From 9a0384682b01532cb2cbb36ec2a3c1786e01811b Mon Sep 17 00:00:00 2001 From: PX4 Build Bot Date: Sat, 14 Dec 2024 14:13:48 +1100 Subject: [PATCH] New Crowdin updates (#3499) * New translations cm8jl65_ir_distance_sensor.md (Japanese) * New translations cm8jl65_ir_distance_sensor.md (Korean) * New translations cm8jl65_ir_distance_sensor.md (Turkish) * New translations cm8jl65_ir_distance_sensor.md (Ukrainian) * New translations cm8jl65_ir_distance_sensor.md (Chinese Simplified) * New translations pixhawk6c_mini.md (Japanese) * New translations pixhawk6c_mini.md (Korean) * New translations pixhawk6c_mini.md (Turkish) * New translations pixhawk6c_mini.md (Ukrainian) * New translations pixhawk6c_mini.md (Chinese Simplified) * New translations index.md (Japanese) * New translations index.md (Korean) * New translations index.md (Turkish) * New translations index.md (Ukrainian) * New translations actuatormotors.md (Japanese) * New translations actuatormotors.md (Korean) * New translations actuatormotors.md (Turkish) * New translations actuatormotors.md (Ukrainian) * New translations actuatorservos.md (Japanese) * New translations actuatorservos.md (Korean) * New translations actuatorservos.md (Turkish) * New translations actuatorservos.md (Ukrainian) * New translations batterystatus.md (Japanese) * New translations batterystatus.md (Korean) * New translations batterystatus.md (Turkish) * New translations batterystatus.md (Ukrainian) * New translations homeposition.md (Japanese) * New translations homeposition.md (Korean) * New translations homeposition.md (Turkish) * New translations homeposition.md (Ukrainian) * New translations manualcontrolsetpoint.md (Japanese) * New translations manualcontrolsetpoint.md (Korean) * New translations manualcontrolsetpoint.md (Turkish) * New translations manualcontrolsetpoint.md (Ukrainian) * New translations modecompleted.md (Japanese) * New translations modecompleted.md (Korean) * New translations modecompleted.md (Turkish) * New translations modecompleted.md (Ukrainian) * New translations trajectorysetpoint.md (Japanese) * New translations trajectorysetpoint.md (Korean) * New translations trajectorysetpoint.md (Turkish) * New translations trajectorysetpoint.md (Ukrainian) * New translations vehicleangularvelocity.md (Japanese) * New translations vehicleangularvelocity.md (Korean) * New translations vehicleangularvelocity.md (Turkish) * New translations vehicleangularvelocity.md (Ukrainian) * New translations vehicleattitude.md (Japanese) * New translations vehicleattitude.md (Korean) * New translations vehicleattitude.md (Turkish) * New translations vehicleattitude.md (Ukrainian) * New translations index.md (Chinese Simplified) * New translations actuatormotors.md (Chinese Simplified) * New translations actuatorservos.md (Chinese Simplified) * New translations batterystatus.md (Chinese Simplified) * New translations homeposition.md (Chinese Simplified) * New translations manualcontrolsetpoint.md (Chinese Simplified) * New translations modecompleted.md (Chinese Simplified) * New translations trajectorysetpoint.md (Chinese Simplified) * New translations vehicleangularvelocity.md (Chinese Simplified) * New translations vehicleattitude.md (Chinese Simplified) * New translations vehicleattitudesetpoint.md (Japanese) * New translations vehicleattitudesetpoint.md (Korean) * New translations vehicleattitudesetpoint.md (Turkish) * New translations vehicleattitudesetpoint.md (Ukrainian) * New translations vehiclecommand.md (Japanese) * New translations vehiclecommand.md (Korean) * New translations vehiclecommand.md (Turkish) * New translations vehiclecommand.md (Ukrainian) * New translations vehiclecommandack.md (Japanese) * New translations vehiclecommandack.md (Korean) * New translations vehiclecommandack.md (Turkish) * New translations vehiclecommandack.md (Ukrainian) * New translations vehiclecontrolmode.md (Japanese) * New translations vehiclecontrolmode.md (Korean) * New translations vehiclecontrolmode.md (Turkish) * New translations vehiclecontrolmode.md (Ukrainian) * New translations vehicleglobalposition.md (Japanese) * New translations vehicleglobalposition.md (Korean) * New translations vehicleglobalposition.md (Turkish) * New translations vehicleglobalposition.md (Ukrainian) * New translations vehiclelanddetected.md (Japanese) * New translations vehiclelanddetected.md (Korean) * New translations vehiclelanddetected.md (Turkish) * New translations vehiclelanddetected.md (Ukrainian) * New translations vehiclelocalposition.md (Japanese) * New translations vehiclelocalposition.md (Korean) * New translations vehiclelocalposition.md (Turkish) * New translations vehiclelocalposition.md (Ukrainian) * New translations vehicleodometry.md (Japanese) * New translations vehicleodometry.md (Korean) * New translations vehicleodometry.md (Turkish) * New translations vehicleodometry.md (Ukrainian) * New translations vehicleratessetpoint.md (Japanese) * New translations vehicleratessetpoint.md (Korean) * New translations vehicleratessetpoint.md (Turkish) * New translations vehiclestatus.md (Japanese) * New translations vehiclestatus.md (Korean) * New translations vehiclestatus.md (Turkish) * New translations vehicleattitudesetpoint.md (Chinese Simplified) * New translations vehiclecommand.md (Chinese Simplified) * New translations vehiclecommandack.md (Chinese Simplified) * New translations vehiclecontrolmode.md (Chinese Simplified) * New translations vehicleglobalposition.md (Chinese Simplified) * New translations vehiclelanddetected.md (Chinese Simplified) * New translations vehiclelocalposition.md (Chinese Simplified) * New translations vehicleodometry.md (Chinese Simplified) * New translations vehicleratessetpoint.md (Ukrainian) * New translations vehicleratessetpoint.md (Chinese Simplified) * New translations vehiclestatus.md (Ukrainian) * New translations vehiclestatus.md (Chinese Simplified) * New translations vtolvehiclestatus.md (Japanese) * New translations vtolvehiclestatus.md (Korean) * New translations vtolvehiclestatus.md (Turkish) * New translations armingcheckreply.md (Japanese) * New translations armingcheckreply.md (Korean) * New translations armingcheckreply.md (Turkish) * New translations armingcheckrequest.md (Japanese) * New translations armingcheckrequest.md (Korean) * New translations armingcheckrequest.md (Turkish) * New translations configoverrides.md (Japanese) * New translations configoverrides.md (Korean) * New translations configoverrides.md (Turkish) * New translations registerextcomponentreply.md (Japanese) * New translations registerextcomponentreply.md (Korean) * New translations registerextcomponentreply.md (Turkish) * New translations registerextcomponentrequest.md (Japanese) * New translations registerextcomponentrequest.md (Korean) * New translations registerextcomponentrequest.md (Turkish) * New translations unregisterextcomponent.md (Japanese) * New translations unregisterextcomponent.md (Korean) * New translations unregisterextcomponent.md (Turkish) * New translations gotosetpoint.md (Japanese) * New translations gotosetpoint.md (Korean) * New translations gotosetpoint.md (Turkish) * New translations vtolvehiclestatus.md (Ukrainian) * New translations vtolvehiclestatus.md (Chinese Simplified) * New translations armingcheckreply.md (Ukrainian) * New translations armingcheckreply.md (Chinese Simplified) * New translations armingcheckrequest.md (Ukrainian) * New translations armingcheckrequest.md (Chinese Simplified) * New translations configoverrides.md (Ukrainian) * New translations configoverrides.md (Chinese Simplified) * New translations registerextcomponentreply.md (Ukrainian) * New translations registerextcomponentreply.md (Chinese Simplified) * New translations registerextcomponentrequest.md (Ukrainian) * New translations registerextcomponentrequest.md (Chinese Simplified) * New translations unregisterextcomponent.md (Ukrainian) * New translations unregisterextcomponent.md (Chinese Simplified) * New translations gotosetpoint.md (Ukrainian) * New translations gotosetpoint.md (Chinese Simplified) * New translations modules_system.md (Japanese) * New translations modules_system.md (Korean) * New translations modules_system.md (Turkish) * New translations modules_system.md (Ukrainian) * New translations modules_system.md (Chinese Simplified) --- ja/flight_controller/pixhawk6c_mini.md | 2 +- ja/modules/modules_system.md | 22 ++++ ja/msg_docs/ActuatorMotors.md | 5 +- ja/msg_docs/ActuatorServos.md | 5 +- ja/msg_docs/ArmingCheckReply.md | 4 +- ja/msg_docs/ArmingCheckRequest.md | 4 +- ja/msg_docs/BatteryStatus.md | 4 +- ja/msg_docs/ConfigOverrides.md | 5 +- ja/msg_docs/GotoSetpoint.md | 4 +- ja/msg_docs/HomePosition.md | 4 +- ja/msg_docs/ManualControlSetpoint.md | 4 +- ja/msg_docs/ModeCompleted.md | 5 +- ja/msg_docs/RegisterExtComponentReply.md | 4 +- ja/msg_docs/RegisterExtComponentRequest.md | 5 +- ja/msg_docs/TrajectorySetpoint.md | 4 +- ja/msg_docs/UnregisterExtComponent.md | 4 +- ja/msg_docs/VehicleAngularVelocity.md | 3 +- ja/msg_docs/VehicleAttitude.md | 4 +- ja/msg_docs/VehicleAttitudeSetpoint.md | 4 +- ja/msg_docs/VehicleCommand.md | 4 +- ja/msg_docs/VehicleCommandAck.md | 4 +- ja/msg_docs/VehicleControlMode.md | 4 +- ja/msg_docs/VehicleGlobalPosition.md | 4 +- ja/msg_docs/VehicleLandDetected.md | 4 +- ja/msg_docs/VehicleLocalPosition.md | 4 +- ja/msg_docs/VehicleOdometry.md | 5 +- ja/msg_docs/VehicleRatesSetpoint.md | 4 +- ja/msg_docs/VehicleStatus.md | 4 +- ja/msg_docs/VtolVehicleStatus.md | 5 +- ja/msg_docs/index.md | 130 +++++++++------------ ja/sensor/cm8jl65_ir_distance_sensor.md | 2 +- ko/flight_controller/pixhawk6c_mini.md | 2 +- ko/modules/modules_system.md | 22 ++++ ko/msg_docs/ActuatorMotors.md | 5 +- ko/msg_docs/ActuatorServos.md | 5 +- ko/msg_docs/ArmingCheckReply.md | 4 +- ko/msg_docs/ArmingCheckRequest.md | 4 +- ko/msg_docs/BatteryStatus.md | 4 +- ko/msg_docs/ConfigOverrides.md | 5 +- ko/msg_docs/GotoSetpoint.md | 4 +- ko/msg_docs/HomePosition.md | 4 +- ko/msg_docs/ManualControlSetpoint.md | 4 +- ko/msg_docs/ModeCompleted.md | 5 +- ko/msg_docs/RegisterExtComponentReply.md | 4 +- ko/msg_docs/RegisterExtComponentRequest.md | 5 +- ko/msg_docs/TrajectorySetpoint.md | 4 +- ko/msg_docs/UnregisterExtComponent.md | 4 +- ko/msg_docs/VehicleAngularVelocity.md | 3 +- ko/msg_docs/VehicleAttitude.md | 4 +- ko/msg_docs/VehicleAttitudeSetpoint.md | 4 +- ko/msg_docs/VehicleCommand.md | 4 +- ko/msg_docs/VehicleCommandAck.md | 4 +- ko/msg_docs/VehicleControlMode.md | 4 +- ko/msg_docs/VehicleGlobalPosition.md | 4 +- ko/msg_docs/VehicleLandDetected.md | 4 +- ko/msg_docs/VehicleLocalPosition.md | 4 +- ko/msg_docs/VehicleOdometry.md | 5 +- ko/msg_docs/VehicleRatesSetpoint.md | 4 +- ko/msg_docs/VehicleStatus.md | 4 +- ko/msg_docs/VtolVehicleStatus.md | 5 +- ko/msg_docs/index.md | 130 +++++++++------------ ko/sensor/cm8jl65_ir_distance_sensor.md | 2 +- tr/flight_controller/pixhawk6c_mini.md | 2 +- tr/modules/modules_system.md | 22 ++++ tr/msg_docs/ActuatorMotors.md | 5 +- tr/msg_docs/ActuatorServos.md | 5 +- tr/msg_docs/ArmingCheckReply.md | 4 +- tr/msg_docs/ArmingCheckRequest.md | 4 +- tr/msg_docs/BatteryStatus.md | 4 +- tr/msg_docs/ConfigOverrides.md | 5 +- tr/msg_docs/GotoSetpoint.md | 4 +- tr/msg_docs/HomePosition.md | 4 +- tr/msg_docs/ManualControlSetpoint.md | 4 +- tr/msg_docs/ModeCompleted.md | 5 +- tr/msg_docs/RegisterExtComponentReply.md | 4 +- tr/msg_docs/RegisterExtComponentRequest.md | 5 +- tr/msg_docs/TrajectorySetpoint.md | 4 +- tr/msg_docs/UnregisterExtComponent.md | 4 +- tr/msg_docs/VehicleAngularVelocity.md | 3 +- tr/msg_docs/VehicleAttitude.md | 4 +- tr/msg_docs/VehicleAttitudeSetpoint.md | 4 +- tr/msg_docs/VehicleCommand.md | 4 +- tr/msg_docs/VehicleCommandAck.md | 4 +- tr/msg_docs/VehicleControlMode.md | 4 +- tr/msg_docs/VehicleGlobalPosition.md | 4 +- tr/msg_docs/VehicleLandDetected.md | 4 +- tr/msg_docs/VehicleLocalPosition.md | 4 +- tr/msg_docs/VehicleOdometry.md | 5 +- tr/msg_docs/VehicleRatesSetpoint.md | 4 +- tr/msg_docs/VehicleStatus.md | 4 +- tr/msg_docs/VtolVehicleStatus.md | 5 +- tr/msg_docs/index.md | 130 +++++++++------------ tr/sensor/cm8jl65_ir_distance_sensor.md | 2 +- uk/flight_controller/pixhawk6c_mini.md | 2 +- uk/modules/modules_system.md | 22 ++++ uk/msg_docs/ActuatorMotors.md | 5 +- uk/msg_docs/ActuatorServos.md | 5 +- uk/msg_docs/ArmingCheckReply.md | 4 +- uk/msg_docs/ArmingCheckRequest.md | 4 +- uk/msg_docs/BatteryStatus.md | 4 +- uk/msg_docs/ConfigOverrides.md | 5 +- uk/msg_docs/GotoSetpoint.md | 4 +- uk/msg_docs/HomePosition.md | 4 +- uk/msg_docs/ManualControlSetpoint.md | 4 +- uk/msg_docs/ModeCompleted.md | 5 +- uk/msg_docs/RegisterExtComponentReply.md | 4 +- uk/msg_docs/RegisterExtComponentRequest.md | 5 +- uk/msg_docs/TrajectorySetpoint.md | 4 +- uk/msg_docs/UnregisterExtComponent.md | 4 +- uk/msg_docs/VehicleAngularVelocity.md | 3 +- uk/msg_docs/VehicleAttitude.md | 4 +- uk/msg_docs/VehicleAttitudeSetpoint.md | 4 +- uk/msg_docs/VehicleCommand.md | 4 +- uk/msg_docs/VehicleCommandAck.md | 4 +- uk/msg_docs/VehicleControlMode.md | 4 +- uk/msg_docs/VehicleGlobalPosition.md | 4 +- uk/msg_docs/VehicleLandDetected.md | 4 +- uk/msg_docs/VehicleLocalPosition.md | 4 +- uk/msg_docs/VehicleOdometry.md | 5 +- uk/msg_docs/VehicleRatesSetpoint.md | 4 +- uk/msg_docs/VehicleStatus.md | 4 +- uk/msg_docs/VtolVehicleStatus.md | 5 +- uk/msg_docs/index.md | 124 +++++++++----------- uk/sensor/cm8jl65_ir_distance_sensor.md | 2 +- zh/flight_controller/pixhawk6c_mini.md | 2 +- zh/modules/modules_system.md | 22 ++++ zh/msg_docs/ActuatorMotors.md | 5 +- zh/msg_docs/ActuatorServos.md | 5 +- zh/msg_docs/ArmingCheckReply.md | 4 +- zh/msg_docs/ArmingCheckRequest.md | 4 +- zh/msg_docs/BatteryStatus.md | 4 +- zh/msg_docs/ConfigOverrides.md | 5 +- zh/msg_docs/GotoSetpoint.md | 4 +- zh/msg_docs/HomePosition.md | 4 +- zh/msg_docs/ManualControlSetpoint.md | 4 +- zh/msg_docs/ModeCompleted.md | 5 +- zh/msg_docs/RegisterExtComponentReply.md | 4 +- zh/msg_docs/RegisterExtComponentRequest.md | 5 +- zh/msg_docs/TrajectorySetpoint.md | 4 +- zh/msg_docs/UnregisterExtComponent.md | 4 +- zh/msg_docs/VehicleAngularVelocity.md | 3 +- zh/msg_docs/VehicleAttitude.md | 4 +- zh/msg_docs/VehicleAttitudeSetpoint.md | 4 +- zh/msg_docs/VehicleCommand.md | 4 +- zh/msg_docs/VehicleCommandAck.md | 4 +- zh/msg_docs/VehicleControlMode.md | 4 +- zh/msg_docs/VehicleGlobalPosition.md | 4 +- zh/msg_docs/VehicleLandDetected.md | 4 +- zh/msg_docs/VehicleLocalPosition.md | 4 +- zh/msg_docs/VehicleOdometry.md | 5 +- zh/msg_docs/VehicleRatesSetpoint.md | 4 +- zh/msg_docs/VehicleStatus.md | 4 +- zh/msg_docs/VtolVehicleStatus.md | 5 +- zh/msg_docs/index.md | 130 +++++++++------------ zh/sensor/cm8jl65_ir_distance_sensor.md | 2 +- 155 files changed, 832 insertions(+), 512 deletions(-) diff --git a/ja/flight_controller/pixhawk6c_mini.md b/ja/flight_controller/pixhawk6c_mini.md index 0077c642d34e..1684bcbbb1f7 100644 --- a/ja/flight_controller/pixhawk6c_mini.md +++ b/ja/flight_controller/pixhawk6c_mini.md @@ -68,7 +68,7 @@ The Pixhawk® 6C Mini is perfect for developers at corporate research labs, star ### **Interfaces** -- 16- PWM servo outputs (8 from IO, 6 from FMU) +- 14- PWM servo outputs (8 from IO, 6 from FMU) - 3 general purpose serial ports - `TELEM1` - Full flow control, separate 1A current limit diff --git a/ja/modules/modules_system.md b/ja/modules/modules_system.md index a7c8c3f9a58e..de9edf6c99f7 100644 --- a/ja/modules/modules_system.md +++ b/ja/modules/modules_system.md @@ -716,6 +716,28 @@ send_event [arguments...] status print status info ``` +## sensor_agp_sim + +Source: [modules/simulation/sensor_agp_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_agp_sim) + +### Description + +Module to simulate auxiliary global position measurements with optional failure modes for SIH simulation. + + + +### Usage + +``` +sensor_agp_sim [arguments...] + Commands: + start + + stop + + status print status info +``` + ## sensor_arispeed_sim Source: [modules/simulation/sensor_airspeed_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_airspeed_sim) diff --git a/ja/msg_docs/ActuatorMotors.md b/ja/msg_docs/ActuatorMotors.md index 49410a547970..e60e6f0599d8 100644 --- a/ja/msg_docs/ActuatorMotors.md +++ b/ja/msg_docs/ActuatorMotors.md @@ -2,10 +2,13 @@ Motor control message -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorMotors.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg) ```c # Motor control message + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp the data this control response is based on was sampled diff --git a/ja/msg_docs/ActuatorServos.md b/ja/msg_docs/ActuatorServos.md index 24ebabb58694..0c928dc2be1e 100644 --- a/ja/msg_docs/ActuatorServos.md +++ b/ja/msg_docs/ActuatorServos.md @@ -2,10 +2,13 @@ Servo control message -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorServos.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorServos.msg) ```c # Servo control message + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp the data this control response is based on was sampled diff --git a/ja/msg_docs/ArmingCheckReply.md b/ja/msg_docs/ArmingCheckReply.md index 19426d1e3a81..57a75fb14579 100644 --- a/ja/msg_docs/ArmingCheckReply.md +++ b/ja/msg_docs/ArmingCheckReply.md @@ -1,8 +1,10 @@ # ArmingCheckReply (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ArmingCheckReply.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint8 request_id diff --git a/ja/msg_docs/ArmingCheckRequest.md b/ja/msg_docs/ArmingCheckRequest.md index c49b7dbd7c17..34c0e9dcad26 100644 --- a/ja/msg_docs/ArmingCheckRequest.md +++ b/ja/msg_docs/ArmingCheckRequest.md @@ -1,8 +1,10 @@ # ArmingCheckRequest (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ArmingCheckRequest.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # broadcast message to request all registered arming checks to be reported diff --git a/ja/msg_docs/BatteryStatus.md b/ja/msg_docs/BatteryStatus.md index 9da496d3e5f5..ab49c0d819c4 100644 --- a/ja/msg_docs/BatteryStatus.md +++ b/ja/msg_docs/BatteryStatus.md @@ -1,8 +1,10 @@ # BatteryStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/BatteryStatus.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/BatteryStatus.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) bool connected # Whether or not a battery is connected, based on a voltage threshold float32 voltage_v # Battery voltage in volts, 0 if unknown diff --git a/ja/msg_docs/ConfigOverrides.md b/ja/msg_docs/ConfigOverrides.md index 71ae010408a4..37f88d49230f 100644 --- a/ja/msg_docs/ConfigOverrides.md +++ b/ja/msg_docs/ConfigOverrides.md @@ -2,10 +2,13 @@ Configurable overrides by (external) modes or mode executors -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ConfigOverrides.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ConfigOverrides.msg) ```c # Configurable overrides by (external) modes or mode executors + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) bool disable_auto_disarm # Prevent the drone from automatically disarming after landing (if configured) diff --git a/ja/msg_docs/GotoSetpoint.md b/ja/msg_docs/GotoSetpoint.md index c2a0bf9a7340..746d15eb00dd 100644 --- a/ja/msg_docs/GotoSetpoint.md +++ b/ja/msg_docs/GotoSetpoint.md @@ -7,7 +7,7 @@ Optional heading setpoints may be specified as controlled by the respective flag Unset optional setpoints are not controlled Unset optional constraints default to vehicle specifications -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GotoSetpoint.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/GotoSetpoint.msg) ```c # Position and (optional) heading setpoints with corresponding speed constraints @@ -17,6 +17,8 @@ Unset optional constraints default to vehicle specifications # Unset optional setpoints are not controlled # Unset optional constraints default to vehicle specifications +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # setpoints diff --git a/ja/msg_docs/HomePosition.md b/ja/msg_docs/HomePosition.md index 7941b6002484..134828c9d7ae 100644 --- a/ja/msg_docs/HomePosition.md +++ b/ja/msg_docs/HomePosition.md @@ -2,11 +2,13 @@ GPS home position in WGS84 coordinates. