remove package not working
This commit is contained in:
Sem van der Hoeven
@@ -1,18 +1,8 @@
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/ActionRequest.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/ActuatorArmed.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/ActuatorControls.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/ActuatorControls0.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/ActuatorControls1.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/ActuatorControls2.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/ActuatorControls3.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/ActuatorControlsStatus.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/ActuatorControlsStatus0.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/ActuatorControlsStatus1.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/ActuatorControlsVirtualFw.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/ActuatorControlsVirtualMc.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/ActuatorMotors.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/ActuatorOutputs.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/ActuatorOutputsSim.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/ActuatorServos.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/ActuatorServosTrim.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/ActuatorTest.idl
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@@ -29,7 +19,6 @@
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/CellularStatus.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/CollisionConstraints.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/CollisionReport.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/CommanderState.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/ControlAllocatorStatus.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/Cpuload.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/DebugArray.idl
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@@ -41,30 +30,28 @@
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/Ekf2Timestamps.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/EscReport.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/EscStatus.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/EstimatorAttitude.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/EstimatorBaroBias.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/EstimatorAidSource1d.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/EstimatorAidSource2d.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/EstimatorAidSource3d.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/EstimatorBias.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/EstimatorBias3d.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/EstimatorEventFlags.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/EstimatorGlobalPosition.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/EstimatorGpsStatus.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/EstimatorInnovationTestRatios.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/EstimatorInnovationVariances.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/EstimatorInnovations.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/EstimatorLocalPosition.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/EstimatorOdometry.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/EstimatorOpticalFlowVel.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/EstimatorSelectorStatus.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/EstimatorSensorBias.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/EstimatorStates.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/EstimatorStatus.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/EstimatorStatusFlags.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/EstimatorVisualOdometryAligned.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/EstimatorWind.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/Event.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/FailsafeFlags.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/FailureDetectorStatus.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/FollowTarget.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/FwVirtualAttitudeSetpoint.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/FollowTargetEstimator.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/FollowTargetStatus.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/GeneratorStatus.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/GeofenceResult.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/GimbalControls.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/GimbalDeviceAttitudeStatus.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/GimbalDeviceInformation.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/GimbalDeviceSetAttitude.idl
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@@ -72,9 +59,10 @@
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/GimbalManagerSetAttitude.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/GimbalManagerSetManualControl.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/GimbalManagerStatus.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/GimbalV1Command.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/GpsDump.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/GpsInjectData.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/Gripper.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/HealthReport.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/HeaterStatus.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/HomePosition.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/HoverThrustEstimate.idl
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@@ -83,37 +71,32 @@
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/IridiumsbdStatus.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/IrlockReport.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/LandingGear.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/LandingGearWheel.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/LandingTargetInnovations.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/LandingTargetPose.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/LaunchDetectionStatus.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/LedControl.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/LogMessage.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/LoggerStatus.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/MagWorkerData.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/MagnetometerBiasEstimate.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/ManualControlInput.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/ManualControlSetpoint.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/ManualControlSwitches.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/MavlinkLog.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/MavlinkTunnel.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/McVirtualAttitudeSetpoint.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/Mission.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/MissionResult.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/ModeCompleted.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/MountOrientation.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/NavigatorMissionItem.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/NormalizedUnsignedSetpoint.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/NpfgStatus.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/ObstacleDistance.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/ObstacleDistanceFused.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/OffboardControlMode.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/OnboardComputerStatus.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/OpticalFlow.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/OrbMultitest.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/OrbTest.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/OrbTestLarge.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/OrbTestMedium.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/OrbTestMediumMulti.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/OrbTestMediumQueue.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/OrbTestMediumQueuePoll.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/OrbTestMediumWrapAround.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/OrbitStatus.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/ParameterUpdate.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/Ping.idl
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@@ -125,15 +108,15 @@
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/PowerMonitor.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/PpsCapture.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/PwmInput.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/Px4IoStatus.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/Px4ioStatus.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/QshellReq.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/QshellRetval.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/RadioStatus.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/RateCtrlStatus.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/RcChannels.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/RcParameterMap.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/Rpm.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/RtlTimeEstimate.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/Safety.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/SafetyButton.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/SatelliteInfo.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/SensorAccel.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/SensorAccelFifo.idl
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@@ -147,19 +130,17 @@
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/SensorGyroFifo.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/SensorHygrometer.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/SensorMag.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/SensorOpticalFlow.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/SensorPreflightMag.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/SensorSelection.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/SensorsStatus.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/SensorsStatusBaro.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/SensorsStatusImu.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/SensorsStatusMag.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/SystemPower.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/TakeoffStatus.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/TaskStackInfo.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/TecsStatus.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/TelemetryStatus.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/TestMotor.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/Timesync.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/TiltrotorExtraControls.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/TimesyncStatus.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/TrajectoryBezier.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/TrajectorySetpoint.idl
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@@ -174,41 +155,31 @@
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/UwbGrid.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleAcceleration.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleAirData.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleAngularAcceleration.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleAngularAccelerationSetpoint.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleAngularVelocity.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleAngularVelocityGroundtruth.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleAttitude.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleAttitudeGroundtruth.idl
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/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleAttitudeSetpoint.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleCommand.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleCommandAck.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleConstraints.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleControlMode.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleGlobalPosition.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleGlobalPositionGroundtruth.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleGpsPosition.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleImu.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleImuStatus.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleLandDetected.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleLocalPosition.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleLocalPositionGroundtruth.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleLocalPositionSetpoint.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleMagnetometer.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleMocapOdometry.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleOdometry.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleOpticalFlow.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleOpticalFlowVel.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleRatesSetpoint.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleRoi.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleStatus.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleStatusFlags.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleThrustSetpoint.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleTorqueSetpoint.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleTrajectoryBezier.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleTrajectoryWaypoint.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleTrajectoryWaypointDesired.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleVisionAttitude.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VehicleVisualOdometry.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/VtolVehicleStatus.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/WheelEncoders.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/Wind.idl
|
||||
/home/ubuntu/ros2_ws/build/px4_msgs/rosidl_adapter/px4_msgs:msg/YawEstimatorStatus.idl
|
||||
|
||||
@@ -33,7 +33,7 @@ module px4_msgs {
|
||||
uint8 source;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" for ACTION_SWITCH_MODE what mode is requested according to commander_state.MAIN_STATE_")
|
||||
" for ACTION_SWITCH_MODE what mode is requested according to vehicle_status_s::NAVIGATION_STATE_*")
|
||||
uint8 mode;
|
||||
};
|
||||
};
|
||||
|
||||
@@ -37,10 +37,6 @@ module px4_msgs {
|
||||
@verbatim (language="comment", text=
|
||||
" IO/FMU should ignore messages from the actuator controls topics")
|
||||
boolean in_esc_calibration_mode;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Set to true if we need to ESCs to remove the idle constraint")
|
||||
boolean soft_stop;
|
||||
};
|
||||
};
|
||||
};
|
||||
|
||||
@@ -1,40 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/ActuatorControls.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__8[8];
|
||||
module ActuatorControls_Constants {
|
||||
const uint8 NUM_ACTUATOR_CONTROLS = 8;
|
||||
const uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4;
|
||||
const uint8 INDEX_ROLL = 0;
|
||||
const uint8 INDEX_PITCH = 1;
|
||||
const uint8 INDEX_YAW = 2;
|
||||
const uint8 INDEX_THROTTLE = 3;
|
||||
const uint8 INDEX_FLAPS = 4;
|
||||
const uint8 INDEX_SPOILERS = 5;
|
||||
const uint8 INDEX_AIRBRAKES = 6;
|
||||
const uint8 INDEX_LANDING_GEAR = 7;
|
||||
const uint8 INDEX_GIMBAL_SHUTTER = 3;
|
||||
const uint8 INDEX_CAMERA_ZOOM = 4;
|
||||
const uint8 GROUP_INDEX_ATTITUDE = 0;
|
||||
const uint8 GROUP_INDEX_ATTITUDE_ALTERNATE = 1;
|
||||
const uint8 GROUP_INDEX_GIMBAL = 2;
|
||||
const uint8 GROUP_INDEX_MANUAL_PASSTHROUGH = 3;
|
||||
const uint8 GROUP_INDEX_PAYLOAD = 6;
|
||||
};
|
||||
struct ActuatorControls {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" the timestamp the data this control response is based on was sampled")
|
||||
uint64 timestamp_sample;
|
||||
|
||||
float__8 control;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -1,40 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/ActuatorControls0.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__8[8];
|
||||
module ActuatorControls0_Constants {
|
||||
const uint8 NUM_ACTUATOR_CONTROLS = 8;
|
||||
const uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4;
|
||||
const uint8 INDEX_ROLL = 0;
|
||||
const uint8 INDEX_PITCH = 1;
|
||||
const uint8 INDEX_YAW = 2;
|
||||
const uint8 INDEX_THROTTLE = 3;
|
||||
const uint8 INDEX_FLAPS = 4;
|
||||
const uint8 INDEX_SPOILERS = 5;
|
||||
const uint8 INDEX_AIRBRAKES = 6;
|
||||
const uint8 INDEX_LANDING_GEAR = 7;
|
||||
const uint8 INDEX_GIMBAL_SHUTTER = 3;
|
||||
const uint8 INDEX_CAMERA_ZOOM = 4;
|
||||
const uint8 GROUP_INDEX_ATTITUDE = 0;
|
||||
const uint8 GROUP_INDEX_ATTITUDE_ALTERNATE = 1;
|
||||
const uint8 GROUP_INDEX_GIMBAL = 2;
|
||||
const uint8 GROUP_INDEX_MANUAL_PASSTHROUGH = 3;
|
||||
const uint8 GROUP_INDEX_PAYLOAD = 6;
|
||||
};
|
||||
struct ActuatorControls0 {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" the timestamp the data this control response is based on was sampled")
|
||||
uint64 timestamp_sample;
|
||||
|
||||
float__8 control;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -1,40 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/ActuatorControls1.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__8[8];
|
||||
module ActuatorControls1_Constants {
|
||||
const uint8 NUM_ACTUATOR_CONTROLS = 8;
|
||||
const uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4;
|
||||
const uint8 INDEX_ROLL = 0;
|
||||
const uint8 INDEX_PITCH = 1;
|
||||
const uint8 INDEX_YAW = 2;
|
||||
const uint8 INDEX_THROTTLE = 3;
|
||||
const uint8 INDEX_FLAPS = 4;
|
||||
const uint8 INDEX_SPOILERS = 5;
|
||||
const uint8 INDEX_AIRBRAKES = 6;
|
||||
const uint8 INDEX_LANDING_GEAR = 7;
|
||||
const uint8 INDEX_GIMBAL_SHUTTER = 3;
|
||||
const uint8 INDEX_CAMERA_ZOOM = 4;
|
||||
const uint8 GROUP_INDEX_ATTITUDE = 0;
|
||||
const uint8 GROUP_INDEX_ATTITUDE_ALTERNATE = 1;
|
||||
const uint8 GROUP_INDEX_GIMBAL = 2;
|
||||
const uint8 GROUP_INDEX_MANUAL_PASSTHROUGH = 3;
|
||||
const uint8 GROUP_INDEX_PAYLOAD = 6;
|
||||
};
|
||||
struct ActuatorControls1 {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" the timestamp the data this control response is based on was sampled")
|
||||
uint64 timestamp_sample;
|
||||
|
||||
float__8 control;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -1,40 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/ActuatorControls2.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__8[8];
|
||||
module ActuatorControls2_Constants {
|
||||
const uint8 NUM_ACTUATOR_CONTROLS = 8;
|
||||
const uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4;
|
||||
const uint8 INDEX_ROLL = 0;
|
||||
const uint8 INDEX_PITCH = 1;
|
||||
const uint8 INDEX_YAW = 2;
|
||||
const uint8 INDEX_THROTTLE = 3;
|
||||
const uint8 INDEX_FLAPS = 4;
|
||||
const uint8 INDEX_SPOILERS = 5;
|
||||
const uint8 INDEX_AIRBRAKES = 6;
|
||||
const uint8 INDEX_LANDING_GEAR = 7;
|
||||
const uint8 INDEX_GIMBAL_SHUTTER = 3;
|
||||
const uint8 INDEX_CAMERA_ZOOM = 4;
|
||||
const uint8 GROUP_INDEX_ATTITUDE = 0;
|
||||
const uint8 GROUP_INDEX_ATTITUDE_ALTERNATE = 1;
|
||||
const uint8 GROUP_INDEX_GIMBAL = 2;
|
||||
const uint8 GROUP_INDEX_MANUAL_PASSTHROUGH = 3;
|
||||
const uint8 GROUP_INDEX_PAYLOAD = 6;
|
||||
};
|
||||
struct ActuatorControls2 {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" the timestamp the data this control response is based on was sampled")
|
||||
uint64 timestamp_sample;
|
||||
|
||||
float__8 control;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -1,40 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/ActuatorControls3.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__8[8];
|
||||
module ActuatorControls3_Constants {
|
||||
const uint8 NUM_ACTUATOR_CONTROLS = 8;
|
||||
const uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4;
|
||||
const uint8 INDEX_ROLL = 0;
|
||||
const uint8 INDEX_PITCH = 1;
|
||||
const uint8 INDEX_YAW = 2;
|
||||
const uint8 INDEX_THROTTLE = 3;
|
||||
const uint8 INDEX_FLAPS = 4;
|
||||
const uint8 INDEX_SPOILERS = 5;
|
||||
const uint8 INDEX_AIRBRAKES = 6;
|
||||
const uint8 INDEX_LANDING_GEAR = 7;
|
||||
const uint8 INDEX_GIMBAL_SHUTTER = 3;
|
||||
const uint8 INDEX_CAMERA_ZOOM = 4;
|
||||
const uint8 GROUP_INDEX_ATTITUDE = 0;
|
||||
const uint8 GROUP_INDEX_ATTITUDE_ALTERNATE = 1;
|
||||
const uint8 GROUP_INDEX_GIMBAL = 2;
|
||||
const uint8 GROUP_INDEX_MANUAL_PASSTHROUGH = 3;
|
||||
const uint8 GROUP_INDEX_PAYLOAD = 6;
|
||||
};
|
||||
struct ActuatorControls3 {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" the timestamp the data this control response is based on was sampled")
|
||||
uint64 timestamp_sample;
|
||||
|
||||
float__8 control;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -5,19 +5,13 @@
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__4[4];
|
||||
module ActuatorControlsStatus_Constants {
|
||||
const uint8 INDEX_ROLL = 0;
|
||||
const uint8 INDEX_PITCH = 1;
|
||||
const uint8 INDEX_YAW = 2;
|
||||
const uint8 INDEX_THROTTLE = 3;
|
||||
};
|
||||
typedef float float__3[3];
|
||||
struct ActuatorControlsStatus {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
float__4 control_power;
|
||||
float__3 control_power;
|
||||
};
|
||||
};
|
||||
};
|
||||
|
||||
@@ -1,23 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/ActuatorControlsStatus0.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__4[4];
|
||||
module ActuatorControlsStatus0_Constants {
|
||||
const uint8 INDEX_ROLL = 0;
|
||||
const uint8 INDEX_PITCH = 1;
|
||||
const uint8 INDEX_YAW = 2;
|
||||
const uint8 INDEX_THROTTLE = 3;
|
||||
};
|
||||
struct ActuatorControlsStatus0 {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
float__4 control_power;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -1,23 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/ActuatorControlsStatus1.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__4[4];
|
||||
module ActuatorControlsStatus1_Constants {
|
||||
const uint8 INDEX_ROLL = 0;
|
||||
const uint8 INDEX_PITCH = 1;
|
||||
const uint8 INDEX_YAW = 2;
|
||||
const uint8 INDEX_THROTTLE = 3;
|
||||
};
|
||||
struct ActuatorControlsStatus1 {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
float__4 control_power;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -1,40 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/ActuatorControlsVirtualFw.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__8[8];
|
||||
module ActuatorControlsVirtualFw_Constants {
|
||||
const uint8 NUM_ACTUATOR_CONTROLS = 8;
|
||||
const uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4;
|
||||
const uint8 INDEX_ROLL = 0;
|
||||
const uint8 INDEX_PITCH = 1;
|
||||
const uint8 INDEX_YAW = 2;
|
||||
const uint8 INDEX_THROTTLE = 3;
|
||||
const uint8 INDEX_FLAPS = 4;
|
||||
const uint8 INDEX_SPOILERS = 5;
|
||||
const uint8 INDEX_AIRBRAKES = 6;
|
||||
const uint8 INDEX_LANDING_GEAR = 7;
|
||||
const uint8 INDEX_GIMBAL_SHUTTER = 3;
|
||||
const uint8 INDEX_CAMERA_ZOOM = 4;
|
||||
const uint8 GROUP_INDEX_ATTITUDE = 0;
|
||||
const uint8 GROUP_INDEX_ATTITUDE_ALTERNATE = 1;
|
||||
const uint8 GROUP_INDEX_GIMBAL = 2;
|
||||
const uint8 GROUP_INDEX_MANUAL_PASSTHROUGH = 3;
|
||||
const uint8 GROUP_INDEX_PAYLOAD = 6;
|
||||
};
|
||||
