>output | `float32[16]` | | | output data, in natural output units |
## Constants

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

@@ -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 |
| ------------------------------------------------- | ------------ | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | us | | Sampling timestamp of the data this control response is based on |
| <a id="fld_control"></a>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

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

@@ -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 |
| ----------------------------------- | ------------ | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_trim"></a>trim | `float32[8]` | | | range: [-1, 1] |
## Constants

14
docs/en/msg_docs/ActuatorTest.md
View File

@@ -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 |
| ------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_action"></a>action | `uint8` | | | one of ACTION\_\* |
| <a id="fld_function"></a>function | `uint16` | | | actuator output function |
| <a id="fld_value"></a>value | `float32` | | | range: [-1, 1], where 1 means maximum positive output, |
| <a id="fld_timeout_ms"></a>timeout_ms | `uint32` | | | timeout in ms after which to exit test mode (if 0, do not time out) |
## Constants

16
docs/en/msg_docs/AdcReport.md
View File

@@ -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 |
| ------------------------------------- | ----------- | ------------ | ---------- | ------------------------------------------------------------------------------------ |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_device_id"></a>device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| <a id="fld_channel_id"></a>channel_id | `int16[16]` | | | ADC channel IDs, negative for non-existent, TODO: should be kept same as array index |
| <a id="fld_raw_data"></a>raw_data | `int32[16]` | | | ADC channel raw value, accept negative value, valid if channel ID is positive |
| <a id="fld_resolution"></a>resolution | `uint32` | | | ADC channel resolution |
| <a id="fld_v_ref"></a>v_ref | `float32` | V | | ADC channel voltage reference, use to calculate LSB voltage(lsb=scale/resolution) |
## Source Message

14
docs/en/msg_docs/Airspeed.md
View File

@@ -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 |
| ------------------------------------------------------------- | --------- | ------------ | ---------- | -------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | us | | Timestamp of the raw data |
| <a id="fld_indicated_airspeed_m_s"></a>indicated_airspeed_m_s | `float32` | m/s | | Indicated airspeed |
| <a id="fld_true_airspeed_m_s"></a>true_airspeed_m_s | `float32` | m/s | | True airspeed |
| <a id="fld_confidence"></a>confidence | `float32` | | [0 : 1] | Confidence value for this sensor |
## Source Message

26
docs/en/msg_docs/AirspeedValidated.md
View File

@@ -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 |
| --------------------------------------------------------------------------------- | --------- | ------------ | ----------------- | ---------------------------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_indicated_airspeed_m_s"></a>indicated_airspeed_m_s | `float32` | m/s | | Indicated airspeed (IAS) (Invalid: NaN) |
| <a id="fld_calibrated_airspeed_m_s"></a>calibrated_airspeed_m_s | `float32` | m/s | | Calibrated airspeed (CAS) (Invalid: NaN) |
| <a id="fld_true_airspeed_m_s"></a>true_airspeed_m_s | `float32` | m/s | | True airspeed (TAS) (Invalid: NaN) |
| <a id="fld_airspeed_source"></a>airspeed_source | `int8` | | [SOURCE](#SOURCE) | Source of currently published airspeed values |
| <a id="fld_calibrated_ground_minus_wind_m_s"></a>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) |
| <a id="fld_calibraded_airspeed_synth_m_s"></a>calibraded_airspeed_synth_m_s | `float32` | m/s | | Synthetic airspeed (Invalid: NaN) |
| <a id="fld_airspeed_derivative_filtered"></a>airspeed_derivative_filtered | `float32` | m/s^2 | | Filtered indicated airspeed derivative |
| <a id="fld_throttle_filtered"></a>throttle_filtered | `float32` | | | Filtered fixed-wing throttle |
| <a id="fld_pitch_filtered"></a>pitch_filtered | `float32` | rad | | Filtered pitch |
## Enums
### SOURCE {#SOURCE}
Used in field(s): [airspeed_source](#fld_airspeed_source)
| Name | Type | Value | Description |
| --------------------------------------------------------------- | ------ | ----- | ----------------------- |
| <a id="#SOURCE_DISABLED"></a> SOURCE_DISABLED | `int8` | -1 | Disabled |

26
docs/en/msg_docs/AirspeedValidatedV0.md
View File

@@ -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 |
| ----------------------------------------------------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------------------------------------ |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_indicated_airspeed_m_s"></a>indicated_airspeed_m_s | `float32` | | | indicated airspeed in m/s (IAS), set to NAN if invalid |
| <a id="fld_calibrated_airspeed_m_s"></a>calibrated_airspeed_m_s | `float32` | | | calibrated airspeed in m/s (CAS, accounts for instrumentation errors), set to NAN if invalid |
| <a id="fld_true_airspeed_m_s"></a>true_airspeed_m_s | `float32` | | | true filtered airspeed in m/s (TAS), set to NAN if invalid |
| <a id="fld_calibrated_ground_minus_wind_m_s"></a>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 |
| <a id="fld_true_ground_minus_wind_m_s"></a>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 |
| <a id="fld_airspeed_sensor_measurement_valid"></a>airspeed_sensor_measurement_valid | `bool` | | | True if data from at least one airspeed sensor is declared valid. |
| <a id="fld_selected_airspeed_index"></a>selected_airspeed_index | `int8` | | | 1-3: airspeed sensor index, 0: groundspeed-windspeed, -1: airspeed invalid |
| <a id="fld_airspeed_derivative_filtered"></a>airspeed_derivative_filtered | `float32` | | | filtered indicated airspeed derivative [m/s/s] |
| <a id="fld_throttle_filtered"></a>throttle_filtered | `float32` | | | filtered fixed-wing throttle [-] |
| <a id="fld_pitch_filtered"></a>pitch_filtered | `float32` | | | filtered pitch [rad] |
## Constants

32
docs/en/msg_docs/AirspeedWind.md
View File

@@ -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 |
| ------------------------------------------------------- | --------- | ------------ | ---------- | --------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | us | | Timestamp of the raw data |
| <a id="fld_windspeed_north"></a>windspeed_north | `float32` | m/s | | Wind component in north / X direction |
| <a id="fld_windspeed_east"></a>windspeed_east | `float32` | m/s | | Wind component in east / Y direction |
| <a id="fld_variance_north"></a>variance_north | `float32` | (m/s)^2 | | Wind estimate error variance in north / X direction (Invalid: 0 if not estimated) |
| <a id="fld_variance_east"></a>variance_east | `float32` | (m/s)^2 | | Wind estimate error variance in east / Y direction (Invalid: 0 if not estimated) |
| <a id="fld_tas_innov"></a>tas_innov | `float32` | m/s | | True airspeed innovation |
| <a id="fld_tas_innov_var"></a>tas_innov_var | `float32` | m/s | | True airspeed innovation variance |
| <a id="fld_tas_scale_raw"></a>tas_scale_raw | `float32` | | | Estimated true airspeed scale factor (not validated) |
| <a id="fld_tas_scale_raw_var"></a>tas_scale_raw_var | `float32` | | | True airspeed scale factor variance |
| <a id="fld_tas_scale_validated"></a>tas_scale_validated | `float32` | | | Estimated true airspeed scale factor after validation |
| <a id="fld_beta_innov"></a>beta_innov | `float32` | rad | | Sideslip measurement innovation |
| <a id="fld_beta_innov_var"></a>beta_innov_var | `float32` | rad^2 | | Sideslip measurement innovation variance |
| <a id="fld_source"></a>source | `uint8` | | | source of wind estimate |
## Constants

48
docs/en/msg_docs/ArmingCheckReply.md
View File

@@ -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 |
| --------------------------------------------------------------------------------- | ---------- | ------------ | ------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start. |
| <a id="fld_request_id"></a>request_id | `uint8` | | | Id of ArmingCheckRequest for which this is a response |
| <a id="fld_registration_id"></a>registration_id | `uint8` | | | Id of external component emitting this response |
| <a id="fld_health_component_index"></a>health_component_index | `uint8` | | [HEALTH_COMPONENT_INDEX](#HEALTH_COMPONENT_INDEX) |
| <a id="fld_health_component_is_present"></a>health_component_is_present | `bool` | | | Unused. Intended for use with health events interface (health_component_t in events.json) |
| <a id="fld_health_component_warning"></a>health_component_warning | `bool` | | | Unused. Intended for use with health events interface (health_component_t in events.json) |
| <a id="fld_health_component_error"></a>health_component_error | `bool` | | | Unused. Intended for use with health events interface (health_component_t in events.json) |
| <a id="fld_can_arm_and_run"></a>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 |
| <a id="fld_num_events"></a>num_events | `uint8` | | | Number of queued failure messages (Event) in the events field |
| <a id="fld_events"></a>events | `Event[5]` | | | Arming failure reasons (Queue of events to report to GCS) |
| <a id="fld_mode_req_angular_velocity"></a>mode_req_angular_velocity | `bool` | | | Requires angular velocity estimate (e.g. from gyroscope) |
| <a id="fld_mode_req_attitude"></a>mode_req_attitude | `bool` | | | Requires an attitude estimate |
| <a id="fld_mode_req_local_alt"></a>mode_req_local_alt | `bool` | | | Requires a local altitude estimate |
| <a id="fld_mode_req_local_position"></a>mode_req_local_position | `bool` | | | Requires a local position estimate |
| <a id="fld_mode_req_local_position_relaxed"></a>mode_req_local_position_relaxed | `bool` | | | Requires a more relaxed global position estimate |
| <a id="fld_mode_req_global_position"></a>mode_req_global_position | `bool` | | | Requires a global position estimate |
| <a id="fld_mode_req_global_position_relaxed"></a>mode_req_global_position_relaxed | `bool` | | | Requires a relaxed global position estimate |
| <a id="fld_mode_req_mission"></a>mode_req_mission | `bool` | | | Requires an uploaded mission |
| <a id="fld_mode_req_home_position"></a>mode_req_home_position | `bool` | | | Requires a home position (such as RTL/Return mode) |
| <a id="fld_mode_req_prevent_arming"></a>mode_req_prevent_arming | `bool` | | | Prevent arming (such as in Land mode) |
| <a id="fld_mode_req_manual_control"></a>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 |
| --------------------------------------------------------------------- | ------- | ----- | --------------------------------------------------------- |
| <a id="#HEALTH_COMPONENT_INDEX_NONE"></a> HEALTH_COMPONENT_INDEX_NONE | `uint8` | 0 | Index of health component for which this response applies |

44
docs/en/msg_docs/ArmingCheckReplyV0.md
View File

@@ -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 |
| ------------------------------------------------------------------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------ |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_request_id"></a>request_id | `uint8` | | |
| <a id="fld_registration_id"></a>registration_id | `uint8` | | |
| <a id="fld_health_component_index"></a>health_component_index | `uint8` | | | HEALTH*COMPONENT_INDEX*\* |
| <a id="fld_health_component_is_present"></a>health_component_is_present | `bool` | | |
| <a id="fld_health_component_warning"></a>health_component_warning | `bool` | | |
| <a id="fld_health_component_error"></a>health_component_error | `bool` | | |
| <a id="fld_can_arm_and_run"></a>can_arm_and_run | `bool` | | | whether arming is possible, and if it's a navigation mode, if it can run |
| <a id="fld_num_events"></a>num_events | `uint8` | | |
| <a id="fld_events"></a>events | `EventV0[5]` | | |
| <a id="fld_mode_req_angular_velocity"></a>mode_req_angular_velocity | `bool` | | |
| <a id="fld_mode_req_attitude"></a>mode_req_attitude | `bool` | | |
| <a id="fld_mode_req_local_alt"></a>mode_req_local_alt | `bool` | | |
| <a id="fld_mode_req_local_position"></a>mode_req_local_position | `bool` | | |
| <a id="fld_mode_req_local_position_relaxed"></a>mode_req_local_position_relaxed | `bool` | | |
| <a id="fld_mode_req_global_position"></a>mode_req_global_position | `bool` | | |
| <a id="fld_mode_req_mission"></a>mode_req_mission | `bool` | | |
| <a id="fld_mode_req_home_position"></a>mode_req_home_position | `bool` | | |
| <a id="fld_mode_req_prevent_arming"></a>mode_req_prevent_arming | `bool` | | |
| <a id="fld_mode_req_manual_control"></a>mode_req_manual_control | `bool` | | |
## Constants

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

@@ -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 |
| ----------------------------------------------------------------- | -------- | ------------ | ---------- | --------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_request_id"></a>request_id | `uint8` | | | Id of this request. Allows correlation with associated ArmingCheckReply messages. |
| <a id="fld_valid_registrations_mask"></a>valid_registrations_mask | `uint32` | | | Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive) |
## Constants

8
docs/en/msg_docs/ArmingCheckRequestV0.md
View File

@@ -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 |
| ------------------------------------- | -------- | ------------ | ---------- | --------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start. |
| <a id="fld_request_id"></a>request_id | `uint8` | | | Id of this request. Allows correlation with associated ArmingCheckReply messages. |
## Constants

36
docs/en/msg_docs/AutotuneAttitudeControlStatus.md
View File

@@ -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 |
| ----------------------------------- | ------------ | ------------ | --------------- | --------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_coeff"></a>coeff | `float32[5]` | | | Coefficients of the identified discrete-time model |
| <a id="fld_coeff_var"></a>coeff_var | `float32[5]` | | | Coefficients' variance of the identified discrete-time model |
| <a id="fld_fitness"></a>fitness | `float32` | | | Fitness of the parameter estimate |
| <a id="fld_innov"></a>innov | `float32` | rad/s | | Innovation (residual error between model and measured output) |
| <a id="fld_dt_model"></a>dt_model | `float32` | s | | Model sample time used for identification |
| <a id="fld_kc"></a>kc | `float32` | | | Proportional rate-loop gain (ideal form) |
| <a id="fld_ki"></a>ki | `float32` | | | Integral rate-loop gain (ideal form) |
| <a id="fld_kd"></a>kd | `float32` | | | Derivative rate-loop gain (ideal form) |
| <a id="fld_kff"></a>kff | `float32` | | | Feedforward rate-loop gain |
| <a id="fld_att_p"></a>att_p | `float32` | | | Proportional attitude gain |
| <a id="fld_rate_sp"></a>rate_sp | `float32[3]` | rad/s | | Rate setpoint commanded to the attitude controller. |
| <a id="fld_u_filt"></a>u_filt | `float32` | | | Filtered input signal (normalized torque setpoint) used in system identification. |
| <a id="fld_y_filt"></a>y_filt | `float32` | rad/s | | Filtered output signal (angular velocity) used in system identification. |
| <a id="fld_state"></a>state | `uint8` | | [STATE](#STATE) | Current state of the autotune procedure. |
## Enums
### STATE {#STATE}
Used in field(s): [state](#fld_state)
| Name | Type | Value | Description |
| ----------------------------------------------------------------------------- | ------- | ----- | -------------------------------------------------------- |
| <a id="#STATE_IDLE"></a> STATE_IDLE | `uint8` | 0 | Idle (not running) |