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/HomePosition.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/HomePosition.msg) ```c # GPS home position in WGS84 coordinates. +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) float64 lat # Latitude in degrees diff --git a/ja/msg_docs/ManualControlSetpoint.md b/ja/msg_docs/ManualControlSetpoint.md index 811da60cb03c..b96cb643220d 100644 --- a/ja/msg_docs/ManualControlSetpoint.md +++ b/ja/msg_docs/ManualControlSetpoint.md @@ -1,8 +1,10 @@ # ManualControlSetpoint (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ManualControlSetpoint.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ManualControlSetpoint.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) diff --git a/ja/msg_docs/ModeCompleted.md b/ja/msg_docs/ModeCompleted.md index a943fff49fab..76c0c297e64f 100644 --- a/ja/msg_docs/ModeCompleted.md +++ b/ja/msg_docs/ModeCompleted.md @@ -5,13 +5,16 @@ The possible values of nav_state are defined in the VehicleStatus msg. Note that this is not always published (e.g. when a user switches modes or on failsafe activation) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ModeCompleted.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ModeCompleted.msg) ```c # Mode completion result, published by an active mode. # The possible values of nav_state are defined in the VehicleStatus msg. # Note that this is not always published (e.g. when a user switches modes or on # failsafe activation) + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) diff --git a/ja/msg_docs/RegisterExtComponentReply.md b/ja/msg_docs/RegisterExtComponentReply.md index 2b82b238f669..860fa6ecb52a 100644 --- a/ja/msg_docs/RegisterExtComponentReply.md +++ b/ja/msg_docs/RegisterExtComponentReply.md @@ -1,8 +1,10 @@ # RegisterExtComponentReply (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RegisterExtComponentReply.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/RegisterExtComponentReply.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 request_id # ID from the request diff --git a/ja/msg_docs/RegisterExtComponentRequest.md b/ja/msg_docs/RegisterExtComponentRequest.md index 676179039ca9..545737c64ab3 100644 --- a/ja/msg_docs/RegisterExtComponentRequest.md +++ b/ja/msg_docs/RegisterExtComponentRequest.md @@ -2,10 +2,13 @@ Request to register an external component -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RegisterExtComponentRequest.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/RegisterExtComponentRequest.msg) ```c # Request to register an external component + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 request_id # ID, set this to a random value diff --git a/ja/msg_docs/TrajectorySetpoint.md b/ja/msg_docs/TrajectorySetpoint.md index fb07211f8d2e..06e44bcf11ca 100644 --- a/ja/msg_docs/TrajectorySetpoint.md +++ b/ja/msg_docs/TrajectorySetpoint.md @@ -5,7 +5,7 @@ Input to PID position controller. Needs to be kinematically consistent and feasible for smooth flight. setting a value to NaN means the state should not be controlled -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TrajectorySetpoint.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/TrajectorySetpoint.msg) ```c # Trajectory setpoint in NED frame @@ -13,6 +13,8 @@ setting a value to NaN means the state should not be controlled # Needs to be kinematically consistent and feasible for smooth flight. # setting a value to NaN means the state should not be controlled +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # NED local world frame diff --git a/ja/msg_docs/UnregisterExtComponent.md b/ja/msg_docs/UnregisterExtComponent.md index 0409761fb824..b09ea24d4366 100644 --- a/ja/msg_docs/UnregisterExtComponent.md +++ b/ja/msg_docs/UnregisterExtComponent.md @@ -1,8 +1,10 @@ # UnregisterExtComponent (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/UnregisterExtComponent.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/UnregisterExtComponent.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) char[25] name # either the mode name, or component name diff --git a/ja/msg_docs/VehicleAngularVelocity.md b/ja/msg_docs/VehicleAngularVelocity.md index 42f93c431a7e..fb05ad0f51ab 100644 --- a/ja/msg_docs/VehicleAngularVelocity.md +++ b/ja/msg_docs/VehicleAngularVelocity.md @@ -1,8 +1,9 @@ # VehicleAngularVelocity (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAngularVelocity.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAngularVelocity.msg) ```c +uint32 MESSAGE_VERSION = 0 uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds) diff --git a/ja/msg_docs/VehicleAttitude.md b/ja/msg_docs/VehicleAttitude.md index 2fcdfe375c64..856fe6d5a684 100644 --- a/ja/msg_docs/VehicleAttitude.md +++ b/ja/msg_docs/VehicleAttitude.md @@ -3,12 +3,14 @@ This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use The quaternion uses the Hamilton convention, and the order is q(w, x, y, z) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAttitude.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitude.msg) ```c # This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use # The quaternion uses the Hamilton convention, and the order is q(w, x, y, z) +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) diff --git a/ja/msg_docs/VehicleAttitudeSetpoint.md b/ja/msg_docs/VehicleAttitudeSetpoint.md index 02a13b49743c..e8dc7ebaf9c2 100644 --- a/ja/msg_docs/VehicleAttitudeSetpoint.md +++ b/ja/msg_docs/VehicleAttitudeSetpoint.md @@ -1,8 +1,10 @@ # VehicleAttitudeSetpoint (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAttitudeSetpoint.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitudeSetpoint.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) float32 yaw_sp_move_rate # rad/s (commanded by user) diff --git a/ja/msg_docs/VehicleCommand.md b/ja/msg_docs/VehicleCommand.md index 24bddccb46e6..c2cc25f2410e 100644 --- a/ja/msg_docs/VehicleCommand.md +++ b/ja/msg_docs/VehicleCommand.md @@ -3,12 +3,14 @@ Vehicle Command uORB message. Used for commanding a mission / action / etc. Follows the MAVLink COMMAND_INT / COMMAND_LONG definition -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleCommand.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleCommand.msg) ```c # Vehicle Command uORB message. Used for commanding a mission / action / etc. # Follows the MAVLink COMMAND_INT / COMMAND_LONG definition +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint16 VEHICLE_CMD_CUSTOM_0 = 0 # test command diff --git a/ja/msg_docs/VehicleCommandAck.md b/ja/msg_docs/VehicleCommandAck.md index 1e4571b26899..e40b7bc87cef 100644 --- a/ja/msg_docs/VehicleCommandAck.md +++ b/ja/msg_docs/VehicleCommandAck.md @@ -4,13 +4,15 @@ Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleCommandAck.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleCommandAck.msg) ```c # Vehicle Command Ackonwledgement uORB message. # Used for acknowledging the vehicle command being received. # Follows the MAVLink COMMAND_ACK message definition +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # Result cases. This follows the MAVLink MAV_RESULT enum definition diff --git a/ja/msg_docs/VehicleControlMode.md b/ja/msg_docs/VehicleControlMode.md index 71e0354dbf4a..b32f09c7253e 100644 --- a/ja/msg_docs/VehicleControlMode.md +++ b/ja/msg_docs/VehicleControlMode.md @@ -1,8 +1,10 @@ # VehicleControlMode (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleControlMode.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleControlMode.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) bool flag_armed # synonym for actuator_armed.armed diff --git a/ja/msg_docs/VehicleGlobalPosition.md b/ja/msg_docs/VehicleGlobalPosition.md index 040b2a99a677..c3e414720128 100644 --- a/ja/msg_docs/VehicleGlobalPosition.md +++ b/ja/msg_docs/VehicleGlobalPosition.md @@ -6,7 +6,7 @@ measurement (@see vehicle_gps_position). This topic is usually published by the estimator, which will take more sources of information into account than just GPS, e.g. control inputs of the vehicle in a Kalman-filter implementation. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleGlobalPosition.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleGlobalPosition.msg) ```c # Fused global position in WGS84. @@ -16,6 +16,8 @@ e.g. control inputs of the vehicle in a Kalman-filter implementation. # e.g. control inputs of the vehicle in a Kalman-filter implementation. # +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) diff --git a/ja/msg_docs/VehicleLandDetected.md b/ja/msg_docs/VehicleLandDetected.md index acfcdde31855..acd95de1909b 100644 --- a/ja/msg_docs/VehicleLandDetected.md +++ b/ja/msg_docs/VehicleLandDetected.md @@ -1,8 +1,10 @@ # VehicleLandDetected (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleLandDetected.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleLandDetected.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) bool freefall # true if vehicle is currently in free-fall diff --git a/ja/msg_docs/VehicleLocalPosition.md b/ja/msg_docs/VehicleLocalPosition.md index acb09a8962d2..20eec507435b 100644 --- a/ja/msg_docs/VehicleLocalPosition.md +++ b/ja/msg_docs/VehicleLocalPosition.md @@ -3,12 +3,14 @@ Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleLocalPosition.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleLocalPosition.msg) ```c # Fused local position in NED. # The coordinate system origin is the vehicle position at the time when the EKF2-module was started. +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) diff --git a/ja/msg_docs/VehicleOdometry.md b/ja/msg_docs/VehicleOdometry.md index 8d014b4b63b6..d559ded6c719 100644 --- a/ja/msg_docs/VehicleOdometry.md +++ b/ja/msg_docs/VehicleOdometry.md @@ -2,10 +2,13 @@ Vehicle odometry data. Fits ROS REP 147 for aerial vehicles -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleOdometry.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleOdometry.msg) ```c # Vehicle odometry data. Fits ROS REP 147 for aerial vehicles + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample diff --git a/ja/msg_docs/VehicleRatesSetpoint.md b/ja/msg_docs/VehicleRatesSetpoint.md index 2d55572ec43c..1281c7409160 100644 --- a/ja/msg_docs/VehicleRatesSetpoint.md +++ b/ja/msg_docs/VehicleRatesSetpoint.md @@ -1,8 +1,10 @@ # VehicleRatesSetpoint (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleRatesSetpoint.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleRatesSetpoint.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # body angular rates in FRD frame diff --git a/ja/msg_docs/VehicleStatus.md b/ja/msg_docs/VehicleStatus.md index 3cf25752e73f..b503f2033ea5 100644 --- a/ja/msg_docs/VehicleStatus.md +++ b/ja/msg_docs/VehicleStatus.md @@ -2,11 +2,13 @@ Encodes the system state of the vehicle published by commander -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleStatus.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleStatus.msg) ```c # Encodes the system state of the vehicle published by commander +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 armed_time # Arming timestamp (microseconds) diff --git a/ja/msg_docs/VtolVehicleStatus.md b/ja/msg_docs/VtolVehicleStatus.md index 5a89ef655c08..a271005673b0 100644 --- a/ja/msg_docs/VtolVehicleStatus.md +++ b/ja/msg_docs/VtolVehicleStatus.md @@ -2,10 +2,13 @@ VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VtolVehicleStatus.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VtolVehicleStatus.msg) ```c # VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE + +uint32 MESSAGE_VERSION = 0 + uint8 VEHICLE_VTOL_STATE_UNDEFINED = 0 uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_FW = 1 uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_MC = 2 diff --git a/ja/msg_docs/index.md b/ja/msg_docs/index.md index cdfd6dd08d5d..cd18b34b33f1 100644 --- a/ja/msg_docs/index.md +++ b/ja/msg_docs/index.md @@ -5,20 +5,72 @@ This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Too ::: This topic lists the UORB messages available in PX4 (some of which may be may be shared by the [PX4-ROS 2 Bridge](../ros/ros2_comm.md)). + +[Versioned messages](../middleware/uorb.md#message-versioning) track changes to their definitions, with each modification resulting in a version increment. +These messages are most likely shared through the PX4-ROS 2 Bridge. + Graphs showing how these are used [can be found here](../middleware/uorb_graph.md). +## Versioned Messages + +- [ActuatorMotors](ActuatorMotors.md) — Motor control message +- [ActuatorServos](ActuatorServos.md) — Servo control message +- [ArmingCheckReply](ArmingCheckReply.md) +- [ArmingCheckRequest](ArmingCheckRequest.md) +- [BatteryStatus](BatteryStatus.md) +- [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors +- [GotoSetpoint](GotoSetpoint.md) — Position and (optional) heading setpoints with corresponding speed constraints + Setpoints are intended as inputs to position and heading smoothers, respectively + Setpoints do not need to be kinematically consistent + Optional heading setpoints may be specified as controlled by the respective flag + Unset optional setpoints are not controlled + Unset optional constraints default to vehicle specifications +- [HomePosition](HomePosition.md) — GPS home position in WGS84 coordinates. +- [ManualControlSetpoint](ManualControlSetpoint.md) +- [ModeCompleted](ModeCompleted.md) — Mode completion result, published by an active mode. + The possible values of nav_state are defined in the VehicleStatus msg. + Note that this is not always published (e.g. when a user switches modes or on + failsafe activation) +- [RegisterExtComponentReply](RegisterExtComponentReply.md) +- [RegisterExtComponentRequest](RegisterExtComponentRequest.md) — Request to register an external component +- [TrajectorySetpoint](TrajectorySetpoint.md) — Trajectory setpoint in NED frame + Input to PID position controller. + Needs to be kinematically consistent and feasible for smooth flight. + setting a value to NaN means the state should not be controlled +- [UnregisterExtComponent](UnregisterExtComponent.md) +- [VehicleAngularVelocity](VehicleAngularVelocity.md) +- [VehicleAttitude](VehicleAttitude.md) — This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use + The quaternion uses the Hamilton convention, and the order is q(w, x, y, z) +- [VehicleAttitudeSetpoint](VehicleAttitudeSetpoint.md) +- [VehicleCommand](VehicleCommand.md) — Vehicle Command uORB message. Used for commanding a mission / action / etc. + Follows the MAVLink COMMAND_INT / COMMAND_LONG definition +- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Ackonwledgement uORB message. + Used for acknowledging the vehicle command being received. + Follows the MAVLink COMMAND_ACK message definition +- [VehicleControlMode](VehicleControlMode.md) +- [VehicleGlobalPosition](VehicleGlobalPosition.md) — Fused global position in WGS84. + This struct contains global position estimation. It is not the raw GPS + measurement (@see vehicle_gps_position). This topic is usually published by the position + estimator, which will take more sources of information into account than just GPS, + e.g. control inputs of the vehicle in a Kalman-filter implementation. +- [VehicleLandDetected](VehicleLandDetected.md) +- [VehicleLocalPosition](VehicleLocalPosition.md) — Fused local position in NED. + The coordinate system origin is the vehicle position at the time when the EKF2-module was started. +- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data. Fits ROS REP 147 for aerial vehicles +- [VehicleRatesSetpoint](VehicleRatesSetpoint.md) +- [VehicleStatus](VehicleStatus.md) — Encodes the system state of the vehicle published by commander +- [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE + +## Unversioned Messages + - [ActionRequest](ActionRequest.md) - [ActuatorArmed](ActuatorArmed.md) - [ActuatorControlsStatus](ActuatorControlsStatus.md) -- [ActuatorMotors](ActuatorMotors.md) — Motor control message - - [ActuatorOutputs](ActuatorOutputs.md) -- [ActuatorServos](ActuatorServos.md) — Servo control message - - [ActuatorServosTrim](ActuatorServosTrim.md) — Servo trims, added as offset to servo outputs - [ActuatorTest](ActuatorTest.md) @@ -31,14 +83,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [AirspeedWind](AirspeedWind.md) -- [ArmingCheckReply](ArmingCheckReply.md) - -- [ArmingCheckRequest](ArmingCheckRequest.md) - - [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md) -- [BatteryStatus](BatteryStatus.md) - - [Buffer128](Buffer128.md) - [ButtonEvent](ButtonEvent.md) @@ -56,8 +102,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [CollisionConstraints](CollisionConstraints.md) — Local setpoint constraints in NED frame setting something to NaN means that no limit is provided -- [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors - - [ControlAllocatorStatus](ControlAllocatorStatus.md) - [Cpuload](Cpuload.md) @@ -154,13 +198,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [GimbalManagerStatus](GimbalManagerStatus.md) -- [GotoSetpoint](GotoSetpoint.md) — Position and (optional) heading setpoints with corresponding speed constraints - Setpoints are intended as inputs to position and heading smoothers, respectively - Setpoints do not need to be kinematically consistent - Optional heading setpoints may be specified as controlled by the respective flag - Unset optional setpoints are not controlled - Unset optional constraints default to vehicle specifications - - [GpioConfig](GpioConfig.md) — GPIO configuration - [GpioIn](GpioIn.md) — GPIO mask and state @@ -179,8 +216,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [HeaterStatus](HeaterStatus.md) -- [HomePosition](HomePosition.md) — GPS home position in WGS84 coordinates. - - [HoverThrustEstimate](HoverThrustEstimate.md) - [InputRc](InputRc.md) @@ -212,8 +247,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [MagnetometerBiasEstimate](MagnetometerBiasEstimate.md) -- [ManualControlSetpoint](ManualControlSetpoint.md) - - [ManualControlSwitches](ManualControlSwitches.md) - [MavlinkLog](MavlinkLog.md) @@ -228,11 +261,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [MissionResult](MissionResult.md) -- [ModeCompleted](ModeCompleted.md) — Mode completion result, published by an active mode. - The possible values of nav_state are defined in the VehicleStatus msg. - Note that this is not always published (e.g. when a user switches modes or on - failsafe activation) - - [MountOrientation](MountOrientation.md) - [NavigatorMissionItem](NavigatorMissionItem.md) @@ -309,10 +337,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [RcParameterMap](RcParameterMap.md) -- [RegisterExtComponentReply](RegisterExtComponentReply.md) - -- [RegisterExtComponentRequest](RegisterExtComponentRequest.md) — Request to register an external component - - [RoverAckermannGuidanceStatus](RoverAckermannGuidanceStatus.md) - [RoverAckermannSetpoint](RoverAckermannSetpoint.md) @@ -400,11 +424,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [TrajectoryBezier](TrajectoryBezier.md) — Bezier Trajectory description. See also Mavlink TRAJECTORY msg The topic trajectory_bezier describe each waypoint defined in vehicle_trajectory_bezier -- [TrajectorySetpoint](TrajectorySetpoint.md) — Trajectory setpoint in NED frame - Input to PID position controller. - Needs to be kinematically consistent and feasible for smooth flight. - setting a value to NaN means the state should not be controlled - - [TrajectoryWaypoint](TrajectoryWaypoint.md) — Waypoint Trajectory description. See also Mavlink TRAJECTORY msg The topic trajectory_waypoint describe each waypoint defined in vehicle_trajectory_waypoint @@ -423,66 +442,31 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [UlogStreamAck](UlogStreamAck.md) — Ack a previously sent ulog_stream message that had the NEED_ACK flag set -- [UnregisterExtComponent](UnregisterExtComponent.md) - - [VehicleAcceleration](VehicleAcceleration.md) - [VehicleAirData](VehicleAirData.md) - [VehicleAngularAccelerationSetpoint](VehicleAngularAccelerationSetpoint.md) -- [VehicleAngularVelocity](VehicleAngularVelocity.md) - -- [VehicleAttitude](VehicleAttitude.md) — This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use - The quaternion uses the Hamilton convention, and the order is q(w, x, y, z) - -- [VehicleAttitudeSetpoint](VehicleAttitudeSetpoint.md) - -- [VehicleCommand](VehicleCommand.md) — Vehicle Command uORB message. Used for commanding a mission / action / etc. - Follows the MAVLink COMMAND_INT / COMMAND_LONG definition - -- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Ackonwledgement uORB message. - Used for acknowledging the vehicle command being received. - Follows the MAVLink COMMAND_ACK message definition - - [VehicleConstraints](VehicleConstraints.md) — Local setpoint constraints in NED frame setting something to NaN means that no limit is provided -- [VehicleControlMode](VehicleControlMode.md) - -- [VehicleGlobalPosition](VehicleGlobalPosition.md) — Fused global position in WGS84. - This struct contains global position estimation. It is not the raw GPS - measurement (@see vehicle_gps_position). This topic is usually published by the position - estimator, which will take more sources of information into account than just GPS, - e.g. control inputs of the vehicle in a Kalman-filter implementation. - - [VehicleImu](VehicleImu.md) — IMU readings in SI-unit form. - [VehicleImuStatus](VehicleImuStatus.md) -- [VehicleLandDetected](VehicleLandDetected.md) - -- [VehicleLocalPosition](VehicleLocalPosition.md) — Fused local position in NED. - The coordinate system origin is the vehicle position at the time when the EKF2-module was started. - - [VehicleLocalPositionSetpoint](VehicleLocalPositionSetpoint.md) — Local position setpoint in NED frame Telemetry of PID position controller to monitor tracking. NaN means the state was not controlled - [VehicleMagnetometer](VehicleMagnetometer.md) -- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data. Fits ROS REP 147 for aerial vehicles - - [VehicleOpticalFlow](VehicleOpticalFlow.md) — Optical flow in XYZ body frame in SI units. - [VehicleOpticalFlowVel](VehicleOpticalFlowVel.md) -- [VehicleRatesSetpoint](VehicleRatesSetpoint.md) - - [VehicleRoi](VehicleRoi.md) — Vehicle Region Of Interest (ROI) -- [VehicleStatus](VehicleStatus.md) — Encodes the system state of the vehicle published by commander - - [VehicleThrustSetpoint](VehicleThrustSetpoint.md) - [VehicleTorqueSetpoint](VehicleTorqueSetpoint.md) @@ -497,8 +481,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [VelocityLimits](VelocityLimits.md) — Velocity and yaw rate limits for a multicopter position slow mode only -- [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE - - [WheelEncoders](WheelEncoders.md) - [Wind](Wind.md) diff --git a/ja/sensor/cm8jl65_ir_distance_sensor.md b/ja/sensor/cm8jl65_ir_distance_sensor.md index 2c830b0be852..bf697fe549fa 100644 --- a/ja/sensor/cm8jl65_ir_distance_sensor.md +++ b/ja/sensor/cm8jl65_ir_distance_sensor.md @@ -3,7 +3,7 @@ :::warning -This product has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available. +This product has been discontinued and is no longer commercially available. ::: The [Lanbao PSK-CM8JL65-CC5](https://www.seeedstudio.com/PSK-CM8JL65-CC5-Infrared-Distance-Measuring-Sensor-p-4028.html) is a very small IR distance sensor with a 0.17m-8m range and millimeter resolution. diff --git a/ko/flight_controller/pixhawk6c_mini.md b/ko/flight_controller/pixhawk6c_mini.md index c15182c6fae4..e5774bb1841f 100644 --- a/ko/flight_controller/pixhawk6c_mini.md +++ b/ko/flight_controller/pixhawk6c_mini.md @@ -68,7 +68,7 @@ The Pixhawk® 6C Mini is perfect for developers at corporate research labs, star ### **Interfaces** -- 16- PWM servo outputs (8 from IO, 6 from FMU) +- 14- PWM servo outputs (8 from IO, 6 from FMU) - 범용 시리얼 포트 3개 - `TELEM1` - Full flow control, separate 1A current limit diff --git a/ko/modules/modules_system.md b/ko/modules/modules_system.md index 1a5c9c966f63..b6a78c3a21c9 100644 --- a/ko/modules/modules_system.md +++ b/ko/modules/modules_system.md @@ -707,6 +707,28 @@ send_event [arguments...] status print status info ``` +## sensor_agp_sim + +Source: [modules/simulation/sensor_agp_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_agp_sim) + +### 설명 + +Module to simulate auxiliary global position measurements with optional failure modes for SIH simulation. + + + +### 사용법 + +``` +sensor_agp_sim [arguments...] + Commands: + start + + stop + + status print status info +``` + ## sensor_arispeed_sim Source: [modules/simulation/sensor_airspeed_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_airspeed_sim) diff --git a/ko/msg_docs/ActuatorMotors.md b/ko/msg_docs/ActuatorMotors.md index 49410a547970..e60e6f0599d8 100644 --- a/ko/msg_docs/ActuatorMotors.md +++ b/ko/msg_docs/ActuatorMotors.md @@ -2,10 +2,13 @@ Motor control message -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorMotors.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg) ```c # Motor control message + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp the data this control response is based on was sampled diff --git a/ko/msg_docs/ActuatorServos.md b/ko/msg_docs/ActuatorServos.md index 24ebabb58694..0c928dc2be1e 100644 --- a/ko/msg_docs/ActuatorServos.md +++ b/ko/msg_docs/ActuatorServos.md @@ -2,10 +2,13 @@ Servo control message -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorServos.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorServos.msg) ```c # Servo control message + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp the data this control response is based on was sampled diff --git a/ko/msg_docs/ArmingCheckReply.md b/ko/msg_docs/ArmingCheckReply.md index 19426d1e3a81..57a75fb14579 100644 --- a/ko/msg_docs/ArmingCheckReply.md +++ b/ko/msg_docs/ArmingCheckReply.md @@ -1,8 +1,10 @@ # ArmingCheckReply (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ArmingCheckReply.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint8 request_id diff --git a/ko/msg_docs/ArmingCheckRequest.md b/ko/msg_docs/ArmingCheckRequest.md index c49b7dbd7c17..34c0e9dcad26 100644 --- a/ko/msg_docs/ArmingCheckRequest.md +++ b/ko/msg_docs/ArmingCheckRequest.md @@ -1,8 +1,10 @@ # ArmingCheckRequest (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ArmingCheckRequest.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # broadcast message to request all registered arming checks to be reported diff --git a/ko/msg_docs/BatteryStatus.md b/ko/msg_docs/BatteryStatus.md index 9da496d3e5f5..ab49c0d819c4 100644 --- a/ko/msg_docs/BatteryStatus.md +++ b/ko/msg_docs/BatteryStatus.md @@ -1,8 +1,10 @@ # BatteryStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/BatteryStatus.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/BatteryStatus.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) bool connected # Whether or not a battery is connected, based on a voltage threshold float32 voltage_v # Battery voltage in volts, 0 if unknown diff --git a/ko/msg_docs/ConfigOverrides.md b/ko/msg_docs/ConfigOverrides.md index 71ae010408a4..37f88d49230f 100644 --- a/ko/msg_docs/ConfigOverrides.md +++ b/ko/msg_docs/ConfigOverrides.md @@ -2,10 +2,13 @@ Configurable overrides by (external) modes or mode executors -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ConfigOverrides.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ConfigOverrides.msg) ```c # Configurable overrides by (external) modes or mode executors + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) bool disable_auto_disarm # Prevent the drone from automatically disarming after landing (if configured) diff --git a/ko/msg_docs/GotoSetpoint.md b/ko/msg_docs/GotoSetpoint.md index c2a0bf9a7340..746d15eb00dd 100644 --- a/ko/msg_docs/GotoSetpoint.md +++ b/ko/msg_docs/GotoSetpoint.md @@ -7,7 +7,7 @@ Optional heading setpoints may be specified as controlled by the respective flag Unset optional setpoints are not controlled Unset optional constraints default to vehicle specifications -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GotoSetpoint.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/GotoSetpoint.msg) ```c # Position and (optional) heading setpoints with corresponding speed constraints @@ -17,6 +17,8 @@ Unset optional constraints default to vehicle specifications # Unset optional setpoints are not controlled # Unset optional constraints default to vehicle specifications +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # setpoints diff --git a/ko/msg_docs/HomePosition.md b/ko/msg_docs/HomePosition.md index 7941b6002484..134828c9d7ae 100644 --- a/ko/msg_docs/HomePosition.md +++ b/ko/msg_docs/HomePosition.md @@ -2,11 +2,13 @@ GPS home position in WGS84 coordinates. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/HomePosition.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/HomePosition.msg) ```c # GPS home position in WGS84 coordinates. +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) float64 lat # Latitude in degrees diff --git a/ko/msg_docs/ManualControlSetpoint.md b/ko/msg_docs/ManualControlSetpoint.md index 811da60cb03c..b96cb643220d 100644 --- a/ko/msg_docs/ManualControlSetpoint.md +++ b/ko/msg_docs/ManualControlSetpoint.md @@ -1,8 +1,10 @@ # ManualControlSetpoint (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ManualControlSetpoint.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ManualControlSetpoint.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) diff --git a/ko/msg_docs/ModeCompleted.md b/ko/msg_docs/ModeCompleted.md index a943fff49fab..76c0c297e64f 100644 --- a/ko/msg_docs/ModeCompleted.md +++ b/ko/msg_docs/ModeCompleted.md @@ -5,13 +5,16 @@ The possible values of nav_state are defined in the VehicleStatus msg. Note that this is not always published (e.g. when a user switches modes or on failsafe activation) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ModeCompleted.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ModeCompleted.msg) ```c # Mode completion result, published by an active mode. # The possible values of nav_state are defined in the VehicleStatus msg. # Note that this is not always published (e.g. when a user switches modes or on # failsafe activation) + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) diff --git a/ko/msg_docs/RegisterExtComponentReply.md b/ko/msg_docs/RegisterExtComponentReply.md index 2b82b238f669..860fa6ecb52a 100644 --- a/ko/msg_docs/RegisterExtComponentReply.md +++ b/ko/msg_docs/RegisterExtComponentReply.md @@ -1,8 +1,10 @@ # RegisterExtComponentReply (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RegisterExtComponentReply.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/RegisterExtComponentReply.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 request_id # ID from the request diff --git a/ko/msg_docs/RegisterExtComponentRequest.md b/ko/msg_docs/RegisterExtComponentRequest.md index 676179039ca9..545737c64ab3 100644 --- a/ko/msg_docs/RegisterExtComponentRequest.md +++ b/ko/msg_docs/RegisterExtComponentRequest.md @@ -2,10 +2,13 @@ Request to register an external component -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RegisterExtComponentRequest.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/RegisterExtComponentRequest.msg) ```c # Request to register an external component + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 request_id # ID, set this to a random value diff --git a/ko/msg_docs/TrajectorySetpoint.md b/ko/msg_docs/TrajectorySetpoint.md index fb07211f8d2e..06e44bcf11ca 100644 --- a/ko/msg_docs/TrajectorySetpoint.md +++ b/ko/msg_docs/TrajectorySetpoint.md @@ -5,7 +5,7 @@ Input to PID position controller. Needs to be kinematically consistent and feasible for smooth flight. setting a value to NaN means the state should not be controlled -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TrajectorySetpoint.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/TrajectorySetpoint.msg) ```c # Trajectory setpoint in NED frame @@ -13,6 +13,8 @@ setting a value to NaN means the state should not be controlled # Needs to be kinematically consistent and feasible for smooth flight. # setting a value to NaN means the state should not be controlled +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # NED local world frame diff --git a/ko/msg_docs/UnregisterExtComponent.md b/ko/msg_docs/UnregisterExtComponent.md index 0409761fb824..b09ea24d4366 100644 --- a/ko/msg_docs/UnregisterExtComponent.md +++ b/ko/msg_docs/UnregisterExtComponent.md @@ -1,8 +1,10 @@ # UnregisterExtComponent (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/UnregisterExtComponent.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/UnregisterExtComponent.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) char[25] name # either the mode name, or component name diff --git a/ko/msg_docs/VehicleAngularVelocity.md b/ko/msg_docs/VehicleAngularVelocity.md index 42f93c431a7e..fb05ad0f51ab 100644 --- a/ko/msg_docs/VehicleAngularVelocity.md +++ b/ko/msg_docs/VehicleAngularVelocity.md @@ -1,8 +1,9 @@ # VehicleAngularVelocity (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAngularVelocity.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAngularVelocity.msg) ```c +uint32 MESSAGE_VERSION = 0 uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds) diff --git a/ko/msg_docs/VehicleAttitude.md b/ko/msg_docs/VehicleAttitude.md index 2fcdfe375c64..856fe6d5a684 100644 --- a/ko/msg_docs/VehicleAttitude.md +++ b/ko/msg_docs/VehicleAttitude.md @@ -3,12 +3,14 @@ This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use The quaternion uses the Hamilton convention, and the order is q(w, x, y, z) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAttitude.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitude.msg) ```c # This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use # The quaternion uses the Hamilton convention, and the order is q(w, x, y, z) +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) diff --git a/ko/msg_docs/VehicleAttitudeSetpoint.md b/ko/msg_docs/VehicleAttitudeSetpoint.md index 02a13b49743c..e8dc7ebaf9c2 100644 --- a/ko/msg_docs/VehicleAttitudeSetpoint.md +++ b/ko/msg_docs/VehicleAttitudeSetpoint.md @@ -1,8 +1,10 @@ # VehicleAttitudeSetpoint (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAttitudeSetpoint.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitudeSetpoint.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) float32 yaw_sp_move_rate # rad/s (commanded by user) diff --git a/ko/msg_docs/VehicleCommand.md b/ko/msg_docs/VehicleCommand.md index 24bddccb46e6..c2cc25f2410e 100644 --- a/ko/msg_docs/VehicleCommand.md +++ b/ko/msg_docs/VehicleCommand.md @@ -3,12 +3,14 @@ Vehicle Command uORB message. Used for commanding a mission / action / etc. Follows the MAVLink COMMAND_INT / COMMAND_LONG definition -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleCommand.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleCommand.msg) ```c # Vehicle Command uORB message. Used for commanding a mission / action / etc. # Follows the MAVLink COMMAND_INT / COMMAND_LONG definition +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint16 VEHICLE_CMD_CUSTOM_0 = 0 # test command diff --git a/ko/msg_docs/VehicleCommandAck.md b/ko/msg_docs/VehicleCommandAck.md index 1e4571b26899..e40b7bc87cef 100644 --- a/ko/msg_docs/VehicleCommandAck.md +++ b/ko/msg_docs/VehicleCommandAck.md @@ -4,13 +4,15 @@ Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleCommandAck.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleCommandAck.msg) ```c # Vehicle Command Ackonwledgement uORB message. # Used for acknowledging the vehicle command being received. # Follows the MAVLink COMMAND_ACK message definition +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # Result cases. This follows the MAVLink MAV_RESULT enum definition diff --git a/ko/msg_docs/VehicleControlMode.md b/ko/msg_docs/VehicleControlMode.md index 71e0354dbf4a..b32f09c7253e 100644 --- a/ko/msg_docs/VehicleControlMode.md +++ b/ko/msg_docs/VehicleControlMode.md @@ -1,8 +1,10 @@ # VehicleControlMode (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleControlMode.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleControlMode.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) bool flag_armed # synonym for actuator_armed.armed diff --git a/ko/msg_docs/VehicleGlobalPosition.md b/ko/msg_docs/VehicleGlobalPosition.md index 040b2a99a677..c3e414720128 100644 --- a/ko/msg_docs/VehicleGlobalPosition.md +++ b/ko/msg_docs/VehicleGlobalPosition.md @@ -6,7 +6,7 @@ measurement (@see vehicle_gps_position). This topic is usually published by the estimator, which will take more sources of information into account than just GPS, e.g. control inputs of the vehicle in a Kalman-filter implementation. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleGlobalPosition.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleGlobalPosition.msg) ```c # Fused global position in WGS84. @@ -16,6 +16,8 @@ e.g. control inputs of the vehicle in a Kalman-filter implementation. # e.g. control inputs of the vehicle in a Kalman-filter implementation. # +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) diff --git a/ko/msg_docs/VehicleLandDetected.md b/ko/msg_docs/VehicleLandDetected.md index acfcdde31855..acd95de1909b 100644 --- a/ko/msg_docs/VehicleLandDetected.md +++ b/ko/msg_docs/VehicleLandDetected.md @@ -1,8 +1,10 @@ # VehicleLandDetected (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleLandDetected.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleLandDetected.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) bool freefall # true if vehicle is currently in free-fall diff --git a/ko/msg_docs/VehicleLocalPosition.md b/ko/msg_docs/VehicleLocalPosition.md index acb09a8962d2..20eec507435b 100644 --- a/ko/msg_docs/VehicleLocalPosition.md +++ b/ko/msg_docs/VehicleLocalPosition.md @@ -3,12 +3,14 @@ Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleLocalPosition.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleLocalPosition.msg) ```c # Fused local position in NED. # The coordinate system origin is the vehicle position at the time when the EKF2-module was started. +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) diff --git a/ko/msg_docs/VehicleOdometry.md b/ko/msg_docs/VehicleOdometry.md index 8d014b4b63b6..d559ded6c719 100644 --- a/ko/msg_docs/VehicleOdometry.md +++ b/ko/msg_docs/VehicleOdometry.md @@ -2,10 +2,13 @@ Vehicle odometry data. Fits ROS REP 147 for aerial vehicles -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleOdometry.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleOdometry.msg) ```c # Vehicle odometry data. Fits ROS REP 147 for aerial vehicles + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample diff --git a/ko/msg_docs/VehicleRatesSetpoint.md b/ko/msg_docs/VehicleRatesSetpoint.md index 2d55572ec43c..1281c7409160 100644 --- a/ko/msg_docs/VehicleRatesSetpoint.md +++ b/ko/msg_docs/VehicleRatesSetpoint.md @@ -1,8 +1,10 @@ # VehicleRatesSetpoint (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleRatesSetpoint.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleRatesSetpoint.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # body angular rates in FRD frame diff --git a/ko/msg_docs/VehicleStatus.md b/ko/msg_docs/VehicleStatus.md index 3cf25752e73f..b503f2033ea5 100644 --- a/ko/msg_docs/VehicleStatus.md +++ b/ko/msg_docs/VehicleStatus.md @@ -2,11 +2,13 @@ Encodes the system state of the vehicle published by commander -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleStatus.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleStatus.msg) ```c # Encodes the system state of the vehicle published by commander +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 armed_time # Arming timestamp (microseconds) diff --git a/ko/msg_docs/VtolVehicleStatus.md b/ko/msg_docs/VtolVehicleStatus.md index 5a89ef655c08..a271005673b0 100644 --- a/ko/msg_docs/VtolVehicleStatus.md +++ b/ko/msg_docs/VtolVehicleStatus.md @@ -2,10 +2,13 @@ VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VtolVehicleStatus.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VtolVehicleStatus.msg) ```c # VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE + +uint32 MESSAGE_VERSION = 0 + uint8 VEHICLE_VTOL_STATE_UNDEFINED = 0 uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_FW = 1 uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_MC = 2 diff --git a/ko/msg_docs/index.md b/ko/msg_docs/index.md index cdfd6dd08d5d..cd18b34b33f1 100644 --- a/ko/msg_docs/index.md +++ b/ko/msg_docs/index.md @@ -5,20 +5,72 @@ This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Too ::: This topic lists the UORB messages available in PX4 (some of which may be may be shared by the [PX4-ROS 2 Bridge](../ros/ros2_comm.md)). + +[Versioned messages](../middleware/uorb.md#message-versioning) track changes to their definitions, with each modification resulting in a version increment. +These messages are most likely shared through the PX4-ROS 2 Bridge. + Graphs showing how these are used [can be found here](../middleware/uorb_graph.md). +## Versioned Messages + +- [ActuatorMotors](ActuatorMotors.md) — Motor control message +- [ActuatorServos](ActuatorServos.md) — Servo control message +- [ArmingCheckReply](ArmingCheckReply.md) +- [ArmingCheckRequest](ArmingCheckRequest.md) +- [BatteryStatus](BatteryStatus.md) +- [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors +- [GotoSetpoint](GotoSetpoint.md) — Position and (optional) heading setpoints with corresponding speed constraints + Setpoints are intended as inputs to position and heading smoothers, respectively + Setpoints do not need to be kinematically consistent + Optional heading setpoints may be specified as controlled by the respective flag + Unset optional setpoints are not controlled + Unset optional constraints default to vehicle specifications +- [HomePosition](HomePosition.md) — GPS home position in WGS84 coordinates. +- [ManualControlSetpoint](ManualControlSetpoint.md) +- [ModeCompleted](ModeCompleted.md) — Mode completion result, published by an active mode. + The possible values of nav_state are defined in the VehicleStatus msg. + Note that this is not always published (e.g. when a user switches modes or on + failsafe activation) +- [RegisterExtComponentReply](RegisterExtComponentReply.md) +- [RegisterExtComponentRequest](RegisterExtComponentRequest.md) — Request to register an external component +- [TrajectorySetpoint](TrajectorySetpoint.md) — Trajectory setpoint in NED frame + Input to PID position controller. + Needs to be kinematically consistent and feasible for smooth flight. + setting a value to NaN means the state should not be controlled +- [UnregisterExtComponent](UnregisterExtComponent.md) +- [VehicleAngularVelocity](VehicleAngularVelocity.md) +- [VehicleAttitude](VehicleAttitude.md) — This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use + The quaternion uses the Hamilton convention, and the order is q(w, x, y, z) +- [VehicleAttitudeSetpoint](VehicleAttitudeSetpoint.md) +- [VehicleCommand](VehicleCommand.md) — Vehicle Command uORB message. Used for commanding a mission / action / etc. + Follows the MAVLink COMMAND_INT / COMMAND_LONG definition +- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Ackonwledgement uORB message. + Used for acknowledging the vehicle command being received. + Follows the MAVLink COMMAND_ACK message definition +- [VehicleControlMode](VehicleControlMode.md) +- [VehicleGlobalPosition](VehicleGlobalPosition.md) — Fused global position in WGS84. + This struct contains global position estimation. It is not the raw GPS + measurement (@see vehicle_gps_position). This topic is usually published by the position + estimator, which will take more sources of information into account than just GPS, + e.g. control inputs of the vehicle in a Kalman-filter implementation. +- [VehicleLandDetected](VehicleLandDetected.md) +- [VehicleLocalPosition](VehicleLocalPosition.md) — Fused local position in NED. + The coordinate system origin is the vehicle position at the time when the EKF2-module was started. +- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data. Fits ROS REP 147 for aerial vehicles +- [VehicleRatesSetpoint](VehicleRatesSetpoint.md) +- [VehicleStatus](VehicleStatus.md) — Encodes the system state of the vehicle published by commander +- [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE + +## Unversioned Messages + - [ActionRequest](ActionRequest.md) - [ActuatorArmed](ActuatorArmed.md) - [ActuatorControlsStatus](ActuatorControlsStatus.md) -- [ActuatorMotors](ActuatorMotors.md) — Motor control message - - [ActuatorOutputs](ActuatorOutputs.md) -- [ActuatorServos](ActuatorServos.md) — Servo control message - - [ActuatorServosTrim](ActuatorServosTrim.md) — Servo trims, added as offset to servo outputs - [ActuatorTest](ActuatorTest.md) @@ -31,14 +83,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [AirspeedWind](AirspeedWind.md) -- [ArmingCheckReply](ArmingCheckReply.md) - -- [ArmingCheckRequest](ArmingCheckRequest.md) - - [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md) -- [BatteryStatus](BatteryStatus.md) - - [Buffer128](Buffer128.md) - [ButtonEvent](ButtonEvent.md) @@ -56,8 +102,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [CollisionConstraints](CollisionConstraints.md) — Local setpoint constraints in NED frame setting something to NaN means that no limit is provided -- [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors - - [ControlAllocatorStatus](ControlAllocatorStatus.md) - [Cpuload](Cpuload.md) @@ -154,13 +198,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [GimbalManagerStatus](GimbalManagerStatus.md) -- [GotoSetpoint](GotoSetpoint.md) — Position and (optional) heading setpoints with corresponding speed constraints - Setpoints are intended as inputs to position and heading smoothers, respectively - Setpoints do not need to be kinematically consistent - Optional heading setpoints may be specified as controlled by the respective flag - Unset optional setpoints are not controlled - Unset optional constraints default to vehicle specifications - - [GpioConfig](GpioConfig.md) — GPIO configuration - [GpioIn](GpioIn.md) — GPIO mask and state @@ -179,8 +216,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [HeaterStatus](HeaterStatus.md) -- [HomePosition](HomePosition.md) — GPS home position in WGS84 coordinates. - - [HoverThrustEstimate](HoverThrustEstimate.md) - [InputRc](InputRc.md) @@ -212,8 +247,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [MagnetometerBiasEstimate](MagnetometerBiasEstimate.md) -- [ManualControlSetpoint](ManualControlSetpoint.md) - - [ManualControlSwitches](ManualControlSwitches.md) - [MavlinkLog](MavlinkLog.md) @@ -228,11 +261,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [MissionResult](MissionResult.md) -- [ModeCompleted](ModeCompleted.md) — Mode completion result, published by an active mode. - The possible values of nav_state are defined in the VehicleStatus msg. - Note that this is not always published (e.g. when a user switches modes or on - failsafe activation) - - [MountOrientation](MountOrientation.md) - [NavigatorMissionItem](NavigatorMissionItem.md) @@ -309,10 +337,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [RcParameterMap](RcParameterMap.md) -- [RegisterExtComponentReply](RegisterExtComponentReply.md) - -- [RegisterExtComponentRequest](RegisterExtComponentRequest.md) — Request to register an external component - - [RoverAckermannGuidanceStatus](RoverAckermannGuidanceStatus.md) - [RoverAckermannSetpoint](RoverAckermannSetpoint.md) @@ -400,11 +424,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [TrajectoryBezier](TrajectoryBezier.md) — Bezier Trajectory description. See also Mavlink TRAJECTORY msg The topic trajectory_bezier describe each waypoint defined in vehicle_trajectory_bezier -- [TrajectorySetpoint](TrajectorySetpoint.md) — Trajectory setpoint in NED frame - Input to PID position controller. - Needs to be kinematically consistent and feasible for smooth flight. - setting a value to NaN means the state should not be controlled - - [TrajectoryWaypoint](TrajectoryWaypoint.md) — Waypoint Trajectory description. See also Mavlink TRAJECTORY msg The topic trajectory_waypoint describe each waypoint defined in vehicle_trajectory_waypoint @@ -423,66 +442,31 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [UlogStreamAck](UlogStreamAck.md) — Ack a previously sent ulog_stream message that had the NEED_ACK flag set -- [UnregisterExtComponent](UnregisterExtComponent.md) - - [VehicleAcceleration](VehicleAcceleration.md) - [VehicleAirData](VehicleAirData.md) - [VehicleAngularAccelerationSetpoint](VehicleAngularAccelerationSetpoint.md) -- [VehicleAngularVelocity](VehicleAngularVelocity.md) - -- [VehicleAttitude](VehicleAttitude.md) — This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use - The quaternion uses the Hamilton convention, and the order is q(w, x, y, z) - -- [VehicleAttitudeSetpoint](VehicleAttitudeSetpoint.md) - -- [VehicleCommand](VehicleCommand.md) — Vehicle Command uORB message. Used for commanding a mission / action / etc. - Follows the MAVLink COMMAND_INT / COMMAND_LONG definition - -- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Ackonwledgement uORB message. - Used for acknowledging the vehicle command being received. - Follows the MAVLink COMMAND_ACK message definition - - [VehicleConstraints](VehicleConstraints.md) — Local setpoint constraints in NED frame setting something to NaN means that no limit is provided -- [VehicleControlMode](VehicleControlMode.md) - -- [VehicleGlobalPosition](VehicleGlobalPosition.md) — Fused global position in WGS84. - This struct contains global position estimation. It is not the raw GPS - measurement (@see vehicle_gps_position). This topic is usually published by the position - estimator, which will take more sources of information into account than just GPS, - e.g. control inputs of the vehicle in a Kalman-filter implementation. - - [VehicleImu](VehicleImu.md) — IMU readings in SI-unit form. - [VehicleImuStatus](VehicleImuStatus.md) -- [VehicleLandDetected](VehicleLandDetected.md) - -- [VehicleLocalPosition](VehicleLocalPosition.md) — Fused local position in NED. - The coordinate system origin is the vehicle position at the time when the EKF2-module was started. - - [VehicleLocalPositionSetpoint](VehicleLocalPositionSetpoint.md) — Local position setpoint in NED frame Telemetry of PID position controller to monitor tracking. NaN means the state was not controlled - [VehicleMagnetometer](VehicleMagnetometer.md) -- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data. Fits ROS REP 147 for aerial vehicles - - [VehicleOpticalFlow](VehicleOpticalFlow.md) — Optical flow in XYZ body frame in SI units. - [VehicleOpticalFlowVel](VehicleOpticalFlowVel.md) -- [VehicleRatesSetpoint](VehicleRatesSetpoint.md) - - [VehicleRoi](VehicleRoi.md) — Vehicle Region Of Interest (ROI) -- [VehicleStatus](VehicleStatus.md) — Encodes the system state of the vehicle published by commander - - [VehicleThrustSetpoint](VehicleThrustSetpoint.md) - [VehicleTorqueSetpoint](VehicleTorqueSetpoint.md) @@ -497,8 +481,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [VelocityLimits](VelocityLimits.md) — Velocity and yaw rate limits for a multicopter position slow mode only -- [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE - - [WheelEncoders](WheelEncoders.md) - [Wind](Wind.md) diff --git a/ko/sensor/cm8jl65_ir_distance_sensor.md b/ko/sensor/cm8jl65_ir_distance_sensor.md index eee5b5ce6824..4221b458cbb6 100644 --- a/ko/sensor/cm8jl65_ir_distance_sensor.md +++ b/ko/sensor/cm8jl65_ir_distance_sensor.md @@ -3,7 +3,7 @@ :::warning -This product has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available. +This product has been discontinued and is no longer commercially available. ::: The [Lanbao PSK-CM8JL65-CC5](https://www.seeedstudio.com/PSK-CM8JL65-CC5-Infrared-Distance-Measuring-Sensor-p-4028.html) is a very small IR distance sensor with a 0.17m-8m range and millimeter resolution. diff --git a/tr/flight_controller/pixhawk6c_mini.md b/tr/flight_controller/pixhawk6c_mini.md index 0077c642d34e..1684bcbbb1f7 100644 --- a/tr/flight_controller/pixhawk6c_mini.md +++ b/tr/flight_controller/pixhawk6c_mini.md @@ -68,7 +68,7 @@ The Pixhawk® 6C Mini is perfect for developers at corporate research labs, star ### **Interfaces** -- 16- PWM servo outputs (8 from IO, 6 from FMU) +- 14- PWM servo outputs (8 from IO, 6 from FMU) - 3 general purpose serial ports - `TELEM1` - Full flow control, separate 1A current limit diff --git a/tr/modules/modules_system.md b/tr/modules/modules_system.md index a7c8c3f9a58e..de9edf6c99f7 100644 --- a/tr/modules/modules_system.md +++ b/tr/modules/modules_system.md @@ -716,6 +716,28 @@ send_event [arguments...] status print status info ``` +## sensor_agp_sim + +Source: [modules/simulation/sensor_agp_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_agp_sim) + +### Description + +Module to simulate auxiliary global position measurements with optional failure modes for SIH simulation. + + + +### Usage + +``` +sensor_agp_sim [arguments...] + Commands: + start + + stop + + status print status info +``` + ## sensor_arispeed_sim Source: [modules/simulation/sensor_airspeed_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_airspeed_sim) diff --git a/tr/msg_docs/ActuatorMotors.md b/tr/msg_docs/ActuatorMotors.md index 49410a547970..e60e6f0599d8 100644 --- a/tr/msg_docs/ActuatorMotors.md +++ b/tr/msg_docs/ActuatorMotors.md @@ -2,10 +2,13 @@ Motor control message -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorMotors.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg) ```c # Motor control message + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp the data this control response is based on was sampled diff --git a/tr/msg_docs/ActuatorServos.md b/tr/msg_docs/ActuatorServos.md index 24ebabb58694..0c928dc2be1e 100644 --- a/tr/msg_docs/ActuatorServos.md +++ b/tr/msg_docs/ActuatorServos.md @@ -2,10 +2,13 @@ Servo control message -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorServos.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorServos.msg) ```c # Servo control message + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp the data this control response is based on was sampled diff --git a/tr/msg_docs/ArmingCheckReply.md b/tr/msg_docs/ArmingCheckReply.md index 19426d1e3a81..57a75fb14579 100644 --- a/tr/msg_docs/ArmingCheckReply.md +++ b/tr/msg_docs/ArmingCheckReply.md @@ -1,8 +1,10 @@ # ArmingCheckReply (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ArmingCheckReply.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint8 request_id diff --git a/tr/msg_docs/ArmingCheckRequest.md b/tr/msg_docs/ArmingCheckRequest.md index c49b7dbd7c17..34c0e9dcad26 100644 --- a/tr/msg_docs/ArmingCheckRequest.md +++ b/tr/msg_docs/ArmingCheckRequest.md @@ -1,8 +1,10 @@ # ArmingCheckRequest (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ArmingCheckRequest.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # broadcast message to request all registered arming checks to be reported diff --git a/tr/msg_docs/BatteryStatus.md b/tr/msg_docs/BatteryStatus.md index 9da496d3e5f5..ab49c0d819c4 100644 --- a/tr/msg_docs/BatteryStatus.md +++ b/tr/msg_docs/BatteryStatus.md @@ -1,8 +1,10 @@ # BatteryStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/BatteryStatus.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/BatteryStatus.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) bool connected # Whether or not a battery is connected, based on a voltage threshold float32 voltage_v # Battery voltage in volts, 0 if unknown diff --git a/tr/msg_docs/ConfigOverrides.md b/tr/msg_docs/ConfigOverrides.md index 71ae010408a4..37f88d49230f 100644 --- a/tr/msg_docs/ConfigOverrides.md +++ b/tr/msg_docs/ConfigOverrides.md @@ -2,10 +2,13 @@ Configurable overrides by (external) modes or mode executors -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ConfigOverrides.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ConfigOverrides.msg) ```c # Configurable overrides by (external) modes or mode executors + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) bool disable_auto_disarm # Prevent the drone from automatically disarming after landing (if configured) diff --git a/tr/msg_docs/GotoSetpoint.md b/tr/msg_docs/GotoSetpoint.md index c2a0bf9a7340..746d15eb00dd 100644 --- a/tr/msg_docs/GotoSetpoint.md +++ b/tr/msg_docs/GotoSetpoint.md @@ -7,7 +7,7 @@ Optional heading setpoints may be specified as controlled by the respective flag Unset optional setpoints are not controlled Unset optional constraints default to vehicle specifications -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GotoSetpoint.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/GotoSetpoint.msg) ```c # Position and (optional) heading setpoints with corresponding speed constraints @@ -17,6 +17,8 @@ Unset optional constraints default to vehicle specifications # Unset optional setpoints are not controlled # Unset optional constraints default to vehicle specifications +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # setpoints diff --git a/tr/msg_docs/HomePosition.md b/tr/msg_docs/HomePosition.md index 7941b6002484..134828c9d7ae 100644 --- a/tr/msg_docs/HomePosition.md +++ b/tr/msg_docs/HomePosition.md @@ -2,11 +2,13 @@ GPS home position in WGS84 coordinates. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/HomePosition.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/HomePosition.msg) ```c # GPS home position in WGS84 coordinates. +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) float64 lat # Latitude in degrees diff --git a/tr/msg_docs/ManualControlSetpoint.md b/tr/msg_docs/ManualControlSetpoint.md index 811da60cb03c..b96cb643220d 100644 --- a/tr/msg_docs/ManualControlSetpoint.md +++ b/tr/msg_docs/ManualControlSetpoint.md @@ -1,8 +1,10 @@ # ManualControlSetpoint (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ManualControlSetpoint.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ManualControlSetpoint.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) diff --git a/tr/msg_docs/ModeCompleted.md b/tr/msg_docs/ModeCompleted.md index a943fff49fab..76c0c297e64f 100644 --- a/tr/msg_docs/ModeCompleted.md +++ b/tr/msg_docs/ModeCompleted.md @@ -5,13 +5,16 @@ The possible values of nav_state are defined in the VehicleStatus msg. Note that this is not always published (e.g. when a user switches modes or on failsafe activation) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ModeCompleted.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ModeCompleted.msg) ```c # Mode completion result, published by an active mode. # The possible values of nav_state are defined in the VehicleStatus msg. # Note that this is not always published (e.g. when a user switches modes or on # failsafe activation) + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) diff --git a/tr/msg_docs/RegisterExtComponentReply.md b/tr/msg_docs/RegisterExtComponentReply.md index 2b82b238f669..860fa6ecb52a 100644 --- a/tr/msg_docs/RegisterExtComponentReply.md +++ b/tr/msg_docs/RegisterExtComponentReply.md @@ -1,8 +1,10 @@ # RegisterExtComponentReply (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RegisterExtComponentReply.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/RegisterExtComponentReply.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 request_id # ID from the request diff --git a/tr/msg_docs/RegisterExtComponentRequest.md b/tr/msg_docs/RegisterExtComponentRequest.md index 676179039ca9..545737c64ab3 100644 --- a/tr/msg_docs/RegisterExtComponentRequest.md +++ b/tr/msg_docs/RegisterExtComponentRequest.md @@ -2,10 +2,13 @@ Request to register an external component -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RegisterExtComponentRequest.