diff options
Diffstat (limited to 'msg')
-rw-r--r-- | msg/vehicle_attitude.msg | 17 | ||||
-rw-r--r-- | msg/vehicle_status.msg | 157 |
2 files changed, 174 insertions, 0 deletions
diff --git a/msg/vehicle_attitude.msg b/msg/vehicle_attitude.msg index 98018a1df..dbfd8b6bc 100644 --- a/msg/vehicle_attitude.msg +++ b/msg/vehicle_attitude.msg @@ -16,3 +16,20 @@ float32[4] q # Quaternion (NED) float32[3] g_comp # Compensated gravity vector bool R_valid # Rotation matrix valid bool q_valid # Quaternion valid + +# secondary attitude for VTOL +float32 roll_sec # Roll angle (rad, Tait-Bryan, NED) +float32 pitch_sec # Pitch angle (rad, Tait-Bryan, NED) +float32 yaw_sec # Yaw angle (rad, Tait-Bryan, NED) +float32 rollspeed_sec # Roll angular speed (rad/s, Tait-Bryan, NED) +float32 pitchspeed_sec # Pitch angular speed (rad/s, Tait-Bryan, NED) +float32 yawspeed_sec # Yaw angular speed (rad/s, Tait-Bryan, NED) +float32 rollacc_sec # Roll angular accelration (rad/s, Tait-Bryan, NED) +float32 pitchacc_sec # Pitch angular acceleration (rad/s, Tait-Bryan, NED) +float32 yawacc_sec # Yaw angular acceleration (rad/s, Tait-Bryan, NED) +float32[3] rate_offsets_sec # Offsets of the body angular rates from zero +float32[9] R_sec # Rotation matrix, body to world, (Tait-Bryan, NED) +float32[4] q_sec # Quaternion (NED) +float32[3] g_comp_sec # Compensated gravity vector +bool R_valid_sec # Rotation matrix valid +bool q_valid_sec # Quaternion valid diff --git a/msg/vehicle_status.msg b/msg/vehicle_status.msg new file mode 100644 index 000000000..4d5d5ce09 --- /dev/null +++ b/msg/vehicle_status.msg @@ -0,0 +1,157 @@ +# Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link. +uint8 MAIN_STATE_MANUAL = 0 +uint8 MAIN_STATE_ALTCTL = 1 +uint8 MAIN_STATE_POSCTL = 2 +uint8 MAIN_STATE_AUTO_MISSION = 3 +uint8 MAIN_STATE_AUTO_LOITER = 4 +uint8 MAIN_STATE_AUTO_RTL = 5 +uint8 MAIN_STATE_ACRO = 6 +uint8 MAIN_STATE_OFFBOARD = 7 +uint8 MAIN_STATE_MAX = 8 + +# If you change the order, add or remove arming_state_t states make sure to update the arrays +# in state_machine_helper.cpp as well. +uint8 ARMING_STATE_INIT = 0 +uint8 ARMING_STATE_STANDBY = 1 +uint8 ARMING_STATE_ARMED = 2 +uint8 ARMING_STATE_ARMED_ERROR = 3 +uint8 ARMING_STATE_STANDBY_ERROR = 4 +uint8 ARMING_STATE_REBOOT = 5 +uint8 ARMING_STATE_IN_AIR_RESTORE = 6 +uint8 ARMING_STATE_MAX = 7 + +uint8 HIL_STATE_OFF = 0 +uint8 HIL_STATE_ON = 1 + +# Navigation state, i.e. "what should vehicle do". +uint8 NAVIGATION_STATE_MANUAL = 0 # Manual mode +uint8 NAVIGATION_STATE_ALTCTL = 1 # Altitude control mode +uint8 NAVIGATION_STATE_POSCTL = 2 # Position control mode +uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode +uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode +uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode +uint8 NAVIGATION_STATE_AUTO_RCRECOVER = 6 # RC recover mode +uint8 NAVIGATION_STATE_AUTO_RTGS = 7 # Auto return to groundstation on data link loss +uint8 NAVIGATION_STATE_AUTO_LANDENGFAIL = 8 # Auto land on engine failure +uint8 NAVIGATION_STATE_AUTO_LANDGPSFAIL = 9 # Auto land on gps failure (e.g. open loop loiter down) +uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode +uint8 NAVIGATION_STATE_LAND = 11 # Land mode +uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control) +uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode +uint8 NAVIGATION_STATE_OFFBOARD = 14 +uint8 NAVIGATION_STATE_MAX = 15 + +# VEHICLE_MODE_FLAG, same as MAV_MODE_FLAG of MAVLink 1.0 protocol +uint8 VEHICLE_MODE_FLAG_SAFETY_ARMED = 128 +uint8 VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64 +uint8 VEHICLE_MODE_FLAG_HIL_ENABLED = 32 +uint8 VEHICLE_MODE_FLAG_STABILIZED_ENABLED = 16 +uint8 VEHICLE_MODE_FLAG_GUIDED_ENABLED = 8 +uint8 VEHICLE_MODE_FLAG_AUTO_ENABLED = 4 +uint8 VEHICLE_MODE_FLAG_TEST_ENABLED = 2 +uint8 VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1 + +# VEHICLE_TYPE, should match 1:1 MAVLink's MAV_TYPE ENUM +uint8 VEHICLE_TYPE_GENERIC = 0 # Generic micro air vehicle. +uint8 VEHICLE_TYPE_FIXED_WING = 1 # Fixed wing aircraft. +uint8 VEHICLE_TYPE_QUADROTOR = 2 # Quadrotor +uint8 VEHICLE_TYPE_COAXIAL = 3 # Coaxial helicopter +uint8 VEHICLE_TYPE_HELICOPTER = 4 # Normal helicopter with tail rotor. +uint8 VEHICLE_TYPE_ANTENNA_TRACKER = 5 # Ground installation +uint8 VEHICLE_TYPE_GCS = 6 # Operator control unit / ground control station +uint8 VEHICLE_TYPE_AIRSHIP = 7 # Airship, controlled +uint8 VEHICLE_TYPE_FREE_BALLOON = 8 # Free balloon, uncontrolled +uint8 VEHICLE_TYPE_ROCKET = 9 # Rocket +uint8 VEHICLE_TYPE_GROUND_ROVER = 10 # Ground rover +uint8 VEHICLE_TYPE_SURFACE_BOAT = 11 # Surface vessel, boat, ship +uint8 VEHICLE_TYPE_SUBMARINE = 12 # Submarine +uint8 VEHICLE_TYPE_HEXAROTOR = 13 # Hexarotor +uint8 VEHICLE_TYPE_OCTOROTOR = 14 # Octorotor +uint8 VEHICLE_TYPE_TRICOPTER = 15 # Octorotor +uint8 VEHICLE_TYPE_FLAPPING_WING = 16 # Flapping wing +uint8 VEHICLE_TYPE_KITE = 17 # Kite +uint8 VEHICLE_TYPE_ONBOARD_CONTROLLER=18 # Onboard companion controller +uint8 VEHICLE_TYPE_VTOL_DUOROTOR = 19 # Vtol with two engines +uint8 VEHICLE_TYPE_VTOL_QUADROTOR = 20 # Vtol with four engines*/ +uint8 VEHICLE_TYPE_ENUM_END = 21 + +uint8 VEHICLE_BATTERY_WARNING_NONE = 0 # no battery low voltage warning active +uint8 VEHICLE_BATTERY_WARNING_LOW = 1 # warning of low voltage +uint8 VEHICLE_BATTERY_WARNING_CRITICAL = 2 # alerting of critical voltage + +# state machine / state of vehicle. +# Encodes the complete system state and is set by the commander app. +uint16 counter # incremented by the writing thread everytime new data is stored +uint64 timestamp # in microseconds since system start, is set whenever the writing thread stores new data + +uint8 main_state # main state machine +uint8 nav_state # set navigation state machine to specified value +uint8 arming_state # current arming state +uint8 hil_state # current hil state +bool failsafe # true if system is in failsafe state + +int32 system_type # system type, inspired by MAVLink's VEHICLE_TYPE enum +int32 system_id # system id, inspired by MAVLink's system ID field +int32 component_id # subsystem / component id, inspired by MAVLink's component ID field + +bool is_rotary_wing + +bool condition_battery_voltage_valid +bool condition_system_in_air_restore # true if we can restore in mid air +bool condition_system_sensors_initialized +bool condition_system_returned_to_home +bool condition_auto_mission_available +bool condition_global_position_valid # set to true by the commander app if the quality of the position estimate is good enough to use it for navigation +bool condition_launch_position_valid # indicates a valid launch position +bool condition_home_position_valid # indicates a valid home position (a valid home position is not always a valid launch) +bool condition_local_position_valid +bool condition_local_altitude_valid +bool condition_airspeed_valid # set to true by the commander app if there is a valid airspeed measurement available +bool condition_landed # true if vehicle is landed, always true if disarmed +bool condition_power_input_valid # set if input power is valid +float32 avionics_power_rail_voltage # voltage of the avionics power rail + +bool rc_signal_found_once +bool rc_signal_lost # true if RC reception lost +uint64 rc_signal_lost_timestamp # Time at which the RC reception was lost +bool rc_signal_lost_cmd # true if RC lost mode is commanded +bool rc_input_blocked # set if RC input should be ignored + +bool data_link_lost # datalink to GCS lost +bool data_link_lost_cmd # datalink to GCS lost mode commanded +uint8 data_link_lost_counter # counts unique data link lost events +bool engine_failure # Set to true if an engine failure is detected +bool engine_failure_cmd # Set to true if an engine failure mode is commanded +bool gps_failure # Set to true if a gps failure is detected +bool gps_failure_cmd # Set to true if a gps failure mode is commanded + +bool barometer_failure # Set to true if a barometer failure is detected + +bool offboard_control_signal_found_once +bool offboard_control_signal_lost +bool offboard_control_signal_weak +uint64 offboard_control_signal_lost_interval # interval in microseconds without an offboard control message +bool offboard_control_set_by_command # true if the offboard mode was set by a mavlink command and should not be overridden by RC + +# see SYS_STATUS mavlink message for the following +uint32 onboard_control_sensors_present +uint32 onboard_control_sensors_enabled +uint32 onboard_control_sensors_health + +float32 load # processor load from 0 to 1 +float32 battery_voltage +float32 battery_current +float32 battery_remaining + +uint8 battery_warning # current battery warning mode, as defined by VEHICLE_BATTERY_WARNING enum +uint16 drop_rate_comm +uint16 errors_comm +uint16 errors_count1 +uint16 errors_count2 +uint16 errors_count3 +uint16 errors_count4 + +bool circuit_breaker_engaged_power_check +bool circuit_breaker_engaged_airspd_check +bool circuit_breaker_engaged_enginefailure_check +bool circuit_breaker_engaged_gpsfailure_check |