26
docs/en/msg_docs/AuxGlobalPosition.md
View File

@@ -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 |
| ----------------------------------------------------------- | --------- | ------------ | ----------------- | --------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | us | | Timestamp of the raw data |
| <a id="fld_id"></a>id | `uint8` | | | Unique identifier for the AGP source |
| <a id="fld_source"></a>source | `uint8` | | [SOURCE](#SOURCE) | Source type of the position data (based on mavlink::GLOBAL_POSITION_SRC) |
| <a id="fld_lat"></a>lat | `float64` | deg | | Latitude in WGS84 |
| <a id="fld_lon"></a>lon | `float64` | deg | | Longitude in WGS84 |
| <a id="fld_alt"></a>alt | `float32` | m | | Altitude above mean sea level (AMSL) (Invalid: NaN) |
| <a id="fld_eph"></a>eph | `float32` | m | | Std dev of horizontal position, lower bounded by NOISE param (Invalid: NaN) |
| <a id="fld_epv"></a>epv | `float32` | m | | Std dev of vertical position, lower bounded by NOISE param (Invalid: NaN) |
| <a id="fld_lat_lon_reset_counter"></a>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 |
| --------------------------------------------------- | ------- | ----- | ------------------------------------------- |
| <a id="#SOURCE_UNKNOWN"></a> SOURCE_UNKNOWN | `uint8` | 0 | Unknown source |

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

@@ -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 |
| ------------------------------------------- | ---------- | ------------ | ---------- | ------------------------------------------------------------------------------------------ |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_id"></a>id | `uint8` | | | Must match the id in the battery_status message for the same battery |
| <a id="fld_serial_number"></a>serial_number | `char[32]` | | | Serial number of the battery pack in ASCII characters, 0 terminated (Invalid: 0 All bytes) |
## Source Message

88
docs/en/msg_docs/BatteryStatus.md
View File

@@ -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 |
| ------------------------------------------------------------------------- | ------------- | ------------ | ------------------------------------ | ----------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_connected"></a>connected | `bool` | | | Whether or not a battery is connected. For power modules this is based on a voltage threshold. |
| <a id="fld_voltage_v"></a>voltage_v | `float32` | V | | Battery voltage (Invalid: 0) |
| <a id="fld_current_a"></a>current_a | `float32` | A | | Battery current (Invalid: -1) |
| <a id="fld_current_average_a"></a>current_average_a | `float32` | A | | Battery current average (for FW average in level flight) (Invalid: -1) |
| <a id="fld_discharged_mah"></a>discharged_mah | `float32` | mAh | | Discharged amount (Invalid: -1) |
| <a id="fld_remaining"></a>remaining | `float32` | | [0 : 1] | Remaining capacity (Invalid: -1) |
| <a id="fld_scale"></a>scale | `float32` | | [1 : -] | Scaling factor to compensate for lower actuation power caused by voltage sag (Invalid: -1) |
| <a id="fld_time_remaining_s"></a>time_remaining_s | `float32` | s | | Predicted time remaining until battery is empty under previous averaged load (Invalid: NaN) |
| <a id="fld_temperature"></a>temperature | `float32` | degC | | Temperature of the battery (Invalid: NaN) |
| <a id="fld_cell_count"></a>cell_count | `uint8` | | | Number of cells (Invalid: 0) |
| <a id="fld_source"></a>source | `uint8` | | [SOURCE](#SOURCE) | Battery source |
| <a id="fld_priority"></a>priority | `uint8` | | | Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 |
| <a id="fld_capacity"></a>capacity | `uint16` | mAh | | Capacity of the battery when fully charged |
| <a id="fld_cycle_count"></a>cycle_count | `uint16` | | | Number of discharge cycles the battery has experienced |
| <a id="fld_average_time_to_empty"></a>average_time_to_empty | `uint16` | minutes | | Predicted remaining battery capacity based on the average rate of discharge |
| <a id="fld_manufacture_date"></a>manufacture_date | `uint16` | | | Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512 |
| <a id="fld_state_of_health"></a>state_of_health | `uint16` | % | [0 : 100] | State of health. FullChargeCapacity/DesignCapacity |
| <a id="fld_max_error"></a>max_error | `uint16` | % | [1 : 100] | Max error, expected margin of error in the state-of-charge calculation |
| <a id="fld_id"></a>id | `uint8` | | | ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed |
| <a id="fld_interface_error"></a>interface_error | `uint16` | | | Interface error counter |
| <a id="fld_voltage_cell_v"></a>voltage_cell_v | `float32[14]` | V | | Battery individual cell voltages (Invalid: 0) |
| <a id="fld_max_cell_voltage_delta"></a>max_cell_voltage_delta | `float32` | V | | Max difference between individual cell voltages |
| <a id="fld_is_powering_off"></a>is_powering_off | `bool` | | | Power off event imminent indication, false if unknown |
| <a id="fld_is_required"></a>is_required | `bool` | | | Set if the battery is explicitly required before arming |
| <a id="fld_warning"></a>warning | `uint8` | | [WARNING](#WARNING), [STATE](#STATE) | Current battery warning |
| <a id="fld_faults"></a>faults | `uint16` | | [FAULT](#FAULT) | Smart battery supply status/fault flags (bitmask) for health indication |
| <a id="fld_full_charge_capacity_wh"></a>full_charge_capacity_wh | `float32` | Wh | | Compensated battery capacity |
| <a id="fld_remaining_capacity_wh"></a>remaining_capacity_wh | `float32` | Wh | | Compensated battery capacity remaining (Invalid: NaN) |
| <a id="fld_over_discharge_count"></a>over_discharge_count | `uint16` | | | Number of battery overdischarge |
| <a id="fld_nominal_voltage"></a>nominal_voltage | `float32` | V | | Nominal voltage of the battery pack (Invalid: NaN) |
| <a id="fld_internal_resistance_estimate"></a>internal_resistance_estimate | `float32` | Ohm | | Internal resistance per cell estimate |
| <a id="fld_ocv_estimate"></a>ocv_estimate | `float32` | V | | Open circuit voltage estimate |
| <a id="fld_ocv_estimate_filtered"></a>ocv_estimate_filtered | `float32` | V | | Filtered open circuit voltage estimate |
| <a id="fld_volt_based_soc_estimate"></a>volt_based_soc_estimate | `float32` | | [0 : 1] | Normalized volt based state of charge estimate |
| <a id="fld_voltage_prediction"></a>voltage_prediction | `float32` | V | | Predicted voltage |
| <a id="fld_prediction_error"></a>prediction_error | `float32` | V | | Prediction error |
| <a id="fld_estimation_covariance_norm"></a>estimation_covariance_norm | `float32` | | | Norm of the covariance matrix |
## Enums
### SOURCE {#SOURCE}
Used in field(s): [source](#fld_source)
| Name | Type | Value | Description |
| ----------------------------------------------------- | ------- | ----- | ---------------------------------------------- |
| <a id="#SOURCE_POWER_MODULE"></a> 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 |
| ------------------------------------------------- | ------- | ----- | -------------------------------------------- |
| <a id="#WARNING_NONE"></a> 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 |
| --------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="#STATE_UNHEALTHY"></a> 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 |
| --------------------------------------------------------------------- | ------- | ----- | -------------------------------------------------------------------------------------------------------------- |
| <a id="#FAULT_DEEP_DISCHARGE"></a> FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged |

90
docs/en/msg_docs/BatteryStatusV0.md
View File

@@ -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 |
| ------------------------------------------------------------------------- | ------------- | ------------ | ------------------------------------ | ----------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_connected"></a>connected | `bool` | | | Whether or not a battery is connected. For power modules this is based on a voltage threshold. |
| <a id="fld_voltage_v"></a>voltage_v | `float32` | V | | Battery voltage (Invalid: 0) |
| <a id="fld_current_a"></a>current_a | `float32` | A | | Battery current (Invalid: -1) |
| <a id="fld_current_average_a"></a>current_average_a | `float32` | A | | Battery current average (for FW average in level flight) (Invalid: -1) |
| <a id="fld_discharged_mah"></a>discharged_mah | `float32` | mAh | | Discharged amount (Invalid: -1) |
| <a id="fld_remaining"></a>remaining | `float32` | | [0 : 1] | Remaining capacity (Invalid: -1) |
| <a id="fld_scale"></a>scale | `float32` | | [1 : -] | Scaling factor to compensate for lower actuation power caused by voltage sag (Invalid: -1) |
| <a id="fld_time_remaining_s"></a>time_remaining_s | `float32` | s | | Predicted time remaining until battery is empty under previous averaged load (Invalid: NaN) |
| <a id="fld_temperature"></a>temperature | `float32` | °C | | Temperature of the battery (Invalid: NaN) |
| <a id="fld_cell_count"></a>cell_count | `uint8` | | | Number of cells (Invalid: 0) |
| <a id="fld_source"></a>source | `uint8` | | [SOURCE](#SOURCE) | Battery source |
| <a id="fld_priority"></a>priority | `uint8` | | | Zero based priority is the connection on the Power Controller V1..Vn AKA BrickN-1 |
| <a id="fld_capacity"></a>capacity | `uint16` | mAh | | Capacity of the battery when fully charged |
| <a id="fld_cycle_count"></a>cycle_count | `uint16` | | | Number of discharge cycles the battery has experienced |
| <a id="fld_average_time_to_empty"></a>average_time_to_empty | `uint16` | minutes | | Predicted remaining battery capacity based on the average rate of discharge |
| <a id="fld_serial_number"></a>serial_number | `uint16` | | | Serial number of the battery pack |
| <a id="fld_manufacture_date"></a>manufacture_date | `uint16` | | | Manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512 |
| <a id="fld_state_of_health"></a>state_of_health | `uint16` | % | [0 : 100] | State of health. FullChargeCapacity/DesignCapacity |
| <a id="fld_max_error"></a>max_error | `uint16` | % | [1 : 100] | Max error, expected margin of error in the state-of-charge calculation |
| <a id="fld_id"></a>id | `uint8` | | | ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed |
| <a id="fld_interface_error"></a>interface_error | `uint16` | | | Interface error counter |
| <a id="fld_voltage_cell_v"></a>voltage_cell_v | `float32[14]` | V | | Battery individual cell voltages (Invalid: 0) |
| <a id="fld_max_cell_voltage_delta"></a>max_cell_voltage_delta | `float32` | | | Max difference between individual cell voltages |
| <a id="fld_is_powering_off"></a>is_powering_off | `bool` | | | Power off event imminent indication, false if unknown |
| <a id="fld_is_required"></a>is_required | `bool` | | | Set if the battery is explicitly required before arming |
| <a id="fld_warning"></a>warning | `uint8` | | [WARNING](#WARNING), [STATE](#STATE) | Current battery warning |
| <a id="fld_faults"></a>faults | `uint16` | | [FAULT](#FAULT) | Smart battery supply status/fault flags (bitmask) for health indication |
| <a id="fld_full_charge_capacity_wh"></a>full_charge_capacity_wh | `float32` | Wh | | Compensated battery capacity |
| <a id="fld_remaining_capacity_wh"></a>remaining_capacity_wh | `float32` | Wh | | Compensated battery capacity remaining |
| <a id="fld_over_discharge_count"></a>over_discharge_count | `uint16` | | | Number of battery overdischarge |
| <a id="fld_nominal_voltage"></a>nominal_voltage | `float32` | V | | Nominal voltage of the battery pack |
| <a id="fld_internal_resistance_estimate"></a>internal_resistance_estimate | `float32` | Ohm | | Internal resistance per cell estimate |
| <a id="fld_ocv_estimate"></a>ocv_estimate | `float32` | V | | Open circuit voltage estimate |
| <a id="fld_ocv_estimate_filtered"></a>ocv_estimate_filtered | `float32` | V | | Filtered open circuit voltage estimate |
| <a id="fld_volt_based_soc_estimate"></a>volt_based_soc_estimate | `float32` | | [0 : 1] | Normalized volt based state of charge estimate |
| <a id="fld_voltage_prediction"></a>voltage_prediction | `float32` | V | | Predicted voltage |
| <a id="fld_prediction_error"></a>prediction_error | `float32` | V | | Prediction error |
| <a id="fld_estimation_covariance_norm"></a>estimation_covariance_norm | `float32` | | | Norm of the covariance matrix |
## Enums
### SOURCE {#SOURCE}
Used in field(s): [source](#fld_source)
| Name | Type | Value | Description |
| ----------------------------------------------------- | ------- | ----- | ---------------------------------------------- |
| <a id="#SOURCE_POWER_MODULE"></a> 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 |
| ------------------------------------------------- | ------- | ----- | -------------------------------------------- |
| <a id="#WARNING_NONE"></a> 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 |
| --------------------------------------------- | ------- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="#STATE_UNHEALTHY"></a> 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 |
| --------------------------------------------------------------------- | ------- | ----- | -------------------------------------------------------------------------------------------------------------- |
| <a id="#FAULT_DEEP_DISCHARGE"></a> FAULT_DEEP_DISCHARGE | `uint8` | 0 | Battery has deep discharged |

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

@@ -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 |
| ----------------------------------- | -------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_triggered"></a>triggered | `bool` | | | Set to true if the event is triggered |
## Constants