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/RegisterExtComponentRequest.msg) ```c # Request to register an external component + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 request_id # ID, set this to a random value diff --git a/tr/msg_docs/TrajectorySetpoint.md b/tr/msg_docs/TrajectorySetpoint.md index fb07211f8d2e..06e44bcf11ca 100644 --- a/tr/msg_docs/TrajectorySetpoint.md +++ b/tr/msg_docs/TrajectorySetpoint.md @@ -5,7 +5,7 @@ Input to PID position controller. Needs to be kinematically consistent and feasible for smooth flight. setting a value to NaN means the state should not be controlled -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TrajectorySetpoint.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/TrajectorySetpoint.msg) ```c # Trajectory setpoint in NED frame @@ -13,6 +13,8 @@ setting a value to NaN means the state should not be controlled # Needs to be kinematically consistent and feasible for smooth flight. # setting a value to NaN means the state should not be controlled +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # NED local world frame diff --git a/tr/msg_docs/UnregisterExtComponent.md b/tr/msg_docs/UnregisterExtComponent.md index 0409761fb824..b09ea24d4366 100644 --- a/tr/msg_docs/UnregisterExtComponent.md +++ b/tr/msg_docs/UnregisterExtComponent.md @@ -1,8 +1,10 @@ # UnregisterExtComponent (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/UnregisterExtComponent.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/UnregisterExtComponent.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) char[25] name # either the mode name, or component name diff --git a/tr/msg_docs/VehicleAngularVelocity.md b/tr/msg_docs/VehicleAngularVelocity.md index 42f93c431a7e..fb05ad0f51ab 100644 --- a/tr/msg_docs/VehicleAngularVelocity.md +++ b/tr/msg_docs/VehicleAngularVelocity.md @@ -1,8 +1,9 @@ # VehicleAngularVelocity (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAngularVelocity.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAngularVelocity.msg) ```c +uint32 MESSAGE_VERSION = 0 uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds) diff --git a/tr/msg_docs/VehicleAttitude.md b/tr/msg_docs/VehicleAttitude.md index 2fcdfe375c64..856fe6d5a684 100644 --- a/tr/msg_docs/VehicleAttitude.md +++ b/tr/msg_docs/VehicleAttitude.md @@ -3,12 +3,14 @@ This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use The quaternion uses the Hamilton convention, and the order is q(w, x, y, z) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAttitude.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitude.msg) ```c # This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use # The quaternion uses the Hamilton convention, and the order is q(w, x, y, z) +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) diff --git a/tr/msg_docs/VehicleAttitudeSetpoint.md b/tr/msg_docs/VehicleAttitudeSetpoint.md index 02a13b49743c..e8dc7ebaf9c2 100644 --- a/tr/msg_docs/VehicleAttitudeSetpoint.md +++ b/tr/msg_docs/VehicleAttitudeSetpoint.md @@ -1,8 +1,10 @@ # VehicleAttitudeSetpoint (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAttitudeSetpoint.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitudeSetpoint.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) float32 yaw_sp_move_rate # rad/s (commanded by user) diff --git a/tr/msg_docs/VehicleCommand.md b/tr/msg_docs/VehicleCommand.md index 24bddccb46e6..c2cc25f2410e 100644 --- a/tr/msg_docs/VehicleCommand.md +++ b/tr/msg_docs/VehicleCommand.md @@ -3,12 +3,14 @@ Vehicle Command uORB message. Used for commanding a mission / action / etc. Follows the MAVLink COMMAND_INT / COMMAND_LONG definition -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleCommand.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleCommand.msg) ```c # Vehicle Command uORB message. Used for commanding a mission / action / etc. # Follows the MAVLink COMMAND_INT / COMMAND_LONG definition +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint16 VEHICLE_CMD_CUSTOM_0 = 0 # test command diff --git a/tr/msg_docs/VehicleCommandAck.md b/tr/msg_docs/VehicleCommandAck.md index 1e4571b26899..e40b7bc87cef 100644 --- a/tr/msg_docs/VehicleCommandAck.md +++ b/tr/msg_docs/VehicleCommandAck.md @@ -4,13 +4,15 @@ Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleCommandAck.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleCommandAck.msg) ```c # Vehicle Command Ackonwledgement uORB message. # Used for acknowledging the vehicle command being received. # Follows the MAVLink COMMAND_ACK message definition +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # Result cases. This follows the MAVLink MAV_RESULT enum definition diff --git a/tr/msg_docs/VehicleControlMode.md b/tr/msg_docs/VehicleControlMode.md index 71e0354dbf4a..b32f09c7253e 100644 --- a/tr/msg_docs/VehicleControlMode.md +++ b/tr/msg_docs/VehicleControlMode.md @@ -1,8 +1,10 @@ # VehicleControlMode (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleControlMode.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleControlMode.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) bool flag_armed # synonym for actuator_armed.armed diff --git a/tr/msg_docs/VehicleGlobalPosition.md b/tr/msg_docs/VehicleGlobalPosition.md index 040b2a99a677..c3e414720128 100644 --- a/tr/msg_docs/VehicleGlobalPosition.md +++ b/tr/msg_docs/VehicleGlobalPosition.md @@ -6,7 +6,7 @@ measurement (@see vehicle_gps_position). This topic is usually published by the estimator, which will take more sources of information into account than just GPS, e.g. control inputs of the vehicle in a Kalman-filter implementation. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleGlobalPosition.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleGlobalPosition.msg) ```c # Fused global position in WGS84. @@ -16,6 +16,8 @@ e.g. control inputs of the vehicle in a Kalman-filter implementation. # e.g. control inputs of the vehicle in a Kalman-filter implementation. # +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) diff --git a/tr/msg_docs/VehicleLandDetected.md b/tr/msg_docs/VehicleLandDetected.md index acfcdde31855..acd95de1909b 100644 --- a/tr/msg_docs/VehicleLandDetected.md +++ b/tr/msg_docs/VehicleLandDetected.md @@ -1,8 +1,10 @@ # VehicleLandDetected (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleLandDetected.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleLandDetected.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) bool freefall # true if vehicle is currently in free-fall diff --git a/tr/msg_docs/VehicleLocalPosition.md b/tr/msg_docs/VehicleLocalPosition.md index acb09a8962d2..20eec507435b 100644 --- a/tr/msg_docs/VehicleLocalPosition.md +++ b/tr/msg_docs/VehicleLocalPosition.md @@ -3,12 +3,14 @@ Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleLocalPosition.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleLocalPosition.msg) ```c # Fused local position in NED. # The coordinate system origin is the vehicle position at the time when the EKF2-module was started. +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) diff --git a/tr/msg_docs/VehicleOdometry.md b/tr/msg_docs/VehicleOdometry.md index 8d014b4b63b6..d559ded6c719 100644 --- a/tr/msg_docs/VehicleOdometry.md +++ b/tr/msg_docs/VehicleOdometry.md @@ -2,10 +2,13 @@ Vehicle odometry data. Fits ROS REP 147 for aerial vehicles -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleOdometry.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleOdometry.msg) ```c # Vehicle odometry data. Fits ROS REP 147 for aerial vehicles + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample diff --git a/tr/msg_docs/VehicleRatesSetpoint.md b/tr/msg_docs/VehicleRatesSetpoint.md index 2d55572ec43c..1281c7409160 100644 --- a/tr/msg_docs/VehicleRatesSetpoint.md +++ b/tr/msg_docs/VehicleRatesSetpoint.md @@ -1,8 +1,10 @@ # VehicleRatesSetpoint (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleRatesSetpoint.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleRatesSetpoint.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # body angular rates in FRD frame diff --git a/tr/msg_docs/VehicleStatus.md b/tr/msg_docs/VehicleStatus.md index 3cf25752e73f..b503f2033ea5 100644 --- a/tr/msg_docs/VehicleStatus.md +++ b/tr/msg_docs/VehicleStatus.md @@ -2,11 +2,13 @@ Encodes the system state of the vehicle published by commander -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleStatus.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleStatus.msg) ```c # Encodes the system state of the vehicle published by commander +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 armed_time # Arming timestamp (microseconds) diff --git a/tr/msg_docs/VtolVehicleStatus.md b/tr/msg_docs/VtolVehicleStatus.md index 5a89ef655c08..a271005673b0 100644 --- a/tr/msg_docs/VtolVehicleStatus.md +++ b/tr/msg_docs/VtolVehicleStatus.md @@ -2,10 +2,13 @@ VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VtolVehicleStatus.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VtolVehicleStatus.msg) ```c # VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE + +uint32 MESSAGE_VERSION = 0 + uint8 VEHICLE_VTOL_STATE_UNDEFINED = 0 uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_FW = 1 uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_MC = 2 diff --git a/tr/msg_docs/index.md b/tr/msg_docs/index.md index cdfd6dd08d5d..cd18b34b33f1 100644 --- a/tr/msg_docs/index.md +++ b/tr/msg_docs/index.md @@ -5,20 +5,72 @@ This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Too ::: This topic lists the UORB messages available in PX4 (some of which may be may be shared by the [PX4-ROS 2 Bridge](../ros/ros2_comm.md)). + +[Versioned messages](../middleware/uorb.md#message-versioning) track changes to their definitions, with each modification resulting in a version increment. +These messages are most likely shared through the PX4-ROS 2 Bridge. + Graphs showing how these are used [can be found here](../middleware/uorb_graph.md). +## Versioned Messages + +- [ActuatorMotors](ActuatorMotors.md) — Motor control message +- [ActuatorServos](ActuatorServos.md) — Servo control message +- [ArmingCheckReply](ArmingCheckReply.md) +- [ArmingCheckRequest](ArmingCheckRequest.md) +- [BatteryStatus](BatteryStatus.md) +- [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors +- [GotoSetpoint](GotoSetpoint.md) — Position and (optional) heading setpoints with corresponding speed constraints + Setpoints are intended as inputs to position and heading smoothers, respectively + Setpoints do not need to be kinematically consistent + Optional heading setpoints may be specified as controlled by the respective flag + Unset optional setpoints are not controlled + Unset optional constraints default to vehicle specifications +- [HomePosition](HomePosition.md) — GPS home position in WGS84 coordinates. +- [ManualControlSetpoint](ManualControlSetpoint.md) +- [ModeCompleted](ModeCompleted.md) — Mode completion result, published by an active mode. + The possible values of nav_state are defined in the VehicleStatus msg. + Note that this is not always published (e.g. when a user switches modes or on + failsafe activation) +- [RegisterExtComponentReply](RegisterExtComponentReply.md) +- [RegisterExtComponentRequest](RegisterExtComponentRequest.md) — Request to register an external component +- [TrajectorySetpoint](TrajectorySetpoint.md) — Trajectory setpoint in NED frame + Input to PID position controller. + Needs to be kinematically consistent and feasible for smooth flight. + setting a value to NaN means the state should not be controlled +- [UnregisterExtComponent](UnregisterExtComponent.md) +- [VehicleAngularVelocity](VehicleAngularVelocity.md) +- [VehicleAttitude](VehicleAttitude.md) — This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use + The quaternion uses the Hamilton convention, and the order is q(w, x, y, z) +- [VehicleAttitudeSetpoint](VehicleAttitudeSetpoint.md) +- [VehicleCommand](VehicleCommand.md) — Vehicle Command uORB message. Used for commanding a mission / action / etc. + Follows the MAVLink COMMAND_INT / COMMAND_LONG definition +- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Ackonwledgement uORB message. + Used for acknowledging the vehicle command being received. + Follows the MAVLink COMMAND_ACK message definition +- [VehicleControlMode](VehicleControlMode.md) +- [VehicleGlobalPosition](VehicleGlobalPosition.md) — Fused global position in WGS84. + This struct contains global position estimation. It is not the raw GPS + measurement (@see vehicle_gps_position). This topic is usually published by the position + estimator, which will take more sources of information into account than just GPS, + e.g. control inputs of the vehicle in a Kalman-filter implementation. +- [VehicleLandDetected](VehicleLandDetected.md) +- [VehicleLocalPosition](VehicleLocalPosition.md) — Fused local position in NED. + The coordinate system origin is the vehicle position at the time when the EKF2-module was started. +- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data. Fits ROS REP 147 for aerial vehicles +- [VehicleRatesSetpoint](VehicleRatesSetpoint.md) +- [VehicleStatus](VehicleStatus.md) — Encodes the system state of the vehicle published by commander +- [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE + +## Unversioned Messages + - [ActionRequest](ActionRequest.md) - [ActuatorArmed](ActuatorArmed.md) - [ActuatorControlsStatus](ActuatorControlsStatus.md) -- [ActuatorMotors](ActuatorMotors.md) — Motor control message - - [ActuatorOutputs](ActuatorOutputs.md) -- [ActuatorServos](ActuatorServos.md) — Servo control message - - [ActuatorServosTrim](ActuatorServosTrim.md) — Servo trims, added as offset to servo outputs - [ActuatorTest](ActuatorTest.md) @@ -31,14 +83,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [AirspeedWind](AirspeedWind.md) -- [ArmingCheckReply](ArmingCheckReply.md) - -- [ArmingCheckRequest](ArmingCheckRequest.md) - - [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md) -- [BatteryStatus](BatteryStatus.md) - - [Buffer128](Buffer128.md) - [ButtonEvent](ButtonEvent.md) @@ -56,8 +102,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [CollisionConstraints](CollisionConstraints.md) — Local setpoint constraints in NED frame setting something to NaN means that no limit is provided -- [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors - - [ControlAllocatorStatus](ControlAllocatorStatus.md) - [Cpuload](Cpuload.md) @@ -154,13 +198,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [GimbalManagerStatus](GimbalManagerStatus.md) -- [GotoSetpoint](GotoSetpoint.md) — Position and (optional) heading setpoints with corresponding speed constraints - Setpoints are intended as inputs to position and heading smoothers, respectively - Setpoints do not need to be kinematically consistent - Optional heading setpoints may be specified as controlled by the respective flag - Unset optional setpoints are not controlled - Unset optional constraints default to vehicle specifications - - [GpioConfig](GpioConfig.md) — GPIO configuration - [GpioIn](GpioIn.md) — GPIO mask and state @@ -179,8 +216,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [HeaterStatus](HeaterStatus.md) -- [HomePosition](HomePosition.md) — GPS home position in WGS84 coordinates. - - [HoverThrustEstimate](HoverThrustEstimate.md) - [InputRc](InputRc.md) @@ -212,8 +247,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [MagnetometerBiasEstimate](MagnetometerBiasEstimate.md) -- [ManualControlSetpoint](ManualControlSetpoint.md) - - [ManualControlSwitches](ManualControlSwitches.md) - [MavlinkLog](MavlinkLog.md) @@ -228,11 +261,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [MissionResult](MissionResult.md) -- [ModeCompleted](ModeCompleted.md) — Mode completion result, published by an active mode. - The possible values of nav_state are defined in the VehicleStatus msg. - Note that this is not always published (e.g. when a user switches modes or on - failsafe activation) - - [MountOrientation](MountOrientation.md) - [NavigatorMissionItem](NavigatorMissionItem.md) @@ -309,10 +337,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [RcParameterMap](RcParameterMap.md) -- [RegisterExtComponentReply](RegisterExtComponentReply.md) - -- [RegisterExtComponentRequest](RegisterExtComponentRequest.md) — Request to register an external component - - [RoverAckermannGuidanceStatus](RoverAckermannGuidanceStatus.md) - [RoverAckermannSetpoint](RoverAckermannSetpoint.md) @@ -400,11 +424,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [TrajectoryBezier](TrajectoryBezier.md) — Bezier Trajectory description. See also Mavlink TRAJECTORY msg The topic trajectory_bezier describe each waypoint defined in vehicle_trajectory_bezier -- [TrajectorySetpoint](TrajectorySetpoint.md) — Trajectory setpoint in NED frame - Input to PID position controller. - Needs to be kinematically consistent and feasible for smooth flight. - setting a value to NaN means the state should not be controlled - - [TrajectoryWaypoint](TrajectoryWaypoint.md) — Waypoint Trajectory description. See also Mavlink TRAJECTORY msg The topic trajectory_waypoint describe each waypoint defined in vehicle_trajectory_waypoint @@ -423,66 +442,31 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [UlogStreamAck](UlogStreamAck.md) — Ack a previously sent ulog_stream message that had the NEED_ACK flag set -- [UnregisterExtComponent](UnregisterExtComponent.md) - - [VehicleAcceleration](VehicleAcceleration.md) - [VehicleAirData](VehicleAirData.md) - [VehicleAngularAccelerationSetpoint](VehicleAngularAccelerationSetpoint.md) -- [VehicleAngularVelocity](VehicleAngularVelocity.md) - -- [VehicleAttitude](VehicleAttitude.md) — This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use - The quaternion uses the Hamilton convention, and the order is q(w, x, y, z) - -- [VehicleAttitudeSetpoint](VehicleAttitudeSetpoint.md) - -- [VehicleCommand](VehicleCommand.md) — Vehicle Command uORB message. Used for commanding a mission / action / etc. - Follows the MAVLink COMMAND_INT / COMMAND_LONG definition - -- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Ackonwledgement uORB message. - Used for acknowledging the vehicle command being received. - Follows the MAVLink COMMAND_ACK message definition - - [VehicleConstraints](VehicleConstraints.md) — Local setpoint constraints in NED frame setting something to NaN means that no limit is provided -- [VehicleControlMode](VehicleControlMode.md) - -- [VehicleGlobalPosition](VehicleGlobalPosition.md) — Fused global position in WGS84. - This struct contains global position estimation. It is not the raw GPS - measurement (@see vehicle_gps_position). This topic is usually published by the position - estimator, which will take more sources of information into account than just GPS, - e.g. control inputs of the vehicle in a Kalman-filter implementation. - - [VehicleImu](VehicleImu.md) — IMU readings in SI-unit form. - [VehicleImuStatus](VehicleImuStatus.md) -- [VehicleLandDetected](VehicleLandDetected.md) - -- [VehicleLocalPosition](VehicleLocalPosition.md) — Fused local position in NED. - The coordinate system origin is the vehicle position at the time when the EKF2-module was started. - - [VehicleLocalPositionSetpoint](VehicleLocalPositionSetpoint.md) — Local position setpoint in NED frame Telemetry of PID position controller to monitor tracking. NaN means the state was not controlled - [VehicleMagnetometer](VehicleMagnetometer.md) -- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data. Fits ROS REP 147 for aerial vehicles - - [VehicleOpticalFlow](VehicleOpticalFlow.md) — Optical flow in XYZ body frame in SI units. - [VehicleOpticalFlowVel](VehicleOpticalFlowVel.md) -- [VehicleRatesSetpoint](VehicleRatesSetpoint.md) - - [VehicleRoi](VehicleRoi.md) — Vehicle Region Of Interest (ROI) -- [VehicleStatus](VehicleStatus.md) — Encodes the system state of the vehicle published by commander - - [VehicleThrustSetpoint](VehicleThrustSetpoint.md) - [VehicleTorqueSetpoint](VehicleTorqueSetpoint.md) @@ -497,8 +481,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [VelocityLimits](VelocityLimits.md) — Velocity and yaw rate limits for a multicopter position slow mode only -- [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE - - [WheelEncoders](WheelEncoders.md) - [Wind](Wind.md) diff --git a/tr/sensor/cm8jl65_ir_distance_sensor.md b/tr/sensor/cm8jl65_ir_distance_sensor.md index 2c830b0be852..bf697fe549fa 100644 --- a/tr/sensor/cm8jl65_ir_distance_sensor.md +++ b/tr/sensor/cm8jl65_ir_distance_sensor.md @@ -3,7 +3,7 @@ :::warning -This product has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available. +This product has been discontinued and is no longer commercially available. ::: The [Lanbao PSK-CM8JL65-CC5](https://www.seeedstudio.com/PSK-CM8JL65-CC5-Infrared-Distance-Measuring-Sensor-p-4028.html) is a very small IR distance sensor with a 0.17m-8m range and millimeter resolution. diff --git a/uk/flight_controller/pixhawk6c_mini.md b/uk/flight_controller/pixhawk6c_mini.md index ec06ba8bad12..f91a0ab8e7f6 100644 --- a/uk/flight_controller/pixhawk6c_mini.md +++ b/uk/flight_controller/pixhawk6c_mini.md @@ -68,7 +68,7 @@ Pixhawk® 6C Mini ідеально підходить для розробник ### **Interfaces** -- 16- PWM серво виводів (8 з IO, 6 з FMU) +- 14- PWM servo outputs (8 from IO, 6 from FMU) - 3 загальних послідовних портів - `TELEM1` - Full flow control, separate 1A current limit diff --git a/uk/modules/modules_system.md b/uk/modules/modules_system.md index 40bb24bd2951..69da99f85eeb 100644 --- a/uk/modules/modules_system.md +++ b/uk/modules/modules_system.md @@ -712,6 +712,28 @@ send_event [arguments...] status print status info ``` +## sensor_agp_sim + +Source: [modules/simulation/sensor_agp_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_agp_sim) + +### Опис + +Module to simulate auxiliary global position measurements with optional failure modes for SIH simulation. + + + +### Використання + +``` +sensor_agp_sim [arguments...] + Commands: + start + + stop + + status print status info +``` + ## sensor_arispeed_sim Source: [modules/simulation/sensor_airspeed_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_airspeed_sim) diff --git a/uk/msg_docs/ActuatorMotors.md b/uk/msg_docs/ActuatorMotors.md index c2ade02e7b2b..3b34cff3877e 100644 --- a/uk/msg_docs/ActuatorMotors.md +++ b/uk/msg_docs/ActuatorMotors.md @@ -2,10 +2,13 @@ Повідомлення про керування двигуном -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorMotors.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg) ```c # Motor control message + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp the data this control response is based on was sampled diff --git a/uk/msg_docs/ActuatorServos.md b/uk/msg_docs/ActuatorServos.md index e31c14b02c84..c9da12da376c 100644 --- a/uk/msg_docs/ActuatorServos.md +++ b/uk/msg_docs/ActuatorServos.md @@ -2,10 +2,13 @@ Повідомлення про керування сервоприводом -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorServos.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorServos.msg) ```c # Servo control message + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp the data this control response is based on was sampled diff --git a/uk/msg_docs/ArmingCheckReply.md b/uk/msg_docs/ArmingCheckReply.md index 29400754ace0..2e064ddec1a6 100644 --- a/uk/msg_docs/ArmingCheckReply.md +++ b/uk/msg_docs/ArmingCheckReply.md @@ -1,8 +1,10 @@ # ArmingCheckReply (повідомлення UORB) -[вихідний файл](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ArmingCheckReply.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint8 request_id diff --git a/uk/msg_docs/ArmingCheckRequest.md b/uk/msg_docs/ArmingCheckRequest.md index f64181475a84..9b7b4cecc1d7 100644 --- a/uk/msg_docs/ArmingCheckRequest.md +++ b/uk/msg_docs/ArmingCheckRequest.md @@ -1,8 +1,10 @@ # ArmingCheckRequest (повідомлення UORB) -[вихідний файл](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ArmingCheckRequest.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # broadcast message to request all registered arming checks to be reported diff --git a/uk/msg_docs/BatteryStatus.md b/uk/msg_docs/BatteryStatus.md index 1e40e9538d99..9dccebf15067 100644 --- a/uk/msg_docs/BatteryStatus.md +++ b/uk/msg_docs/BatteryStatus.md @@ -1,8 +1,10 @@ # BatteryStatus (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/BatteryStatus.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/BatteryStatus.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) bool connected # Whether or not a battery is connected, based on a voltage threshold float32 voltage_v # Battery voltage in volts, 0 if unknown diff --git a/uk/msg_docs/ConfigOverrides.md b/uk/msg_docs/ConfigOverrides.md index 00e8d0b38fdf..04971376069d 100644 --- a/uk/msg_docs/ConfigOverrides.md +++ b/uk/msg_docs/ConfigOverrides.md @@ -2,10 +2,13 @@ Конфігуровані перевизначення (зовнішніми) режимами або виконавцями режимів -[вихідний файл](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ConfigOverrides.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ConfigOverrides.msg) ```c # Configurable overrides by (external) modes or mode executors + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) bool disable_auto_disarm # Prevent the drone from automatically disarming after landing (if configured) diff --git a/uk/msg_docs/GotoSetpoint.md b/uk/msg_docs/GotoSetpoint.md index 2169676d9543..47d337abb198 100644 --- a/uk/msg_docs/GotoSetpoint.md +++ b/uk/msg_docs/GotoSetpoint.md @@ -7,7 +7,7 @@ Невстановлені опціональні значення не контролюються Невстановлені опціональні обмеження за замовчуванням відповідають специфікаціям транспортного засобу -[вихідний файл](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GotoSetpoint.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/GotoSetpoint.msg) ```c # Position and (optional) heading setpoints with corresponding speed constraints @@ -17,6 +17,8 @@ # Unset optional setpoints are not controlled # Unset optional constraints default to vehicle specifications +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # setpoints diff --git a/uk/msg_docs/HomePosition.md b/uk/msg_docs/HomePosition.md index f2c8ae23a803..da5b370c7584 100644 --- a/uk/msg_docs/HomePosition.md +++ b/uk/msg_docs/HomePosition.md @@ -2,11 +2,13 @@ Домашнє GPS положення в координатах WGS84. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/HomePosition.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/HomePosition.msg) ```c # GPS home position in WGS84 coordinates. +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) float64 lat # Latitude in degrees diff --git a/uk/msg_docs/ManualControlSetpoint.md b/uk/msg_docs/ManualControlSetpoint.md index ed73125b1c74..e15a85420a4d 100644 --- a/uk/msg_docs/ManualControlSetpoint.md +++ b/uk/msg_docs/ManualControlSetpoint.md @@ -1,8 +1,10 @@ # ManualControlSetpoint (Повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ManualControlSetpoint.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ManualControlSetpoint.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) diff --git a/uk/msg_docs/ModeCompleted.md b/uk/msg_docs/ModeCompleted.md index 311c8f0a1a92..ec56e5c2d974 100644 --- a/uk/msg_docs/ModeCompleted.md +++ b/uk/msg_docs/ModeCompleted.md @@ -4,13 +4,16 @@ Можливі значення nav_state визначені в повідомленні VehicleStatus. Зверніть увагу, що це не завжди публікується (наприклад, коли користувач переходить у режими або при активації failsafe) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ModeCompleted.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ModeCompleted.msg) ```c # Mode completion result, published by an active mode. # The possible values of nav_state are defined in the VehicleStatus msg. # Note that this is not always published (e.g. when a user switches modes or on # failsafe activation) + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) diff --git a/uk/msg_docs/RegisterExtComponentReply.md b/uk/msg_docs/RegisterExtComponentReply.md index 2b82b238f669..860fa6ecb52a 100644 --- a/uk/msg_docs/RegisterExtComponentReply.md +++ b/uk/msg_docs/RegisterExtComponentReply.md @@ -1,8 +1,10 @@ # RegisterExtComponentReply (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RegisterExtComponentReply.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/RegisterExtComponentReply.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 request_id # ID from the request diff --git a/uk/msg_docs/RegisterExtComponentRequest.md b/uk/msg_docs/RegisterExtComponentRequest.md index e1a5aaf81f6c..9725a579defd 100644 --- a/uk/msg_docs/RegisterExtComponentRequest.md +++ b/uk/msg_docs/RegisterExtComponentRequest.md @@ -2,10 +2,13 @@ Запит на реєстрацію зовнішнього компонента -[вихідний файл](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RegisterExtComponentRequest.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/RegisterExtComponentRequest.msg) ```c # Request to register an external component + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 request_id # ID, set this to a random value diff --git a/uk/msg_docs/TrajectorySetpoint.md b/uk/msg_docs/TrajectorySetpoint.md index 542406ff64bf..25e9a101e8d8 100644 --- a/uk/msg_docs/TrajectorySetpoint.md +++ b/uk/msg_docs/TrajectorySetpoint.md @@ -5,7 +5,7 @@ Traекторія вказівки в рамці NED Потрібно мати кінематичну консистентність і бути можливим для плавного польоту. встановлення значення NaN означає, що стан не повинен контролюватися -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TrajectorySetpoint.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/TrajectorySetpoint.msg) ```c # Trajectory setpoint in NED frame @@ -13,6 +13,8 @@ Traекторія вказівки в рамці NED # Needs to be kinematically consistent and feasible for smooth flight. # setting a value to NaN means the state should not be controlled +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # NED local world frame diff --git a/uk/msg_docs/UnregisterExtComponent.md b/uk/msg_docs/UnregisterExtComponent.md index 0409761fb824..b09ea24d4366 100644 --- a/uk/msg_docs/UnregisterExtComponent.md +++ b/uk/msg_docs/UnregisterExtComponent.md @@ -1,8 +1,10 @@ # UnregisterExtComponent (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/UnregisterExtComponent.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/UnregisterExtComponent.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) char[25] name # either the mode name, or component name diff --git a/uk/msg_docs/VehicleAngularVelocity.md b/uk/msg_docs/VehicleAngularVelocity.md index d9c047da8593..64a3d322165a 100644 --- a/uk/msg_docs/VehicleAngularVelocity.md +++ b/uk/msg_docs/VehicleAngularVelocity.md @@ -1,8 +1,9 @@ # VehicleAngularVelocity (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAngularVelocity.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAngularVelocity.msg) ```c +uint32 MESSAGE_VERSION = 0 uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds) diff --git a/uk/msg_docs/VehicleAttitude.md b/uk/msg_docs/VehicleAttitude.md index 853c0910abb2..d5077b36d3e8 100644 --- a/uk/msg_docs/VehicleAttitude.md +++ b/uk/msg_docs/VehicleAttitude.md @@ -3,12 +3,14 @@ Це повідомлення подібне до повідомлення mavlink ATTITUDE_QUATERNION, але для використання на борту Для кватерніону використовується конвенція Гамільтона, а порядок має вигляд q(w, x, y, z) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAttitude.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitude.msg) ```c # This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use # The quaternion uses the Hamilton convention, and the order is q(w, x, y, z) +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) diff --git a/uk/msg_docs/VehicleAttitudeSetpoint.md b/uk/msg_docs/VehicleAttitudeSetpoint.md index 0f5fa2e05ff8..1be6e9f39b43 100644 --- a/uk/msg_docs/VehicleAttitudeSetpoint.md +++ b/uk/msg_docs/VehicleAttitudeSetpoint.md @@ -1,8 +1,10 @@ # VehicleAttitudeSetpoint (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAttitudeSetpoint.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitudeSetpoint.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) float32 yaw_sp_move_rate # rad/s (commanded by user) diff --git a/uk/msg_docs/VehicleCommand.md b/uk/msg_docs/VehicleCommand.md index c373312f6ebd..dc8599102261 100644 --- a/uk/msg_docs/VehicleCommand.md +++ b/uk/msg_docs/VehicleCommand.md @@ -3,12 +3,14 @@ Vehicle Command uORB повідомлення. Використовується для управління місією / дією / тощо. Дотримується визначення MAVLink COMMAND_INT / COMMAND_LONG -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleCommand.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleCommand.msg) ```c # Vehicle Command uORB message. Used for commanding a mission / action / etc. # Follows the MAVLink COMMAND_INT / COMMAND_LONG definition +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint16 VEHICLE_CMD_CUSTOM_0 = 0 # test command diff --git a/uk/msg_docs/VehicleCommandAck.md b/uk/msg_docs/VehicleCommandAck.md index 7f11f261b9c2..efb20a982ae1 100644 --- a/uk/msg_docs/VehicleCommandAck.md +++ b/uk/msg_docs/VehicleCommandAck.md @@ -4,13 +4,15 @@ Використовується для підтвердження отримання команди для транспортного засобу. Дотримується визначення MAVLink COMMAND_ACK повідомлення -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleCommandAck.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleCommandAck.msg) ```c # Vehicle Command Ackonwledgement uORB message. # Used for acknowledging the vehicle command being received. # Follows the MAVLink COMMAND_ACK message definition +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # Result cases. This follows the MAVLink MAV_RESULT enum definition diff --git a/uk/msg_docs/VehicleControlMode.md b/uk/msg_docs/VehicleControlMode.md index b6a1a003d0bd..c77128f38c4e 100644 --- a/uk/msg_docs/VehicleControlMode.md +++ b/uk/msg_docs/VehicleControlMode.md @@ -1,8 +1,10 @@ # VehicleControlMode (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleControlMode.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleControlMode.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) bool flag_armed # synonym for actuator_armed.armed diff --git a/uk/msg_docs/VehicleGlobalPosition.md b/uk/msg_docs/VehicleGlobalPosition.md index d65881a1534c..62f3ebd6b60a 100644 --- a/uk/msg_docs/VehicleGlobalPosition.md +++ b/uk/msg_docs/VehicleGlobalPosition.md @@ -4,7 +4,7 @@ Ця структура містить глобальну оцінку позиції. Це не сирі GPS вимірювання (@see vehicle_gps_position). Ця тема зазвичай публікується позиціонером, який враховує більше джерел інформації, ніж просто GPS, наприклад, керування введеннями транспортного засобу в реалізації фільтра Калмана. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleGlobalPosition.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleGlobalPosition.msg) ```c # Fused global position in WGS84. @@ -14,6 +14,8 @@ # e.g. control inputs of the vehicle in a Kalman-filter implementation. # +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) diff --git a/uk/msg_docs/VehicleLandDetected.md b/uk/msg_docs/VehicleLandDetected.md index 4731395f2e33..77d340391d23 100644 --- a/uk/msg_docs/VehicleLandDetected.md +++ b/uk/msg_docs/VehicleLandDetected.md @@ -1,8 +1,10 @@ # VehicleLandDetected (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleLandDetected.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleLandDetected.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) bool freefall # true if vehicle is currently in free-fall diff --git a/uk/msg_docs/VehicleLocalPosition.md b/uk/msg_docs/VehicleLocalPosition.md index 0caa1c00ea41..d89de00fcce2 100644 --- a/uk/msg_docs/VehicleLocalPosition.md +++ b/uk/msg_docs/VehicleLocalPosition.md @@ -3,12 +3,14 @@ Fused local position in NED. Початкова точка координатної системи - це позиція транспортного засобу в момент запуску модуля EKF2. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleLocalPosition.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleLocalPosition.msg) ```c # Fused local position in NED. # The coordinate system origin is the vehicle position at the time when the EKF2-module was started. +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) diff --git a/uk/msg_docs/VehicleOdometry.md b/uk/msg_docs/VehicleOdometry.md index f9e515dabe05..8a243cb6acff 100644 --- a/uk/msg_docs/VehicleOdometry.md +++ b/uk/msg_docs/VehicleOdometry.md @@ -2,10 +2,13 @@ Дані odometry Техніки. Відповідає ROS REP 147 для повітряних суден -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleOdometry.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleOdometry.msg) ```c # Vehicle odometry data. Fits ROS REP 147 for aerial vehicles + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample diff --git a/uk/msg_docs/VehicleRatesSetpoint.md b/uk/msg_docs/VehicleRatesSetpoint.md index 172b25ddc946..4f659d5478c0 100644 --- a/uk/msg_docs/VehicleRatesSetpoint.md +++ b/uk/msg_docs/VehicleRatesSetpoint.md @@ -1,8 +1,10 @@ # VehicleRatesSetpoint (повідомлення UORB) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleRatesSetpoint.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleRatesSetpoint.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # body angular rates in FRD frame diff --git a/uk/msg_docs/VehicleStatus.md b/uk/msg_docs/VehicleStatus.md index f65000f3e608..3edead7fc562 100644 --- a/uk/msg_docs/VehicleStatus.md +++ b/uk/msg_docs/VehicleStatus.md @@ -2,11 +2,13 @@ Кодує стан системи транспортного засобу, опублікований командиром -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleStatus.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleStatus.msg) ```c # Encodes the system state of the vehicle published by commander +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 armed_time # Arming timestamp (microseconds) diff --git a/uk/msg_docs/VtolVehicleStatus.md b/uk/msg_docs/VtolVehicleStatus.md index bd30599bfbf2..5b7ee37ae9fb 100644 --- a/uk/msg_docs/VtolVehicleStatus.md +++ b/uk/msg_docs/VtolVehicleStatus.md @@ -2,10 +2,13 @@ VEHICLE_VTOL_STATE, повинен відповідати 1:1 MAVLinks_VTOL_STATE -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VtolVehicleStatus.