struct ActuatorControlsVirtualFw {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" the timestamp the data this control response is based on was sampled")
|
||||
uint64 timestamp_sample;
|
||||
|
||||
float__8 control;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -1,40 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/ActuatorControlsVirtualMc.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__8[8];
|
||||
module ActuatorControlsVirtualMc_Constants {
|
||||
const uint8 NUM_ACTUATOR_CONTROLS = 8;
|
||||
const uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4;
|
||||
const uint8 INDEX_ROLL = 0;
|
||||
const uint8 INDEX_PITCH = 1;
|
||||
const uint8 INDEX_YAW = 2;
|
||||
const uint8 INDEX_THROTTLE = 3;
|
||||
const uint8 INDEX_FLAPS = 4;
|
||||
const uint8 INDEX_SPOILERS = 5;
|
||||
const uint8 INDEX_AIRBRAKES = 6;
|
||||
const uint8 INDEX_LANDING_GEAR = 7;
|
||||
const uint8 INDEX_GIMBAL_SHUTTER = 3;
|
||||
const uint8 INDEX_CAMERA_ZOOM = 4;
|
||||
const uint8 GROUP_INDEX_ATTITUDE = 0;
|
||||
const uint8 GROUP_INDEX_ATTITUDE_ALTERNATE = 1;
|
||||
const uint8 GROUP_INDEX_GIMBAL = 2;
|
||||
const uint8 GROUP_INDEX_MANUAL_PASSTHROUGH = 3;
|
||||
const uint8 GROUP_INDEX_PAYLOAD = 6;
|
||||
};
|
||||
struct ActuatorControlsVirtualMc {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" the timestamp the data this control response is based on was sampled")
|
||||
uint64 timestamp_sample;
|
||||
|
||||
float__8 control;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -5,9 +5,10 @@
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__8[8];
|
||||
typedef float float__12[12];
|
||||
module ActuatorMotors_Constants {
|
||||
const uint8 NUM_CONTROLS = 8;
|
||||
const uint8 ACTUATOR_FUNCTION_MOTOR1 = 101;
|
||||
const uint8 NUM_CONTROLS = 12;
|
||||
};
|
||||
@verbatim (language="comment", text=
|
||||
" Motor control message")
|
||||
@@ -28,7 +29,7 @@ module px4_msgs {
|
||||
" range: [-1, 1], where 1 means maximum positive thrust," "\n"
|
||||
" -1 maximum negative (if not supported by the output, <0 maps to NaN)," "\n"
|
||||
" and NaN maps to disarmed (stop the motors)")
|
||||
float__8 control;
|
||||
float__12 control;
|
||||
};
|
||||
};
|
||||
};
|
||||
|
||||
@@ -1,27 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/ActuatorOutputsSim.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__16[16];
|
||||
module ActuatorOutputsSim_Constants {
|
||||
const uint8 NUM_ACTUATOR_OUTPUTS = 16;
|
||||
const uint8 NUM_ACTUATOR_OUTPUT_GROUPS = 4;
|
||||
};
|
||||
struct ActuatorOutputsSim {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" valid outputs")
|
||||
uint32 noutputs;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" output data, in natural output units")
|
||||
float__16 output;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -9,10 +9,10 @@ module px4_msgs {
|
||||
const uint8 ACTION_RELEASE_CONTROL = 0;
|
||||
const uint8 ACTION_DO_CONTROL = 1;
|
||||
const uint8 FUNCTION_MOTOR1 = 101;
|
||||
const uint8 MAX_NUM_MOTORS = 8;
|
||||
const uint8 MAX_NUM_MOTORS = 12;
|
||||
const uint8 FUNCTION_SERVO1 = 201;
|
||||
const uint8 MAX_NUM_SERVOS = 8;
|
||||
const uint8 ORB_QUEUE_LENGTH = 8;
|
||||
const uint8 ORB_QUEUE_LENGTH = 12;
|
||||
};
|
||||
struct ActuatorTest {
|
||||
@verbatim (language="comment", text=
|
||||
|
||||
@@ -21,7 +21,7 @@ module px4_msgs {
|
||||
float true_airspeed_m_s;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" air temperature in degrees celsius, -1000 if unknown")
|
||||
" air temperature in degrees Celsius, -1000 if unknown")
|
||||
float air_temperature_celsius;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
|
||||
@@ -113,7 +113,7 @@ module px4_msgs {
|
||||
uint16 serial_number;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" manufacture date, part of serial number of the battery pack. formated as: Day + Month×32 + (Year–1980)×512")
|
||||
" manufacture date, part of serial number of the battery pack. Formatted as: Day + Month×32 + (Year–1980)×512")
|
||||
uint16 manufacture_date;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
|
||||
@@ -36,7 +36,7 @@ module px4_msgs {
|
||||
float ground_distance;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Attitude of the camera, zero rotation is facing towards front of vehicle")
|
||||
" Attitude of the camera relative to NED earth-fixed frame when using a gimbal, otherwise vehicle attitude")
|
||||
float__4 q;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
|
||||
@@ -1,38 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/CommanderState.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
module CommanderState_Constants {
|
||||
const uint8 MAIN_STATE_MANUAL = 0;
|
||||
const uint8 MAIN_STATE_ALTCTL = 1;
|
||||
const uint8 MAIN_STATE_POSCTL = 2;
|
||||
const uint8 MAIN_STATE_AUTO_MISSION = 3;
|
||||
const uint8 MAIN_STATE_AUTO_LOITER = 4;
|
||||
const uint8 MAIN_STATE_AUTO_RTL = 5;
|
||||
const uint8 MAIN_STATE_ACRO = 6;
|
||||
const uint8 MAIN_STATE_OFFBOARD = 7;
|
||||
const uint8 MAIN_STATE_STAB = 8;
|
||||
const uint8 MAIN_STATE_AUTO_TAKEOFF = 10;
|
||||
const uint8 MAIN_STATE_AUTO_LAND = 11;
|
||||
const uint8 MAIN_STATE_AUTO_FOLLOW_TARGET = 12;
|
||||
const uint8 MAIN_STATE_AUTO_PRECLAND = 13;
|
||||
const uint8 MAIN_STATE_ORBIT = 14;
|
||||
const uint8 MAIN_STATE_AUTO_VTOL_TAKEOFF = 15;
|
||||
const uint8 MAIN_STATE_MAX = 16;
|
||||
};
|
||||
@verbatim (language="comment", text=
|
||||
" Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link.")
|
||||
struct CommanderState {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
uint8 main_state;
|
||||
|
||||
uint16 main_state_changes;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -23,10 +23,6 @@ module px4_msgs {
|
||||
" Boolean indicating whether the 3D torque setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved.")
|
||||
boolean torque_setpoint_achieved;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Torque allocated to actuators. Equal to `vehicle_torque_setpoint_s::xyz` if the setpoint was achieved.")
|
||||
float__3 allocated_torque;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Unallocated torque. Equal to 0 if the setpoint was achieved." "\n"
|
||||
" Computed as: unallocated_torque = torque_setpoint - allocated_torque")
|
||||
@@ -36,10 +32,6 @@ module px4_msgs {
|
||||
" Boolean indicating whether the 3D thrust setpoint was correctly allocated to actuators. 0 if not achieved, 1 if achieved.")
|
||||
boolean thrust_setpoint_achieved;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Thrust allocated to actuators. Equal to `vehicle_thrust_setpoint_s::xyz` if the setpoint was achieved.")
|
||||
float__3 allocated_thrust;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Unallocated thrust. Equal to 0 if the setpoint was achieved." "\n"
|
||||
" Computed as: unallocated_thrust = thrust_setpoint - allocated_thrust")
|
||||
@@ -50,6 +42,10 @@ module px4_msgs {
|
||||
" Note 1: actuator saturation does not necessarily imply that the thrust setpoint or the torque setpoint were not achieved." "\n"
|
||||
" Note 2: an actuator with limited dynamics can be indicated as upper-saturated even if it as not reached its maximum value.")
|
||||
int8__16 actuator_saturation;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector")
|
||||
uint16 handled_motor_failure_mask;
|
||||
};
|
||||
};
|
||||
};
|
||||
|
||||
@@ -21,7 +21,7 @@ module px4_msgs {
|
||||
float differential_pressure_pa;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Temperature provided by sensor in celcius, NAN if unknown")
|
||||
" Temperature provided by sensor in degrees Celsius, NAN if unknown")
|
||||
float temperature;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
|
||||
@@ -51,13 +51,25 @@ module px4_msgs {
|
||||
" Address of current ESC (in most cases 1-8 / must be set by driver)")
|
||||
uint8 esc_address;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Counter of number of commands")
|
||||
uint8 esc_cmdcount;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" State of ESC - depend on Vendor")
|
||||
uint8 esc_state;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" actuator output function (one of Motor1...MotorN)")
|
||||
uint8 actuator_function;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Bitmask to indicate the internal ESC faults")
|
||||
uint16 failures;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Applied power 0-100 in % (negative values reserved)")
|
||||
int8 esc_power;
|
||||
};
|
||||
};
|
||||
};
|
||||
|
||||
@@ -1,33 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/EstimatorAttitude.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__4[4];
|
||||
@verbatim (language="comment", text=
|
||||
" This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use")
|
||||
struct EstimatorAttitude {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" the timestamp of the raw data (microseconds)")
|
||||
uint64 timestamp_sample;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Quaternion rotation from the FRD body frame to the NED earth frame")
|
||||
float__4 q;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Amount by which quaternion has changed during last reset")
|
||||
float__4 delta_q_reset;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Quaternion reset counter")
|
||||
uint8 quat_reset_counter;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -1,42 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/EstimatorBaroBias.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
struct EstimatorBaroBias {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" the timestamp of the raw data (microseconds)")
|
||||
uint64 timestamp_sample;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" unique device ID for the sensor that does not change between power cycles")
|
||||
uint32 baro_device_id;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" estimated barometric altitude bias (m)")
|
||||
float bias;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" estimated barometric altitude bias variance (m^2)")
|
||||
float bias_var;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" innovation of the last measurement fusion (m)")
|
||||
float innov;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" innovation variance of the last measurement fusion (m^2)")
|
||||
float innov_var;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" normalized innovation squared test ratio")
|
||||
float innov_test_ratio;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -71,6 +71,22 @@ module px4_msgs {
|
||||
" 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data")
|
||||
boolean yaw_aligned_to_imu_gps;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" 13 - true when the vertical position state is reset to the baro measurement")
|
||||
boolean reset_hgt_to_baro;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" 14 - true when the vertical position state is reset to the gps measurement")
|
||||
boolean reset_hgt_to_gps;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" 15 - true when the vertical position state is reset to the rng measurement")
|
||||
boolean reset_hgt_to_rng;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" 16 - true when the vertical position state is reset to the ev measurement")
|
||||
boolean reset_hgt_to_ev;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" warning events" "\n"
|
||||
" number of warning event changes")
|
||||
@@ -105,11 +121,11 @@ module px4_msgs {
|
||||
boolean invalid_accel_bias_cov_reset;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" 7 - true when the fiter has detected an invalid yaw esitmate and has reset the yaw angle to the GPS ground course")
|
||||
" 7 - true when the filter has detected an invalid yaw estimate and has reset the yaw angle to the GPS ground course")
|
||||
boolean bad_yaw_using_gps_course;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" 8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetomer data")
|
||||
" 8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetometer data")
|
||||
boolean stopping_mag_use;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
@@ -117,7 +133,7 @@ module px4_msgs {
|
||||
boolean vision_data_stopped;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetomer data")
|
||||
" 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetometer data")
|
||||
boolean emergency_yaw_reset_mag_stopped;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
|
||||
@@ -1,72 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/EstimatorGlobalPosition.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
@verbatim (language="comment", text=
|
||||
" Fused global position in WGS84." "\n"
|
||||
" This struct contains global position estimation. It is not the raw GPS" "\n"
|
||||
" measurement (@see vehicle_gps_position). This topic is usually published by the position" "\n"
|
||||
" estimator, which will take more sources of information into account than just GPS," "\n"
|
||||
" e.g. control inputs of the vehicle in a Kalman-filter implementation.")
|
||||
struct EstimatorGlobalPosition {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" the timestamp of the raw data (microseconds)")
|
||||
uint64 timestamp_sample;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Latitude, (degrees)")
|
||||
double lat;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Longitude, (degrees)")
|
||||
double lon;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Altitude AMSL, (meters)")
|
||||
float alt;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Altitude above ellipsoid, (meters)")
|
||||
float alt_ellipsoid;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Reset delta for altitude")
|
||||
float delta_alt;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Counter for reset events on horizontal position coordinates")
|
||||
uint8 lat_lon_reset_counter;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Counter for reset events on altitude")
|
||||
uint8 alt_reset_counter;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Standard deviation of horizontal position error, (metres)")
|
||||
float eph;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Standard deviation of vertical position error, (metres)")
|
||||
float epv;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Terrain altitude WGS84, (metres)")
|
||||
float terrain_alt;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Terrain altitude estimate is valid")
|
||||
boolean terrain_alt_valid;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" True if this position is estimated through dead-reckoning")
|
||||
boolean dead_reckoning;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -1,106 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/EstimatorInnovationTestRatios.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__2[2];
|
||||
typedef float float__3[3];
|
||||
struct EstimatorInnovationTestRatios {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" the timestamp of the raw data (microseconds)")
|
||||
uint64 timestamp_sample;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" GPS" "\n"
|
||||
" horizontal GPS velocity innovation (m/sec) and innovation variance ((m/sec)**2)")
|
||||
float__2 gps_hvel;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" vertical GPS velocity innovation (m/sec) and innovation variance ((m/sec)**2)")
|
||||
float gps_vvel;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" horizontal GPS position innovation (m) and innovation variance (m**2)")
|
||||
float__2 gps_hpos;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" vertical GPS position innovation (m) and innovation variance (m**2)")
|
||||
float gps_vpos;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" External Vision" "\n"
|
||||
" horizontal external vision velocity innovation (m/sec) and innovation variance ((m/sec)**2)")
|
||||
float__2 ev_hvel;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" vertical external vision velocity innovation (m/sec) and innovation variance ((m/sec)**2)")
|
||||
float ev_vvel;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" horizontal external vision position innovation (m) and innovation variance (m**2)")
|
||||
float__2 ev_hpos;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" vertical external vision position innovation (m) and innovation variance (m**2)")
|
||||
float ev_vpos;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Height sensors" "\n"
|
||||
" range sensor height innovation (m) and innovation variance (m**2)")
|
||||
float rng_vpos;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" barometer height innovation (m) and innovation variance (m**2)")
|
||||
float baro_vpos;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Auxiliary velocity" "\n"
|
||||
" horizontal auxiliar velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)")
|
||||
float__2 aux_hvel;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" vertical auxiliar velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)")
|
||||
float aux_vvel;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Optical flow" "\n"
|
||||
" flow innvoation (rad/sec) and innovation variance ((rad/sec)**2)")
|
||||
float__2 flow;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Various" "\n"
|
||||
" heading innovation (rad) and innovation variance (rad**2)")
|
||||
float heading;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" earth magnetic field innovation (Gauss) and innovation variance (Gauss**2)")
|
||||
float__3 mag_field;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" drag specific force innovation (m/sec**2) and innovation variance ((m/sec)**2)")
|
||||
float__2 drag;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" airspeed innovation (m/sec) and innovation variance ((m/sec)**2)")
|
||||
float airspeed;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" synthetic sideslip innovation (rad) and innovation variance (rad**2)")
|
||||
float beta;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" height of ground innovation (m) and innovation variance (m**2)")
|
||||
float hagl;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" height of ground rate innovation (m/s) and innovation variance ((m/s)**2)")
|
||||
float hagl_rate;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -1,106 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/EstimatorInnovationVariances.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__2[2];
|
||||
typedef float float__3[3];
|
||||
struct EstimatorInnovationVariances {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" the timestamp of the raw data (microseconds)")
|
||||
uint64 timestamp_sample;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" GPS" "\n"
|
||||
" horizontal GPS velocity innovation (m/sec) and innovation variance ((m/sec)**2)")
|
||||
float__2 gps_hvel;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" vertical GPS velocity innovation (m/sec) and innovation variance ((m/sec)**2)")
|
||||
float gps_vvel;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" horizontal GPS position innovation (m) and innovation variance (m**2)")
|
||||
float__2 gps_hpos;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" vertical GPS position innovation (m) and innovation variance (m**2)")
|
||||
float gps_vpos;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" External Vision" "\n"
|
||||
" horizontal external vision velocity innovation (m/sec) and innovation variance ((m/sec)**2)")
|
||||
float__2 ev_hvel;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" vertical external vision velocity innovation (m/sec) and innovation variance ((m/sec)**2)")
|
||||
float ev_vvel;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" horizontal external vision position innovation (m) and innovation variance (m**2)")
|
||||
float__2 ev_hpos;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" vertical external vision position innovation (m) and innovation variance (m**2)")
|
||||
float ev_vpos;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Height sensors" "\n"
|
||||
" range sensor height innovation (m) and innovation variance (m**2)")
|
||||
float rng_vpos;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" barometer height innovation (m) and innovation variance (m**2)")
|
||||
float baro_vpos;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Auxiliary velocity" "\n"
|
||||
" horizontal auxiliar velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)")
|
||||
float__2 aux_hvel;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" vertical auxiliar velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)")
|
||||
float aux_vvel;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Optical flow" "\n"
|
||||
" flow innvoation (rad/sec) and innovation variance ((rad/sec)**2)")
|
||||
float__2 flow;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Various" "\n"
|
||||
" heading innovation (rad) and innovation variance (rad**2)")
|
||||
float heading;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" earth magnetic field innovation (Gauss) and innovation variance (Gauss**2)")
|
||||
float__3 mag_field;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" drag specific force innovation (m/sec**2) and innovation variance ((m/sec)**2)")
|
||||
float__2 drag;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" airspeed innovation (m/sec) and innovation variance ((m/sec)**2)")
|
||||
float airspeed;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" synthetic sideslip innovation (rad) and innovation variance (rad**2)")
|
||||
float beta;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" height of ground innovation (m) and innovation variance (m**2)")
|
||||
float hagl;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" height of ground rate innovation (m/s) and innovation variance ((m/s)**2)")
|
||||
float hagl_rate;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -61,11 +61,11 @@ module px4_msgs {
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Auxiliary velocity" "\n"
|
||||
" horizontal auxiliar velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)")
|
||||
" horizontal auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)")
|
||||
float__2 aux_hvel;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" vertical auxiliar velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)")
|
||||
" vertical auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)")
|
||||
float aux_vvel;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
@@ -73,6 +73,10 @@ module px4_msgs {
|
||||
" flow innvoation (rad/sec) and innovation variance ((rad/sec)**2)")
|
||||
float__2 flow;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" flow innvoation (rad/sec) and innovation variance computed by the terrain estimator ((rad/sec)**2)")
|
||||
float__2 terr_flow;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Various" "\n"
|
||||
" heading innovation (rad) and innovation variance (rad**2)")
|
||||
@@ -82,6 +86,10 @@ module px4_msgs {
|
||||
" earth magnetic field innovation (Gauss) and innovation variance (Gauss**2)")
|
||||
float__3 mag_field;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" gravity innovation from accelerometerr vector (m/s**2)")
|
||||
float__3 gravity;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" drag specific force innovation (m/sec**2) and innovation variance ((m/sec)**2)")
|
||||
float__2 drag;
|
||||
|
||||
@@ -1,187 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/EstimatorLocalPosition.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__2[2];
|
||||
module EstimatorLocalPosition_Constants {
|
||||
const uint8 DIST_BOTTOM_SENSOR_NONE = 0;
|
||||
const uint8 DIST_BOTTOM_SENSOR_RANGE = 1;
|
||||
const uint8 DIST_BOTTOM_SENSOR_FLOW = 2;
|
||||
};
|
||||
@verbatim (language="comment", text=
|
||||
" Fused local position in NED." "\n"
|
||||
" The coordinate system origin is the vehicle position at the time when the EKF2-module was started.")