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

@@ -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 |
| ----------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_timestamp_utc"></a>timestamp_utc | `uint64` | | | Capture time in UTC / GPS time |
| <a id="fld_seq"></a>seq | `uint32` | | | Image sequence number |
| <a id="fld_lat"></a>lat | `float64` | | | Latitude in degrees (WGS84) |
| <a id="fld_lon"></a>lon | `float64` | | | Longitude in degrees (WGS84) |
| <a id="fld_alt"></a>alt | `float32` | | | Altitude (AMSL) |
| <a id="fld_ground_distance"></a>ground_distance | `float32` | | | Altitude above ground (meters) |
| <a id="fld_q"></a>q | `float32[4]` | | | Attitude of the camera relative to NED earth-fixed frame when using a gimbal, otherwise vehicle attitude |
| <a id="fld_result"></a>result | `int8` | | | 1 for success, 0 for failure, -1 if camera does not provide feedback |
## Source Message

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

@@ -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 |
| --------------------------------------------- | -------- | ------------ | ---------- | ------------------------------------------------ |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_active_sys_id"></a>active_sys_id | `uint8` | | | mavlink system id of the currently active camera |
| <a id="fld_active_comp_id"></a>active_comp_id | `uint8` | | | mavlink component id of currently active camera |
## Source Message

12
docs/en/msg_docs/CameraTrigger.md
View File

@@ -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 |
| ------------------------------------------- | -------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_timestamp_utc"></a>timestamp_utc | `uint64` | | | UTC timestamp |
| <a id="fld_seq"></a>seq | `uint32` | | | Image sequence number |
| <a id="fld_feedback"></a>feedback | `bool` | | | Trigger feedback from camera |
## Constants

14
docs/en/msg_docs/CanInterfaceStatus.md
View File

@@ -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 |
| ----------------------------------- | -------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_interface"></a>interface | `uint8` | | |
| <a id="fld_io_errors"></a>io_errors | `uint64` | | |
| <a id="fld_frames_tx"></a>frames_tx | `uint64` | | |
| <a id="fld_frames_rx"></a>frames_rx | `uint64` | | |
## Source Message

26
docs/en/msg_docs/CellularStatus.md
View File

@@ -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 |
| --------------------------------------------- | -------- | ------------ | ----------------------------------------------------------- | ------------------------------------------ |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_status"></a>status | `uint16` | | [STATUS_FLAG](#STATUS_FLAG) | Status bitmap |
| <a id="fld_failure_reason"></a>failure_reason | `uint8` | | [FAILURE_REASON](#FAILURE_REASON) | Failure reason |
| <a id="fld_type"></a>type | `uint8` | | [CELLULAR_NETWORK_RADIO_TYPE](#CELLULAR_NETWORK_RADIO_TYPE) | Cellular network radio type |
| <a id="fld_quality"></a>quality | `uint8` | dBm | | Cellular network RSSI/RSRP, absolute value |
| <a id="fld_mcc"></a>mcc | `uint16` | | | Mobile country code (Invalid: UINT16_MAX) |
| <a id="fld_mnc"></a>mnc | `uint16` | | | Mobile network code (Invalid: UINT16_MAX) |
| <a id="fld_lac"></a>lac | `uint16` | | | Location area code (Invalid: 0) |
## Enums
### STATUS_FLAG {#STATUS_FLAG}
Used in field(s): [status](#fld_status)
| Name | Type | Value | Description |
| ----------------------------------------------------------------- | -------- | ----- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="#STATUS_FLAG_UNKNOWN"></a> 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 |
| ------------------------------------------------------------------- | ------- | ----- | ----------------------------------------------- |
| <a id="#FAILURE_REASON_NONE"></a> 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 |
| --------------------------------------------------------------------------------- | ------- | ----- | ----------- |
| <a id="#CELLULAR_NETWORK_RADIO_TYPE_NONE"></a> CELLULAR_NETWORK_RADIO_TYPE_NONE | `uint8` | 0 | None |

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

@@ -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 |
| --------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_original_setpoint"></a>original_setpoint | `float32[2]` | | | velocities demanded |
| <a id="fld_adapted_setpoint"></a>adapted_setpoint | `float32[2]` | | | velocities allowed |
## Source Message

18
docs/en/msg_docs/ConfigOverrides.md
View File

@@ -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 |
| ------------------------------------------------------------------- | -------- | ------------ | ---------- | -------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_disable_auto_disarm"></a>disable_auto_disarm | `bool` | | | Prevent the drone from automatically disarming after landing (if configured) |
| <a id="fld_defer_failsafes"></a>defer_failsafes | `bool` | | | Defer all failsafes that can be deferred (until the flag is cleared) |
| <a id="fld_defer_failsafes_timeout_s"></a>defer_failsafes_timeout_s | `int16` | | | Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout |
| <a id="fld_disable_auto_set_home"></a>disable_auto_set_home | `bool` | | | Prevent the drone from automatically setting the home position on arm or takeoff |
| <a id="fld_source_type"></a>source_type | `int8` | | |
| <a id="fld_source_id"></a>source_id | `uint8` | | | ID depending on source_type |
## Constants

16
docs/en/msg_docs/ConfigOverridesV0.md
View File

@@ -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 |
| ------------------------------------------------------------------- | -------- | ------------ | ---------- | ---------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_disable_auto_disarm"></a>disable_auto_disarm | `bool` | | | Prevent the drone from automatically disarming after landing (if configured) |
| <a id="fld_defer_failsafes"></a>defer_failsafes | `bool` | | | Defer all failsafes that can be deferred (until the flag is cleared) |
| <a id="fld_defer_failsafes_timeout_s"></a>defer_failsafes_timeout_s | `int16` | | | Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout |
| <a id="fld_source_type"></a>source_type | `int8` | | |
| <a id="fld_source_id"></a>source_id | `uint8` | | | ID depending on source_type |
## Constants

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

@@ -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 |
| ------------------------------------------------------------------------------------------- | ------------ | ------------ | ---------- | --------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_torque_setpoint_achieved"></a>torque_setpoint_achieved | `bool` | | | Boolean indicating whether the 3D torque setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved. |
| <a id="fld_unallocated_torque"></a>unallocated_torque | `float32[3]` | | | Unallocated torque. Equal to 0 if the setpoint was achieved. |
| <a id="fld_thrust_setpoint_achieved"></a>thrust_setpoint_achieved | `bool` | | | Boolean indicating whether the 3D thrust setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved. |
| <a id="fld_unallocated_thrust"></a>unallocated_thrust | `float32[3]` | | | Unallocated thrust. Equal to 0 if the setpoint was achieved. |
| <a id="fld_actuator_saturation"></a>actuator_saturation | `int8[16]` | | | Indicates actuator saturation status. |
| <a id="fld_handled_motor_failure_mask"></a>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 |
| <a id="fld_motor_stop_mask"></a>motor_stop_mask | `uint16` | | | Bitmaks of motors stopped by failure injection |
| <a id="fld_actuator_group_preflight_check_active"></a>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

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

@@ -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 |
| ----------------------------------- | --------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_load"></a>load | `float32` | | | processor load from 0 to 1 |
| <a id="fld_ram_usage"></a>ram_usage | `float32` | | | RAM usage from 0 to 1 |
## Source Message

18
docs/en/msg_docs/DatamanRequest.md
View File

@@ -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 |
| ----------------------------------------- | ----------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_client_id"></a>client_id | `uint8` | | |
| <a id="fld_request_type"></a>request_type | `uint8` | | | id/read/write/clear |
| <a id="fld_item"></a>item | `uint8` | | | dm_item_t |
| <a id="fld_index"></a>index | `uint32` | | |
| <a id="fld_data"></a>data | `uint8[56]` | | |
| <a id="fld_data_length"></a>data_length | `uint32` | | |
## Source Message

18
docs/en/msg_docs/DatamanResponse.md
View File

@@ -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 |
| ----------------------------------------- | ----------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_client_id"></a>client_id | `uint8` | | |
| <a id="fld_request_type"></a>request_type | `uint8` | | | id/read/write/clear |
| <a id="fld_item"></a>item | `uint8` | | | dm_item_t |
| <a id="fld_index"></a>index | `uint32` | | |
| <a id="fld_data"></a>data | `uint8[56]` | | |
| <a id="fld_status"></a>status | `uint8` | | |
## Constants

12
docs/en/msg_docs/DebugArray.md
View File

@@ -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 |
| ----------------------------------- | ------------- | ------------ | ---------- | ------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_id"></a>id | `uint16` | | | unique ID of debug array, used to discriminate between arrays |
| <a id="fld_name"></a>name | `char[10]` | | | name of the debug array (max. 10 characters) |
| <a id="fld_data"></a>data | `float32[58]` | | | data |
## Constants

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

@@ -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 |
| ----------------------------------- | ---------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_key"></a>key | `char[10]` | | | max. 10 characters as key / name |
| <a id="fld_value"></a>value | `float32` | | | the value to send as debug output |
## Source Message

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

@@ -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 |
| ----------------------------------- | --------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_ind"></a>ind | `int8` | | | index of debug variable |
| <a id="fld_value"></a>value | `float32` | | | the value to send as debug output |
## Source Message

14
docs/en/msg_docs/DebugVect.md
View File

@@ -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 |
| ----------------------------------- | ---------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_name"></a>name | `char[10]` | | | max. 10 characters as key / name |
| <a id="fld_x"></a>x | `float32` | | | x value |
| <a id="fld_y"></a>y | `float32` | | | y value |
| <a id="fld_z"></a>z | `float32` | | | z value |
## Source Message

20
docs/en/msg_docs/DeviceInformation.md
View File

@@ -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 |
| ------------------------------------------------- | ---------- | ------------ | --------------------------- | ---------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_device_type"></a>device_type | `uint8` | | [DEVICE_TYPE](#DEVICE_TYPE) | Type of the device. Matches MAVLink DEVICE_TYPE enum |
| <a id="fld_name"></a>name | `char[80]` | | | Name of device e.g. DroneCAN node name |
| <a id="fld_"></a> | `uint32` | | | Unique device ID for the sensor. Does not change between power cycles. (Invalid: 0 if not available) |
| <a id="fld_firmware_version"></a>firmware_version | `char[24]` | | | Firmware version. (Invalid: empty if not available) |
| <a id="fld_hardware_version"></a>hardware_version | `char[24]` | | | Hardware version. (Invalid: empty if not available) |
| <a id="fld_serial_number"></a>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 |
| --------------------------------------------------------------------------------- | ------- | ----- | ---------------------- |
| <a id="#DEVICE_TYPE_GENERIC"></a> DEVICE_TYPE_GENERIC | `uint8` | 0 | Generic/unknown sensor |

16
docs/en/msg_docs/DifferentialPressure.md
View File

@@ -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 |
| ----------------------------------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time of publication (since system start) |
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | us | | Time of raw data capture |
| <a id="fld_device_id"></a>device_id | `uint32` | | | Unique device ID for the sensor that does not change between power cycles |
| <a id="fld_differential_pressure_pa"></a>differential_pressure_pa | `float32` | Pa | | Differential pressure reading (may be negative) |
| <a id="fld_temperature"></a>temperature | `float32` | degC | | Temperature (Invalid: NaN if unknown) |
| <a id="fld_error_count"></a>error_count | `uint32` | | | Number of errors detected by driver |
## Source Message

30
docs/en/msg_docs/DistanceSensor.md
View File

@@ -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 |
| ------------------------------------------------- | ------------ | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_device_id"></a>device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| <a id="fld_min_distance"></a>min_distance | `float32` | | | Minimum distance the sensor can measure (in m) |
| <a id="fld_max_distance"></a>max_distance | `float32` | | | Maximum distance the sensor can measure (in m) |
| <a id="fld_current_distance"></a>current_distance | `float32` | | | Current distance reading (in m) |
| <a id="fld_variance"></a>variance | `float32` | | | Measurement variance (in m^2), 0 for unknown / invalid readings |
| <a id="fld_signal_quality"></a>signal_quality | `int8` | | | Signal quality in percent (0...100%), where 0 = invalid signal, 100 = perfect signal, and -1 = unknown signal quality. |
| <a id="fld_type"></a>type | `uint8` | | | Type from MAV_DISTANCE_SENSOR enum |
| <a id="fld_h_fov"></a>h_fov | `float32` | | | Sensor horizontal field of view (rad) |
| <a id="fld_v_fov"></a>v_fov | `float32` | | | Sensor vertical field of view (rad) |
| <a id="fld_q"></a>q | `float32[4]` | | | Quaterion sensor orientation with respect to the vehicle body frame to specify the orientation ROTATION_CUSTOM |
| <a id="fld_orientation"></a>orientation | `uint8` | | | Direction the sensor faces from MAV_SENSOR_ORIENTATION enum |
| <a id="fld_mode"></a>mode | `uint8` | | |
## Constants

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

@@ -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 |
| --------------------------------------------- | -------- | ------------ | ---------- | --------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_request_on_off"></a>request_on_off | `uint8` | | | request to disable/enable the distance sensor |
## Constants

18
docs/en/msg_docs/DronecanNodeStatus.md
View File

@@ -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 |
| ----------------------------------------------------------------------- | -------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_node_id"></a>node_id | `uint16` | | | The node ID which this data comes from |
| <a id="fld_uptime_sec"></a>uptime_sec | `uint32` | | | Node uptime |
| <a id="fld_health"></a>health | `uint8` | | |
| <a id="fld_mode"></a>mode | `uint8` | | |
| <a id="fld_sub_mode"></a>sub_mode | `uint8` | | |
| <a id="fld_vendor_specific_status_code"></a>vendor_specific_status_code | `uint16` | | |
## Constants

20
docs/en/msg_docs/Ekf2Timestamps.md
View File

@@ -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 |
| ------------------------------------------------------------------------------------- | -------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_airspeed_timestamp_rel"></a>airspeed_timestamp_rel | `int16` | | |
| <a id="fld_airspeed_validated_timestamp_rel"></a>airspeed_validated_timestamp_rel | `int16` | | |
| <a id="fld_distance_sensor_timestamp_rel"></a>distance_sensor_timestamp_rel | `int16` | | |
| <a id="fld_optical_flow_timestamp_rel"></a>optical_flow_timestamp_rel | `int16` | | |
| <a id="fld_vehicle_air_data_timestamp_rel"></a>vehicle_air_data_timestamp_rel | `int16` | | |
| <a id="fld_vehicle_magnetometer_timestamp_rel"></a>vehicle_magnetometer_timestamp_rel | `int16` | | |
| <a id="fld_visual_odometry_timestamp_rel"></a>visual_odometry_timestamp_rel | `int16` | | |
## Constants