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VtolVehicleStatus.msg) ```c # VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE + +uint32 MESSAGE_VERSION = 0 + uint8 VEHICLE_VTOL_STATE_UNDEFINED = 0 uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_FW = 1 uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_MC = 2 diff --git a/uk/msg_docs/index.md b/uk/msg_docs/index.md index d2cd92400752..52525d3d2fed 100644 --- a/uk/msg_docs/index.md +++ b/uk/msg_docs/index.md @@ -5,20 +5,69 @@ This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Too ::: This topic lists the UORB messages available in PX4 (some of which may be may be shared by the [PX4-ROS 2 Bridge](../ros/ros2_comm.md)). + +[Versioned messages](../middleware/uorb.md#message-versioning) track changes to their definitions, with each modification resulting in a version increment. +These messages are most likely shared through the PX4-ROS 2 Bridge. + Graphs showing how these are used [can be found here](../middleware/uorb_graph.md). +## Versioned Messages + +- [ActuatorMotors](ActuatorMotors.md) — Motor control message +- [ActuatorServos](ActuatorServos.md) — Servo control message +- [ArmingCheckReply](ArmingCheckReply.md) +- [ArmingCheckRequest](ArmingCheckRequest.md) +- [BatteryStatus](BatteryStatus.md) +- [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors +- [GotoSetpoint](GotoSetpoint.md) — Position and (optional) heading setpoints with corresponding speed constraints + Setpoints are intended as inputs to position and heading smoothers, respectively + Setpoints do not need to be kinematically consistent + Optional heading setpoints may be specified as controlled by the respective flag + Unset optional setpoints are not controlled + Unset optional constraints default to vehicle specifications +- [HomePosition](HomePosition.md) — GPS home position in WGS84 coordinates. +- [ManualControlSetpoint](ManualControlSetpoint.md) +- [ModeCompleted](ModeCompleted.md) — Mode completion result, published by an active mode. + Можливі значення nav_state визначені в повідомленні VehicleStatus. + Зверніть увагу, що це не завжди публікується (наприклад, коли користувач переходить у режими або при активації failsafe) +- [RegisterExtComponentReply](RegisterExtComponentReply.md) +- [RegisterExtComponentRequest](RegisterExtComponentRequest.md) — Request to register an external component +- [TrajectorySetpoint](TrajectorySetpoint.md) — Trajectory setpoint in NED frame + Input to PID position controller. + Потрібно мати кінематичну консистентність і бути можливим для плавного польоту. + встановлення значення NaN означає, що стан не повинен контролюватися +- [UnregisterExtComponent](UnregisterExtComponent.md) +- [VehicleAngularVelocity](VehicleAngularVelocity.md) +- [VehicleAttitude](VehicleAttitude.md) — This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use + The quaternion uses the Hamilton convention, and the order is q(w, x, y, z) +- [VehicleAttitudeSetpoint](VehicleAttitudeSetpoint.md) +- [VehicleCommand](VehicleCommand.md) — Vehicle Command uORB message. Використовується для управління місією / дією / тощо. + Дотримується визначення MAVLink COMMAND_INT / COMMAND_LONG +- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Ackonwledgement uORB message. + Використовується для підтвердження отримання команди для транспортного засобу. + Дотримується визначення MAVLink COMMAND_ACK повідомлення +- [VehicleControlMode](VehicleControlMode.md) +- [VehicleGlobalPosition](VehicleGlobalPosition.md) — Fused global position in WGS84. + Ця структура містить глобальну оцінку позиції. Це не сирі GPS + вимірювання (@see vehicle_gps_position). Ця тема зазвичай публікується позиціонером, який враховує більше джерел інформації, ніж просто GPS, наприклад, керування введеннями транспортного засобу в реалізації фільтра Калмана. +- [VehicleLandDetected](VehicleLandDetected.md) +- [VehicleLocalPosition](VehicleLocalPosition.md) — Fused local position in NED. + Початкова точка координатної системи - це позиція транспортного засобу в момент запуску модуля EKF2. +- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data. Відповідає ROS REP 147 для повітряних суден +- [VehicleRatesSetpoint](VehicleRatesSetpoint.md) +- [VehicleStatus](VehicleStatus.md) — Encodes the system state of the vehicle published by commander +- [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE + +## Unversioned Messages + - [ActionRequest](ActionRequest.md) - [ActuatorArmed](ActuatorArmed.md) - [ActuatorControlsStatus](ActuatorControlsStatus.md) -- [ActuatorMotors](ActuatorMotors.md) — Motor control message - - [ActuatorOutputs](ActuatorOutputs.md) -- [ActuatorServos](ActuatorServos.md) — Servo control message - - [ActuatorServosTrim](ActuatorServosTrim.md) — Servo trims, added as offset to servo outputs - [ActuatorTest](ActuatorTest.md) @@ -31,14 +80,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [AirspeedWind](AirspeedWind.md) -- [ArmingCheckReply](ArmingCheckReply.md) - -- [ArmingCheckRequest](ArmingCheckRequest.md) - - [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md) -- [BatteryStatus](BatteryStatus.md) - - [Buffer128](Buffer128.md) - [ButtonEvent](ButtonEvent.md) @@ -56,8 +99,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [CollisionConstraints](CollisionConstraints.md) — Local setpoint constraints in NED frame setting something to NaN means that no limit is provided -- [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors - - [ControlAllocatorStatus](ControlAllocatorStatus.md) - [Cpuload](Cpuload.md) @@ -154,13 +195,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [GimbalManagerStatus](GimbalManagerStatus.md) -- [GotoSetpoint](GotoSetpoint.md) — Position and (optional) heading setpoints with corresponding speed constraints - Setpoints are intended as inputs to position and heading smoothers, respectively - Setpoints do not need to be kinematically consistent - Optional heading setpoints may be specified as controlled by the respective flag - Unset optional setpoints are not controlled - Unset optional constraints default to vehicle specifications - - [GpioConfig](GpioConfig.md) — GPIO configuration - [GpioIn](GpioIn.md) — GPIO mask and state @@ -179,8 +213,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [HeaterStatus](HeaterStatus.md) -- [HomePosition](HomePosition.md) — GPS home position in WGS84 coordinates. - - [HoverThrustEstimate](HoverThrustEstimate.md) - [InputRc](InputRc.md) @@ -212,8 +244,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [MagnetometerBiasEstimate](MagnetometerBiasEstimate.md) -- [ManualControlSetpoint](ManualControlSetpoint.md) - - [ManualControlSwitches](ManualControlSwitches.md) - [MavlinkLog](MavlinkLog.md) @@ -228,10 +258,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [MissionResult](MissionResult.md) -- [ModeCompleted](ModeCompleted.md) — Mode completion result, published by an active mode. - Можливі значення nav_state визначені в повідомленні VehicleStatus. - Зверніть увагу, що це не завжди публікується (наприклад, коли користувач переходить у режими або при активації failsafe) - - [MountOrientation](MountOrientation.md) - [NavigatorMissionItem](NavigatorMissionItem.md) @@ -308,10 +334,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [RcParameterMap](RcParameterMap.md) -- [RegisterExtComponentReply](RegisterExtComponentReply.md) - -- [RegisterExtComponentRequest](RegisterExtComponentRequest.md) — Request to register an external component - - [RoverAckermannGuidanceStatus](RoverAckermannGuidanceStatus.md) - [RoverAckermannSetpoint](RoverAckermannSetpoint.md) @@ -398,11 +420,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [TrajectoryBezier](TrajectoryBezier.md) — Bezier Trajectory description. Див. також Повідомлення Mavlink TRAJECTORY Тема trajectory_bezier описує кожну точку маршруту, визначену в vehicle_trajectory_bezier -- [TrajectorySetpoint](TrajectorySetpoint.md) — Trajectory setpoint in NED frame - Input to PID position controller. - Потрібно мати кінематичну консистентність і бути можливим для плавного польоту. - встановлення значення NaN означає, що стан не повинен контролюватися - - [TrajectoryWaypoint](TrajectoryWaypoint.md) — Waypoint Trajectory description. Див. також Повідомлення Mavlink TRAJECTORY Тема trajectory_waypoint описує кожну точку маршруту, визначену в vehicle_trajectory_waypoint @@ -421,64 +438,31 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [UlogStreamAck](UlogStreamAck.md) — Ack a previously sent ulog_stream message that had the NEED_ACK flag set -- [UnregisterExtComponent](UnregisterExtComponent.md) - - [VehicleAcceleration](VehicleAcceleration.md) - [VehicleAirData](VehicleAirData.md) - [VehicleAngularAccelerationSetpoint](VehicleAngularAccelerationSetpoint.md) -- [VehicleAngularVelocity](VehicleAngularVelocity.md) - -- [VehicleAttitude](VehicleAttitude.md) — This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use - The quaternion uses the Hamilton convention, and the order is q(w, x, y, z) - -- [VehicleAttitudeSetpoint](VehicleAttitudeSetpoint.md) - -- [VehicleCommand](VehicleCommand.md) — Vehicle Command uORB message. Використовується для управління місією / дією / тощо. - Дотримується визначення MAVLink COMMAND_INT / COMMAND_LONG - -- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Ackonwledgement uORB message. - Використовується для підтвердження отримання команди для транспортного засобу. - Дотримується визначення MAVLink COMMAND_ACK повідомлення - - [VehicleConstraints](VehicleConstraints.md) — Local setpoint constraints in NED frame setting something to NaN means that no limit is provided -- [VehicleControlMode](VehicleControlMode.md) - -- [VehicleGlobalPosition](VehicleGlobalPosition.md) — Fused global position in WGS84. - Ця структура містить глобальну оцінку позиції. Це не сирі GPS - вимірювання (@see vehicle_gps_position). Ця тема зазвичай публікується позиціонером, який враховує більше джерел інформації, ніж просто GPS, наприклад, керування введеннями транспортного засобу в реалізації фільтра Калмана. - - [VehicleImu](VehicleImu.md) — IMU readings in SI-unit form. - [VehicleImuStatus](VehicleImuStatus.md) -- [VehicleLandDetected](VehicleLandDetected.md) - -- [VehicleLocalPosition](VehicleLocalPosition.md) — Fused local position in NED. - Початкова точка координатної системи - це позиція транспортного засобу в момент запуску модуля EKF2. - - [VehicleLocalPositionSetpoint](VehicleLocalPositionSetpoint.md) — Local position setpoint in NED frame Telemetry of PID position controller to monitor tracking. NaN означає, що стан не був контрольований - [VehicleMagnetometer](VehicleMagnetometer.md) -- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data. Відповідає ROS REP 147 для повітряних суден - - [VehicleOpticalFlow](VehicleOpticalFlow.md) — Optical flow in XYZ body frame in SI units. - [VehicleOpticalFlowVel](VehicleOpticalFlowVel.md) -- [VehicleRatesSetpoint](VehicleRatesSetpoint.md) - - [VehicleRoi](VehicleRoi.md) — Vehicle Region Of Interest (ROI) -- [VehicleStatus](VehicleStatus.md) — Encodes the system state of the vehicle published by commander - - [VehicleThrustSetpoint](VehicleThrustSetpoint.md) - [VehicleTorqueSetpoint](VehicleTorqueSetpoint.md) @@ -493,8 +477,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [VelocityLimits](VelocityLimits.md) — Velocity and yaw rate limits for a multicopter position slow mode only -- [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE - - [WheelEncoders](WheelEncoders.md) - [Wind](Wind.md) diff --git a/uk/sensor/cm8jl65_ir_distance_sensor.md b/uk/sensor/cm8jl65_ir_distance_sensor.md index c4e9eaef1603..7b7b236b9b42 100644 --- a/uk/sensor/cm8jl65_ir_distance_sensor.md +++ b/uk/sensor/cm8jl65_ir_distance_sensor.md @@ -3,7 +3,7 @@ :::warning -This product has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available. +This product has been discontinued and is no longer commercially available. ::: The [Lanbao PSK-CM8JL65-CC5](https://www.seeedstudio.com/PSK-CM8JL65-CC5-Infrared-Distance-Measuring-Sensor-p-4028.html) is a very small IR distance sensor with a 0.17m-8m range and millimeter resolution. diff --git a/zh/flight_controller/pixhawk6c_mini.md b/zh/flight_controller/pixhawk6c_mini.md index f3da9116fd06..098e147d45f4 100644 --- a/zh/flight_controller/pixhawk6c_mini.md +++ b/zh/flight_controller/pixhawk6c_mini.md @@ -68,7 +68,7 @@ The Pixhawk® 6C Mini is perfect for developers at corporate research labs, star ### **Interfaces** -- 16- PWM servo outputs (8 from IO, 6 from FMU) +- 14- PWM servo outputs (8 from IO, 6 from FMU) - 3个通用串行口 - `TELEM1` - Full flow control, separate 1A current limit diff --git a/zh/modules/modules_system.md b/zh/modules/modules_system.md index fbd189de8644..5174e21f2b84 100644 --- a/zh/modules/modules_system.md +++ b/zh/modules/modules_system.md @@ -713,6 +713,28 @@ send_event [arguments...] status print status info ``` +## sensor_agp_sim + +Source: [modules/simulation/sensor_agp_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_agp_sim) + +### 描述 + +Module to simulate auxiliary global position measurements with optional failure modes for SIH simulation. + + + +### 用法 + +``` +sensor_agp_sim [arguments...] + Commands: + start + + stop + + status print status info +``` + ## sensor_arispeed_sim Source: [modules/simulation/sensor_airspeed_sim](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/sensor_airspeed_sim) diff --git a/zh/msg_docs/ActuatorMotors.md b/zh/msg_docs/ActuatorMotors.md index 49410a547970..e60e6f0599d8 100644 --- a/zh/msg_docs/ActuatorMotors.md +++ b/zh/msg_docs/ActuatorMotors.md @@ -2,10 +2,13 @@ Motor control message -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorMotors.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorMotors.msg) ```c # Motor control message + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp the data this control response is based on was sampled diff --git a/zh/msg_docs/ActuatorServos.md b/zh/msg_docs/ActuatorServos.md index 24ebabb58694..0c928dc2be1e 100644 --- a/zh/msg_docs/ActuatorServos.md +++ b/zh/msg_docs/ActuatorServos.md @@ -2,10 +2,13 @@ Servo control message -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ActuatorServos.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ActuatorServos.msg) ```c # Servo control message + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp the data this control response is based on was sampled diff --git a/zh/msg_docs/ArmingCheckReply.md b/zh/msg_docs/ArmingCheckReply.md index 19426d1e3a81..57a75fb14579 100644 --- a/zh/msg_docs/ArmingCheckReply.md +++ b/zh/msg_docs/ArmingCheckReply.md @@ -1,8 +1,10 @@ # ArmingCheckReply (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ArmingCheckReply.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckReply.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint8 request_id diff --git a/zh/msg_docs/ArmingCheckRequest.md b/zh/msg_docs/ArmingCheckRequest.md index c49b7dbd7c17..34c0e9dcad26 100644 --- a/zh/msg_docs/ArmingCheckRequest.md +++ b/zh/msg_docs/ArmingCheckRequest.md @@ -1,8 +1,10 @@ # ArmingCheckRequest (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ArmingCheckRequest.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ArmingCheckRequest.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # broadcast message to request all registered arming checks to be reported diff --git a/zh/msg_docs/BatteryStatus.md b/zh/msg_docs/BatteryStatus.md index 9da496d3e5f5..ab49c0d819c4 100644 --- a/zh/msg_docs/BatteryStatus.md +++ b/zh/msg_docs/BatteryStatus.md @@ -1,8 +1,10 @@ # BatteryStatus (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/BatteryStatus.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/BatteryStatus.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) bool connected # Whether or not a battery is connected, based on a voltage threshold float32 voltage_v # Battery voltage in volts, 0 if unknown diff --git a/zh/msg_docs/ConfigOverrides.md b/zh/msg_docs/ConfigOverrides.md index 71ae010408a4..37f88d49230f 100644 --- a/zh/msg_docs/ConfigOverrides.md +++ b/zh/msg_docs/ConfigOverrides.md @@ -2,10 +2,13 @@ Configurable overrides by (external) modes or mode executors -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ConfigOverrides.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ConfigOverrides.msg) ```c # Configurable overrides by (external) modes or mode executors + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) bool disable_auto_disarm # Prevent the drone from automatically disarming after landing (if configured) diff --git a/zh/msg_docs/GotoSetpoint.md b/zh/msg_docs/GotoSetpoint.md index c2a0bf9a7340..746d15eb00dd 100644 --- a/zh/msg_docs/GotoSetpoint.md +++ b/zh/msg_docs/GotoSetpoint.md @@ -7,7 +7,7 @@ Optional heading setpoints may be specified as controlled by the respective flag Unset optional setpoints are not controlled Unset optional constraints default to vehicle specifications -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GotoSetpoint.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/GotoSetpoint.msg) ```c # Position and (optional) heading setpoints with corresponding speed constraints @@ -17,6 +17,8 @@ Unset optional constraints default to vehicle specifications # Unset optional setpoints are not controlled # Unset optional constraints default to vehicle specifications +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # setpoints diff --git a/zh/msg_docs/HomePosition.md b/zh/msg_docs/HomePosition.md index 7941b6002484..134828c9d7ae 100644 --- a/zh/msg_docs/HomePosition.md +++ b/zh/msg_docs/HomePosition.md @@ -2,11 +2,13 @@ GPS home position in WGS84 coordinates. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/HomePosition.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/HomePosition.msg) ```c # GPS home position in WGS84 coordinates. +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) float64 lat # Latitude in degrees diff --git a/zh/msg_docs/ManualControlSetpoint.md b/zh/msg_docs/ManualControlSetpoint.md index 811da60cb03c..b96cb643220d 100644 --- a/zh/msg_docs/ManualControlSetpoint.md +++ b/zh/msg_docs/ManualControlSetpoint.md @@ -1,8 +1,10 @@ # ManualControlSetpoint (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ManualControlSetpoint.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ManualControlSetpoint.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) diff --git a/zh/msg_docs/ModeCompleted.md b/zh/msg_docs/ModeCompleted.md index a943fff49fab..76c0c297e64f 100644 --- a/zh/msg_docs/ModeCompleted.md +++ b/zh/msg_docs/ModeCompleted.md @@ -5,13 +5,16 @@ The possible values of nav_state are defined in the VehicleStatus msg. Note that this is not always published (e.g. when a user switches modes or on failsafe activation) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ModeCompleted.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ModeCompleted.msg) ```c # Mode completion result, published by an active mode. # The possible values of nav_state are defined in the VehicleStatus msg. # Note that this is not always published (e.g. when a user switches modes or on # failsafe activation) + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) diff --git a/zh/msg_docs/RegisterExtComponentReply.md b/zh/msg_docs/RegisterExtComponentReply.md index 2b82b238f669..860fa6ecb52a 100644 --- a/zh/msg_docs/RegisterExtComponentReply.md +++ b/zh/msg_docs/RegisterExtComponentReply.md @@ -1,8 +1,10 @@ # RegisterExtComponentReply (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RegisterExtComponentReply.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/RegisterExtComponentReply.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 request_id # ID from the request diff --git a/zh/msg_docs/RegisterExtComponentRequest.md b/zh/msg_docs/RegisterExtComponentRequest.md index 676179039ca9..545737c64ab3 100644 --- a/zh/msg_docs/RegisterExtComponentRequest.md +++ b/zh/msg_docs/RegisterExtComponentRequest.md @@ -2,10 +2,13 @@ Request to register an external component -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RegisterExtComponentRequest.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/RegisterExtComponentRequest.msg) ```c # Request to register an external component + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 request_id # ID, set this to a random value diff --git a/zh/msg_docs/TrajectorySetpoint.md b/zh/msg_docs/TrajectorySetpoint.md index fb07211f8d2e..06e44bcf11ca 100644 --- a/zh/msg_docs/TrajectorySetpoint.md +++ b/zh/msg_docs/TrajectorySetpoint.md @@ -5,7 +5,7 @@ Input to PID position controller. Needs to be kinematically consistent and feasible for smooth flight. setting a value to NaN means the state should not be controlled -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TrajectorySetpoint.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/TrajectorySetpoint.msg) ```c # Trajectory setpoint in NED frame @@ -13,6 +13,8 @@ setting a value to NaN means the state should not be controlled # Needs to be kinematically consistent and feasible for smooth flight. # setting a value to NaN means the state should not be controlled +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # NED local world frame diff --git a/zh/msg_docs/UnregisterExtComponent.md b/zh/msg_docs/UnregisterExtComponent.md index 0409761fb824..b09ea24d4366 100644 --- a/zh/msg_docs/UnregisterExtComponent.md +++ b/zh/msg_docs/UnregisterExtComponent.md @@ -1,8 +1,10 @@ # UnregisterExtComponent (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/UnregisterExtComponent.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/UnregisterExtComponent.