|
||||
struct EstimatorLocalPosition {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" the timestamp of the raw data (microseconds)")
|
||||
uint64 timestamp_sample;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" true if x and y are valid")
|
||||
boolean xy_valid;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" true if z is valid")
|
||||
boolean z_valid;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" true if vx and vy are valid")
|
||||
boolean v_xy_valid;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" true if vz is valid")
|
||||
boolean v_z_valid;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Position in local NED frame" "\n"
|
||||
" North position in NED earth-fixed frame, (metres)")
|
||||
float x;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" East position in NED earth-fixed frame, (metres)")
|
||||
float y;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Down position (negative altitude) in NED earth-fixed frame, (metres)")
|
||||
float z;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Position reset delta")
|
||||
float__2 delta_xy;
|
||||
|
||||
uint8 xy_reset_counter;
|
||||
|
||||
float delta_z;
|
||||
|
||||
uint8 z_reset_counter;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Velocity in NED frame" "\n"
|
||||
" North velocity in NED earth-fixed frame, (metres/sec)")
|
||||
float vx;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" East velocity in NED earth-fixed frame, (metres/sec)")
|
||||
float vy;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Down velocity in NED earth-fixed frame, (metres/sec)")
|
||||
float vz;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Down position time derivative in NED earth-fixed frame, (metres/sec)")
|
||||
float z_deriv;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Velocity reset delta")
|
||||
float__2 delta_vxy;
|
||||
|
||||
uint8 vxy_reset_counter;
|
||||
|
||||
float delta_vz;
|
||||
|
||||
uint8 vz_reset_counter;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Acceleration in NED frame" "\n"
|
||||
" North velocity derivative in NED earth-fixed frame, (metres/sec^2)")
|
||||
float ax;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" East velocity derivative in NED earth-fixed frame, (metres/sec^2)")
|
||||
float ay;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Down velocity derivative in NED earth-fixed frame, (metres/sec^2)")
|
||||
float az;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians)")
|
||||
float heading;
|
||||
|
||||
float delta_heading;
|
||||
|
||||
uint8 heading_reset_counter;
|
||||
|
||||
boolean heading_good_for_control;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Position of reference point (local NED frame origin) in global (GPS / WGS84) frame" "\n"
|
||||
" true if position (x, y) has a valid global reference (ref_lat, ref_lon)")
|
||||
boolean xy_global;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" true if z has a valid global reference (ref_alt)")
|
||||
boolean z_global;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Time when reference position was set since system start, (microseconds)")
|
||||
uint64 ref_timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Reference point latitude, (degrees)")
|
||||
double ref_lat;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Reference point longitude, (degrees)")
|
||||
double ref_lon;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Reference altitude AMSL, (metres)")
|
||||
float ref_alt;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Distance to surface" "\n"
|
||||
" Distance from from bottom surface to ground, (metres)")
|
||||
float dist_bottom;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" true if distance to bottom surface is valid")
|
||||
boolean dist_bottom_valid;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" bitfield indicating what type of sensor is used to estimate dist_bottom")
|
||||
uint8 dist_bottom_sensor_bitfield;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Standard deviation of horizontal position error, (metres)")
|
||||
float eph;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Standard deviation of vertical position error, (metres)")
|
||||
float epv;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Standard deviation of horizontal velocity error, (metres/sec)")
|
||||
float evh;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Standard deviation of horizontal velocity error, (metres/sec)")
|
||||
float evv;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" estimator specified vehicle limits" "\n"
|
||||
" maximum horizontal speed - set to 0 when limiting not required (meters/sec)")
|
||||
float vxy_max;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" maximum vertical speed - set to 0 when limiting not required (meters/sec)")
|
||||
float vz_max;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" minimum height above ground level - set to 0 when limiting not required (meters)")
|
||||
float hagl_min;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" maximum height above ground level - set to 0 when limiting not required (meters)")
|
||||
float hagl_max;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -1,112 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/EstimatorOdometry.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__4[4];
|
||||
typedef float float__21[21];
|
||||
module EstimatorOdometry_Constants {
|
||||
const uint8 COVARIANCE_MATRIX_X_VARIANCE = 0;
|
||||
const uint8 COVARIANCE_MATRIX_Y_VARIANCE = 6;
|
||||
const uint8 COVARIANCE_MATRIX_Z_VARIANCE = 11;
|
||||
const uint8 COVARIANCE_MATRIX_ROLL_VARIANCE = 15;
|
||||
const uint8 COVARIANCE_MATRIX_PITCH_VARIANCE = 18;
|
||||
const uint8 COVARIANCE_MATRIX_YAW_VARIANCE = 20;
|
||||
const uint8 COVARIANCE_MATRIX_VX_VARIANCE = 0;
|
||||
const uint8 COVARIANCE_MATRIX_VY_VARIANCE = 6;
|
||||
const uint8 COVARIANCE_MATRIX_VZ_VARIANCE = 11;
|
||||
const uint8 COVARIANCE_MATRIX_ROLLRATE_VARIANCE = 15;
|
||||
const uint8 COVARIANCE_MATRIX_PITCHRATE_VARIANCE = 18;
|
||||
const uint8 COVARIANCE_MATRIX_YAWRATE_VARIANCE = 20;
|
||||
const uint8 LOCAL_FRAME_NED = 0;
|
||||
const uint8 LOCAL_FRAME_FRD = 1;
|
||||
const uint8 LOCAL_FRAME_OTHER = 2;
|
||||
const uint8 BODY_FRAME_FRD = 3;
|
||||
};
|
||||
@verbatim (language="comment", text=
|
||||
" Vehicle odometry data. Fits ROS REP 147 for aerial vehicles")
|
||||
struct EstimatorOdometry {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
uint64 timestamp_sample;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Position and linear velocity local frame of reference")
|
||||
uint8 local_frame;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Position in meters. Frame of reference defined by local_frame. NaN if invalid/unknown" "\n"
|
||||
" North position")
|
||||
float x;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" East position")
|
||||
float y;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Down position")
|
||||
float z;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Orientation quaternion. First value NaN if invalid/unknown" "\n"
|
||||
" Quaternion rotation from FRD body frame to refernce frame")
|
||||
float__4 q;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Quaternion rotation from odometry reference frame to navigation frame")
|
||||
float__4 q_offset;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Row-major representation of 6x6 pose cross-covariance matrix URT." "\n"
|
||||
" NED earth-fixed frame." "\n"
|
||||
" Order: x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis" "\n"
|
||||
" If position covariance invalid/unknown, first cell is NaN" "\n"
|
||||
" If orientation covariance invalid/unknown, 16th cell is NaN")
|
||||
float__21 pose_covariance;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Reference frame of the velocity data")
|
||||
uint8 velocity_frame;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Velocity in meters/sec. Frame of reference defined by velocity_frame variable. NaN if invalid/unknown" "\n"
|
||||
" North velocity")
|
||||
float vx;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" East velocity")
|
||||
float vy;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Down velocity")
|
||||
float vz;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Angular rate in body-fixed frame (rad/s). NaN if invalid/unknown" "\n"
|
||||
" Angular velocity about X body axis")
|
||||
float rollspeed;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Angular velocity about Y body axis")
|
||||
float pitchspeed;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Angular velocity about Z body axis")
|
||||
float yawspeed;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Row-major representation of 6x6 velocity cross-covariance matrix URT." "\n"
|
||||
" Linear velocity in NED earth-fixed frame. Angular velocity in body-fixed frame." "\n"
|
||||
" Order: vx, vy, vz, rotation rate about X axis, rotation rate about Y axis, rotation rate about Z axis" "\n"
|
||||
" If linear velocity covariance invalid/unknown, first cell is NaN" "\n"
|
||||
" If angular velocity covariance invalid/unknown, 16th cell is NaN")
|
||||
float__21 velocity_covariance;
|
||||
|
||||
uint8 reset_counter;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -1,40 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/EstimatorOpticalFlowVel.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__2[2];
|
||||
typedef float float__3[3];
|
||||
struct EstimatorOpticalFlowVel {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" the timestamp of the raw data (microseconds)")
|
||||
uint64 timestamp_sample;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s)")
|
||||
float__2 vel_body;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" same as vel_body but in local frame (m/s)")
|
||||
float__2 vel_ne;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" integrated optical flow measurement (rad)")
|
||||
float__2 flow_uncompensated_integral;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" integrated optical flow measurement compensated for angular motion (rad)")
|
||||
float__2 flow_compensated_integral;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" gyro measurement integrated to flow rate and synchronized with flow measurements (rad)")
|
||||
float__3 gyro_rate_integral;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -66,7 +66,7 @@ module px4_msgs {
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Bitmask to indicate EKF logic state")
|
||||
uint32 control_mode_flags;
|
||||
uint64 control_mode_flags;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Bitmask to indicate EKF internal faults")
|
||||
|
||||
@@ -40,7 +40,7 @@ module px4_msgs {
|
||||
boolean cs_mag_hdg;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" 5 - true if 3-axis magnetometer measurement fusion is inteded")
|
||||
" 5 - true if 3-axis magnetometer measurement fusion is intended")
|
||||
boolean cs_mag_3d;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
@@ -147,6 +147,18 @@ module px4_msgs {
|
||||
" 31 - true when the range finder kinematic consistency check is passing")
|
||||
boolean cs_rng_kin_consistent;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" 32 - true when fake position measurements are being fused")
|
||||
boolean cs_fake_pos;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" 33 - true when fake height measurements are being fused")
|
||||
boolean cs_fake_hgt;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" 34 - true when gravity vector measurements are being fused")
|
||||
boolean cs_gravity_vector;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" fault status" "\n"
|
||||
" number of filter fault status (fs) changes")
|
||||
@@ -245,18 +257,6 @@ module px4_msgs {
|
||||
" 3 - true if vertical position observations have been rejected")
|
||||
boolean reject_ver_pos;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" 4 - true if the X magnetometer observation has been rejected")
|
||||
boolean reject_mag_x;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" 5 - true if the Y magnetometer observation has been rejected")
|
||||
boolean reject_mag_y;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" 6 - true if the Z magnetometer observation has been rejected")
|
||||
boolean reject_mag_z;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" 7 - true if the yaw observation has been rejected")
|
||||
boolean reject_yaw;
|
||||
|
||||
@@ -1,112 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/EstimatorVisualOdometryAligned.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__4[4];
|
||||
typedef float float__21[21];
|
||||
module EstimatorVisualOdometryAligned_Constants {
|
||||
const uint8 COVARIANCE_MATRIX_X_VARIANCE = 0;
|
||||
const uint8 COVARIANCE_MATRIX_Y_VARIANCE = 6;
|
||||
const uint8 COVARIANCE_MATRIX_Z_VARIANCE = 11;
|
||||
const uint8 COVARIANCE_MATRIX_ROLL_VARIANCE = 15;
|
||||
const uint8 COVARIANCE_MATRIX_PITCH_VARIANCE = 18;
|
||||
const uint8 COVARIANCE_MATRIX_YAW_VARIANCE = 20;
|
||||
const uint8 COVARIANCE_MATRIX_VX_VARIANCE = 0;
|
||||
const uint8 COVARIANCE_MATRIX_VY_VARIANCE = 6;
|
||||
const uint8 COVARIANCE_MATRIX_VZ_VARIANCE = 11;
|
||||
const uint8 COVARIANCE_MATRIX_ROLLRATE_VARIANCE = 15;
|
||||
const uint8 COVARIANCE_MATRIX_PITCHRATE_VARIANCE = 18;
|
||||
const uint8 COVARIANCE_MATRIX_YAWRATE_VARIANCE = 20;
|
||||
const uint8 LOCAL_FRAME_NED = 0;
|
||||
const uint8 LOCAL_FRAME_FRD = 1;
|
||||
const uint8 LOCAL_FRAME_OTHER = 2;
|
||||
const uint8 BODY_FRAME_FRD = 3;
|
||||
};
|
||||
@verbatim (language="comment", text=
|
||||
" Vehicle odometry data. Fits ROS REP 147 for aerial vehicles")
|
||||
struct EstimatorVisualOdometryAligned {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
uint64 timestamp_sample;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Position and linear velocity local frame of reference")
|
||||
uint8 local_frame;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Position in meters. Frame of reference defined by local_frame. NaN if invalid/unknown" "\n"
|
||||
" North position")
|
||||
float x;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" East position")
|
||||
float y;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Down position")
|
||||
float z;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Orientation quaternion. First value NaN if invalid/unknown" "\n"
|
||||
" Quaternion rotation from FRD body frame to refernce frame")
|
||||
float__4 q;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Quaternion rotation from odometry reference frame to navigation frame")
|
||||
float__4 q_offset;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Row-major representation of 6x6 pose cross-covariance matrix URT." "\n"
|
||||
" NED earth-fixed frame." "\n"
|
||||
" Order: x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis" "\n"
|
||||
" If position covariance invalid/unknown, first cell is NaN" "\n"
|
||||
" If orientation covariance invalid/unknown, 16th cell is NaN")
|
||||
float__21 pose_covariance;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Reference frame of the velocity data")
|
||||
uint8 velocity_frame;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Velocity in meters/sec. Frame of reference defined by velocity_frame variable. NaN if invalid/unknown" "\n"
|
||||
" North velocity")
|
||||
float vx;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" East velocity")
|
||||
float vy;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Down velocity")
|
||||
float vz;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Angular rate in body-fixed frame (rad/s). NaN if invalid/unknown" "\n"
|
||||
" Angular velocity about X body axis")
|
||||
float rollspeed;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Angular velocity about Y body axis")
|
||||
float pitchspeed;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Angular velocity about Z body axis")
|
||||
float yawspeed;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Row-major representation of 6x6 velocity cross-covariance matrix URT." "\n"
|
||||
" Linear velocity in NED earth-fixed frame. Angular velocity in body-fixed frame." "\n"
|
||||
" Order: vx, vy, vz, rotation rate about X axis, rotation rate about Y axis, rotation rate about Z axis" "\n"
|
||||