14
docs/en/msg_docs/EscEepromRead.md
View File

@@ -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 |
| ----------------------------------- | ----------- | ------------ | ---------- | ---------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_firmware"></a>firmware | `uint8` | | | ESC firmware type (see ESC_FIRMWARE enum in MAVLink) |
| <a id="fld_index"></a>index | `uint8` | | | Index of the ESC (0 = ESC1, 1 = ESC2, etc.) |
| <a id="fld_length"></a>length | `uint16` | | | Length of valid data |
| <a id="fld_data"></a>data | `uint8[48]` | | | Raw ESC EEPROM data |
## Constants

16
docs/en/msg_docs/EscEepromWrite.md
View File

@@ -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 |
| ------------------------------------- | ----------- | ------------ | ---------- | ---------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_firmware"></a>firmware | `uint8` | | | ESC firmware type (see ESC_FIRMWARE enum in MAVLink) |
| <a id="fld_index"></a>index | `uint8` | | | Index of the ESC (0 = ESC1, 1 = ESC2, etc, 255 = All) |
| <a id="fld_length"></a>length | `uint16` | | | Length of valid data |
| <a id="fld_data"></a>data | `uint8[48]` | | | Raw ESC EEPROM data |
| <a id="fld_write_mask"></a>write_mask | `uint32[2]` | | | Bitmask indicating which bytes in the data array should be written (max 48 values) |
## Constants

28
docs/en/msg_docs/EscReport.md
View File

@@ -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 |
| --------------------------------------------------- | --------- | ------------ | ------------------- | ------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_esc_errorcount"></a>esc_errorcount | `uint32` | | | Number of reported errors by ESC - if supported |
| <a id="fld_esc_rpm"></a>esc_rpm | `int32` | rpm | | Motor RPM, negative for reverse rotation - if supported |
| <a id="fld_esc_voltage"></a>esc_voltage | `float32` | V | | Voltage measured from current ESC - if supported |
| <a id="fld_esc_current"></a>esc_current | `float32` | A | | Current measured from current ESC - if supported |
| <a id="fld_esc_temperature"></a>esc_temperature | `float32` | degC | | Temperature measured from current ESC - if supported |
| <a id="fld_motor_temperature"></a>motor_temperature | `int16` | degC | | Temperature measured from current motor - if supported |
| <a id="fld_esc_state"></a>esc_state | `uint8` | | | State of ESC - depend on Vendor |
| <a id="fld_actuator_function"></a>actuator_function | `uint8` | | | Actuator output function (one of Motor1...MotorN) |
| <a id="fld_failures"></a>failures | `uint16` | | [FAILURE](#FAILURE) | Bitmask to indicate the internal ESC faults |
| <a id="fld_esc_power"></a>esc_power | `int8` | % | [0 : 100] | Applied power (negative values reserved) |
## Enums
### FAILURE {#FAILURE}
Used in field(s): [failures](#fld_failures)
| Name | Type | Value | Description |
| --------------------------------------------------------------------------- | ------- | ----- | ---------------------------------------------------------------------------- |
| <a id="#FAILURE_OVER_CURRENT"></a> FAILURE_OVER_CURRENT | `uint8` | 0 | (1 << 0) |

20
docs/en/msg_docs/EscStatus.md
View File

@@ -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 |
| ----------------------------------------------------- | --------------- | ------------ | ------------------------------------------- | --------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_counter"></a>counter | `uint16` | | | Incremented by the writing thread everytime new data is stored |
| <a id="fld_esc_count"></a>esc_count | `uint8` | | | Number of connected ESCs |
| <a id="fld_esc_connectiontype"></a>esc_connectiontype | `uint8` | | [ESC_CONNECTION_TYPE](#ESC_CONNECTION_TYPE) | How ESCs connected to the system |
| <a id="fld_esc_online_flags"></a>esc_online_flags | `uint16` | | | Bitmask indicating which ESC is online/offline (in motor order) |
| <a id="fld_esc_armed_flags"></a>esc_armed_flags | `uint16` | | | Bitmask indicating which ESC is armed (in motor order) |
| <a id="fld_esc"></a>esc | `EscReport[12]` | | |
## Enums
### ESC_CONNECTION_TYPE {#ESC_CONNECTION_TYPE}
Used in field(s): [esc_connectiontype](#fld_esc_connectiontype)
| Name | Type | Value | Description |
| --------------------------------------------------------------------- | ------- | ----- | ------------------------ |
| <a id="#ESC_CONNECTION_TYPE_PPM"></a> ESC_CONNECTION_TYPE_PPM | `uint8` | 0 | Traditional PPM ESC |

32
docs/en/msg_docs/EstimatorAidSource1d.md
View File

@@ -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 |
| --------------------------------------------------------- | --------- | ------------ | ---------- | -------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| <a id="fld_estimator_instance"></a>estimator_instance | `uint8` | | |
| <a id="fld_device_id"></a>device_id | `uint32` | | |
| <a id="fld_time_last_fuse"></a>time_last_fuse | `uint64` | | |
| <a id="fld_observation"></a>observation | `float32` | | |
| <a id="fld_observation_variance"></a>observation_variance | `float32` | | |
| <a id="fld_innovation"></a>innovation | `float32` | | |
| <a id="fld_innovation_filtered"></a>innovation_filtered | `float32` | | |
| <a id="fld_innovation_variance"></a>innovation_variance | `float32` | | |
| <a id="fld_test_ratio"></a>test_ratio | `float32` | | | normalized innovation squared |
| <a id="fld_test_ratio_filtered"></a>test_ratio_filtered | `float32` | | | signed filtered test ratio |
| <a id="fld_innovation_rejected"></a>innovation_rejected | `bool` | | | true if the observation has been rejected |
| <a id="fld_fused"></a>fused | `bool` | | | true if the sample was successfully fused |
## Source Message

32
docs/en/msg_docs/EstimatorAidSource2d.md
View File

@@ -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 |
| --------------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| <a id="fld_estimator_instance"></a>estimator_instance | `uint8` | | |
| <a id="fld_device_id"></a>device_id | `uint32` | | |
| <a id="fld_time_last_fuse"></a>time_last_fuse | `uint64` | | |
| <a id="fld_observation"></a>observation | `float64[2]` | | |
| <a id="fld_observation_variance"></a>observation_variance | `float32[2]` | | |
| <a id="fld_innovation"></a>innovation | `float32[2]` | | |
| <a id="fld_innovation_filtered"></a>innovation_filtered | `float32[2]` | | |
| <a id="fld_innovation_variance"></a>innovation_variance | `float32[2]` | | |
| <a id="fld_test_ratio"></a>test_ratio | `float32[2]` | | | normalized innovation squared |
| <a id="fld_test_ratio_filtered"></a>test_ratio_filtered | `float32[2]` | | | signed filtered test ratio |
| <a id="fld_innovation_rejected"></a>innovation_rejected | `bool` | | | true if the observation has been rejected |
| <a id="fld_fused"></a>fused | `bool` | | | true if the sample was successfully fused |
## Source Message

32
docs/en/msg_docs/EstimatorAidSource3d.md
View File

@@ -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 |
| --------------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| <a id="fld_estimator_instance"></a>estimator_instance | `uint8` | | |
| <a id="fld_device_id"></a>device_id | `uint32` | | |
| <a id="fld_time_last_fuse"></a>time_last_fuse | `uint64` | | |
| <a id="fld_observation"></a>observation | `float32[3]` | | |
| <a id="fld_observation_variance"></a>observation_variance | `float32[3]` | | |
| <a id="fld_innovation"></a>innovation | `float32[3]` | | |
| <a id="fld_innovation_filtered"></a>innovation_filtered | `float32[3]` | | |
| <a id="fld_innovation_variance"></a>innovation_variance | `float32[3]` | | |
| <a id="fld_test_ratio"></a>test_ratio | `float32[3]` | | | normalized innovation squared |
| <a id="fld_test_ratio_filtered"></a>test_ratio_filtered | `float32[3]` | | | signed filtered test ratio |
| <a id="fld_innovation_rejected"></a>innovation_rejected | `bool` | | | true if the observation has been rejected |
| <a id="fld_fused"></a>fused | `bool` | | | true if the sample was successfully fused |
## Source Message

20
docs/en/msg_docs/EstimatorBias.md
View File

@@ -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 |
| ------------------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| <a id="fld_device_id"></a>device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| <a id="fld_bias"></a>bias | `float32` | | | estimated barometric altitude bias (m) |
| <a id="fld_bias_var"></a>bias_var | `float32` | | | estimated barometric altitude bias variance (m^2) |
| <a id="fld_innov"></a>innov | `float32` | | | innovation of the last measurement fusion (m) |
| <a id="fld_innov_var"></a>innov_var | `float32` | | | innovation variance of the last measurement fusion (m^2) |
| <a id="fld_innov_test_ratio"></a>innov_test_ratio | `float32` | | | normalized innovation squared test ratio |
## Source Message

20
docs/en/msg_docs/EstimatorBias3d.md
View File

@@ -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 |
| ------------------------------------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| <a id="fld_device_id"></a>device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| <a id="fld_bias"></a>bias | `float32[3]` | | | estimated barometric altitude bias (m) |
| <a id="fld_bias_var"></a>bias_var | `float32[3]` | | | estimated barometric altitude bias variance (m^2) |
| <a id="fld_innov"></a>innov | `float32[3]` | | | innovation of the last measurement fusion (m) |
| <a id="fld_innov_var"></a>innov_var | `float32[3]` | | | innovation variance of the last measurement fusion (m^2) |
| <a id="fld_innov_test_ratio"></a>innov_test_ratio | `float32[3]` | | | normalized innovation squared test ratio |
## Source Message

44
docs/en/msg_docs/EstimatorEventFlags.md
View File

@@ -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 |
| --------------------------------------------------------------------- | -------- | ------------ | ---------- | --------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| <a id="fld_information_event_changes"></a>information_event_changes | `uint32` | | | number of information event changes |
| <a id="fld_gps_checks_passed"></a>gps_checks_passed | `bool` | | | 0 - true when gps quality checks are passing passed |
| <a id="fld_reset_vel_to_gps"></a>reset_vel_to_gps | `bool` | | | 1 - true when the velocity states are reset to the gps measurement |
| <a id="fld_reset_vel_to_flow"></a>reset_vel_to_flow | `bool` | | | 2 - true when the velocity states are reset using the optical flow measurement |
| <a id="fld_reset_vel_to_vision"></a>reset_vel_to_vision | `bool` | | | 3 - true when the velocity states are reset to the vision system measurement |
| <a id="fld_reset_vel_to_zero"></a>reset_vel_to_zero | `bool` | | | 4 - true when the velocity states are reset to zero |
| <a id="fld_reset_pos_to_last_known"></a>reset_pos_to_last_known | `bool` | | | 5 - true when the position states are reset to the last known position |
| <a id="fld_reset_pos_to_gps"></a>reset_pos_to_gps | `bool` | | | 6 - true when the position states are reset to the gps measurement |
| <a id="fld_reset_pos_to_vision"></a>reset_pos_to_vision | `bool` | | | 7 - true when the position states are reset to the vision system measurement |
| <a id="fld_starting_gps_fusion"></a>starting_gps_fusion | `bool` | | | 8 - true when the filter starts using gps measurements to correct the state estimates |
| <a id="fld_starting_vision_pos_fusion"></a>starting_vision_pos_fusion | `bool` | | | 9 - true when the filter starts using vision system position measurements to correct the state estimates |
| <a id="fld_starting_vision_vel_fusion"></a>starting_vision_vel_fusion | `bool` | | | 10 - true when the filter starts using vision system velocity measurements to correct the state estimates |
| <a id="fld_starting_vision_yaw_fusion"></a>starting_vision_yaw_fusion | `bool` | | | 11 - true when the filter starts using vision system yaw measurements to correct the state estimates |
| <a id="fld_yaw_aligned_to_imu_gps"></a>yaw_aligned_to_imu_gps | `bool` | | | 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data |
| <a id="fld_reset_hgt_to_baro"></a>reset_hgt_to_baro | `bool` | | | 13 - true when the vertical position state is reset to the baro measurement |
| <a id="fld_reset_hgt_to_gps"></a>reset_hgt_to_gps | `bool` | | | 14 - true when the vertical position state is reset to the gps measurement |
| <a id="fld_reset_hgt_to_rng"></a>reset_hgt_to_rng | `bool` | | | 15 - true when the vertical position state is reset to the rng measurement |
| <a id="fld_reset_hgt_to_ev"></a>reset_hgt_to_ev | `bool` | | | 16 - true when the vertical position state is reset to the ev measurement |
## Source Message

42
docs/en/msg_docs/EstimatorFusionControl.md
View File

@@ -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 |
| ----------------------------------------------- | --------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_gps_intended"></a>gps_intended | `bool[2]` | | |
| <a id="fld_of_intended"></a>of_intended | `bool` | | |
| <a id="fld_ev_intended"></a>ev_intended | `bool` | | |
| <a id="fld_agp_intended"></a>agp_intended | `bool[4]` | | |
| <a id="fld_baro_intended"></a>baro_intended | `bool` | | |
| <a id="fld_rng_intended"></a>rng_intended | `bool` | | |
| <a id="fld_mag_intended"></a>mag_intended | `bool` | | |
| <a id="fld_aspd_intended"></a>aspd_intended | `bool` | | |
| <a id="fld_rngbcn_intended"></a>rngbcn_intended | `bool` | | |
| <a id="fld_gps_active"></a>gps_active | `bool[2]` | | |
| <a id="fld_of_active"></a>of_active | `bool` | | |
| <a id="fld_ev_active"></a>ev_active | `bool` | | |
| <a id="fld_agp_active"></a>agp_active | `bool[4]` | | |
| <a id="fld_baro_active"></a>baro_active | `bool` | | |
| <a id="fld_rng_active"></a>rng_active | `bool` | | |
| <a id="fld_mag_active"></a>mag_active | `bool` | | |
| <a id="fld_aspd_active"></a>aspd_active | `bool` | | |
| <a id="fld_rngbcn_active"></a>rngbcn_active | `bool` | | |
## Source Message