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) char[25] name # either the mode name, or component name diff --git a/zh/msg_docs/VehicleAngularVelocity.md b/zh/msg_docs/VehicleAngularVelocity.md index 42f93c431a7e..fb05ad0f51ab 100644 --- a/zh/msg_docs/VehicleAngularVelocity.md +++ b/zh/msg_docs/VehicleAngularVelocity.md @@ -1,8 +1,9 @@ # VehicleAngularVelocity (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAngularVelocity.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAngularVelocity.msg) ```c +uint32 MESSAGE_VERSION = 0 uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # timestamp of the data sample on which this message is based (microseconds) diff --git a/zh/msg_docs/VehicleAttitude.md b/zh/msg_docs/VehicleAttitude.md index 2fcdfe375c64..856fe6d5a684 100644 --- a/zh/msg_docs/VehicleAttitude.md +++ b/zh/msg_docs/VehicleAttitude.md @@ -3,12 +3,14 @@ This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use The quaternion uses the Hamilton convention, and the order is q(w, x, y, z) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAttitude.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitude.msg) ```c # This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use # The quaternion uses the Hamilton convention, and the order is q(w, x, y, z) +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) diff --git a/zh/msg_docs/VehicleAttitudeSetpoint.md b/zh/msg_docs/VehicleAttitudeSetpoint.md index 02a13b49743c..e8dc7ebaf9c2 100644 --- a/zh/msg_docs/VehicleAttitudeSetpoint.md +++ b/zh/msg_docs/VehicleAttitudeSetpoint.md @@ -1,8 +1,10 @@ # VehicleAttitudeSetpoint (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleAttitudeSetpoint.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleAttitudeSetpoint.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) float32 yaw_sp_move_rate # rad/s (commanded by user) diff --git a/zh/msg_docs/VehicleCommand.md b/zh/msg_docs/VehicleCommand.md index 24bddccb46e6..c2cc25f2410e 100644 --- a/zh/msg_docs/VehicleCommand.md +++ b/zh/msg_docs/VehicleCommand.md @@ -3,12 +3,14 @@ Vehicle Command uORB message. Used for commanding a mission / action / etc. Follows the MAVLink COMMAND_INT / COMMAND_LONG definition -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleCommand.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleCommand.msg) ```c # Vehicle Command uORB message. Used for commanding a mission / action / etc. # Follows the MAVLink COMMAND_INT / COMMAND_LONG definition +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint16 VEHICLE_CMD_CUSTOM_0 = 0 # test command diff --git a/zh/msg_docs/VehicleCommandAck.md b/zh/msg_docs/VehicleCommandAck.md index 1e4571b26899..e40b7bc87cef 100644 --- a/zh/msg_docs/VehicleCommandAck.md +++ b/zh/msg_docs/VehicleCommandAck.md @@ -4,13 +4,15 @@ Vehicle Command Ackonwledgement uORB message. Used for acknowledging the vehicle command being received. Follows the MAVLink COMMAND_ACK message definition -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleCommandAck.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleCommandAck.msg) ```c # Vehicle Command Ackonwledgement uORB message. # Used for acknowledging the vehicle command being received. # Follows the MAVLink COMMAND_ACK message definition +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # Result cases. This follows the MAVLink MAV_RESULT enum definition diff --git a/zh/msg_docs/VehicleControlMode.md b/zh/msg_docs/VehicleControlMode.md index 71e0354dbf4a..b32f09c7253e 100644 --- a/zh/msg_docs/VehicleControlMode.md +++ b/zh/msg_docs/VehicleControlMode.md @@ -1,8 +1,10 @@ # VehicleControlMode (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleControlMode.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleControlMode.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) bool flag_armed # synonym for actuator_armed.armed diff --git a/zh/msg_docs/VehicleGlobalPosition.md b/zh/msg_docs/VehicleGlobalPosition.md index 040b2a99a677..c3e414720128 100644 --- a/zh/msg_docs/VehicleGlobalPosition.md +++ b/zh/msg_docs/VehicleGlobalPosition.md @@ -6,7 +6,7 @@ measurement (@see vehicle_gps_position). This topic is usually published by the estimator, which will take more sources of information into account than just GPS, e.g. control inputs of the vehicle in a Kalman-filter implementation. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleGlobalPosition.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleGlobalPosition.msg) ```c # Fused global position in WGS84. @@ -16,6 +16,8 @@ e.g. control inputs of the vehicle in a Kalman-filter implementation. # e.g. control inputs of the vehicle in a Kalman-filter implementation. # +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) diff --git a/zh/msg_docs/VehicleLandDetected.md b/zh/msg_docs/VehicleLandDetected.md index acfcdde31855..acd95de1909b 100644 --- a/zh/msg_docs/VehicleLandDetected.md +++ b/zh/msg_docs/VehicleLandDetected.md @@ -1,8 +1,10 @@ # VehicleLandDetected (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleLandDetected.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleLandDetected.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) bool freefall # true if vehicle is currently in free-fall diff --git a/zh/msg_docs/VehicleLocalPosition.md b/zh/msg_docs/VehicleLocalPosition.md index acb09a8962d2..20eec507435b 100644 --- a/zh/msg_docs/VehicleLocalPosition.md +++ b/zh/msg_docs/VehicleLocalPosition.md @@ -3,12 +3,14 @@ Fused local position in NED. The coordinate system origin is the vehicle position at the time when the EKF2-module was started. -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleLocalPosition.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleLocalPosition.msg) ```c # Fused local position in NED. # The coordinate system origin is the vehicle position at the time when the EKF2-module was started. +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) diff --git a/zh/msg_docs/VehicleOdometry.md b/zh/msg_docs/VehicleOdometry.md index 8d014b4b63b6..d559ded6c719 100644 --- a/zh/msg_docs/VehicleOdometry.md +++ b/zh/msg_docs/VehicleOdometry.md @@ -2,10 +2,13 @@ Vehicle odometry data. Fits ROS REP 147 for aerial vehicles -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleOdometry.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleOdometry.msg) ```c # Vehicle odometry data. Fits ROS REP 147 for aerial vehicles + +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample diff --git a/zh/msg_docs/VehicleRatesSetpoint.md b/zh/msg_docs/VehicleRatesSetpoint.md index 2d55572ec43c..1281c7409160 100644 --- a/zh/msg_docs/VehicleRatesSetpoint.md +++ b/zh/msg_docs/VehicleRatesSetpoint.md @@ -1,8 +1,10 @@ # VehicleRatesSetpoint (UORB message) -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleRatesSetpoint.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleRatesSetpoint.msg) ```c +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) # body angular rates in FRD frame diff --git a/zh/msg_docs/VehicleStatus.md b/zh/msg_docs/VehicleStatus.md index 3cf25752e73f..b503f2033ea5 100644 --- a/zh/msg_docs/VehicleStatus.md +++ b/zh/msg_docs/VehicleStatus.md @@ -2,11 +2,13 @@ Encodes the system state of the vehicle published by commander -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VehicleStatus.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VehicleStatus.msg) ```c # Encodes the system state of the vehicle published by commander +uint32 MESSAGE_VERSION = 0 + uint64 timestamp # time since system start (microseconds) uint64 armed_time # Arming timestamp (microseconds) diff --git a/zh/msg_docs/VtolVehicleStatus.md b/zh/msg_docs/VtolVehicleStatus.md index 5a89ef655c08..a271005673b0 100644 --- a/zh/msg_docs/VtolVehicleStatus.md +++ b/zh/msg_docs/VtolVehicleStatus.md @@ -2,10 +2,13 @@ VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE -[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/VtolVehicleStatus.msg) +[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/VtolVehicleStatus.msg) ```c # VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE + +uint32 MESSAGE_VERSION = 0 + uint8 VEHICLE_VTOL_STATE_UNDEFINED = 0 uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_FW = 1 uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_MC = 2 diff --git a/zh/msg_docs/index.md b/zh/msg_docs/index.md index 0301cde95720..1fe79f401908 100644 --- a/zh/msg_docs/index.md +++ b/zh/msg_docs/index.md @@ -5,20 +5,72 @@ This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Too ::: This topic lists the UORB messages available in PX4 (some of which may be may be shared by the [PX4-ROS 2 Bridge](../ros/ros2_comm.md)). + +[Versioned messages](../middleware/uorb.md#message-versioning) track changes to their definitions, with each modification resulting in a version increment. +These messages are most likely shared through the PX4-ROS 2 Bridge. + Graphs showing how these are used [can be found here](../middleware/uorb_graph.md). +## Versioned Messages + +- [ActuatorMotors](ActuatorMotors.md) — Motor control message +- [ActuatorServos](ActuatorServos.md) — Servo control message +- [ArmingCheckReply](ArmingCheckReply.md) +- [ArmingCheckRequest](ArmingCheckRequest.md) +- [BatteryStatus](BatteryStatus.md) +- [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors +- [GotoSetpoint](GotoSetpoint.md) — Position and (optional) heading setpoints with corresponding speed constraints + Setpoints are intended as inputs to position and heading smoothers, respectively + Setpoints do not need to be kinematically consistent + Optional heading setpoints may be specified as controlled by the respective flag + Unset optional setpoints are not controlled + Unset optional constraints default to vehicle specifications +- [HomePosition](HomePosition.md) — GPS home position in WGS84 coordinates. +- [ManualControlSetpoint](ManualControlSetpoint.md) +- [ModeCompleted](ModeCompleted.md) — Mode completion result, published by an active mode. + The possible values of nav_state are defined in the VehicleStatus msg. + Note that this is not always published (e.g. when a user switches modes or on + failsafe activation) +- [RegisterExtComponentReply](RegisterExtComponentReply.md) +- [RegisterExtComponentRequest](RegisterExtComponentRequest.md) — Request to register an external component +- [TrajectorySetpoint](TrajectorySetpoint.md) — Trajectory setpoint in NED frame + Input to PID position controller. + Needs to be kinematically consistent and feasible for smooth flight. + setting a value to NaN means the state should not be controlled +- [UnregisterExtComponent](UnregisterExtComponent.md) +- [VehicleAngularVelocity](VehicleAngularVelocity.md) +- [VehicleAttitude](VehicleAttitude.md) — This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use + The quaternion uses the Hamilton convention, and the order is q(w, x, y, z) +- [VehicleAttitudeSetpoint](VehicleAttitudeSetpoint.md) +- [VehicleCommand](VehicleCommand.md) — Vehicle Command uORB message. Used for commanding a mission / action / etc. + Follows the MAVLink COMMAND_INT / COMMAND_LONG definition +- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Ackonwledgement uORB message. + Used for acknowledging the vehicle command being received. + Follows the MAVLink COMMAND_ACK message definition +- [VehicleControlMode](VehicleControlMode.md) +- [VehicleGlobalPosition](VehicleGlobalPosition.md) — Fused global position in WGS84. + This struct contains global position estimation. It is not the raw GPS + measurement (@see vehicle_gps_position). This topic is usually published by the position + estimator, which will take more sources of information into account than just GPS, + e.g. control inputs of the vehicle in a Kalman-filter implementation. +- [VehicleLandDetected](VehicleLandDetected.md) +- [VehicleLocalPosition](VehicleLocalPosition.md) — Fused local position in NED. + The coordinate system origin is the vehicle position at the time when the EKF2-module was started. +- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data. Fits ROS REP 147 for aerial vehicles +- [VehicleRatesSetpoint](VehicleRatesSetpoint.md) +- [VehicleStatus](VehicleStatus.md) — Encodes the system state of the vehicle published by commander +- [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE + +## Unversioned Messages + - [ActionRequest](ActionRequest.md) - [ActuatorArmed](ActuatorArmed.md) - [ActuatorControlsStatus](ActuatorControlsStatus.md) -- [ActuatorMotors](ActuatorMotors.md) — Motor control message - - [ActuatorOutputs](ActuatorOutputs.md) -- [ActuatorServos](ActuatorServos.md) — Servo control message - - [ActuatorServosTrim](ActuatorServosTrim.md) — Servo trims, added as offset to servo outputs - [ActuatorTest](ActuatorTest.md) @@ -31,14 +83,8 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [AirspeedWind](AirspeedWind.md) -- [ArmingCheckReply](ArmingCheckReply.md) - -- [ArmingCheckRequest](ArmingCheckRequest.md) - - [AutotuneAttitudeControlStatus](AutotuneAttitudeControlStatus.md) -- [BatteryStatus](BatteryStatus.md) - - [Buffer128](Buffer128.md) - [ButtonEvent](ButtonEvent.md) @@ -56,8 +102,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [CollisionConstraints](CollisionConstraints.md) — Local setpoint constraints in NED frame setting something to NaN means that no limit is provided -- [ConfigOverrides](ConfigOverrides.md) — Configurable overrides by (external) modes or mode executors - - [ControlAllocatorStatus](ControlAllocatorStatus.md) - [Cpuload](Cpuload.md) @@ -154,13 +198,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [GimbalManagerStatus](GimbalManagerStatus.md) -- [GotoSetpoint](GotoSetpoint.md) — Position and (optional) heading setpoints with corresponding speed constraints - Setpoints are intended as inputs to position and heading smoothers, respectively - Setpoints do not need to be kinematically consistent - Optional heading setpoints may be specified as controlled by the respective flag - Unset optional setpoints are not controlled - Unset optional constraints default to vehicle specifications - - [GpioConfig](GpioConfig.md) — GPIO configuration - [GpioIn](GpioIn.md) — GPIO mask and state @@ -179,8 +216,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [HeaterStatus](HeaterStatus.md) -- [HomePosition](HomePosition.md) — GPS home position in WGS84 coordinates. - - [HoverThrustEstimate](HoverThrustEstimate.md) - [InputRc](InputRc.md) @@ -212,8 +247,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [MagnetometerBiasEstimate](MagnetometerBiasEstimate.md) -- [ManualControlSetpoint](ManualControlSetpoint.md) - - [ManualControlSwitches](ManualControlSwitches.md) - [MavlinkLog](MavlinkLog.md) @@ -228,11 +261,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [MissionResult](MissionResult.md) -- [ModeCompleted](ModeCompleted.md) — Mode completion result, published by an active mode. - The possible values of nav_state are defined in the VehicleStatus msg. - Note that this is not always published (e.g. when a user switches modes or on - failsafe activation) - - [MountOrientation](MountOrientation.md) - [NavigatorMissionItem](NavigatorMissionItem.md) @@ -309,10 +337,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [RcParameterMap](RcParameterMap.md) -- [RegisterExtComponentReply](RegisterExtComponentReply.md) - -- [RegisterExtComponentRequest](RegisterExtComponentRequest.md) — Request to register an external component - - [RoverAckermannGuidanceStatus](RoverAckermannGuidanceStatus.md) - [RoverAckermannSetpoint](RoverAckermannSetpoint.md) @@ -400,11 +424,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [TrajectoryBezier](TrajectoryBezier.md) — Bezier Trajectory description. See also Mavlink TRAJECTORY msg The topic trajectory_bezier describe each waypoint defined in vehicle_trajectory_bezier -- [TrajectorySetpoint](TrajectorySetpoint.md) — Trajectory setpoint in NED frame - Input to PID position controller. - Needs to be kinematically consistent and feasible for smooth flight. - setting a value to NaN means the state should not be controlled - - [TrajectoryWaypoint](TrajectoryWaypoint.md) — Waypoint Trajectory description. See also Mavlink TRAJECTORY msg The topic trajectory_waypoint describe each waypoint defined in vehicle_trajectory_waypoint @@ -423,66 +442,31 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [UlogStreamAck](UlogStreamAck.md) — Ack a previously sent ulog_stream message that had the NEED_ACK flag set -- [UnregisterExtComponent](UnregisterExtComponent.md) - - [VehicleAcceleration](VehicleAcceleration.md) - [VehicleAirData](VehicleAirData.md) - [VehicleAngularAccelerationSetpoint](VehicleAngularAccelerationSetpoint.md) -- [VehicleAngularVelocity](VehicleAngularVelocity.md) - -- [VehicleAttitude](VehicleAttitude.md) — This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use - The quaternion uses the Hamilton convention, and the order is q(w, x, y, z) - -- [VehicleAttitudeSetpoint](VehicleAttitudeSetpoint.md) - -- [VehicleCommand](VehicleCommand.md) — Vehicle Command uORB message. Used for commanding a mission / action / etc. - Follows the MAVLink COMMAND_INT / COMMAND_LONG definition - -- [VehicleCommandAck](VehicleCommandAck.md) — Vehicle Command Ackonwledgement uORB message. - Used for acknowledging the vehicle command being received. - Follows the MAVLink COMMAND_ACK message definition - - [VehicleConstraints](VehicleConstraints.md) — Local setpoint constraints in NED frame setting something to NaN means that no limit is provided -- [VehicleControlMode](VehicleControlMode.md) - -- [VehicleGlobalPosition](VehicleGlobalPosition.md) — Fused global position in WGS84. - This struct contains global position estimation. It is not the raw GPS - measurement (@see vehicle_gps_position). This topic is usually published by the position - estimator, which will take more sources of information into account than just GPS, - e.g. control inputs of the vehicle in a Kalman-filter implementation. - - [VehicleImu](VehicleImu.md) — IMU readings in SI-unit form. - [VehicleImuStatus](VehicleImuStatus.md) -- [VehicleLandDetected](VehicleLandDetected.md) - -- [VehicleLocalPosition](VehicleLocalPosition.md) — Fused local position in NED. - The coordinate system origin is the vehicle position at the time when the EKF2-module was started. - - [VehicleLocalPositionSetpoint](VehicleLocalPositionSetpoint.md) — Local position setpoint in NED frame Telemetry of PID position controller to monitor tracking. NaN means the state was not controlled - [VehicleMagnetometer](VehicleMagnetometer.md) -- [VehicleOdometry](VehicleOdometry.md) — Vehicle odometry data. Fits ROS REP 147 for aerial vehicles - - [VehicleOpticalFlow](VehicleOpticalFlow.md) — Optical flow in XYZ body frame in SI units. - [VehicleOpticalFlowVel](VehicleOpticalFlowVel.md) -- [VehicleRatesSetpoint](VehicleRatesSetpoint.md) - - [VehicleRoi](VehicleRoi.md) — Vehicle Region Of Interest (ROI) -- [VehicleStatus](VehicleStatus.md) — Encodes the system state of the vehicle published by commander - - [VehicleThrustSetpoint](VehicleThrustSetpoint.md) - [VehicleTorqueSetpoint](VehicleTorqueSetpoint.md) @@ -497,8 +481,6 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m - [VelocityLimits](VelocityLimits.md) — Velocity and yaw rate limits for a multicopter position slow mode only -- [VtolVehicleStatus](VtolVehicleStatus.md) — VEHICLE_VTOL_STATE, should match 1:1 MAVLinks's MAV_VTOL_STATE - - [WheelEncoders](WheelEncoders.md) - [Wind](Wind.md) diff --git a/zh/sensor/cm8jl65_ir_distance_sensor.md b/zh/sensor/cm8jl65_ir_distance_sensor.md index e80caf71b150..089c15858e34 100644 --- a/zh/sensor/cm8jl65_ir_distance_sensor.md +++ b/zh/sensor/cm8jl65_ir_distance_sensor.md @@ -3,7 +3,7 @@ :::warning -This product has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available. +This product has been discontinued and is no longer commercially available. ::: The [Lanbao PSK-CM8JL65-CC5](https://www.seeedstudio.com/PSK-CM8JL65-CC5-Infrared-Distance-Measuring-Sensor-p-4028.html) is a very small IR distance sensor with a 0.17m-8m range and millimeter resolution.