" If linear velocity covariance invalid/unknown, first cell is NaN" "\n"
|
||||
" If angular velocity covariance invalid/unknown, 16th cell is NaN")
|
||||
float__21 velocity_covariance;
|
||||
|
||||
uint8 reset_counter;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -1,50 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/EstimatorWind.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
struct EstimatorWind {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" the timestamp of the raw data (microseconds)")
|
||||
uint64 timestamp_sample;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Wind component in north / X direction (m/sec)")
|
||||
float windspeed_north;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Wind component in east / Y direction (m/sec)")
|
||||
float windspeed_east;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Wind estimate error variance in north / X direction (m/sec)**2 - set to zero (no uncertainty) if not estimated")
|
||||
float variance_north;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Wind estimate error variance in east / Y direction (m/sec)**2 - set to zero (no uncertainty) if not estimated")
|
||||
float variance_east;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" True airspeed innovation")
|
||||
float tas_innov;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" True airspeed innovation variance")
|
||||
float tas_innov_var;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Sideslip measurement innovation")
|
||||
float beta_innov;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Sideslip measurement innovation variance")
|
||||
float beta_innov_var;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -7,7 +7,7 @@ module px4_msgs {
|
||||
module msg {
|
||||
typedef uint8 uint8__25[25];
|
||||
module Event_Constants {
|
||||
const uint8 ORB_QUEUE_LENGTH = 8;
|
||||
const uint8 ORB_QUEUE_LENGTH = 16;
|
||||
};
|
||||
@verbatim (language="comment", text=
|
||||
" Events interface")
|
||||
|
||||
@@ -22,15 +22,19 @@ module px4_msgs {
|
||||
|
||||
boolean fd_arm_escs;
|
||||
|
||||
boolean fd_high_wind;
|
||||
|
||||
boolean fd_battery;
|
||||
|
||||
boolean fd_imbalanced_prop;
|
||||
|
||||
boolean fd_motor;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Metric of the imbalanced propeller check (low-passed)")
|
||||
float imbalanced_prop_metric;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Bit-mask with motor indices, indicating critical motor failures")
|
||||
uint16 motor_failure_mask;
|
||||
};
|
||||
};
|
||||
};
|
||||
|
||||
@@ -1,68 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/FwVirtualAttitudeSetpoint.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__4[4];
|
||||
typedef float float__3[3];
|
||||
module FwVirtualAttitudeSetpoint_Constants {
|
||||
const uint8 FLAPS_OFF = 0;
|
||||
const uint8 FLAPS_LAND = 1;
|
||||
const uint8 FLAPS_TAKEOFF = 2;
|
||||
};
|
||||
struct FwVirtualAttitudeSetpoint {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" body angle in NED frame (can be NaN for FW)")
|
||||
float roll_body;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" body angle in NED frame (can be NaN for FW)")
|
||||
float pitch_body;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" body angle in NED frame (can be NaN for FW)")
|
||||
float yaw_body;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" rad/s (commanded by user)")
|
||||
float yaw_sp_move_rate;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" For quaternion-based attitude control" "\n"
|
||||
" Desired quaternion for quaternion control")
|
||||
float__4 q_d;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand." "\n"
|
||||
" For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero." "\n"
|
||||
" Normalized thrust command in body NED frame [-1,1]")
|
||||
float__3 thrust_body;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Reset roll integral part (navigation logic change)")
|
||||
boolean roll_reset_integral;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Reset pitch integral part (navigation logic change)")
|
||||
boolean pitch_reset_integral;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Reset yaw integral part (navigation logic change)")
|
||||
boolean yaw_reset_integral;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" control heading with rudder (used for auto takeoff on runway)")
|
||||
boolean fw_control_yaw;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" flap config specifier")
|
||||
uint8 apply_flaps;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -19,12 +19,16 @@ module px4_msgs {
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" true if the geofence is violated")
|
||||
boolean geofence_violated;
|
||||
" one of geofence_violation_reason_t::*")
|
||||
uint8 geofence_violation_reason;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" action to take when geofence is violated")
|
||||
uint8 geofence_action;
|
||||
" true if the primary geofence is breached")
|
||||
boolean primary_geofence_breached;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" action to take when the primary geofence is breached")
|
||||
uint8 primary_geofence_action;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" true if the geofence requires a valid home position")
|
||||
|
||||
@@ -1,219 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/GimbalV1Command.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
module GimbalV1Command_Constants {
|
||||
const uint16 VEHICLE_CMD_CUSTOM_0 = 0;
|
||||
const uint16 VEHICLE_CMD_CUSTOM_1 = 1;
|
||||
const uint16 VEHICLE_CMD_CUSTOM_2 = 2;
|
||||
const uint16 VEHICLE_CMD_NAV_WAYPOINT = 16;
|
||||
const uint16 VEHICLE_CMD_NAV_LOITER_UNLIM = 17;
|
||||
const uint16 VEHICLE_CMD_NAV_LOITER_TURNS = 18;
|
||||
const uint16 VEHICLE_CMD_NAV_LOITER_TIME = 19;
|
||||
const uint16 VEHICLE_CMD_NAV_RETURN_TO_LAUNCH = 20;
|
||||
const uint16 VEHICLE_CMD_NAV_LAND = 21;
|
||||
const uint16 VEHICLE_CMD_NAV_TAKEOFF = 22;
|
||||
const uint16 VEHICLE_CMD_NAV_PRECLAND = 23;
|
||||
const uint16 VEHICLE_CMD_DO_ORBIT = 34;
|
||||
const uint16 VEHICLE_CMD_NAV_ROI = 80;
|
||||
const uint16 VEHICLE_CMD_NAV_PATHPLANNING = 81;
|
||||
const uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84;
|
||||
const uint16 VEHICLE_CMD_NAV_VTOL_LAND = 85;
|
||||
const uint16 VEHICLE_CMD_NAV_GUIDED_LIMITS = 90;
|
||||
const uint16 VEHICLE_CMD_NAV_GUIDED_MASTER = 91;
|
||||
const uint16 VEHICLE_CMD_NAV_DELAY = 93;
|
||||
const uint16 VEHICLE_CMD_NAV_LAST = 95;
|
||||
const uint16 VEHICLE_CMD_CONDITION_DELAY = 112;
|
||||
const uint16 VEHICLE_CMD_CONDITION_CHANGE_ALT = 113;
|
||||
const uint16 VEHICLE_CMD_CONDITION_DISTANCE = 114;
|
||||
const uint16 VEHICLE_CMD_CONDITION_YAW = 115;
|
||||
const uint16 VEHICLE_CMD_CONDITION_LAST = 159;
|
||||
const uint16 VEHICLE_CMD_CONDITION_GATE = 4501;
|
||||
const uint16 VEHICLE_CMD_DO_SET_MODE = 176;
|
||||
const uint16 VEHICLE_CMD_DO_JUMP = 177;
|
||||
const uint16 VEHICLE_CMD_DO_CHANGE_SPEED = 178;
|
||||
const uint16 VEHICLE_CMD_DO_SET_HOME = 179;
|
||||
const uint16 VEHICLE_CMD_DO_SET_PARAMETER = 180;
|
||||
const uint16 VEHICLE_CMD_DO_SET_RELAY = 181;
|
||||
const uint16 VEHICLE_CMD_DO_REPEAT_RELAY = 182;
|
||||
const uint16 VEHICLE_CMD_DO_SET_SERVO = 183;
|
||||
const uint16 VEHICLE_CMD_DO_REPEAT_SERVO = 184;
|
||||
const uint16 VEHICLE_CMD_DO_FLIGHTTERMINATION = 185;
|
||||
const uint16 VEHICLE_CMD_DO_SET_ACTUATOR = 187;
|
||||
const uint16 VEHICLE_CMD_DO_LAND_START = 189;
|
||||
const uint16 VEHICLE_CMD_DO_GO_AROUND = 191;
|
||||
const uint16 VEHICLE_CMD_DO_REPOSITION = 192;
|
||||
const uint16 VEHICLE_CMD_DO_PAUSE_CONTINUE = 193;
|
||||
const uint16 VEHICLE_CMD_DO_SET_ROI_LOCATION = 195;
|
||||
const uint16 VEHICLE_CMD_DO_SET_ROI_WPNEXT_OFFSET = 196;
|
||||
const uint16 VEHICLE_CMD_DO_SET_ROI_NONE = 197;
|
||||
const uint16 VEHICLE_CMD_DO_CONTROL_VIDEO = 200;
|
||||
const uint16 VEHICLE_CMD_DO_SET_ROI = 201;
|
||||
const uint16 VEHICLE_CMD_DO_DIGICAM_CONTROL = 203;
|
||||
const uint16 VEHICLE_CMD_DO_MOUNT_CONFIGURE = 204;
|
||||
const uint16 VEHICLE_CMD_DO_MOUNT_CONTROL = 205;
|
||||
const uint16 VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST = 206;
|
||||
const uint16 VEHICLE_CMD_DO_FENCE_ENABLE = 207;
|
||||
const uint16 VEHICLE_CMD_DO_PARACHUTE = 208;
|
||||
const uint16 VEHICLE_CMD_DO_MOTOR_TEST = 209;
|
||||
const uint16 VEHICLE_CMD_DO_INVERTED_FLIGHT = 210;
|
||||
const uint16 VEHICLE_CMD_DO_SET_CAM_TRIGG_INTERVAL = 214;
|
||||
const uint16 VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT = 220;
|
||||
const uint16 VEHICLE_CMD_DO_GUIDED_MASTER = 221;
|
||||
const uint16 VEHICLE_CMD_DO_GUIDED_LIMITS = 222;
|
||||
const uint16 VEHICLE_CMD_DO_LAST = 240;
|
||||
const uint16 VEHICLE_CMD_PREFLIGHT_CALIBRATION = 241;
|
||||
const uint16 PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION = 3;
|
||||
const uint16 VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242;
|
||||
const uint16 VEHICLE_CMD_PREFLIGHT_UAVCAN = 243;
|
||||
const uint16 VEHICLE_CMD_PREFLIGHT_STORAGE = 245;
|
||||
const uint16 VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246;
|
||||
const uint16 VEHICLE_CMD_OBLIQUE_SURVEY = 260;
|
||||
const uint16 VEHICLE_CMD_GIMBAL_DEVICE_INFORMATION = 283;
|
||||
const uint16 VEHICLE_CMD_MISSION_START = 300;
|
||||
const uint16 VEHICLE_CMD_ACTUATOR_TEST = 310;
|
||||
const uint16 VEHICLE_CMD_CONFIGURE_ACTUATOR = 311;
|
||||
const uint16 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400;
|
||||
const uint16 VEHICLE_CMD_INJECT_FAILURE = 420;
|
||||
const uint16 VEHICLE_CMD_START_RX_PAIR = 500;
|
||||
const uint16 VEHICLE_CMD_REQUEST_MESSAGE = 512;
|
||||
const uint16 VEHICLE_CMD_SET_CAMERA_MODE = 530;
|
||||
const uint16 VEHICLE_CMD_SET_CAMERA_ZOOM = 531;
|
||||
const uint16 VEHICLE_CMD_SET_CAMERA_FOCUS = 532;
|
||||
const uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW = 1000;
|
||||
const uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE = 1001;
|
||||
const uint16 VEHICLE_CMD_IMAGE_START_CAPTURE = 2000;
|
||||
const uint16 VEHICLE_CMD_DO_TRIGGER_CONTROL = 2003;
|
||||
const uint16 VEHICLE_CMD_VIDEO_START_CAPTURE = 2500;
|
||||
const uint16 VEHICLE_CMD_VIDEO_STOP_CAPTURE = 2501;
|
||||
const uint16 VEHICLE_CMD_LOGGING_START = 2510;
|
||||
const uint16 VEHICLE_CMD_LOGGING_STOP = 2511;
|
||||
const uint16 VEHICLE_CMD_CONTROL_HIGH_LATENCY = 2600;
|
||||
const uint16 VEHICLE_CMD_DO_VTOL_TRANSITION = 3000;
|
||||
const uint16 VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST = 3001;
|
||||
const uint16 VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001;
|
||||
const uint16 VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002;
|
||||
const uint16 VEHICLE_CMD_FIXED_MAG_CAL_YAW = 42006;
|
||||
const uint32 VEHICLE_CMD_PX4_INTERNAL_START = 65537;
|
||||
const uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000;
|
||||
const uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0;
|
||||
const uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1;
|
||||
const uint8 VEHICLE_CMD_RESULT_DENIED = 2;
|
||||
const uint8 VEHICLE_CMD_RESULT_UNSUPPORTED = 3;
|
||||
const uint8 VEHICLE_CMD_RESULT_FAILED = 4;
|
||||
const uint8 VEHICLE_CMD_RESULT_IN_PROGRESS = 5;
|
||||
const uint8 VEHICLE_CMD_RESULT_ENUM_END = 6;
|
||||
const uint8 VEHICLE_MOUNT_MODE_RETRACT = 0;
|
||||
const uint8 VEHICLE_MOUNT_MODE_NEUTRAL = 1;
|
||||
const uint8 VEHICLE_MOUNT_MODE_MAVLINK_TARGETING = 2;
|
||||
const uint8 VEHICLE_MOUNT_MODE_RC_TARGETING = 3;
|
||||
const uint8 VEHICLE_MOUNT_MODE_GPS_POINT = 4;
|
||||
const uint8 VEHICLE_MOUNT_MODE_ENUM_END = 5;
|
||||
const uint8 VEHICLE_ROI_NONE = 0;
|
||||
const uint8 VEHICLE_ROI_WPNEXT = 1;
|
||||
const uint8 VEHICLE_ROI_WPINDEX = 2;
|
||||
const uint8 VEHICLE_ROI_LOCATION = 3;
|
||||
const uint8 VEHICLE_ROI_TARGET = 4;
|
||||
const uint8 VEHICLE_ROI_ENUM_END = 5;
|
||||
const uint8 VEHICLE_CAMERA_ZOOM_TYPE_STEP = 0;
|
||||
const uint8 VEHICLE_CAMERA_ZOOM_TYPE_CONTINUOUS = 1;
|
||||
const uint8 VEHICLE_CAMERA_ZOOM_TYPE_RANGE = 2;
|
||||
const uint8 VEHICLE_CAMERA_ZOOM_TYPE_FOCAL_LENGTH = 3;
|
||||
const uint8 PARACHUTE_ACTION_DISABLE = 0;
|
||||
const uint8 PARACHUTE_ACTION_ENABLE = 1;
|
||||
const uint8 PARACHUTE_ACTION_RELEASE = 2;
|
||||
const uint8 FAILURE_UNIT_SENSOR_GYRO = 0;
|
||||
const uint8 FAILURE_UNIT_SENSOR_ACCEL = 1;
|
||||
const uint8 FAILURE_UNIT_SENSOR_MAG = 2;
|
||||
const uint8 FAILURE_UNIT_SENSOR_BARO = 3;
|
||||
const uint8 FAILURE_UNIT_SENSOR_GPS = 4;
|
||||
const uint8 FAILURE_UNIT_SENSOR_OPTICAL_FLOW = 5;
|
||||
const uint8 FAILURE_UNIT_SENSOR_VIO = 6;
|
||||
const uint8 FAILURE_UNIT_SENSOR_DISTANCE_SENSOR = 7;
|
||||
const uint8 FAILURE_UNIT_SENSOR_AIRSPEED = 8;
|
||||
const uint8 FAILURE_UNIT_SYSTEM_BATTERY = 100;
|
||||
const uint8 FAILURE_UNIT_SYSTEM_MOTOR = 101;
|
||||
const uint8 FAILURE_UNIT_SYSTEM_SERVO = 102;
|
||||
const uint8 FAILURE_UNIT_SYSTEM_AVOIDANCE = 103;
|
||||
const uint8 FAILURE_UNIT_SYSTEM_RC_SIGNAL = 104;
|
||||
const uint8 FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL = 105;
|
||||
const uint8 FAILURE_TYPE_OK = 0;
|
||||
const uint8 FAILURE_TYPE_OFF = 1;
|
||||
const uint8 FAILURE_TYPE_STUCK = 2;
|
||||
const uint8 FAILURE_TYPE_GARBAGE = 3;
|
||||
const uint8 FAILURE_TYPE_WRONG = 4;
|
||||
const uint8 FAILURE_TYPE_SLOW = 5;
|
||||
const uint8 FAILURE_TYPE_DELAYED = 6;
|
||||
const uint8 FAILURE_TYPE_INTERMITTENT = 7;
|
||||
const uint8 SPEED_TYPE_AIRSPEED = 0;
|
||||
const uint8 SPEED_TYPE_GROUNDSPEED = 1;
|
||||
const uint8 SPEED_TYPE_CLIMB_SPEED = 2;
|
||||
const uint8 SPEED_TYPE_DESCEND_SPEED = 3;
|
||||
const int8 ARMING_ACTION_DISARM = 0;
|
||||
const int8 ARMING_ACTION_ARM = 1;
|
||||
const uint8 ORB_QUEUE_LENGTH = 8;
|
||||
};
|
||||
struct GimbalV1Command {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Parameter 1, as defined by MAVLink uint16 VEHICLE_CMD enum.")
|
||||
float param1;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Parameter 2, as defined by MAVLink uint16 VEHICLE_CMD enum.")
|
||||
float param2;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Parameter 3, as defined by MAVLink uint16 VEHICLE_CMD enum.")
|
||||
float param3;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Parameter 4, as defined by MAVLink uint16 VEHICLE_CMD enum.")
|
||||
float param4;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Parameter 5, as defined by MAVLink uint16 VEHICLE_CMD enum.")
|
||||
double param5;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Parameter 6, as defined by MAVLink uint16 VEHICLE_CMD enum.")
|
||||
double param6;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Parameter 7, as defined by MAVLink uint16 VEHICLE_CMD enum.")
|
||||
float param7;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Command ID")
|
||||
uint32 command;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" System which should execute the command")
|
||||
uint8 target_system;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Component which should execute the command, 0 for all components")
|
||||
uint8 target_component;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" System sending the command")
|
||||
uint8 source_system;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Component sending the command")
|
||||
uint8 source_component;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)")
|
||||
uint8 confirmation;
|
||||
|
||||
boolean from_external;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -18,7 +18,7 @@ module px4_msgs {
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Instance of GNSS reciever")
|
||||
" Instance of GNSS receiver")
|
||||
uint8 instance;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
|
||||
@@ -8,6 +8,7 @@ module px4_msgs {
|
||||
typedef uint8 uint8__300[300];
|
||||
module GpsInjectData_Constants {
|
||||
const uint8 ORB_QUEUE_LENGTH = 8;
|
||||
const uint8 MAX_INSTANCES = 2;
|
||||
};
|
||||
struct GpsInjectData {
|
||||
@verbatim (language="comment", text=
|
||||
|
||||
@@ -52,11 +52,11 @@ module px4_msgs {
|
||||
boolean rc_lost;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike funtionality.")
|
||||
" Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality.")
|
||||
uint16 rc_lost_frame_count;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike funtionality.")
|
||||
" Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike functionality.")