38
docs/en/msg_docs/EstimatorGpsStatus.md
View File

@@ -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 |
| ------------------------------------------------------------------------------------- | --------- | ------------ | ---------- | -------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| <a id="fld_checks_passed"></a>checks_passed | `bool` | | |
| <a id="fld_check_fail_gps_fix"></a>check_fail_gps_fix | `bool` | | | 0 : insufficient fix type (no 3D solution) |
| <a id="fld_check_fail_min_sat_count"></a>check_fail_min_sat_count | `bool` | | | 1 : minimum required sat count fail |
| <a id="fld_check_fail_max_pdop"></a>check_fail_max_pdop | `bool` | | | 2 : maximum allowed PDOP fail |
| <a id="fld_check_fail_max_horz_err"></a>check_fail_max_horz_err | `bool` | | | 3 : maximum allowed horizontal position error fail |
| <a id="fld_check_fail_max_vert_err"></a>check_fail_max_vert_err | `bool` | | | 4 : maximum allowed vertical position error fail |
| <a id="fld_check_fail_max_spd_err"></a>check_fail_max_spd_err | `bool` | | | 5 : maximum allowed speed error fail |
| <a id="fld_check_fail_max_horz_drift"></a>check_fail_max_horz_drift | `bool` | | | 6 : maximum allowed horizontal position drift fail - requires stationary vehicle |
| <a id="fld_check_fail_max_vert_drift"></a>check_fail_max_vert_drift | `bool` | | | 7 : maximum allowed vertical position drift fail - requires stationary vehicle |
| <a id="fld_check_fail_max_horz_spd_err"></a>check_fail_max_horz_spd_err | `bool` | | | 8 : maximum allowed horizontal speed fail - requires stationary vehicle |
| <a id="fld_check_fail_max_vert_spd_err"></a>check_fail_max_vert_spd_err | `bool` | | | 9 : maximum allowed vertical velocity discrepancy fail |
| <a id="fld_check_fail_spoofed_gps"></a>check_fail_spoofed_gps | `bool` | | | 10 : GPS signal is spoofed |
| <a id="fld_position_drift_rate_horizontal_m_s"></a>position_drift_rate_horizontal_m_s | `float32` | | | Horizontal position rate magnitude (m/s) |
| <a id="fld_position_drift_rate_vertical_m_s"></a>position_drift_rate_vertical_m_s | `float32` | | | Vertical position rate magnitude (m/s) |
| <a id="fld_filtered_horizontal_speed_m_s"></a>filtered_horizontal_speed_m_s | `float32` | | | Filtered horizontal velocity magnitude (m/s) |
## Source Message

48
docs/en/msg_docs/EstimatorInnovations.md
View File

@@ -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 |
| ------------------------------------------------- | ------------ | ------------ | ---------- | ----------------------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| <a id="fld_gps_hvel"></a>gps_hvel | `float32[2]` | | | horizontal GPS velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) |
| <a id="fld_"></a> | `float32` | | | vertical GPS velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) |
| <a id="fld_gps_hpos"></a>gps_hpos | `float32[2]` | | | horizontal GPS position innovation (m) and innovation variance (m\*\*2) |
| <a id="fld_"></a> | `float32` | | | vertical GPS position innovation (m) and innovation variance (m\*\*2) |
| <a id="fld_ev_hvel"></a>ev_hvel | `float32[2]` | | | horizontal external vision velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) |
| <a id="fld_"></a> | `float32` | | | vertical external vision velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) |
| <a id="fld_ev_hpos"></a>ev_hpos | `float32[2]` | | | horizontal external vision position innovation (m) and innovation variance (m\*\*2) |
| <a id="fld_"></a> | `float32` | | | vertical external vision position innovation (m) and innovation variance (m\*\*2) |
| <a id="fld_rng_vpos"></a>rng_vpos | `float32` | | | range sensor height innovation (m) and innovation variance (m\*\*2) |
| <a id="fld_baro_vpos"></a>baro_vpos | `float32` | | | barometer height innovation (m) and innovation variance (m\*\*2) |
| <a id="fld_aux_hvel"></a>aux_hvel | `float32[2]` | | | horizontal auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)\*\*2) |
| <a id="fld_flow"></a>flow | `float32[2]` | | | flow innvoation (rad/sec) and innovation variance ((rad/sec)\*\*2) |
| <a id="fld_heading"></a>heading | `float32` | | | heading innovation (rad) and innovation variance (rad\*\*2) |
| <a id="fld_mag_field"></a>mag_field | `float32[3]` | | | earth magnetic field innovation (Gauss) and innovation variance (Gauss\*\*2) |
| <a id="fld_gravity"></a>gravity | `float32[3]` | | | gravity innovation from accelerometerr vector (m/s\*\*2) |
| <a id="fld_drag"></a>drag | `float32[2]` | | | drag specific force innovation (m/sec**2) and innovation variance ((m/sec)**2) |
| <a id="fld_airspeed"></a>airspeed | `float32` | | | airspeed innovation (m/sec) and innovation variance ((m/sec)\*\*2) |
| <a id="fld_beta"></a>beta | `float32` | | | synthetic sideslip innovation (rad) and innovation variance (rad\*\*2) |
| <a id="fld_hagl"></a>hagl | `float32` | | | height of ground innovation (m) and innovation variance (m\*\*2) |
| <a id="fld_hagl_rate"></a>hagl_rate | `float32` | | | height of ground rate innovation (m/s) and innovation variance ((m/s)\*\*2) |
## Source Message

36
docs/en/msg_docs/EstimatorSelectorStatus.md
View File

@@ -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 |
| --------------------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_primary_instance"></a>primary_instance | `uint8` | | |
| <a id="fld_instances_available"></a>instances_available | `uint8` | | |
| <a id="fld_instance_changed_count"></a>instance_changed_count | `uint32` | | |
| <a id="fld_last_instance_change"></a>last_instance_change | `uint64` | | |
| <a id="fld_accel_device_id"></a>accel_device_id | `uint32` | | |
| <a id="fld_baro_device_id"></a>baro_device_id | `uint32` | | |
| <a id="fld_gyro_device_id"></a>gyro_device_id | `uint32` | | |
| <a id="fld_mag_device_id"></a>mag_device_id | `uint32` | | |
| <a id="fld_combined_test_ratio"></a>combined_test_ratio | `float32[9]` | | |
| <a id="fld_relative_test_ratio"></a>relative_test_ratio | `float32[9]` | | |
| <a id="fld_healthy"></a>healthy | `bool[9]` | | |
| <a id="fld_accumulated_gyro_error"></a>accumulated_gyro_error | `float32[4]` | | |
| <a id="fld_accumulated_accel_error"></a>accumulated_accel_error | `float32[4]` | | |
| <a id="fld_gyro_fault_detected"></a>gyro_fault_detected | `bool` | | |
| <a id="fld_accel_fault_detected"></a>accel_fault_detected | `bool` | | |
## Source Message

44
docs/en/msg_docs/EstimatorSensorBias.md
View File

@@ -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 |
| ------------------------------------------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| <a id="fld_gyro_device_id"></a>gyro_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| <a id="fld_gyro_bias"></a>gyro_bias | `float32[3]` | | | gyroscope in-run bias in body frame (rad/s) |
| <a id="fld_gyro_bias_limit"></a>gyro_bias_limit | `float32` | | | magnitude of maximum gyroscope in-run bias in body frame (rad/s) |
| <a id="fld_gyro_bias_variance"></a>gyro_bias_variance | `float32[3]` | | |
| <a id="fld_gyro_bias_valid"></a>gyro_bias_valid | `bool` | | |
| <a id="fld_gyro_bias_stable"></a>gyro_bias_stable | `bool` | | | true when the gyro bias estimate is stable enough to use for calibration |
| <a id="fld_accel_device_id"></a>accel_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| <a id="fld_accel_bias"></a>accel_bias | `float32[3]` | | | accelerometer in-run bias in body frame (m/s^2) |
| <a id="fld_accel_bias_limit"></a>accel_bias_limit | `float32` | | | magnitude of maximum accelerometer in-run bias in body frame (m/s^2) |
| <a id="fld_accel_bias_variance"></a>accel_bias_variance | `float32[3]` | | |
| <a id="fld_accel_bias_valid"></a>accel_bias_valid | `bool` | | |
| <a id="fld_accel_bias_stable"></a>accel_bias_stable | `bool` | | | true when the accel bias estimate is stable enough to use for calibration |
| <a id="fld_mag_device_id"></a>mag_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| <a id="fld_mag_bias"></a>mag_bias | `float32[3]` | | | magnetometer in-run bias in body frame (Gauss) |
| <a id="fld_mag_bias_limit"></a>mag_bias_limit | `float32` | | | magnitude of maximum magnetometer in-run bias in body frame (Gauss) |
| <a id="fld_mag_bias_variance"></a>mag_bias_variance | `float32[3]` | | |
| <a id="fld_mag_bias_valid"></a>mag_bias_valid | `bool` | | |
| <a id="fld_mag_bias_stable"></a>mag_bias_stable | `bool` | | | true when the mag bias estimate is stable enough to use for calibration |
## Source Message

14
docs/en/msg_docs/EstimatorStates.md
View File

@@ -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 |
| ------------------------------------------------- | ------------- | ------------ | ---------- | -------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| <a id="fld_states"></a>states | `float32[25]` | | | Internal filter states |
| <a id="fld_n_states"></a>n_states | `uint8` | | | Number of states effectively used |
| <a id="fld_covariances"></a>covariances | `float32[24]` | | | Diagonal Elements of Covariance Matrix |
## Source Message

80
docs/en/msg_docs/EstimatorStatus.md
View File

@@ -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 |
| --------------------------------------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| <a id="fld_output_tracking_error"></a>output_tracking_error | `float32[3]` | | | return a vector containing the output predictor angular, velocity and position tracking error magnitudes (rad), (m/s), (m) |
| <a id="fld_gps_check_fail_flags"></a>gps_check_fail_flags | `uint16` | | | Bitmask to indicate status of GPS checks - see definition below |
| <a id="fld_control_mode_flags"></a>control_mode_flags | `uint64` | | | Bitmask to indicate EKF logic state |
| <a id="fld_filter_fault_flags"></a>filter_fault_flags | `uint32` | | | Bitmask to indicate EKF internal faults |
| <a id="fld_pos_horiz_accuracy"></a>pos_horiz_accuracy | `float32` | | | 1-Sigma estimated horizontal position accuracy relative to the estimators origin (m) |
| <a id="fld_pos_vert_accuracy"></a>pos_vert_accuracy | `float32` | | | 1-Sigma estimated vertical position accuracy relative to the estimators origin (m) |
| <a id="fld_hdg_test_ratio"></a>hdg_test_ratio | `float32` | | | low-pass filtered ratio of the largest heading innovation component to the innovation test limit |
| <a id="fld_vel_test_ratio"></a>vel_test_ratio | `float32` | | | low-pass filtered ratio of the largest velocity innovation component to the innovation test limit |
| <a id="fld_pos_test_ratio"></a>pos_test_ratio | `float32` | | | low-pass filtered ratio of the largest horizontal position innovation component to the innovation test limit |
| <a id="fld_hgt_test_ratio"></a>hgt_test_ratio | `float32` | | | low-pass filtered ratio of the vertical position innovation to the innovation test limit |
| <a id="fld_tas_test_ratio"></a>tas_test_ratio | `float32` | | | low-pass filtered ratio of the true airspeed innovation to the innovation test limit |
| <a id="fld_hagl_test_ratio"></a>hagl_test_ratio | `float32` | | | low-pass filtered ratio of the height above ground innovation to the innovation test limit |
| <a id="fld_beta_test_ratio"></a>beta_test_ratio | `float32` | | | low-pass filtered ratio of the synthetic sideslip innovation to the innovation test limit |
| <a id="fld_solution_status_flags"></a>solution_status_flags | `uint16` | | | Bitmask indicating which filter kinematic state outputs are valid for flight control use. |
| <a id="fld_reset_count_vel_ne"></a>reset_count_vel_ne | `uint8` | | | number of horizontal position reset events (allow to wrap if count exceeds 255) |
| <a id="fld_reset_count_vel_d"></a>reset_count_vel_d | `uint8` | | | number of vertical velocity reset events (allow to wrap if count exceeds 255) |
| <a id="fld_reset_count_pos_ne"></a>reset_count_pos_ne | `uint8` | | | number of horizontal position reset events (allow to wrap if count exceeds 255) |
| <a id="fld_reset_count_pod_d"></a>reset_count_pod_d | `uint8` | | | number of vertical position reset events (allow to wrap if count exceeds 255) |
| <a id="fld_reset_count_quat"></a>reset_count_quat | `uint8` | | | number of quaternion reset events (allow to wrap if count exceeds 255) |
| <a id="fld_time_slip"></a>time_slip | `float32` | | | cumulative amount of time in seconds that the EKF inertial calculation has slipped relative to system time |
| <a id="fld_pre_flt_fail_innov_heading"></a>pre_flt_fail_innov_heading | `bool` | | |
| <a id="fld_pre_flt_fail_innov_height"></a>pre_flt_fail_innov_height | `bool` | | |
| <a id="fld_pre_flt_fail_innov_pos_horiz"></a>pre_flt_fail_innov_pos_horiz | `bool` | | |
| <a id="fld_pre_flt_fail_innov_vel_horiz"></a>pre_flt_fail_innov_vel_horiz | `bool` | | |
| <a id="fld_pre_flt_fail_innov_vel_vert"></a>pre_flt_fail_innov_vel_vert | `bool` | | |
| <a id="fld_pre_flt_fail_mag_field_disturbed"></a>pre_flt_fail_mag_field_disturbed | `bool` | | |
| <a id="fld_accel_device_id"></a>accel_device_id | `uint32` | | |
| <a id="fld_gyro_device_id"></a>gyro_device_id | `uint32` | | |
| <a id="fld_baro_device_id"></a>baro_device_id | `uint32` | | |
| <a id="fld_mag_device_id"></a>mag_device_id | `uint32` | | |
| <a id="fld_health_flags"></a>health_flags | `uint8` | | | Bitmask to indicate sensor health states (vel, pos, hgt) |
| <a id="fld_timeout_flags"></a>timeout_flags | `uint8` | | | Bitmask to indicate timeout flags (vel, pos, hgt) |
| <a id="fld_mag_inclination_deg"></a>mag_inclination_deg | `float32` | | |
| <a id="fld_mag_inclination_ref_deg"></a>mag_inclination_ref_deg | `float32` | | |
| <a id="fld_mag_strength_gs"></a>mag_strength_gs | `float32` | | |
| <a id="fld_mag_strength_ref_gs"></a>mag_strength_ref_gs | `float32` | | |
## Constants

134
docs/en/msg_docs/EstimatorStatusFlags.md
View File

@@ -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 |
| --------------------------------------------------------------------- | -------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------ |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| <a id="fld_control_status_changes"></a>control_status_changes | `uint32` | | | number of filter control status (cs) changes |
| <a id="fld_cs_tilt_align"></a>cs_tilt_align | `bool` | | | 0 - true if the filter tilt alignment is complete |
| <a id="fld_cs_yaw_align"></a>cs_yaw_align | `bool` | | | 1 - true if the filter yaw alignment is complete |
| <a id="fld_cs_gnss_pos"></a>cs_gnss_pos | `bool` | | | 2 - true if GNSS position measurement fusion is intended |
| <a id="fld_cs_opt_flow"></a>cs_opt_flow | `bool` | | | 3 - true if optical flow measurements fusion is intended |
| <a id="fld_cs_mag_hdg"></a>cs_mag_hdg | `bool` | | | 4 - true if a simple magnetic yaw heading fusion is intended |
| <a id="fld_cs_mag_3d"></a>cs_mag_3d | `bool` | | | 5 - true if 3-axis magnetometer measurement fusion is intended |
| <a id="fld_cs_mag_dec"></a>cs_mag_dec | `bool` | | | 6 - true if synthetic magnetic declination measurements fusion is intended |
| <a id="fld_cs_in_air"></a>cs_in_air | `bool` | | | 7 - true when the vehicle is airborne |
| <a id="fld_cs_wind"></a>cs_wind | `bool` | | | 8 - true when wind velocity is being estimated |
| <a id="fld_cs_baro_hgt"></a>cs_baro_hgt | `bool` | | | 9 - true when baro data is being fused |
| <a id="fld_cs_rng_hgt"></a>cs_rng_hgt | `bool` | | | 10 - true when range finder data is being fused for height aiding |
| <a id="fld_cs_gps_hgt"></a>cs_gps_hgt | `bool` | | | 11 - true when GPS altitude is being fused |
| <a id="fld_cs_ev_pos"></a>cs_ev_pos | `bool` | | | 12 - true when local position data fusion from external vision is intended |
| <a id="fld_cs_ev_yaw"></a>cs_ev_yaw | `bool` | | | 13 - true when yaw data from external vision measurements fusion is intended |
| <a id="fld_cs_ev_hgt"></a>cs_ev_hgt | `bool` | | | 14 - true when height data from external vision measurements is being fused |
| <a id="fld_cs_fuse_beta"></a>cs_fuse_beta | `bool` | | | 15 - true when synthetic sideslip measurements are being fused |
| <a id="fld_cs_mag_field_disturbed"></a>cs_mag_field_disturbed | `bool` | | | 16 - true when the mag field does not match the expected strength |
| <a id="fld_cs_fixed_wing"></a>cs_fixed_wing | `bool` | | | 17 - true when the vehicle is operating as a fixed wing vehicle |
| <a id="fld_cs_mag_fault"></a>cs_mag_fault | `bool` | | | 18 - true when the magnetometer has been declared faulty and is no longer being used |
| <a id="fld_cs_fuse_aspd"></a>cs_fuse_aspd | `bool` | | | 19 - true when airspeed measurements are being fused |
| <a id="fld_cs_gnd_effect"></a>cs_gnd_effect | `bool` | | | 20 - true when protection from ground effect induced static pressure rise is active |
| <a id="fld_cs_rng_stuck"></a>cs_rng_stuck | `bool` | | | 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough |
| <a id="fld_cs_gnss_yaw"></a>cs_gnss_yaw | `bool` | | | 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended |
| <a id="fld_cs_mag_aligned_in_flight"></a>cs_mag_aligned_in_flight | `bool` | | | 23 - true when the in-flight mag field alignment has been completed |
| <a id="fld_cs_ev_vel"></a>cs_ev_vel | `bool` | | | 24 - true when local frame velocity data fusion from external vision measurements is intended |
| <a id="fld_cs_synthetic_mag_z"></a>cs_synthetic_mag_z | `bool` | | | 25 - true when we are using a synthesized measurement for the magnetometer Z component |
| <a id="fld_cs_vehicle_at_rest"></a>cs_vehicle_at_rest | `bool` | | | 26 - true when the vehicle is at rest |
| <a id="fld_cs_gnss_yaw_fault"></a>cs_gnss_yaw_fault | `bool` | | | 27 - true when the GNSS heading has been declared faulty and is no longer being used |
| <a id="fld_cs_rng_fault"></a>cs_rng_fault | `bool` | | | 28 - true when the range finder has been declared faulty and is no longer being used |
| <a id="fld_cs_inertial_dead_reckoning"></a>cs_inertial_dead_reckoning | `bool` | | | 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift |
| <a id="fld_cs_wind_dead_reckoning"></a>cs_wind_dead_reckoning | `bool` | | | 30 - true if we are navigationg reliant on wind relative measurements |
| <a id="fld_cs_rng_kin_consistent"></a>cs_rng_kin_consistent | `bool` | | | 31 - true when the range finder kinematic consistency check is passing |
| <a id="fld_cs_fake_pos"></a>cs_fake_pos | `bool` | | | 32 - true when fake position measurements are being fused |
| <a id="fld_cs_fake_hgt"></a>cs_fake_hgt | `bool` | | | 33 - true when fake height measurements are being fused |
| <a id="fld_cs_gravity_vector"></a>cs_gravity_vector | `bool` | | | 34 - true when gravity vector measurements are being fused |
| <a id="fld_cs_mag"></a>cs_mag | `bool` | | | 35 - true if 3-axis magnetometer measurement fusion (mag states only) is intended |
| <a id="fld_cs_ev_yaw_fault"></a>cs_ev_yaw_fault | `bool` | | | 36 - true when the EV heading has been declared faulty and is no longer being used |
| <a id="fld_cs_mag_heading_consistent"></a>cs_mag_heading_consistent | `bool` | | | 37 - true when the heading obtained from mag data is declared consistent with the filter |
| <a id="fld_cs_aux_gpos"></a>cs_aux_gpos | `bool` | | | 38 - true if auxiliary global position measurement fusion is intended |
| <a id="fld_cs_rng_terrain"></a>cs_rng_terrain | `bool` | | | 39 - true if we are fusing range finder data for terrain |
| <a id="fld_cs_opt_flow_terrain"></a>cs_opt_flow_terrain | `bool` | | | 40 - true if we are fusing flow data for terrain |
| <a id="fld_cs_valid_fake_pos"></a>cs_valid_fake_pos | `bool` | | | 41 - true if a valid constant position is being fused |
| <a id="fld_cs_constant_pos"></a>cs_constant_pos | `bool` | | | 42 - true if the vehicle is at a constant position |
| <a id="fld_cs_baro_fault"></a>cs_baro_fault | `bool` | | | 43 - true when the current baro has been declared faulty and is no longer being used |
| <a id="fld_cs_gnss_vel"></a>cs_gnss_vel | `bool` | | | 44 - true if GNSS velocity measurement fusion is intended |
| <a id="fld_cs_gnss_fault"></a>cs_gnss_fault | `bool` | | | 45 - true if GNSS true if GNSS measurements (lat, lon, vel) have been declared faulty |
| <a id="fld_cs_yaw_manual"></a>cs_yaw_manual | `bool` | | | 46 - true if yaw has been set manually |
| <a id="fld_cs_gnss_hgt_fault"></a>cs_gnss_hgt_fault | `bool` | | | 47 - true if GNSS true if GNSS measurements (alt) have been declared faulty |
| <a id="fld_cs_in_transition"></a>cs_in_transition | `bool` | | | 48 - true if the vehicle is in vtol transition |
| <a id="fld_cs_heading_observable"></a>cs_heading_observable | `bool` | | | 49 - true when heading is observable |
| <a id="fld_fault_status_changes"></a>fault_status_changes | `uint32` | | | number of filter fault status (fs) changes |
| <a id="fld_fs_bad_mag_x"></a>fs_bad_mag_x | `bool` | | | 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error |
| <a id="fld_fs_bad_mag_y"></a>fs_bad_mag_y | `bool` | | | 1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error |
| <a id="fld_fs_bad_mag_z"></a>fs_bad_mag_z | `bool` | | | 2 - true if the fusion of the magnetometer Z-axis has encountered a numerical error |
| <a id="fld_fs_bad_hdg"></a>fs_bad_hdg | `bool` | | | 3 - true if the fusion of the heading angle has encountered a numerical error |
| <a id="fld_fs_bad_mag_decl"></a>fs_bad_mag_decl | `bool` | | | 4 - true if the fusion of the magnetic declination has encountered a numerical error |
| <a id="fld_fs_bad_airspeed"></a>fs_bad_airspeed | `bool` | | | 5 - true if fusion of the airspeed has encountered a numerical error |
| <a id="fld_fs_bad_sideslip"></a>fs_bad_sideslip | `bool` | | | 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error |
| <a id="fld_fs_bad_optflow_x"></a>fs_bad_optflow_x | `bool` | | | 7 - true if fusion of the optical flow X axis has encountered a numerical error |
| <a id="fld_fs_bad_optflow_y"></a>fs_bad_optflow_y | `bool` | | | 8 - true if fusion of the optical flow Y axis has encountered a numerical error |
| <a id="fld_fs_bad_acc_vertical"></a>fs_bad_acc_vertical | `bool` | | | 10 - true if bad vertical accelerometer data has been detected |
| <a id="fld_fs_bad_acc_clipping"></a>fs_bad_acc_clipping | `bool` | | | 11 - true if delta velocity data contains clipping (asymmetric railing) |
## Source Message

14
docs/en/msg_docs/Event.md
View File

@@ -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 |
| --------------------------------------------- | ----------- | ------------ | ---------- | ------------------------------------------------------ |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_id"></a>id | `uint32` | | | Event ID |
| <a id="fld_event_sequence"></a>event_sequence | `uint16` | | | Event sequence number |
| <a id="fld_arguments"></a>arguments | `uint8[25]` | | | (optional) arguments, depend on event id |
| <a id="fld_log_levels"></a>log_levels | `uint8` | | | Log levels: 4 bits MSB: internal, 4 bits LSB: external |
## Constants

14
docs/en/msg_docs/EventV0.md
View File

@@ -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 |
| --------------------------------------------- | ----------- | ------------ | ---------- | ------------------------------------------------------ |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_id"></a>id | `uint32` | | | Event ID |
| <a id="fld_event_sequence"></a>event_sequence | `uint16` | | | Event sequence number |
| <a id="fld_arguments"></a>arguments | `uint8[25]` | | | (optional) arguments, depend on event id |
| <a id="fld_log_levels"></a>log_levels | `uint8` | | | Log levels: 4 bits MSB: internal, 4 bits LSB: external |
## Constants