|
||||
uint16 rc_total_frame_count;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
@@ -70,6 +70,14 @@ module px4_msgs {
|
||||
@verbatim (language="comment", text=
|
||||
" measured pulse widths for each of the supported channels")
|
||||
uint16__18 values;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" link quality. Percentage 0-100%. -1 = invalid")
|
||||
int8 link_quality;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Actual rssi in units of dBm. NaN = invalid")
|
||||
float rssi_dbm;
|
||||
};
|
||||
};
|
||||
};
|
||||
|
||||
@@ -31,7 +31,7 @@ module px4_msgs {
|
||||
uint16 failed_sbd_sessions;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" number of successfull sbd sessions")
|
||||
" number of successful sbd sessions")
|
||||
uint16 successful_sbd_sessions;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
|
||||
@@ -1,85 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/ManualControlInput.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
module ManualControlInput_Constants {
|
||||
const uint8 SOURCE_UNKNOWN = 0;
|
||||
const uint8 SOURCE_RC = 1;
|
||||
const uint8 SOURCE_MAVLINK_0 = 2;
|
||||
const uint8 SOURCE_MAVLINK_1 = 3;
|
||||
const uint8 SOURCE_MAVLINK_2 = 4;
|
||||
const uint8 SOURCE_MAVLINK_3 = 5;
|
||||
const uint8 SOURCE_MAVLINK_4 = 6;
|
||||
const uint8 SOURCE_MAVLINK_5 = 7;
|
||||
};
|
||||
struct ManualControlInput {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" the timestamp of the raw data (microseconds)")
|
||||
uint64 timestamp_sample;
|
||||
|
||||
boolean valid;
|
||||
|
||||
uint8 data_source;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Any of the channels may not be available and be set to NaN" "\n"
|
||||
" to indicate that it does not contain valid data." "\n"
|
||||
" The variable names follow the definition of the" "\n"
|
||||
" MANUAL_CONTROL mavlink message." "\n"
|
||||
" The default range is from -1 to 1 (mavlink message -1000 to 1000)" "\n"
|
||||
" The range for the z variable is defined from 0 to 1. (The z field of" "\n"
|
||||
" the MANUAL_CONTROL mavlink message is defined from -1000 to 1000)" "\n"
|
||||
" stick position in x direction -1..1" "\n"
|
||||
" in general corresponds to forward/back motion or pitch of vehicle," "\n"
|
||||
" in general a positive value means forward or negative pitch and" "\n"
|
||||
" a negative value means backward or positive pitch")
|
||||
float x;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" stick position in y direction -1..1" "\n"
|
||||
" in general corresponds to right/left motion or roll of vehicle," "\n"
|
||||
" in general a positive value means right or positive roll and" "\n"
|
||||
" a negative value means left or negative roll")
|
||||
float y;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" throttle stick position 0..1" "\n"
|
||||
" in general corresponds to up/down motion or thrust of vehicle," "\n"
|
||||
" in general the value corresponds to the demanded throttle by the user," "\n"
|
||||
" if the input is used for setting the setpoint of a vertical position" "\n"
|
||||
" controller any value > 0.5 means up and any value < 0.5 means down")
|
||||
float z;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" yaw stick/twist position, -1..1" "\n"
|
||||
" in general corresponds to the righthand rotation around the vertical" "\n"
|
||||
" (downwards) axis of the vehicle")
|
||||
float r;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" flap position")
|
||||
float flaps;
|
||||
|
||||
float aux1;
|
||||
|
||||
float aux2;
|
||||
|
||||
float aux3;
|
||||
|
||||
float aux4;
|
||||
|
||||
float aux5;
|
||||
|
||||
float aux6;
|
||||
|
||||
boolean sticks_moving;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -31,40 +31,27 @@ module px4_msgs {
|
||||
@verbatim (language="comment", text=
|
||||
" Any of the channels may not be available and be set to NaN" "\n"
|
||||
" to indicate that it does not contain valid data." "\n"
|
||||
" The variable names follow the definition of the" "\n"
|
||||
" MANUAL_CONTROL mavlink message." "\n"
|
||||
" The default range is from -1 to 1 (mavlink message -1000 to 1000)" "\n"
|
||||
" The range for the z variable is defined from 0 to 1. (The z field of" "\n"
|
||||
" the MANUAL_CONTROL mavlink message is defined from -1000 to 1000)" "\n"
|
||||
" stick position in x direction -1..1" "\n"
|
||||
" in general corresponds to forward/back motion or pitch of vehicle," "\n"
|
||||
" in general a positive value means forward or negative pitch and" "\n"
|
||||
" a negative value means backward or positive pitch")
|
||||
float x;
|
||||
" Stick positions [-1,1]" "\n"
|
||||
" on a common RC mode 1/2/3/4 remote/joystick the stick deflection: -1 is down/left, 1 is up/right" "\n"
|
||||
" Note: QGC sends throttle/z in range [0,1000] - [0,1]. The MAVLink input conversion [0,1] to [-1,1] is at the moment kept backwards compatible." "\n"
|
||||
" Positive values are generally used for:" "\n"
|
||||
" move right, positive roll rotation, right side down")
|
||||
float roll;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" stick position in y direction -1..1" "\n"
|
||||
" in general corresponds to right/left motion or roll of vehicle," "\n"
|
||||
" in general a positive value means right or positive roll and" "\n"
|
||||
" a negative value means left or negative roll")
|
||||
float y;
|
||||
" move forward, negative pitch rotation, nose down")
|
||||
float pitch;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" throttle stick position 0..1" "\n"
|
||||
" in general corresponds to up/down motion or thrust of vehicle," "\n"
|
||||
" in general the value corresponds to the demanded throttle by the user," "\n"
|
||||
" if the input is used for setting the setpoint of a vertical position" "\n"
|
||||
" controller any value > 0.5 means up and any value < 0.5 means down")
|
||||
float z;
|
||||
" positive yaw rotation, clockwise when seen top down")
|
||||
float yaw;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" yaw stick/twist position, -1..1" "\n"
|
||||
" in general corresponds to the righthand rotation around the vertical" "\n"
|
||||
" (downwards) axis of the vehicle")
|
||||
float r;
|
||||
" move up, positive thrust, -1 is minimum available 0% or -100% +1 is 100% thrust")
|
||||
float throttle;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" flap position")
|
||||
" position of flaps switch/knob/lever [-1, 1]")
|
||||
float flaps;
|
||||
|
||||
float aux1;
|
||||
|
||||
@@ -68,6 +68,10 @@ module px4_msgs {
|
||||
" Photo trigger switch")
|
||||
uint8 video_switch;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Engage the main motor (for helicopters)")
|
||||
uint8 engage_main_motor_switch;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" number of switch changes")
|
||||
uint32 switch_changes;
|
||||
|
||||
@@ -1,68 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/McVirtualAttitudeSetpoint.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__4[4];
|
||||
typedef float float__3[3];
|
||||
module McVirtualAttitudeSetpoint_Constants {
|
||||
const uint8 FLAPS_OFF = 0;
|
||||
const uint8 FLAPS_LAND = 1;
|
||||
const uint8 FLAPS_TAKEOFF = 2;
|
||||
};
|
||||
struct McVirtualAttitudeSetpoint {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" body angle in NED frame (can be NaN for FW)")
|
||||
float roll_body;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" body angle in NED frame (can be NaN for FW)")
|
||||
float pitch_body;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" body angle in NED frame (can be NaN for FW)")
|
||||
float yaw_body;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" rad/s (commanded by user)")
|
||||
float yaw_sp_move_rate;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" For quaternion-based attitude control" "\n"
|
||||
" Desired quaternion for quaternion control")
|
||||
float__4 q_d;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand." "\n"
|
||||
" For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero." "\n"
|
||||
" Normalized thrust command in body NED frame [-1,1]")
|
||||
float__3 thrust_body;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Reset roll integral part (navigation logic change)")
|
||||
boolean roll_reset_integral;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Reset pitch integral part (navigation logic change)")
|
||||
boolean pitch_reset_integral;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Reset yaw integral part (navigation logic change)")
|
||||
boolean yaw_reset_integral;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" control heading with rudder (used for auto takeoff on runway)")
|
||||
boolean fw_control_yaw;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" flap config specifier")
|
||||
uint8 apply_flaps;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -47,14 +47,6 @@ module px4_msgs {
|
||||
" true if the mission cannot continue or be completed for some reason")
|
||||
boolean failure;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" true if the commander should not switch out of the failsafe mode")
|
||||
boolean stay_in_failsafe;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" true if the navigator demands a flight termination from the commander app")
|
||||
boolean flight_termination;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" true if the number of do jumps remaining has changed")
|
||||
boolean item_do_jump_changed;
|
||||
|
||||
@@ -1,54 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/ObstacleDistanceFused.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef uint16 uint16__72[72];
|
||||
module ObstacleDistanceFused_Constants {
|
||||
const uint8 MAV_FRAME_GLOBAL = 0;
|
||||
const uint8 MAV_FRAME_LOCAL_NED = 1;
|
||||
const uint8 MAV_FRAME_BODY_FRD = 12;
|
||||
const uint8 MAV_DISTANCE_SENSOR_LASER = 0;
|
||||
const uint8 MAV_DISTANCE_SENSOR_ULTRASOUND = 1;
|
||||
const uint8 MAV_DISTANCE_SENSOR_INFRARED = 2;
|
||||
const uint8 MAV_DISTANCE_SENSOR_RADAR = 3;
|
||||
};
|
||||
@verbatim (language="comment", text=
|
||||
" Obstacle distances in front of the sensor.")
|
||||
struct ObstacleDistanceFused {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
"Coordinate frame of reference for the yaw rotation and offset of the sensor data. Defaults to MAV_FRAME_GLOBAL, which is North aligned. For body-mounted sensors use MAV_FRAME_BODY_FRD, which is vehicle front aligned.")
|
||||
uint8 frame;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Type from MAV_DISTANCE_SENSOR enum.")
|
||||
uint8 sensor_type;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Distance of obstacles around the UAV with index 0 corresponding to local North. A value of 0 means that the obstacle is right in front of the sensor. A value of max_distance +1 means no obstacle is present. A value of UINT16_MAX for unknown/not used. In a array element, one unit corresponds to 1cm.")
|
||||
uint16__72 distances;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Angular width in degrees of each array element.")
|
||||
float increment;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Minimum distance the sensor can measure in centimeters.")
|
||||
uint16 min_distance;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Maximum distance the sensor can measure in centimeters.")
|
||||
uint16 max_distance;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Relative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive values are offsets to the right.")
|
||||
float angle_offset;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -1,85 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/OpticalFlow.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
module OpticalFlow_Constants {
|
||||
const uint8 MODE_UNKNOWN = 0;
|
||||
const uint8 MODE_BRIGHT = 1;
|
||||
const uint8 MODE_LOWLIGHT = 2;
|
||||
const uint8 MODE_SUPER_LOWLIGHT = 3;
|
||||
};
|
||||
@verbatim (language="comment", text=
|
||||
" Optical flow in XYZ body frame in SI units." "\n"
|
||||
" http://en.wikipedia.org/wiki/International_System_of_Units")
|
||||
struct OpticalFlow {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" id of the sensor emitting the flow value")
|
||||
uint8 sensor_id;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" accumulated optical flow in radians where a positive value is produced by a RH rotation about the X body axis")
|
||||
float pixel_flow_x_integral;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" accumulated optical flow in radians where a positive value is produced by a RH rotation about the Y body axis")
|
||||
float pixel_flow_y_integral;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" accumulated gyro value in radians where a positive value is produced by a RH rotation about the X body axis. Set to NaN if flow sensor does not have 3-axis gyro data.")
|
||||
float gyro_x_rate_integral;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" accumulated gyro value in radians where a positive value is produced by a RH rotation about the Y body axis. Set to NaN if flow sensor does not have 3-axis gyro data.")
|
||||
float gyro_y_rate_integral;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" accumulated gyro value in radians where a positive value is produced by a RH rotation about the Z body axis. Set to NaN if flow sensor does not have 3-axis gyro data.")
|
||||
float gyro_z_rate_integral;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Altitude / distance to ground in meters")
|
||||
float ground_distance_m;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" accumulation timespan in microseconds")
|
||||
uint32 integration_timespan;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" time since last sonar update in microseconds")
|
||||
uint32 time_since_last_sonar_update;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" number of accumulated frames in timespan")
|
||||
uint16 frame_count_since_last_readout;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Temperature * 100 in centi-degrees Celsius")
|
||||
int16 gyro_temperature;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Average of quality of accumulated frames, 0: bad quality, 255: maximum quality")
|
||||
uint8 quality;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Magnitude of maximum angular which the optical flow sensor can measure reliably")
|
||||
float max_flow_rate;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Minimum distance from ground at which the optical flow sensor operates reliably")
|
||||
float min_ground_distance;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Maximum distance from ground at which the optical flow sensor operates reliably")
|
||||
float max_ground_distance;
|
||||
|
||||
uint8 mode;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -1,16 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/OrbMultitest.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
struct OrbMultitest {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
int32 val;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -1,19 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/OrbTestMediumMulti.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef uint8 uint8__64[64];
|
||||
struct OrbTestMediumMulti {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
int32 val;
|
||||
|
||||
uint8__64 junk;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -1,19 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/OrbTestMediumQueue.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef uint8 uint8__64[64];
|
||||
struct OrbTestMediumQueue {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
int32 val;
|
||||
|
||||
uint8__64 junk;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -1,19 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/OrbTestMediumQueuePoll.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef uint8 uint8__64[64];
|
||||
struct OrbTestMediumQueuePoll {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
int32 val;
|
||||
|
||||
uint8__64 junk;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -1,19 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/OrbTestMediumWrapAround.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef uint8 uint8__64[64];
|
||||
struct OrbTestMediumWrapAround {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
int32 val;
|
||||
|
||||
uint8__64 junk;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -5,20 +5,33 @@
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
module PositionControllerLandingStatus_Constants {
|
||||
const uint8 NOT_ABORTED = 0;
|
||||
const uint8 ABORTED_BY_OPERATOR = 1;
|
||||
const uint8 TERRAIN_NOT_FOUND = 2;
|
||||
const uint8 TERRAIN_TIMEOUT = 3;
|
||||
const uint8 UNKNOWN_ABORT_CRITERION = 4;
|
||||
};
|
||||
struct PositionControllerLandingStatus {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
" time since system start")
|
||||
@unit (value="us")
|
||||
uint64 timestamp;
|
||||
|
||||
float horizontal_slope_displacement;
|
||||
|
||||
float slope_angle_rad;
|
||||
|
||||
float flare_length;
|
||||
@verbatim (language="comment", text=
|
||||
" lateral touchdown position offset manually commanded during landing")
|
||||
@unit (value="m")
|
||||
float lateral_touchdown_offset;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" true if landing should be aborted")
|
||||
boolean abort_landing;
|
||||
" true if the aircraft is flaring")
|
||||
boolean flaring;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" abort status is:" "\n"
|
||||
" 0 if not aborted" "\n"
|
||||
" >0 if aborted, with the singular abort criterion which triggered the landing abort enumerated by the following abort reasons")
|
||||
uint8 abort_status;
|
||||
};
|
||||
};
|
||||
};
|
||||
|
||||
@@ -10,36 +10,53 @@ module px4_msgs {
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Roll setpoint")
|
||||
@unit (value="rad")
|
||||
float nav_roll;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Pitch setpoint")
|
||||
@unit (value="rad")
|
||||
float nav_pitch;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" set to NAN if not valid")
|
||||
" Bearing angle")
|
||||
@unit (value="rad")
|
||||
float nav_bearing;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" set to NAN if not valid")
|
||||
" Bearing angle from aircraft to current target")
|
||||
@unit (value="rad")
|
||||
float target_bearing;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" set to NAN if not valid")
|
||||
" Signed track error")
|
||||
@unit (value="m")
|
||||
float xtrack_error;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Distance to active (next) waypoint")
|
||||
@unit (value="m")
|
||||
float wp_dist;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" the optimal distance to a waypoint to switch to the next")
|
||||
" Current horizontal acceptance radius")
|
||||
@unit (value="m")
|
||||
float acceptance_radius;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" NaN if not set")
|
||||
" Yaw acceptance error")
|
||||
@unit (value="rad")
|
||||
float yaw_acceptance;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" the optimal vertical distance to a waypoint to switch to the next")
|
||||
" Current vertical acceptance error")
|
||||
@unit (value="m")
|
||||
float altitude_acceptance;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Current (applied) position setpoint type (see PositionSetpoint.msg)")
|
||||
uint8 type;
|
||||
};
|
||||
};
|
||||
|
||||
@@ -12,9 +12,6 @@ module px4_msgs {
|
||||
const uint8 SETPOINT_TYPE_TAKEOFF = 3;
|
||||
const uint8 SETPOINT_TYPE_LAND = 4;
|
||||
const uint8 SETPOINT_TYPE_IDLE = 5;
|
||||
const uint8 SETPOINT_TYPE_FOLLOW_TARGET = 6;
|
||||
const uint8 VELOCITY_FRAME_LOCAL_NED = 1;
|
||||
const uint8 VELOCITY_FRAME_BODY_NED = 8;
|
||||
};
|
||||
@verbatim (language="comment", text=
|
||||
" this file is only used in the position_setpoint triple as a dependency")
|
||||
@@ -43,18 +40,6 @@ module px4_msgs {
|
||||
" local velocity setpoint in m/s in NED")
|
||||
float vz;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" true if local velocity setpoint valid")
|
||||
boolean velocity_valid;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" to set velocity setpoints in NED or body")
|
||||
uint8 velocity_frame;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" do not set for 3D position control. Set to true if you want z-position control while doing vx,vy velocity control.")
|
||||
boolean alt_valid;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" latitude, in deg")
|
||||
double lat;
|
||||
@@ -83,17 +68,13 @@ module px4_msgs {
|
||||
" true if yawspeed setpoint valid")
|
||||
boolean yawspeed_valid;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" landing gear: see definition of the states in landing_gear.msg")
|
||||
int8 landing_gear;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" loiter radius (only for fixed wing), in m")
|
||||
float loiter_radius;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" loiter direction: 1 = CW, -1 = CCW")
|
||||
int8 loiter_direction;
|
||||
" loiter direction is clockwise by default and can be changed using this field")
|
||||
boolean loiter_direction_counter_clockwise;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" navigation acceptance_radius if we're doing waypoint navigation")
|
||||
@@ -104,7 +85,11 @@ module px4_msgs {
|
||||
float cruising_speed;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" the generally desired cruising throttle (not a hard constraint)")
|
||||
" commands the vehicle to glide if the capability is available (fixed wing only)")
|
||||
boolean gliding_enabled;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" the generally desired cruising throttle (not a hard constraint), only has an effect for rover")
|
||||
float cruising_throttle;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
|
||||
@@ -13,6 +13,10 @@ module px4_msgs {
|
||||
@verbatim (language="comment", text=
|
||||
" Corrected GPS UTC timestamp at PPS capture event")
|
||||
uint64 rtc_timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Increments when PPS dt < 50ms")
|
||||
uint8 pps_rate_exceeded_counter;
|
||||
};
|
||||
};
|
||||
};
|
||||
|
||||
@@ -1,88 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/Px4IoStatus.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef uint16 uint16__8[8];
|
||||
typedef uint16 uint16__18[18];
|
||||
struct Px4IoStatus {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
uint16 free_memory_bytes;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Servo rail voltage in volts")
|
||||
float voltage_v;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" RSSI pin voltage in volts")
|
||||
float rssi_v;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" PX4IO status flags (PX4IO_P_STATUS_FLAGS)")
|
||||
boolean status_arm_sync;
|
||||
|
||||
boolean status_failsafe;
|
||||
|
||||
boolean status_fmu_initialized;
|
||||
|
||||
boolean status_fmu_ok;
|
||||
|
||||
boolean status_init_ok;
|
||||
|
||||
boolean status_outputs_armed;
|
||||
|
||||
boolean status_raw_pwm;
|
||||
|
||||
boolean status_rc_ok;
|
||||
|
||||
boolean status_rc_dsm;
|
||||
|
||||
boolean status_rc_ppm;
|
||||
|
||||
boolean status_rc_sbus;
|
||||
|
||||
boolean status_rc_st24;
|
||||
|
||||
boolean status_rc_sumd;
|
||||
|
||||
boolean status_safety_off;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" PX4IO alarms (PX4IO_P_STATUS_ALARMS)")
|
||||
boolean alarm_pwm_error;
|
||||
|
||||
boolean alarm_rc_lost;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" PX4IO arming (PX4IO_P_SETUP_ARMING)")
|
||||
boolean arming_failsafe_custom;
|
||||
|
||||
boolean arming_fmu_armed;
|
||||
|
||||
boolean arming_fmu_prearmed;
|
||||
|
||||
boolean arming_force_failsafe;
|
||||
|
||||
boolean arming_io_arm_ok;
|
||||
|
||||
boolean arming_lockdown;
|
||||
|
||||
boolean arming_termination_failsafe;
|
||||
|
||||
uint16__8 pwm;
|
||||
|
||||
uint16__8 pwm_disarmed;
|
||||
|
||||
uint16__8 pwm_failsafe;
|
||||
|
||||
uint16__8 pwm_rate_hz;
|
||||
|
||||
uint16__18 raw_inputs;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -19,8 +19,8 @@ module px4_msgs {
|
||||
float yawspeed_integ;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" FW: wheel rate integrator (optional)")
|
||||
float additional_integ1;
|
||||
" FW only and optional")
|
||||
float wheel_rate_integ;
|
||||
};
|
||||
};
|
||||
};
|
||||
|
||||
@@ -6,7 +6,7 @@
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__18[18];
|
||||
typedef int8 int8__27[27];
|
||||
typedef int8 int8__28[28];
|
||||
module RcChannels_Constants {
|
||||
const uint8 FUNCTION_THROTTLE = 0;
|
||||
const uint8 FUNCTION_ROLL = 1;
|
||||
@@ -35,6 +35,7 @@ module px4_msgs {
|
||||
const uint8 FUNCTION_FLTBTN_SLOT_4 = 24;
|
||||
const uint8 FUNCTION_FLTBTN_SLOT_5 = 25;
|
||||
const uint8 FUNCTION_FLTBTN_SLOT_6 = 26;
|
||||
const uint8 FUNCTION_ENGAGE_MAIN_MOTOR = 27;
|
||||
const uint8 FUNCTION_FLTBTN_SLOT_COUNT = 6;
|
||||
};
|
||||
struct RcChannels {
|
||||
@@ -56,7 +57,7 @@ module px4_msgs {
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Functions mapping")
|
||||
int8__27 function;
|
||||
int8__28 function;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Receive signal strength index")
|
||||
|
||||
@@ -15,7 +15,7 @@ module px4_msgs {
|
||||
float indicated_frequency_rpm;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" estimated accurancy in Revolution per minute")
|
||||
" estimated accuracy in Revolution per minute")
|
||||
float estimated_accurancy_rpm;
|
||||
};
|
||||
};
|
||||
|
||||
@@ -1,22 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/Safety.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
struct Safety {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Set to true if a safety switch is connected")
|
||||
boolean safety_switch_available;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Set to true if safety is off")
|
||||
boolean safety_off;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -1,21 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/SafetyButton.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
module SafetyButton_Constants {
|
||||
const uint8 ORB_QUEUE_LENGTH = 2;
|
||||
};
|
||||
struct SafetyButton {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Set to true if the event is triggered")
|
||||
boolean triggered;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -43,9 +43,13 @@ module px4_msgs {
|
||||
uint32 accelerometer_integral_dt;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" bitfield indicating if there was any accelerometer clipping (per axis) during the sampling period")
|
||||
" bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame")
|
||||
uint8 accelerometer_clipping;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" bitfield indicating if there was any gyro clipping (per axis) during the integration time frame")
|
||||
uint8 gyro_clipping;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Calibration changed counter. Monotonically increases whenever accelermeter calibration changes.")
|
||||
uint8 accel_calibration_count;
|
||||
|
||||
@@ -5,6 +5,16 @@
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
module SensorGps_Constants {
|
||||
const uint8 JAMMING_STATE_UNKNOWN = 0;
|
||||
const uint8 JAMMING_STATE_OK = 1;
|
||||
const uint8 JAMMING_STATE_WARNING = 2;
|
||||
const uint8 JAMMING_STATE_CRITICAL = 3;
|
||||
const uint8 SPOOFING_STATE_UNKNOWN = 0;
|
||||
const uint8 SPOOFING_STATE_NONE = 1;
|
||||
const uint8 SPOOFING_STATE_INDICATED = 2;
|
||||
const uint8 SPOOFING_STATE_MULTIPLE = 3;
|
||||
};
|
||||
@verbatim (language="comment", text=
|
||||
" GPS position in WGS84 coordinates." "\n"
|
||||
" the field 'timestamp' is for the position & velocity (microseconds)")
|
||||
@@ -13,6 +23,8 @@ module px4_msgs {
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
uint64 timestamp_sample;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" unique device ID for the sensor that does not change between power cycles")
|
||||
uint32 device_id;
|
||||
@@ -69,13 +81,17 @@ module px4_msgs {
|
||||
" Automatic gain control monitor")
|
||||
uint16 automatic_gain_control;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical")
|
||||
uint8 jamming_state;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" indicates jamming is occurring")
|
||||
int32 jamming_indicator;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical")
|
||||
uint8 jamming_state;
|
||||
" indicates whether spoofing has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical")
|
||||
uint8 spoofing_state;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" GPS ground speed, (metres/sec)")
|
||||
@@ -124,6 +140,14 @@ module px4_msgs {
|
||||
@verbatim (language="comment", text=
|
||||
" heading accuracy (rad, [0, 2PI])")
|
||||
float heading_accuracy;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" RTCM message injection rate Hz")
|
||||
float rtcm_injection_rate;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" uorb instance that is being used for RTCM corrections")
|
||||
uint8 selected_rtcm_instance;
|
||||
};
|
||||
};
|
||||
};
|
||||
|
||||
@@ -5,6 +5,7 @@
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef uint8 uint8__3[3];
|
||||
module SensorGyro_Constants {
|
||||
const uint8 ORB_QUEUE_LENGTH = 8;
|
||||
};
|
||||
@@ -37,6 +38,10 @@ module px4_msgs {
|
||||
|
||||
uint32 error_count;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" clip count per axis in the sample period")
|
||||
uint8__3 clip_counter;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" number of raw samples that went into this message")
|
||||
uint8 samples;
|
||||
|
||||
@@ -17,7 +17,7 @@ module px4_msgs {
|
||||
uint32 device_id;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Temperature provided by sensor (Celcius)")
|
||||
" Temperature provided by sensor (Celsius)")
|
||||
float temperature;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
|
||||
@@ -1,40 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/SensorsStatusBaro.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef uint32 uint32__4[4];
|
||||
typedef float float__4[4];
|
||||
typedef boolean boolean__4[4];
|
||||
typedef uint8 uint8__4[4];
|
||||
@verbatim (language="comment", text=
|
||||
" Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.")
|
||||
struct SensorsStatusBaro {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" current primary device id for reference")
|
||||
uint32 device_id_primary;
|
||||
|
||||
uint32__4 device_ids;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" magnitude of difference between sensor instance and mean")
|
||||
float__4 inconsistency;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" sensor healthy")
|
||||
boolean__4 healthy;
|
||||
|
||||
uint8__4 priority;
|
||||
|
||||
boolean__4 enabled;
|
||||
|
||||
boolean__4 external;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -1,40 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/SensorsStatusMag.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef uint32 uint32__4[4];
|
||||
typedef float float__4[4];
|
||||
typedef boolean boolean__4[4];
|
||||
typedef uint8 uint8__4[4];
|
||||
@verbatim (language="comment", text=
|
||||
" Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.")
|
||||
struct SensorsStatusMag {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" current primary device id for reference")
|
||||
uint32 device_id_primary;
|
||||
|
||||
uint32__4 device_ids;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" magnitude of difference between sensor instance and mean")
|
||||
float__4 inconsistency;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" sensor healthy")
|
||||
boolean__4 healthy;
|
||||
|
||||
uint8__4 priority;
|
||||
|
||||
boolean__4 enabled;
|
||||
|
||||
boolean__4 external;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -14,7 +14,7 @@ module px4_msgs {
|
||||
const uint8 TAKEOFF_STATE_FLIGHT = 5;
|
||||
};
|
||||
@verbatim (language="comment", text=
|
||||
" Status of the takeoff state machine currently just availble for multicopters")
|
||||
" Status of the takeoff state machine currently just available for multicopters")
|
||||
struct TakeoffStatus {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
@@ -23,7 +23,7 @@ module px4_msgs {
|
||||
uint8 takeoff_state;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" limited tilt feasability during takeoff, contains maximum tilt otherwise")
|
||||
" limited tilt feasibility during takeoff, contains maximum tilt otherwise")
|
||||
float tilt_limit;
|
||||
};
|
||||
};
|
||||
|
||||
@@ -8,71 +8,118 @@ module px4_msgs {
|
||||
module TecsStatus_Constants {
|
||||
const uint8 TECS_MODE_NORMAL = 0;
|
||||
const uint8 TECS_MODE_UNDERSPEED = 1;
|
||||
const uint8 TECS_MODE_TAKEOFF = 2;
|
||||
const uint8 TECS_MODE_LAND = 3;
|
||||
const uint8 TECS_MODE_LAND_THROTTLELIM = 4;
|
||||
const uint8 TECS_MODE_BAD_DESCENT = 5;
|
||||
const uint8 TECS_MODE_CLIMBOUT = 6;
|
||||
};
|
||||
struct TecsStatus {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Altitude setpoint AMSL")
|
||||
@unit (value="m")
|
||||
float altitude_sp;
|
||||
|
||||
float altitude_filtered;
|
||||
@verbatim (language="comment", text=
|
||||
" Altitude setpoint reference AMSL")
|
||||
@unit (value="m")
|
||||
float altitude_reference;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Height rate setpoint reference")
|
||||
@unit (value="m/s")
|
||||
float height_rate_reference;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Direct height rate setpoint from velocity reference generator")
|
||||
@unit (value="m/s")
|
||||
float height_rate_direct;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Height rate setpoint")
|
||||
@unit (value="m/s")
|
||||
float height_rate_setpoint;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Height rate")
|
||||
@unit (value="m/s")
|
||||
float height_rate;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Equivalent airspeed setpoint")
|
||||
@unit (value="m/s")
|
||||
float equivalent_airspeed_sp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" True airspeed setpoint")
|
||||
@unit (value="m/s")
|
||||
float true_airspeed_sp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" True airspeed filtered")
|
||||
@unit (value="m/s")
|
||||
float true_airspeed_filtered;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" True airspeed derivative setpoint")
|
||||
@unit (value="m/s^2")
|
||||
float true_airspeed_derivative_sp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" True airspeed derivative")
|
||||
@unit (value="m/s^2")
|
||||
float true_airspeed_derivative;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" True airspeed derivative raw")
|
||||
@unit (value="m/s^2")
|
||||
float true_airspeed_derivative_raw;
|
||||
|
||||
float true_airspeed_innovation;
|
||||
|
||||
float total_energy_error;
|
||||
|
||||
float energy_distribution_error;
|
||||
|
||||
float total_energy_rate_error;
|
||||
|
||||
float energy_distribution_rate_error;
|
||||
|
||||
float total_energy;
|
||||
|
||||
float total_energy_rate;
|
||||
|
||||
float total_energy_balance;
|
||||
|
||||
float total_energy_balance_rate;
|
||||
|
||||
float total_energy_sp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Total energy rate setpoint")
|
||||
@unit (value="m^2/s^3")
|
||||
float total_energy_rate_sp;
|
||||
|
||||
float total_energy_balance_sp;
|
||||
@verbatim (language="comment", text=
|
||||
" Total energy rate estimate")
|
||||
@unit (value="m^2/s^3")
|
||||
float total_energy_rate;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Energy balance rate setpoint")
|
||||
@unit (value="m^2/s^3")
|
||||
float total_energy_balance_rate_sp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Energy balance rate estimate")
|
||||
@unit (value="m^2/s^3")
|
||||
float total_energy_balance_rate;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Throttle integrator value")
|
||||
@unit (value="-")
|
||||
float throttle_integ;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Pitch integrator value")
|
||||
@unit (value="rad")
|
||||
float pitch_integ;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Current throttle setpoint")
|
||||
@unit (value="-")
|
||||
float throttle_sp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Current pitch setpoint")
|
||||
@unit (value="rad")
|
||||
float pitch_sp_rad;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" estimated throttle value [0,1] required to fly level at equivalent_airspeed_sp in the current atmospheric conditions")
|
||||
float throttle_trim;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" TECS mode")
|
||||
uint8 mode;
|
||||
};
|
||||
};
|
||||
|
||||
@@ -109,6 +109,10 @@ module px4_msgs {
|
||||
" MAV_TYPE_PARACHUTE")
|
||||
boolean heartbeat_type_parachute;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" MAV_TYPE_ODID")
|
||||
boolean heartbeat_type_open_drone_id;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Heartbeats per component" "\n"
|
||||
" MAV_COMP_ID_TELEMETRY_RADIO")
|
||||
@@ -146,6 +150,8 @@ module px4_msgs {
|
||||
" Misc component health")
|
||||
boolean avoidance_system_healthy;
|
||||
|
||||
boolean open_drone_id_system_healthy;
|
||||
|
||||
boolean parachute_system_healthy;
|
||||
};
|
||||
};
|
||||
|
||||
@@ -1,42 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/TestMotor.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
module TestMotor_Constants {
|
||||
const uint8 NUM_MOTOR_OUTPUTS = 8;
|
||||
const uint8 ACTION_STOP = 0;
|
||||
const uint8 ACTION_RUN = 1;
|
||||
const uint8 ORB_QUEUE_LENGTH = 4;
|
||||
};
|
||||
struct TestMotor {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" one of ACTION_* (applies to all motors)")
|
||||
uint8 action;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" number of motor to spin")
|
||||
@unit (value="0..N-1")
|
||||
uint32 motor_number;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" output power, range, -1 to stop individual motor")
|
||||
@unit (value="0..1")
|
||||
float value;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" timeout in ms after which to exit test mode (if 0, do not time out)")
|
||||
uint32 timeout_ms;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" select output driver (for boards with multiple outputs, like IO+FMU)")
|
||||
uint8 driver_instance;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -1,26 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/Timesync.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
struct Timesync {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" timesync msg sequence")
|
||||
uint8 seq;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" time sync timestamp 1")
|
||||
int64 tc1;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" time sync timestamp 2")
|
||||
int64 ts1;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -6,8 +6,9 @@
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
module TimesyncStatus_Constants {
|
||||
const uint8 SOURCE_PROTOCOL_MAVLINK = 0;
|
||||
const uint8 SOURCE_PROTOCOL_RTPS = 1;
|
||||
const uint8 SOURCE_PROTOCOL_UNKNOWN = 0;
|
||||
const uint8 SOURCE_PROTOCOL_MAVLINK = 1;
|
||||
const uint8 SOURCE_PROTOCOL_DDS = 2;
|
||||
};
|
||||
struct TimesyncStatus {
|
||||
@verbatim (language="comment", text=
|
||||
@@ -15,7 +16,7 @@ module px4_msgs {
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" timesync source. Source can be MAVLink or the microRTPS bridge")
|
||||
" timesync source")
|
||||
uint8 source_protocol;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
|
||||
@@ -7,56 +7,39 @@ module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__3[3];
|
||||
@verbatim (language="comment", text=
|
||||
" Local position setpoint in NED frame" "\n"
|
||||
" setting something to NaN means the state should not be controlled")
|
||||
" Trajectory setpoint in NED frame" "\n"
|
||||
" Input to PID position controller." "\n"
|
||||
" Needs to be kinematically consistent and feasible for smooth flight." "\n"
|
||||
" setting a value to NaN means the state should not be controlled")
|
||||
struct TrajectorySetpoint {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" in meters NED")
|
||||
float x;
|
||||
" NED local world frame" "\n"
|
||||