96
docs/en/msg_docs/FailsafeFlags.md
View File

@@ -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 |
| ------------------------------------------------------------------------------------------------- | -------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------ |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_mode_req_angular_velocity"></a>mode_req_angular_velocity | `uint32` | | |
| <a id="fld_mode_req_attitude"></a>mode_req_attitude | `uint32` | | |
| <a id="fld_mode_req_local_alt"></a>mode_req_local_alt | `uint32` | | |
| <a id="fld_mode_req_local_position"></a>mode_req_local_position | `uint32` | | |
| <a id="fld_mode_req_local_position_relaxed"></a>mode_req_local_position_relaxed | `uint32` | | |
| <a id="fld_mode_req_global_position"></a>mode_req_global_position | `uint32` | | |
| <a id="fld_mode_req_global_position_relaxed"></a>mode_req_global_position_relaxed | `uint32` | | |
| <a id="fld_mode_req_mission"></a>mode_req_mission | `uint32` | | |
| <a id="fld_mode_req_offboard_signal"></a>mode_req_offboard_signal | `uint32` | | |
| <a id="fld_mode_req_home_position"></a>mode_req_home_position | `uint32` | | |
| <a id="fld_mode_req_wind_and_flight_time_compliance"></a>mode_req_wind_and_flight_time_compliance | `uint32` | | | if set, mode cannot be entered if wind or flight time limit exceeded |
| <a id="fld_mode_req_prevent_arming"></a>mode_req_prevent_arming | `uint32` | | | if set, cannot arm while in this mode |
| <a id="fld_mode_req_manual_control"></a>mode_req_manual_control | `uint32` | | |
| <a id="fld_mode_req_other"></a>mode_req_other | `uint32` | | | other requirements, not covered above (for external modes) |
| <a id="fld_angular_velocity_invalid"></a>angular_velocity_invalid | `bool` | | | Angular velocity invalid |
| <a id="fld_attitude_invalid"></a>attitude_invalid | `bool` | | | Attitude invalid |
| <a id="fld_local_altitude_invalid"></a>local_altitude_invalid | `bool` | | | Local altitude invalid |
| <a id="fld_local_position_invalid"></a>local_position_invalid | `bool` | | | Local position estimate invalid |
| <a id="fld_local_position_invalid_relaxed"></a>local_position_invalid_relaxed | `bool` | | | Local position with reduced accuracy requirements invalid (e.g. flying with optical flow) |
| <a id="fld_local_velocity_invalid"></a>local_velocity_invalid | `bool` | | | Local velocity estimate invalid |
| <a id="fld_global_position_invalid"></a>global_position_invalid | `bool` | | | Global position estimate invalid |
| <a id="fld_global_position_invalid_relaxed"></a>global_position_invalid_relaxed | `bool` | | | Global position estimate invalid with relaxed accuracy requirements |
| <a id="fld_auto_mission_missing"></a>auto_mission_missing | `bool` | | | No mission available |
| <a id="fld_offboard_control_signal_lost"></a>offboard_control_signal_lost | `bool` | | | Offboard signal lost |
| <a id="fld_home_position_invalid"></a>home_position_invalid | `bool` | | | No home position available |
| <a id="fld_manual_control_signal_lost"></a>manual_control_signal_lost | `bool` | | | Manual control (RC) signal lost |
| <a id="fld_gcs_connection_lost"></a>gcs_connection_lost | `bool` | | | GCS connection lost |
| <a id="fld_battery_warning"></a>battery_warning | `uint8` | | | Battery warning level (see BatteryStatus.msg) |
| <a id="fld_battery_low_remaining_time"></a>battery_low_remaining_time | `bool` | | | Low battery based on remaining flight time |
| <a id="fld_battery_unhealthy"></a>battery_unhealthy | `bool` | | | Battery unhealthy |
| <a id="fld_fd_critical_failure"></a>fd_critical_failure | `bool` | | | Critical failure (attitude limit exceeded, or external ATS) |
| <a id="fld_fd_esc_arming_failure"></a>fd_esc_arming_failure | `bool` | | | ESC failed to arm |
| <a id="fld_fd_imbalanced_prop"></a>fd_imbalanced_prop | `bool` | | | Imbalanced propeller detected |
| <a id="fld_fd_motor_failure"></a>fd_motor_failure | `bool` | | | Motor failure |
| <a id="fld_fd_alt_loss"></a>fd_alt_loss | `bool` | | | Uncommanded altitude loss (rotary-wing, altitude-controlled flight) |
| <a id="fld_geofence_breached"></a>geofence_breached | `bool` | | | Geofence breached (one or multiple) |
| <a id="fld_mission_failure"></a>mission_failure | `bool` | | | Mission failure |
| <a id="fld_vtol_fixed_wing_system_failure"></a>vtol_fixed_wing_system_failure | `bool` | | | vehicle in fixed-wing system failure failsafe mode (after quad-chute) |
| <a id="fld_wind_limit_exceeded"></a>wind_limit_exceeded | `bool` | | | Wind limit exceeded |
| <a id="fld_flight_time_limit_exceeded"></a>flight_time_limit_exceeded | `bool` | | | Maximum flight time exceeded |
| <a id="fld_position_accuracy_low"></a>position_accuracy_low | `bool` | | | Position estimate has dropped below threshold, but is currently still declared valid |
| <a id="fld_navigator_failure"></a>navigator_failure | `bool` | | | Navigator failed to execute a mode |
| <a id="fld_parachute_unhealthy"></a>parachute_unhealthy | `bool` | | | Parachute system missing or unhealthy |
| <a id="fld_remote_id_unhealthy"></a>remote_id_unhealthy | `bool` | | | Remote ID (Open Drone ID) system missing or unhealthy |
| <a id="fld_gnss_lost"></a>gnss_lost | `bool` | | | Active GNSS count dropped below SYS_HAS_NUM_GNSS, or two receivers report inconsistent positions |
## Source Message

28
docs/en/msg_docs/FailureDetectorStatus.md
View File

@@ -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 |
| ------------------------------------------------------------- | --------- | ------------ | ---------- | --------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_fd_roll"></a>fd_roll | `bool` | | |
| <a id="fld_fd_pitch"></a>fd_pitch | `bool` | | |
| <a id="fld_fd_alt"></a>fd_alt | `bool` | | |
| <a id="fld_fd_ext"></a>fd_ext | `bool` | | |
| <a id="fld_fd_arm_escs"></a>fd_arm_escs | `bool` | | |
| <a id="fld_fd_battery"></a>fd_battery | `bool` | | |
| <a id="fld_fd_imbalanced_prop"></a>fd_imbalanced_prop | `bool` | | |
| <a id="fld_fd_motor"></a>fd_motor | `bool` | | |
| <a id="fld_imbalanced_prop_metric"></a>imbalanced_prop_metric | `float32` | | | Metric of the imbalanced propeller check (low-passed) |
| <a id="fld_motor_failure_mask"></a>motor_failure_mask | `uint16` | | | Bit-mask with motor indices, indicating critical motor failures |
| <a id="fld_motor_stop_mask"></a>motor_stop_mask | `uint16` | | | Bitmaks of motors stopped by failure injection |
## Source Message

14
docs/en/msg_docs/FiducialMarkerPosReport.md
View File

@@ -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 |
| ------------------------------------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------ |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | us | | Timestamp of the raw observation |
| <a id="fld_rel_pos"></a>rel_pos | `float32[3]` | m | | Target position relative to vehicle, expressed in the frame defined by q |
| <a id="fld_cov_rel_pos"></a>cov_rel_pos | `float32[3]` | m^2 | | Target position variance, expressed in the frame defined by q |
| <a id="fld_q"></a>q | `float32[4]` | | | Quaternion rotation from the rel_pos frame to the NED earth frame |
## Source Message

12
docs/en/msg_docs/FiducialMarkerYawReport.md
View File

@@ -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 |
| ------------------------------------------------- | --------- | ------------ | ---------- | -------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | us | | Timestamp of the raw observation |
| <a id="fld_yaw_ned"></a>yaw_ned | `float32` | rad [NED] | | Orientation of the target relative to the NED frame [-Pi ; Pi] |
| <a id="fld_yaw_var_ned"></a>yaw_var_ned | `float32` | rad^2 | | Orientation uncertainty |
## Source Message

20
docs/en/msg_docs/FigureEightStatus.md
View File

@@ -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 |
| ----------------------------------------- | --------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_major_radius"></a>major_radius | `float32` | | | Major axis radius of the figure eight [m]. Positive values orbit clockwise, negative values orbit counter-clockwise. |
| <a id="fld_minor_radius"></a>minor_radius | `float32` | | | Minor axis radius of the figure eight [m]. |
| <a id="fld_orientation"></a>orientation | `float32` | | | Orientation of the major axis of the figure eight [rad]. |
| <a id="fld_frame"></a>frame | `uint8` | | | The coordinate system of the fields: x, y, z. |
| <a id="fld_x"></a>x | `int32` | | | X coordinate of center point. Coordinate system depends on frame field: local = x position in meters _ 1e4, global = latitude in degrees _ 1e7. |
| <a id="fld_y"></a>y | `int32` | | | Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters _ 1e4, global = latitude in degrees _ 1e7. |
| <a id="fld_z"></a>z | `float32` | | | Altitude of center point. Coordinate system depends on frame field. |
## Source Message

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

@@ -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 |
| --------------------------------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_course_setpoint"></a>course_setpoint | `float32` | rad | [-pi : pi] | Desired direction of travel over ground w.r.t (true) North. Set by guidance law |
| <a id="fld_lateral_acceleration_ff"></a>lateral_acceleration_ff | `float32` | FRD | | lateral acceleration demand only for maintaining curvature |
| <a id="fld_bearing_feas"></a>bearing_feas | `float32` | | [0 : 1] | bearing feasibility |
| <a id="fld_bearing_feas_on_track"></a>bearing_feas_on_track | `float32` | | [0 : 1] | on-track bearing feasibility |
| <a id="fld_signed_track_error"></a>signed_track_error | `float32` | m | | signed track error |
| <a id="fld_track_error_bound"></a>track_error_bound | `float32` | m | | track error bound |
| <a id="fld_adapted_period"></a>adapted_period | `float32` | s | | adapted period (if auto-tuning enabled) |
| <a id="fld_wind_est_valid"></a>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

12
docs/en/msg_docs/FixedWingLateralSetpoint.md
View File

@@ -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 |
| --------------------------------------------------------- | --------- | ------------ | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_course"></a>course | `float32` | rad | [-pi : pi] | Desired direction of travel over ground w.r.t (true) North. NAN if not controlled directly. |
| <a id="fld_airspeed_direction"></a>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. |
| <a id="fld_lateral_acceleration"></a>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

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

@@ -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 |
| --------------------------------------------------------------------------- | --------- | ------------ | ---------- | ---------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_lateral_acceleration_setpoint"></a>lateral_acceleration_setpoint | `float32` | FRD | | resultant lateral acceleration setpoint |
| <a id="fld_can_run_factor"></a>can_run_factor | `float32` | norm | [0 : 1] | estimate of certainty of the correct functionality of the npfg roll setpoint |
## Source Message

16
docs/en/msg_docs/FixedWingLongitudinalSetpoint.md
View File

@@ -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 |
| ------------------------------------------------------- | --------- | ------------ | ---------- | ---------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_altitude"></a>altitude | `float32` | m | | Altitude setpoint AMSL, not controlled directly if NAN or if height_rate is finite |
| <a id="fld_height_rate"></a>height_rate | `float32` | m/s [ENU] | | Scalar height rate setpoint. NAN if not controlled directly |
| <a id="fld_equivalent_airspeed"></a>equivalent_airspeed | `float32` | m/s | [0 : inf] | Scalar equivalent airspeed setpoint. NAN if system default should be used |
| <a id="fld_pitch_direct"></a>pitch_direct | `float32` | rad [FRD] | [-pi : pi] | NAN if not controlled, overrides total energy controller |
| <a id="fld_throttle_direct"></a>throttle_direct | `float32` | norm | [0 : 1] | NAN if not controlled, overrides total energy controller |
## Constants

12
docs/en/msg_docs/FixedWingRunwayControl.md
View File

@@ -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 |
| ----------------------------------------------------------------------- | --------- | ------------ | ---------- | -------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | time since system start |
| <a id="fld_runway_takeoff_state"></a>runway_takeoff_state | `uint8` | | | Current state of runway takeoff state machine |
| <a id="fld_wheel_steering_enabled"></a>wheel_steering_enabled | `bool` | | | Flag that enables the wheel steering. |
| <a id="fld_wheel_steering_nudging_rate"></a>wheel_steering_nudging_rate | `float32` | FRD | [-1 : 1] | Manual wheel nudging, added to controller output. NAN is interpreted as 0. |
## Constants

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

@@ -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 |
| ----------------------------------------- | -------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_flight_phase"></a>flight_phase | `uint8` | | | Estimate of current flight phase |
## Constants

20
docs/en/msg_docs/FollowTarget.md
View File

@@ -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 |
| ----------------------------------- | --------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_lat"></a>lat | `float64` | | | target position (deg \* 1e7) |
| <a id="fld_lon"></a>lon | `float64` | | | target position (deg \* 1e7) |
| <a id="fld_alt"></a>alt | `float32` | | | target position |
| <a id="fld_vy"></a>vy | `float32` | | | target vel in y |
| <a id="fld_vx"></a>vx | `float32` | | | target vel in x |
| <a id="fld_vz"></a>vz | `float32` | | | target vel in z |
| <a id="fld_est_cap"></a>est_cap | `uint8` | | | target reporting capabilities |
## Source Message

28
docs/en/msg_docs/FollowTargetEstimator.md
View File

@@ -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 |
| ----------------------------------------------------------------------- | ------------ | ------------ | ---------- | ----------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_last_filter_reset_timestamp"></a>last_filter_reset_timestamp | `uint64` | | | time of last filter reset (microseconds) |
| <a id="fld_valid"></a>valid | `bool` | | | True if estimator states are okay to be used |
| <a id="fld_stale"></a>stale | `bool` | | | True if estimator stopped receiving follow_target messages for some time. The estimate can still be valid, though it might be inaccurate. |
| <a id="fld_lat_est"></a>lat_est | `float64` | | | Estimated target latitude |
| <a id="fld_lon_est"></a>lon_est | `float64` | | | Estimated target longitude |
| <a id="fld_alt_est"></a>alt_est | `float32` | | | Estimated target altitude |
| <a id="fld_pos_est"></a>pos_est | `float32[3]` | | | Estimated target NED position (m) |
| <a id="fld_vel_est"></a>vel_est | `float32[3]` | | | Estimated target NED velocity (m/s) |
| <a id="fld_acc_est"></a>acc_est | `float32[3]` | | | Estimated target NED acceleration (m^2/s) |
| <a id="fld_prediction_count"></a>prediction_count | `uint64` | | |
| <a id="fld_fusion_count"></a>fusion_count | `uint64` | | |
## Source Message

20
docs/en/msg_docs/FollowTargetStatus.md
View File

@@ -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 |
| ----------------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | microseconds | | time since system start |
| <a id="fld_tracked_target_course"></a>tracked_target_course | `float32` | rad | | Tracked target course in NED local frame (North is course zero) |
| <a id="fld_follow_angle"></a>follow_angle | `float32` | rad | | Current follow angle setting |
| <a id="fld_orbit_angle_setpoint"></a>orbit_angle_setpoint | `float32` | rad | | Current orbit angle setpoint from the smooth trajectory generator |
| <a id="fld_angular_rate_setpoint"></a>angular_rate_setpoint | `float32` | rad/s | | Angular rate commanded from Jerk-limited Orbit Angle trajectory for Orbit Angle |
| <a id="fld_desired_position_raw"></a>desired_position_raw | `float32[3]` | m | | Raw 'idealistic' desired drone position if a drone could teleport from place to places |
| <a id="fld_in_emergency_ascent"></a>in_emergency_ascent | `bool` | bool | | True when doing emergency ascent (when distance to ground is below safety altitude) |
| <a id="fld_gimbal_pitch"></a>gimbal_pitch | `float32` | rad | | Gimbal pitch commanded to track target in the center of the frame |
## Source Message