" in meters")
|
||||
float__3 position;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" in meters NED")
|
||||
float y;
|
||||
" in meters/second")
|
||||
float__3 velocity;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" in meters NED")
|
||||
float z;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" in radians NED -PI..+PI")
|
||||
float yaw;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" in radians/sec")
|
||||
float yawspeed;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" in meters/sec")
|
||||
float vx;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" in meters/sec")
|
||||
float vy;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" in meters/sec")
|
||||
float vz;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" in meters/sec^2")
|
||||
" in meters/second^2")
|
||||
float__3 acceleration;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" in meters/sec^3")
|
||||
" in meters/second^3 (for logging only)")
|
||||
float__3 jerk;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" normalized thrust vector in NED")
|
||||
float__3 thrust;
|
||||
" euler angle of desired attitude in radians -PI..+PI")
|
||||
float yaw;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" angular velocity around NED frame z-axis in radians/second")
|
||||
float yawspeed;
|
||||
};
|
||||
};
|
||||
};
|
||||
|
||||
@@ -38,7 +38,7 @@ module px4_msgs {
|
||||
uint16 status;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" distance in cm to each UWB Anchor (UWB Device wich takes part in Ranging)")
|
||||
" distance in cm to each UWB Anchor (UWB Device which takes part in Ranging)")
|
||||
uint16__12 anchor_distance;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
@@ -46,7 +46,7 @@ module px4_msgs {
|
||||
boolean__12 nlos;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Angle of arrival of first incomming RX msg")
|
||||
" Angle of arrival of first incoming RX msg")
|
||||
float__12 aoafirst;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
|
||||
@@ -1,23 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/VehicleAngularAcceleration.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__3[3];
|
||||
struct VehicleAngularAcceleration {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" timestamp of the data sample on which this message is based (microseconds)")
|
||||
uint64 timestamp_sample;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" angular acceleration about the FRD body frame XYZ-axis in rad/s^2")
|
||||
float__3 xyz;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -18,6 +18,10 @@ module px4_msgs {
|
||||
@verbatim (language="comment", text=
|
||||
" Bias corrected angular velocity about the FRD body frame XYZ-axis in rad/s")
|
||||
float__3 xyz;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" angular acceleration about the FRD body frame XYZ-axis in rad/s^2")
|
||||
float__3 xyz_derivative;
|
||||
};
|
||||
};
|
||||
};
|
||||
|
||||
@@ -1,23 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/VehicleAngularVelocityGroundtruth.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__3[3];
|
||||
struct VehicleAngularVelocityGroundtruth {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" timestamp of the data sample on which this message is based (microseconds)")
|
||||
uint64 timestamp_sample;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Bias corrected angular velocity about the FRD body frame XYZ-axis in rad/s")
|
||||
float__3 xyz;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -1,33 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/VehicleAttitudeGroundtruth.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__4[4];
|
||||
@verbatim (language="comment", text=
|
||||
" This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use")
|
||||
struct VehicleAttitudeGroundtruth {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" the timestamp of the raw data (microseconds)")
|
||||
uint64 timestamp_sample;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Quaternion rotation from the FRD body frame to the NED earth frame")
|
||||
float__4 q;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Amount by which quaternion has changed during last reset")
|
||||
float__4 delta_q_reset;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Quaternion reset counter")
|
||||
uint8 quat_reset_counter;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -7,11 +7,6 @@ module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__4[4];
|
||||
typedef float float__3[3];
|
||||
module VehicleAttitudeSetpoint_Constants {
|
||||
const uint8 FLAPS_OFF = 0;
|
||||
const uint8 FLAPS_LAND = 1;
|
||||
const uint8 FLAPS_TAKEOFF = 2;
|
||||
};
|
||||
struct VehicleAttitudeSetpoint {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
@@ -45,24 +40,12 @@ module px4_msgs {
|
||||
float__3 thrust_body;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Reset roll integral part (navigation logic change)")
|
||||
boolean roll_reset_integral;
|
||||
" Reset roll/pitch/yaw integrals (navigation logic change)")
|
||||
boolean reset_integral;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Reset pitch integral part (navigation logic change)")
|
||||
boolean pitch_reset_integral;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Reset yaw integral part (navigation logic change)")
|
||||
boolean yaw_reset_integral;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" control heading with rudder (used for auto takeoff on runway)")
|
||||
boolean fw_control_yaw;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" flap config specifier")
|
||||
uint8 apply_flaps;
|
||||
" control heading with steering wheel (used for auto takeoff on runway)")
|
||||
boolean fw_control_yaw_wheel;
|
||||
};
|
||||
};
|
||||
};
|
||||
|
||||
@@ -39,9 +39,9 @@ module px4_msgs {
|
||||
const uint16 VEHICLE_CMD_DO_SET_PARAMETER = 180;
|
||||
const uint16 VEHICLE_CMD_DO_SET_RELAY = 181;
|
||||
const uint16 VEHICLE_CMD_DO_REPEAT_RELAY = 182;
|
||||
const uint16 VEHICLE_CMD_DO_SET_SERVO = 183;
|
||||
const uint16 VEHICLE_CMD_DO_REPEAT_SERVO = 184;
|
||||
const uint16 VEHICLE_CMD_DO_FLIGHTTERMINATION = 185;
|
||||
const uint16 VEHICLE_CMD_DO_CHANGE_ALTITUDE = 186;
|
||||
const uint16 VEHICLE_CMD_DO_SET_ACTUATOR = 187;
|
||||
const uint16 VEHICLE_CMD_DO_LAND_START = 189;
|
||||
const uint16 VEHICLE_CMD_DO_GO_AROUND = 191;
|
||||
@@ -60,6 +60,7 @@ module px4_msgs {
|
||||
const uint16 VEHICLE_CMD_DO_PARACHUTE = 208;
|
||||
const uint16 VEHICLE_CMD_DO_MOTOR_TEST = 209;
|
||||
const uint16 VEHICLE_CMD_DO_INVERTED_FLIGHT = 210;
|
||||
const uint16 VEHICLE_CMD_DO_GRIPPER = 211;
|
||||
const uint16 VEHICLE_CMD_DO_SET_CAM_TRIGG_INTERVAL = 214;
|
||||
const uint16 VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT = 220;
|
||||
const uint16 VEHICLE_CMD_DO_GUIDED_MASTER = 221;
|
||||
@@ -77,6 +78,7 @@ module px4_msgs {
|
||||
const uint16 VEHICLE_CMD_ACTUATOR_TEST = 310;
|
||||
const uint16 VEHICLE_CMD_CONFIGURE_ACTUATOR = 311;
|
||||
const uint16 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400;
|
||||
const uint16 VEHICLE_CMD_RUN_PREARM_CHECKS = 401;
|
||||
const uint16 VEHICLE_CMD_INJECT_FAILURE = 420;
|
||||
const uint16 VEHICLE_CMD_START_RX_PAIR = 500;
|
||||
const uint16 VEHICLE_CMD_REQUEST_MESSAGE = 512;
|
||||
@@ -97,15 +99,9 @@ module px4_msgs {
|
||||
const uint16 VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001;
|
||||
const uint16 VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002;
|
||||
const uint16 VEHICLE_CMD_FIXED_MAG_CAL_YAW = 42006;
|
||||
const uint16 VEHICLE_CMD_DO_WINCH = 42600;
|
||||
const uint32 VEHICLE_CMD_PX4_INTERNAL_START = 65537;
|
||||
const uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000;
|
||||
const uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0;
|
||||
const uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1;
|
||||
const uint8 VEHICLE_CMD_RESULT_DENIED = 2;
|
||||
const uint8 VEHICLE_CMD_RESULT_UNSUPPORTED = 3;
|
||||
const uint8 VEHICLE_CMD_RESULT_FAILED = 4;
|
||||
const uint8 VEHICLE_CMD_RESULT_IN_PROGRESS = 5;
|
||||
const uint8 VEHICLE_CMD_RESULT_ENUM_END = 6;
|
||||
const uint8 VEHICLE_MOUNT_MODE_RETRACT = 0;
|
||||
const uint8 VEHICLE_MOUNT_MODE_NEUTRAL = 1;
|
||||
const uint8 VEHICLE_MOUNT_MODE_MAVLINK_TARGETING = 2;
|
||||
@@ -118,10 +114,6 @@ module px4_msgs {
|
||||
const uint8 VEHICLE_ROI_LOCATION = 3;
|
||||
const uint8 VEHICLE_ROI_TARGET = 4;
|
||||
const uint8 VEHICLE_ROI_ENUM_END = 5;
|
||||
const uint8 VEHICLE_CAMERA_ZOOM_TYPE_STEP = 0;
|
||||
const uint8 VEHICLE_CAMERA_ZOOM_TYPE_CONTINUOUS = 1;
|
||||
const uint8 VEHICLE_CAMERA_ZOOM_TYPE_RANGE = 2;
|
||||
const uint8 VEHICLE_CAMERA_ZOOM_TYPE_FOCAL_LENGTH = 3;
|
||||
const uint8 PARACHUTE_ACTION_DISABLE = 0;
|
||||
const uint8 PARACHUTE_ACTION_ENABLE = 1;
|
||||
const uint8 PARACHUTE_ACTION_RELEASE = 2;
|
||||
@@ -154,8 +146,13 @@ module px4_msgs {
|
||||
const uint8 SPEED_TYPE_DESCEND_SPEED = 3;
|
||||
const int8 ARMING_ACTION_DISARM = 0;
|
||||
const int8 ARMING_ACTION_ARM = 1;
|
||||
const uint8 GRIPPER_ACTION_RELEASE = 0;
|
||||
const uint8 GRIPPER_ACTION_GRAB = 1;
|
||||
const uint8 ORB_QUEUE_LENGTH = 8;
|
||||
};
|
||||
@verbatim (language="comment", text=
|
||||
" Vehicle Command uORB message. Used for commanding a mission / action / etc." "\n"
|
||||
" Follows the MAVLink COMMAND_INT / COMMAND_LONG definition")
|
||||
struct VehicleCommand {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
|
||||
@@ -6,12 +6,13 @@
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
module VehicleCommandAck_Constants {
|
||||
const uint8 VEHICLE_RESULT_ACCEPTED = 0;
|
||||
const uint8 VEHICLE_RESULT_TEMPORARILY_REJECTED = 1;
|
||||
const uint8 VEHICLE_RESULT_DENIED = 2;
|
||||
const uint8 VEHICLE_RESULT_UNSUPPORTED = 3;
|
||||
const uint8 VEHICLE_RESULT_FAILED = 4;
|
||||
const uint8 VEHICLE_RESULT_IN_PROGRESS = 5;
|
||||
const uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0;
|
||||
const uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1;
|
||||
const uint8 VEHICLE_CMD_RESULT_DENIED = 2;
|
||||
const uint8 VEHICLE_CMD_RESULT_UNSUPPORTED = 3;
|
||||
const uint8 VEHICLE_CMD_RESULT_FAILED = 4;
|
||||
const uint8 VEHICLE_CMD_RESULT_IN_PROGRESS = 5;
|
||||
const uint8 VEHICLE_CMD_RESULT_CANCELLED = 6;
|
||||
const uint16 ARM_AUTH_DENIED_REASON_GENERIC = 0;
|
||||
const uint16 ARM_AUTH_DENIED_REASON_NONE = 1;
|
||||
const uint16 ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT = 2;
|
||||
@@ -20,24 +21,39 @@ module px4_msgs {
|
||||
const uint16 ARM_AUTH_DENIED_REASON_BAD_WEATHER = 5;
|
||||
const uint8 ORB_QUEUE_LENGTH = 4;
|
||||
};
|
||||
@verbatim (language="comment", text=
|
||||
" Vehicle Command Ackonwledgement uORB message." "\n"
|
||||
" Used for acknowledging the vehicle command being received." "\n"
|
||||
" Follows the MAVLink COMMAND_ACK message definition")
|
||||
struct VehicleCommandAck {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Command that is being acknowledged")
|
||||
uint32 command;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Command result")
|
||||
uint8 result;
|
||||
|
||||
boolean from_external;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Also used as progress, it can be set with the reason why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS")
|
||||
@unit (value="%")
|
||||
uint8 result_param1;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.")
|
||||
int32 result_param2;
|
||||
|
||||
uint8 target_system;
|
||||
|
||||
uint8 target_component;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Indicates if the command came from an external source")
|
||||
boolean from_external;
|
||||
};
|
||||
};
|
||||
};
|
||||
|
||||
@@ -1,72 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/VehicleGlobalPositionGroundtruth.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
@verbatim (language="comment", text=
|
||||
" Fused global position in WGS84." "\n"
|
||||
" This struct contains global position estimation. It is not the raw GPS" "\n"
|
||||
" measurement (@see vehicle_gps_position). This topic is usually published by the position" "\n"
|
||||
" estimator, which will take more sources of information into account than just GPS," "\n"
|
||||
" e.g. control inputs of the vehicle in a Kalman-filter implementation.")
|
||||
struct VehicleGlobalPositionGroundtruth {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" the timestamp of the raw data (microseconds)")
|
||||
uint64 timestamp_sample;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Latitude, (degrees)")
|
||||
double lat;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Longitude, (degrees)")
|
||||
double lon;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Altitude AMSL, (meters)")
|
||||
float alt;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Altitude above ellipsoid, (meters)")
|
||||
float alt_ellipsoid;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Reset delta for altitude")
|
||||
float delta_alt;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Counter for reset events on horizontal position coordinates")
|
||||
uint8 lat_lon_reset_counter;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Counter for reset events on altitude")
|
||||
uint8 alt_reset_counter;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Standard deviation of horizontal position error, (metres)")
|
||||
float eph;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Standard deviation of vertical position error, (metres)")
|
||||
float epv;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Terrain altitude WGS84, (metres)")
|
||||
float terrain_alt;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Terrain altitude estimate is valid")
|
||||
boolean terrain_alt_valid;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" True if this position is estimated through dead-reckoning")
|
||||
boolean dead_reckoning;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -1,121 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/VehicleGpsPosition.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
@verbatim (language="comment", text=
|
||||
" GPS position in WGS84 coordinates." "\n"
|
||||
" the field 'timestamp' is for the position & velocity (microseconds)")
|
||||
struct VehicleGpsPosition {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Latitude in 1E-7 degrees")
|
||||
int32 lat;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Longitude in 1E-7 degrees")
|
||||
int32 lon;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Altitude in 1E-3 meters above MSL, (millimetres)")
|
||||
int32 alt;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Altitude in 1E-3 meters bove Ellipsoid, (millimetres)")
|
||||
int32 alt_ellipsoid;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" GPS speed accuracy estimate, (metres/sec)")
|
||||
float s_variance_m_s;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" GPS course accuracy estimate, (radians)")
|
||||
float c_variance_rad;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic, float, 6: Real-Time Kinematic, fixed, 8: Extrapolated. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.")
|
||||
uint8 fix_type;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" GPS horizontal position accuracy (metres)")
|
||||
float eph;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" GPS vertical position accuracy (metres)")
|
||||
float epv;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Horizontal dilution of precision")
|
||||
float hdop;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Vertical dilution of precision")
|
||||
float vdop;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" GPS noise per millisecond")
|
||||
int32 noise_per_ms;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" indicates jamming is occurring")
|
||||
int32 jamming_indicator;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" indicates whether jamming has been detected or suspected by the receivers. O: Unknown, 1: OK, 2: Warning, 3: Critical")
|
||||
uint8 jamming_state;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" GPS ground speed, (metres/sec)")
|
||||
float vel_m_s;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" GPS North velocity, (metres/sec)")
|
||||
float vel_n_m_s;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" GPS East velocity, (metres/sec)")
|
||||
float vel_e_m_s;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" GPS Down velocity, (metres/sec)")
|
||||
float vel_d_m_s;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Course over ground (NOT heading, but direction of movement), -PI..PI, (radians)")
|
||||
float cog_rad;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" True if NED velocity is valid")
|
||||
boolean vel_ned_valid;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" timestamp + timestamp_time_relative = Time of the UTC timestamp since system start, (microseconds)")
|
||||
int32 timestamp_time_relative;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Timestamp (microseconds, UTC), this is the timestamp which comes from the gps module. It might be unavailable right after cold start, indicated by a value of 0")
|
||||
uint64 time_utc_usec;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Number of satellites used")
|
||||
uint8 satellites_used;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" heading angle of XYZ body frame rel to NED. Set to NaN if not available and updated (used for dual antenna GPS), (rad, [-PI, PI])")
|
||||
float heading;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI])")
|
||||
float heading_offset;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" GPS selection: 0: GPS1, 1: GPS2. 2: GPS3. 3. Blending multiple receivers")
|
||||
uint8 selected;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -44,6 +44,10 @@ module px4_msgs {
|
||||
" integration period in microseconds")
|
||||
uint16 delta_velocity_dt;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" bitfield indicating if there was any gyro clipping (per axis) during the integration time frame")
|
||||
uint8 delta_angle_clipping;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame")
|
||||
uint8 delta_velocity_clipping;
|
||||
|
||||
@@ -24,6 +24,10 @@ module px4_msgs {
|
||||
" total clipping per axis")
|
||||
uint32__3 accel_clipping;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" total clipping per axis")
|
||||
uint32__3 gyro_clipping;
|
||||
|
||||
uint32 accel_error_count;
|
||||
|
||||
uint32 gyro_error_count;
|
||||
|
||||
@@ -38,6 +38,8 @@ module px4_msgs {
|
||||
|
||||
boolean horizontal_movement;
|
||||
|
||||
boolean rotational_movement;
|
||||
|
||||
boolean close_to_ground_or_skipped_check;
|
||||
|
||||
boolean at_rest;
|
||||
|
||||
@@ -163,9 +163,13 @@ module px4_msgs {
|
||||
float evh;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Standard deviation of horizontal velocity error, (metres/sec)")
|
||||
" Standard deviation of vertical velocity error, (metres/sec)")
|
||||
float evv;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" True if this position is estimated through dead-reckoning")
|
||||
boolean dead_reckoning;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" estimator specified vehicle limits" "\n"
|
||||
" maximum horizontal speed - set to 0 when limiting not required (meters/sec)")
|
||||
|
||||
@@ -1,187 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/VehicleLocalPositionGroundtruth.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__2[2];
|
||||
module VehicleLocalPositionGroundtruth_Constants {
|
||||
const uint8 DIST_BOTTOM_SENSOR_NONE = 0;
|
||||
const uint8 DIST_BOTTOM_SENSOR_RANGE = 1;
|
||||
const uint8 DIST_BOTTOM_SENSOR_FLOW = 2;
|
||||
};
|
||||
@verbatim (language="comment", text=
|
||||
" Fused local position in NED." "\n"
|
||||
" The coordinate system origin is the vehicle position at the time when the EKF2-module was started.")
|
||||
struct VehicleLocalPositionGroundtruth {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" the timestamp of the raw data (microseconds)")
|
||||
uint64 timestamp_sample;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" true if x and y are valid")
|
||||
boolean xy_valid;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" true if z is valid")
|
||||
boolean z_valid;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" true if vx and vy are valid")
|
||||
boolean v_xy_valid;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" true if vz is valid")
|
||||
boolean v_z_valid;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Position in local NED frame" "\n"
|
||||
" North position in NED earth-fixed frame, (metres)")
|
||||
float x;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" East position in NED earth-fixed frame, (metres)")
|
||||
float y;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Down position (negative altitude) in NED earth-fixed frame, (metres)")
|
||||
float z;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Position reset delta")
|
||||
float__2 delta_xy;
|
||||
|
||||
uint8 xy_reset_counter;
|
||||
|
||||
float delta_z;
|
||||
|
||||
uint8 z_reset_counter;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Velocity in NED frame" "\n"
|
||||
" North velocity in NED earth-fixed frame, (metres/sec)")
|
||||
float vx;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" East velocity in NED earth-fixed frame, (metres/sec)")
|
||||
float vy;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Down velocity in NED earth-fixed frame, (metres/sec)")
|
||||
float vz;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Down position time derivative in NED earth-fixed frame, (metres/sec)")
|
||||
float z_deriv;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Velocity reset delta")
|
||||
float__2 delta_vxy;
|
||||
|
||||
uint8 vxy_reset_counter;
|
||||
|
||||
float delta_vz;
|
||||
|
||||
uint8 vz_reset_counter;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Acceleration in NED frame" "\n"
|
||||
" North velocity derivative in NED earth-fixed frame, (metres/sec^2)")
|
||||
float ax;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" East velocity derivative in NED earth-fixed frame, (metres/sec^2)")
|
||||
float ay;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Down velocity derivative in NED earth-fixed frame, (metres/sec^2)")
|
||||
float az;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians)")
|
||||
float heading;
|
||||
|
||||
float delta_heading;
|
||||
|
||||
uint8 heading_reset_counter;
|
||||
|
||||
boolean heading_good_for_control;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Position of reference point (local NED frame origin) in global (GPS / WGS84) frame" "\n"
|
||||
" true if position (x, y) has a valid global reference (ref_lat, ref_lon)")
|
||||
boolean xy_global;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" true if z has a valid global reference (ref_alt)")
|
||||
boolean z_global;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Time when reference position was set since system start, (microseconds)")
|
||||
uint64 ref_timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Reference point latitude, (degrees)")
|
||||
double ref_lat;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Reference point longitude, (degrees)")
|
||||
double ref_lon;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Reference altitude AMSL, (metres)")
|
||||
float ref_alt;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Distance to surface" "\n"
|
||||
" Distance from from bottom surface to ground, (metres)")
|
||||
float dist_bottom;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" true if distance to bottom surface is valid")
|
||||
boolean dist_bottom_valid;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" bitfield indicating what type of sensor is used to estimate dist_bottom")
|
||||
uint8 dist_bottom_sensor_bitfield;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Standard deviation of horizontal position error, (metres)")
|
||||
float eph;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Standard deviation of vertical position error, (metres)")
|
||||
float epv;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Standard deviation of horizontal velocity error, (metres/sec)")
|
||||
float evh;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Standard deviation of horizontal velocity error, (metres/sec)")
|
||||
float evv;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" estimator specified vehicle limits" "\n"
|
||||
" maximum horizontal speed - set to 0 when limiting not required (meters/sec)")
|
||||
float vxy_max;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" maximum vertical speed - set to 0 when limiting not required (meters/sec)")
|
||||
float vz_max;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" minimum height above ground level - set to 0 when limiting not required (meters)")
|
||||
float hagl_min;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" maximum height above ground level - set to 0 when limiting not required (meters)")
|
||||
float hagl_max;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -8,7 +8,8 @@ module px4_msgs {
|
||||
typedef float float__3[3];
|
||||
@verbatim (language="comment", text=
|
||||
" Local position setpoint in NED frame" "\n"
|
||||
" setting something to NaN means the state should not be controlled")
|
||||
" Telemetry of PID position controller to monitor tracking." "\n"
|
||||
" NaN means the state was not controlled")
|
||||
struct VehicleLocalPositionSetpoint {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
@@ -26,14 +27,6 @@ module px4_msgs {
|
||||
" in meters NED")
|
||||
float z;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" in radians NED -PI..+PI")
|
||||
float yaw;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" in radians/sec")
|
||||
float yawspeed;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" in meters/sec")
|
||||
float vx;
|
||||
@@ -50,13 +43,17 @@ module px4_msgs {
|
||||
" in meters/sec^2")
|
||||
float__3 acceleration;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" in meters/sec^3")
|
||||
float__3 jerk;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" normalized thrust vector in NED")
|
||||
float__3 thrust;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" in radians NED -PI..+PI")
|
||||
float yaw;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" in radians/sec")
|
||||
float yawspeed;
|
||||
};
|
||||
};
|
||||
};
|
||||
|
||||
@@ -1,112 +0,0 @@
|
||||
// generated from rosidl_adapter/resource/msg.idl.em
|
||||
// with input from px4_msgs/msg/VehicleMocapOdometry.msg
|
||||
// generated code does not contain a copyright notice
|
||||
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__4[4];
|
||||
typedef float float__21[21];
|
||||
module VehicleMocapOdometry_Constants {
|
||||
const uint8 COVARIANCE_MATRIX_X_VARIANCE = 0;
|
||||
const uint8 COVARIANCE_MATRIX_Y_VARIANCE = 6;
|
||||
const uint8 COVARIANCE_MATRIX_Z_VARIANCE = 11;
|
||||
const uint8 COVARIANCE_MATRIX_ROLL_VARIANCE = 15;
|
||||
const uint8 COVARIANCE_MATRIX_PITCH_VARIANCE = 18;
|
||||
const uint8 COVARIANCE_MATRIX_YAW_VARIANCE = 20;
|
||||
const uint8 COVARIANCE_MATRIX_VX_VARIANCE = 0;
|
||||
const uint8 COVARIANCE_MATRIX_VY_VARIANCE = 6;
|
||||
const uint8 COVARIANCE_MATRIX_VZ_VARIANCE = 11;
|
||||
const uint8 COVARIANCE_MATRIX_ROLLRATE_VARIANCE = 15;
|
||||
const uint8 COVARIANCE_MATRIX_PITCHRATE_VARIANCE = 18;
|
||||
const uint8 COVARIANCE_MATRIX_YAWRATE_VARIANCE = 20;
|
||||
const uint8 LOCAL_FRAME_NED = 0;
|
||||
const uint8 LOCAL_FRAME_FRD = 1;
|
||||
const uint8 LOCAL_FRAME_OTHER = 2;
|
||||
const uint8 BODY_FRAME_FRD = 3;
|
||||
};
|
||||
@verbatim (language="comment", text=
|
||||
" Vehicle odometry data. Fits ROS REP 147 for aerial vehicles")
|
||||
struct VehicleMocapOdometry {
|
||||
@verbatim (language="comment", text=
|
||||
" time since system start (microseconds)")
|
||||
uint64 timestamp;
|
||||
|
||||
uint64 timestamp_sample;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Position and linear velocity local frame of reference")
|
||||
uint8 local_frame;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Position in meters. Frame of reference defined by local_frame. NaN if invalid/unknown" "\n"
|
||||
" North position")
|
||||
float x;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" East position")
|
||||
float y;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Down position")
|
||||
float z;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Orientation quaternion. First value NaN if invalid/unknown" "\n"
|
||||
" Quaternion rotation from FRD body frame to refernce frame")
|
||||
float__4 q;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Quaternion rotation from odometry reference frame to navigation frame")
|
||||
float__4 q_offset;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Row-major representation of 6x6 pose cross-covariance matrix URT." "\n"
|
||||
" NED earth-fixed frame." "\n"
|
||||
" Order: x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis" "\n"
|
||||
" If position covariance invalid/unknown, first cell is NaN" "\n"
|
||||
" If orientation covariance invalid/unknown, 16th cell is NaN")
|
||||
float__21 pose_covariance;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Reference frame of the velocity data")
|
||||
uint8 velocity_frame;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Velocity in meters/sec. Frame of reference defined by velocity_frame variable. NaN if invalid/unknown" "\n"
|
||||
" North velocity")
|
||||
float vx;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" East velocity")
|
||||
float vy;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Down velocity")
|
||||
float vz;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Angular rate in body-fixed frame (rad/s). NaN if invalid/unknown" "\n"
|
||||
" Angular velocity about X body axis")
|
||||
float rollspeed;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Angular velocity about Y body axis")
|
||||
float pitchspeed;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Angular velocity about Z body axis")
|
||||
float yawspeed;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Row-major representation of 6x6 velocity cross-covariance matrix URT." "\n"
|
||||
" Linear velocity in NED earth-fixed frame. Angular velocity in body-fixed frame." "\n"
|
||||
" Order: vx, vy, vz, rotation rate about X axis, rotation rate about Y axis, rotation rate about Z axis" "\n"
|
||||
" If linear velocity covariance invalid/unknown, first cell is NaN" "\n"
|
||||
" If angular velocity covariance invalid/unknown, 16th cell is NaN")
|
||||
float__21 velocity_covariance;
|
||||
|
||||
uint8 reset_counter;
|
||||
};
|
||||
};
|
||||
};
|
||||
@@ -5,25 +5,16 @@
|
||||
|
||||
module px4_msgs {
|
||||
module msg {
|
||||
typedef float float__3[3];
|
||||
typedef float float__4[4];
|
||||
typedef float float__21[21];
|
||||
module VehicleOdometry_Constants {
|
||||
const uint8 COVARIANCE_MATRIX_X_VARIANCE = 0;
|
||||
const uint8 COVARIANCE_MATRIX_Y_VARIANCE = 6;
|
||||
const uint8 COVARIANCE_MATRIX_Z_VARIANCE = 11;
|
||||
const uint8 COVARIANCE_MATRIX_ROLL_VARIANCE = 15;
|
||||
const uint8 COVARIANCE_MATRIX_PITCH_VARIANCE = 18;
|
||||
const uint8 COVARIANCE_MATRIX_YAW_VARIANCE = 20;
|
||||
const uint8 COVARIANCE_MATRIX_VX_VARIANCE = 0;
|
||||
const uint8 COVARIANCE_MATRIX_VY_VARIANCE = 6;
|
||||
const uint8 COVARIANCE_MATRIX_VZ_VARIANCE = 11;
|
||||
const uint8 COVARIANCE_MATRIX_ROLLRATE_VARIANCE = 15;
|
||||
const uint8 COVARIANCE_MATRIX_PITCHRATE_VARIANCE = 18;
|
||||
const uint8 COVARIANCE_MATRIX_YAWRATE_VARIANCE = 20;
|
||||
const uint8 LOCAL_FRAME_NED = 0;
|
||||
const uint8 LOCAL_FRAME_FRD = 1;
|
||||
const uint8 LOCAL_FRAME_OTHER = 2;
|
||||
const uint8 BODY_FRAME_FRD = 3;
|
||||
const uint8 POSE_FRAME_UNKNOWN = 0;
|
||||
const uint8 POSE_FRAME_NED = 1;
|
||||
const uint8 POSE_FRAME_FRD = 2;
|
||||
const uint8 VELOCITY_FRAME_UNKNOWN = 0;
|
||||
const uint8 VELOCITY_FRAME_NED = 1;
|
||||
const uint8 VELOCITY_FRAME_FRD = 2;
|
||||
const uint8 VELOCITY_FRAME_BODY_FRD = 3;
|
||||
};
|
||||
@verbatim (language="comment", text=
|
||||
" Vehicle odometry data. Fits ROS REP 147 for aerial vehicles")
|
||||
@@ -35,78 +26,38 @@ module px4_msgs {
|
||||
uint64 timestamp_sample;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Position and linear velocity local frame of reference")
|
||||
uint8 local_frame;
|
||||
" Position and orientation frame of reference")
|
||||
uint8 pose_frame;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Position in meters. Frame of reference defined by local_frame. NaN if invalid/unknown" "\n"
|
||||
" North position")
|
||||
float x;
|
||||
" Position in meters. Frame of reference defined by local_frame. NaN if invalid/unknown")
|
||||
float__3 position;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" East position")
|
||||
float y;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Down position")
|
||||
float z;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Orientation quaternion. First value NaN if invalid/unknown" "\n"
|
||||
" Quaternion rotation from FRD body frame to refernce frame")
|
||||
" Quaternion rotation from FRD body frame to reference frame. First value NaN if invalid/unknown")
|
||||
float__4 q;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Quaternion rotation from odometry reference frame to navigation frame")
|
||||
float__4 q_offset;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Row-major representation of 6x6 pose cross-covariance matrix URT." "\n"
|
||||
" NED earth-fixed frame." "\n"
|
||||
" Order: x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis" "\n"
|
||||
" If position covariance invalid/unknown, first cell is NaN" "\n"
|
||||
" If orientation covariance invalid/unknown, 16th cell is NaN")
|
||||
float__21 pose_covariance;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Reference frame of the velocity data")
|
||||
uint8 velocity_frame;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Velocity in meters/sec. Frame of reference defined by velocity_frame variable. NaN if invalid/unknown" "\n"
|
||||
" North velocity")
|
||||
float vx;
|
||||
" Velocity in meters/sec. Frame of reference defined by velocity_frame variable. NaN if invalid/unknown")
|
||||
float__3 velocity;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" East velocity")
|
||||
float vy;
|
||||
" Angular velocity in body-fixed frame (rad/s). NaN if invalid/unknown")
|
||||
float__3 angular_velocity;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Down velocity")
|
||||
float vz;
|
||||
float__3 position_variance;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Angular rate in body-fixed frame (rad/s). NaN if invalid/unknown" "\n"
|
||||
" Angular velocity about X body axis")
|
||||
float rollspeed;
|
||||
float__3 orientation_variance;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Angular velocity about Y body axis")
|
||||
float pitchspeed;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Angular velocity about Z body axis")
|
||||
float yawspeed;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Row-major representation of 6x6 velocity cross-covariance matrix URT." "\n"
|
||||
" Linear velocity in NED earth-fixed frame. Angular velocity in body-fixed frame." "\n"
|
||||
" Order: vx, vy, vz, rotation rate about X axis, rotation rate about Y axis, rotation rate about Z axis" "\n"
|
||||
" If linear velocity covariance invalid/unknown, first cell is NaN" "\n"
|
||||
" If angular velocity covariance invalid/unknown, 16th cell is NaN")
|
||||
float__21 velocity_covariance;
|
||||
float__3 velocity_variance;
|
||||
|
||||
uint8 reset_counter;
|
||||
|
||||
int8 quality;
|
||||
};
|
||||
};
|
||||
};
|
||||
|
||||
@@ -12,15 +12,19 @@ module px4_msgs {
|
||||
uint64 timestamp;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" body angular rates in NED frame")
|
||||
" body angular rates in NED frame" "\n"
|
||||
" [rad/s] roll rate setpoint")
|
||||
@unit (value="rad/s")
|
||||
float roll;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" body angular rates in NED frame")
|
||||
" pitch rate setpoint")
|
||||
@unit (value="rad/s")
|
||||
float pitch;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" body angular rates in NED frame")
|
||||
" yaw rate setpoint")
|
||||
@unit (value="rad/s")
|
||||
float yaw;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
@@ -28,6 +32,10 @@ module px4_msgs {
|
||||
" For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero." "\n"
|
||||
" Normalized thrust command in body NED frame [-1,1]")
|
||||
float__3 thrust_body;
|
||||
|
||||
@verbatim (language="comment", text=
|
||||
" Reset roll/pitch/yaw integrals (navigation logic change)")
|
||||
boolean reset_integral;
|
||||
};
|
||||
};
|
||||
};
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user