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

@@ -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 |
| ----------------------------------------------------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_maximum_fuel_capacity"></a>maximum_fuel_capacity | `float32` | | | maximum fuel capacity. Must always be provided, either from the driver or a parameter |
| <a id="fld_consumed_fuel"></a>consumed_fuel | `float32` | | | consumed fuel, NaN if not measured. Should not be inferred from the max fuel capacity |
| <a id="fld_fuel_consumption_rate"></a>fuel_consumption_rate | `float32` | | | fuel consumption rate, NaN if not measured |
| <a id="fld_percent_remaining"></a>percent_remaining | `uint8` | | | percentage of remaining fuel, UINT8_MAX if not provided |
| <a id="fld_remaining_fuel"></a>remaining_fuel | `float32` | | | remaining fuel, NaN if not measured. Should not be inferred from the max fuel capacity |
| <a id="fld_fuel_tank_id"></a>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 |
| <a id="fld_fuel_type"></a>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 |
| <a id="fld_temperature"></a>temperature | `float32` | | | fuel temperature in Kelvin, NaN if not measured |
## Constants

12
docs/en/msg_docs/GainCompression.md
View File

@@ -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 |
| ------------------------------------------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | Time since system start (microseconds) |
| <a id="fld_compression_gains"></a>compression_gains | `float32[3]` | [FRD] | [0 : 1] | Multiplicative gain to modify the output of the controller per axis |
| <a id="fld_spectral_damper_hpf"></a>spectral_damper_hpf | `float32[3]` | [FRD] | | Squared output of spectral damper high-pass filter |
| <a id="fld_spectral_damper_out"></a>spectral_damper_out | `float32[3]` | [FRD] | | Spectral damper output squared |
## Source Message

28
docs/en/msg_docs/GeneratorStatus.md
View File

@@ -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 |
| ------------------------------------------------------------- | --------- | ------------ | ---------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_status"></a>status | `uint64` | | | Status flags |
| <a id="fld_battery_current"></a>battery_current | `float32` | A | | Current into/out of battery. Positive for out. Negative for in. NaN: field not provided. |
| <a id="fld_load_current"></a>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 |
| <a id="fld_power_generated"></a>power_generated | `float32` | W | | The power being generated. NaN: field not provided |
| <a id="fld_bus_voltage"></a>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. |
| <a id="fld_bat_current_setpoint"></a>bat_current_setpoint | `float32` | A | | The target battery current. Positive for out. Negative for in. NaN: field not provided |
| <a id="fld_runtime"></a>runtime | `uint32` | s | | Seconds this generator has run since it was rebooted. UINT32_MAX: field not provided. |
| <a id="fld_time_until_maintenance"></a>time_until_maintenance | `int32` | s | | Seconds until this generator requires maintenance. A negative value indicates maintenance is past-due. INT32_MAX: field not provided. |
| <a id="fld_generator_speed"></a>generator_speed | `uint16` | rpm | | Speed of electrical generator or alternator. UINT16_MAX: field not provided. |
| <a id="fld_rectifier_temperature"></a>rectifier_temperature | `int16` | degC | | The temperature of the rectifier or power converter. INT16_MAX: field not provided. |
| <a id="fld_generator_temperature"></a>generator_temperature | `int16` | degC | | The temperature of the mechanical motor, fuel cell core or generator. INT16_MAX: field not provided. |
## Constants

14
docs/en/msg_docs/GeofenceResult.md
View File

@@ -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 |
| ------------------------------------------------------------------------------- | -------- | ------------ | ---------- | ---------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_geofence_max_dist_triggered"></a>geofence_max_dist_triggered | `bool` | | | true the check for max distance from Home is triggered |
| <a id="fld_geofence_max_alt_triggered"></a>geofence_max_alt_triggered | `bool` | | | true the check for max altitude above Home is triggered |
| <a id="fld_geofence_custom_fence_triggered"></a>geofence_custom_fence_triggered | `bool` | | | true the check for custom inclusion/exclusion geofence(s) is triggered |
| <a id="fld_geofence_action"></a>geofence_action | `uint8` | | | action to take when the geofence is breached |
## Constants

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

@@ -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 |
| --------------------------------------- | -------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_geofence_id"></a>geofence_id | `uint32` | | | loaded geofence id |
| <a id="fld_status"></a>status | `uint8` | | | Current geofence status |
## Constants

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

@@ -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 |
| ------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | | | the timestamp the data this control response is based on was sampled |
| <a id="fld_control"></a>control | `float32[3]` | | | Normalized output. 1 means maximum positive position. -1 maximum negative position. 0 means no deflection. NaN maps to disarmed. |
## Constants

30
docs/en/msg_docs/GimbalDeviceAttitudeStatus.md
View File

@@ -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 |
| ----------------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_target_system"></a>target_system | `uint8` | | |
| <a id="fld_target_component"></a>target_component | `uint8` | | |
| <a id="fld_device_flags"></a>device_flags | `uint16` | | |
| <a id="fld_q"></a>q | `float32[4]` | | |
| <a id="fld_angular_velocity_x"></a>angular_velocity_x | `float32` | | |
| <a id="fld_angular_velocity_y"></a>angular_velocity_y | `float32` | | |
| <a id="fld_angular_velocity_z"></a>angular_velocity_z | `float32` | | |
| <a id="fld_failure_flags"></a>failure_flags | `uint32` | | |
| <a id="fld_delta_yaw"></a>delta_yaw | `float32` | | |
| <a id="fld_delta_yaw_velocity"></a>delta_yaw_velocity | `float32` | | |
| <a id="fld_gimbal_device_id"></a>gimbal_device_id | `uint8` | | |
| <a id="fld_received_from_mavlink"></a>received_from_mavlink | `bool` | | |
## Constants

36
docs/en/msg_docs/GimbalDeviceInformation.md
View File

@@ -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 |
| ------------------------------------------------- | ----------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_vendor_name"></a>vendor_name | `uint8[32]` | | |
| <a id="fld_model_name"></a>model_name | `uint8[32]` | | |
| <a id="fld_custom_name"></a>custom_name | `uint8[32]` | | |
| <a id="fld_firmware_version"></a>firmware_version | `uint32` | | |
| <a id="fld_hardware_version"></a>hardware_version | `uint32` | | |
| <a id="fld_uid"></a>uid | `uint64` | | |
| <a id="fld_cap_flags"></a>cap_flags | `uint16` | | |
| <a id="fld_custom_cap_flags"></a>custom_cap_flags | `uint16` | | |
| <a id="fld_roll_min"></a>roll_min | `float32` | rad | |
| <a id="fld_roll_max"></a>roll_max | `float32` | rad | |
| <a id="fld_pitch_min"></a>pitch_min | `float32` | rad | |
| <a id="fld_pitch_max"></a>pitch_max | `float32` | rad | |
| <a id="fld_yaw_min"></a>yaw_min | `float32` | rad | |
| <a id="fld_yaw_max"></a>yaw_max | `float32` | rad | |
| <a id="fld_gimbal_device_id"></a>gimbal_device_id | `uint8` | | |
## Constants

20
docs/en/msg_docs/GimbalDeviceSetAttitude.md
View File

@@ -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 |
| ----------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_target_system"></a>target_system | `uint8` | | |
| <a id="fld_target_component"></a>target_component | `uint8` | | |
| <a id="fld_flags"></a>flags | `uint16` | | |
| <a id="fld_q"></a>q | `float32[4]` | | |
| <a id="fld_angular_velocity_x"></a>angular_velocity_x | `float32` | | |
| <a id="fld_angular_velocity_y"></a>angular_velocity_y | `float32` | | |
| <a id="fld_angular_velocity_z"></a>angular_velocity_z | `float32` | | |
## Constants

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

@@ -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 |
| ------------------------------------------------- | --------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_cap_flags"></a>cap_flags | `uint32` | | |
| <a id="fld_gimbal_device_id"></a>gimbal_device_id | `uint8` | | |
| <a id="fld_roll_min"></a>roll_min | `float32` | rad | |
| <a id="fld_roll_max"></a>roll_max | `float32` | rad | |
| <a id="fld_pitch_min"></a>pitch_min | `float32` | rad | |
| <a id="fld_pitch_max"></a>pitch_max | `float32` | rad | |
| <a id="fld_yaw_min"></a>yaw_min | `float32` | rad | |
| <a id="fld_yaw_max"></a>yaw_max | `float32` | rad | |
## Constants

26
docs/en/msg_docs/GimbalManagerSetAttitude.md
View File

@@ -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 |
| ----------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_origin_sysid"></a>origin_sysid | `uint8` | | |
| <a id="fld_origin_compid"></a>origin_compid | `uint8` | | |
| <a id="fld_target_system"></a>target_system | `uint8` | | |
| <a id="fld_target_component"></a>target_component | `uint8` | | |
| <a id="fld_flags"></a>flags | `uint32` | | |
| <a id="fld_gimbal_device_id"></a>gimbal_device_id | `uint8` | | |
| <a id="fld_q"></a>q | `float32[4]` | | |
| <a id="fld_angular_velocity_x"></a>angular_velocity_x | `float32` | | |
| <a id="fld_angular_velocity_y"></a>angular_velocity_y | `float32` | | |
| <a id="fld_angular_velocity_z"></a>angular_velocity_z | `float32` | | |
## Constants

26
docs/en/msg_docs/GimbalManagerSetManualControl.md
View File

@@ -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 |
| ------------------------------------------------- | --------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_origin_sysid"></a>origin_sysid | `uint8` | | |
| <a id="fld_origin_compid"></a>origin_compid | `uint8` | | |
| <a id="fld_target_system"></a>target_system | `uint8` | | |
| <a id="fld_target_component"></a>target_component | `uint8` | | |
| <a id="fld_flags"></a>flags | `uint32` | | |
| <a id="fld_gimbal_device_id"></a>gimbal_device_id | `uint8` | | |
| <a id="fld_pitch"></a>pitch | `float32` | | | unitless -1..1, can be NAN |
| <a id="fld_yaw"></a>yaw | `float32` | | | unitless -1..1, can be NAN |
| <a id="fld_pitch_rate"></a>pitch_rate | `float32` | | | unitless -1..1, can be NAN |
| <a id="fld_yaw_rate"></a>yaw_rate | `float32` | | | unitless -1..1, can be NAN |
## Constants

18
docs/en/msg_docs/GimbalManagerStatus.md
View File

@@ -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 |
| ----------------------------------------------------------------- | -------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_flags"></a>flags | `uint32` | | |
| <a id="fld_gimbal_device_id"></a>gimbal_device_id | `uint8` | | |
| <a id="fld_primary_control_sysid"></a>primary_control_sysid | `uint8` | | |
| <a id="fld_primary_control_compid"></a>primary_control_compid | `uint8` | | |
| <a id="fld_secondary_control_sysid"></a>secondary_control_sysid | `uint8` | | |
| <a id="fld_secondary_control_compid"></a>secondary_control_compid | `uint8` | | |
## Source Message

24
docs/en/msg_docs/GotoSetpoint.md
View File

@@ -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 |
| --------------------------------------------------------------------------- | ------------ | ------------ | ---------- | ---------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_position"></a>position | `float32[3]` | m [NED] | | NED local world frame |
| <a id="fld_flag_control_heading"></a>flag_control_heading | `bool` | | | true if heading is to be controlled |
| <a id="fld_heading"></a>heading | `float32` | | | (optional) [rad] [-pi,pi] from North |
| <a id="fld_flag_set_max_horizontal_speed"></a>flag_set_max_horizontal_speed | `bool` | | | true if setting a non-default horizontal speed limit |
| <a id="fld_max_horizontal_speed"></a>max_horizontal_speed | `float32` | m/s | | (optional) Maximum speed (absolute) in the NE-plane |
| <a id="fld_flag_set_max_vertical_speed"></a>flag_set_max_vertical_speed | `bool` | | | true if setting a non-default vertical speed limit |
| <a id="fld_max_vertical_speed"></a>max_vertical_speed | `float32` | m/s | | (optional) Maximum speed (absolute) in the D-axis |
| <a id="fld_flag_set_max_heading_rate"></a>flag_set_max_heading_rate | `bool` | | | true if setting a non-default heading rate limit |
| <a id="fld_max_heading_rate"></a>max_heading_rate | `float32` | rad/s | | (optional) Maximum heading rate (absolute) |
## Constants

14
docs/en/msg_docs/GpioConfig.md
View File

@@ -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 |
| ----------------------------------- | -------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_device_id"></a>device_id | `uint32` | | | Device id |
| <a id="fld_mask"></a>mask | `uint32` | | | Pin mask |
| <a id="fld_state"></a>state | `uint32` | | | Initial pin output state |
| <a id="fld_config"></a>config | `uint32` | | |
## Constants

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

@@ -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 |
| ----------------------------------- | -------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_device_id"></a>device_id | `uint32` | | | Device id |
| <a id="fld_state"></a>state | `uint32` | | | pin state mask |
## Constants

12
docs/en/msg_docs/GpioOut.md
View File

@@ -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 |
| ----------------------------------- | -------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_device_id"></a>device_id | `uint32` | | | Device id |
| <a id="fld_mask"></a>mask | `uint32` | | | pin mask |
| <a id="fld_state"></a>state | `uint32` | | | pin state mask |
## Source Message

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

@@ -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 |
| ----------------------------------- | -------- | ------------ | ---------- | -------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_device_id"></a>device_id | `uint32` | | | Device id |
## Source Message

14
docs/en/msg_docs/GpsDump.md
View File

@@ -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 |
| ----------------------------------- | ----------- | ------------ | ---------- | -------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_instance"></a>instance | `uint8` | | | Instance of GNSS receiver |
| <a id="fld_device_id"></a>device_id | `uint32` | | |
| <a id="fld_len"></a>len | `uint8` | | | length of data, MSB bit set = message to the gps device, |
| <a id="fld_data"></a>data | `uint8[79]` | | | data to write to the log |
## Constants

14
docs/en/msg_docs/GpsInjectData.md
View File

@@ -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 |
| ----------------------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
| <a id="fld_device_id"></a>device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| <a id="fld_len"></a>len | `uint16` | | | length of data |
| <a id="fld_flags"></a>flags | `uint8` | | | LSB: 1=fragmented across multiple uORB publications |
| <a id="fld_data"></a>data | `uint8[300]` | | | data chunk to write to GPS device (RTCM message) |
## Constants

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

@@ -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 |
| ----------------------------------- | -------- | ------------ | ---------- | ------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | | |
| <a id="fld_command"></a>command | `int8` | | | Commanded state for the gripper |
## Constants

Some files were not shown because too many files have changed in this diff Show More