diff options
Diffstat (limited to 'msg')
44 files changed, 608 insertions, 0 deletions
diff --git a/msg/actuator_armed.msg b/msg/actuator_armed.msg new file mode 100644 index 000000000..b83adb8f2 --- /dev/null +++ b/msg/actuator_armed.msg @@ -0,0 +1,6 @@ + +uint64 timestamp # Microseconds since system boot +bool armed # Set to true if system is armed +bool ready_to_arm # Set to true if system is ready to be armed +bool lockdown # Set to true if actuators are forced to being disabled (due to emergency or HIL) +bool force_failsafe # Set to true if the actuators are forced to the failsafe position diff --git a/msg/actuator_controls.msg b/msg/actuator_controls.msg new file mode 100644 index 000000000..743f20cdf --- /dev/null +++ b/msg/actuator_controls.msg @@ -0,0 +1,4 @@ +uint8 NUM_ACTUATOR_CONTROLS = 8 +uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4 +uint64 timestamp +float32[8] control diff --git a/msg/actuator_controls_0.msg b/msg/actuator_controls_0.msg new file mode 100644 index 000000000..743f20cdf --- /dev/null +++ b/msg/actuator_controls_0.msg @@ -0,0 +1,4 @@ +uint8 NUM_ACTUATOR_CONTROLS = 8 +uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4 +uint64 timestamp +float32[8] control diff --git a/msg/manual_control_setpoint.msg b/msg/manual_control_setpoint.msg new file mode 100644 index 000000000..d3cfb078b --- /dev/null +++ b/msg/manual_control_setpoint.msg @@ -0,0 +1,44 @@ + +uint8 SWITCH_POS_NONE = 0 # switch is not mapped +uint8 SWITCH_POS_ON = 1 # switch activated (value = 1) +uint8 SWITCH_POS_MIDDLE = 2 # middle position (value = 0) +uint8 SWITCH_POS_OFF = 3 # switch not activated (value = -1) +uint64 timestamp + +# Any of the channels may not be available and be set to NaN +# to indicate that it does not contain valid data. +# The variable names follow the definition of the +# MANUAL_CONTROL mavlink message. +# The default range is from -1 to 1 (mavlink message -1000 to 1000) +# The range for the z variable is defined from 0 to 1. (The z field of +# the MANUAL_CONTROL mavlink message is defined from -1000 to 1000) + +float32 x # stick position in x direction -1..1 + # in general corresponds to forward/back motion or pitch of vehicle, + # in general a positive value means forward or negative pitch and + # a negative value means backward or positive pitch +float32 y # stick position in y direction -1..1 + # in general corresponds to right/left motion or roll of vehicle, + # in general a positive value means right or positive roll and + # a negative value means left or negative roll +float32 z # throttle stick position 0..1 + # in general corresponds to up/down motion or thrust of vehicle, + # in general the value corresponds to the demanded throttle by the user, + # if the input is used for setting the setpoint of a vertical position + # controller any value > 0.5 means up and any value < 0.5 means down +float32 r # yaw stick/twist positon, -1..1 + # in general corresponds to the righthand rotation around the vertical + # (downwards) axis of the vehicle +float32 flaps # flap position +float32 aux1 # default function: camera yaw / azimuth +float32 aux2 # default function: camera pitch / tilt +float32 aux3 # default function: camera trigger +float32 aux4 # default function: camera roll +float32 aux5 # default function: payload drop + +uint8 mode_switch # main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO +uint8 return_switch # return to launch 2 position switch (mandatory): _NORMAL_, RTL +uint8 posctl_switch # position control 2 position switch (optional): _ALTCTL_, POSCTL +uint8 loiter_switch # loiter 2 position switch (optional): _MISSION_, LOITER +uint8 acro_switch # acro 2 position switch (optional): _MANUAL_, ACRO +uint8 offboard_switch # offboard 2 position switch (optional): _NORMAL_, OFFBOARD diff --git a/msg/parameter_update.msg b/msg/parameter_update.msg new file mode 100644 index 000000000..39dc336e0 --- /dev/null +++ b/msg/parameter_update.msg @@ -0,0 +1 @@ +uint64 timestamp # time at which the latest parameter was updated diff --git a/msg/rc_channels.msg b/msg/rc_channels.msg new file mode 100644 index 000000000..4e0e5b494 --- /dev/null +++ b/msg/rc_channels.msg @@ -0,0 +1,24 @@ +int32 RC_CHANNELS_FUNCTION_MAX=18 +uint8 RC_CHANNELS_FUNCTION_THROTTLE=0 +uint8 RC_CHANNELS_FUNCTION_ROLL=1 +uint8 RC_CHANNELS_FUNCTION_PITCH=2 +uint8 RC_CHANNELS_FUNCTION_YAW=3 +uint8 RC_CHANNELS_FUNCTION_MODE=4 +uint8 RC_CHANNELS_FUNCTION_RETURN=5 +uint8 RC_CHANNELS_FUNCTION_POSCTL=6 +uint8 RC_CHANNELS_FUNCTION_LOITER=7 +uint8 RC_CHANNELS_FUNCTION_OFFBOARD=8 +uint8 RC_CHANNELS_FUNCTION_ACRO=9 +uint8 RC_CHANNELS_FUNCTION_FLAPS=10 +uint8 RC_CHANNELS_FUNCTION_AUX_1=11 +uint8 RC_CHANNELS_FUNCTION_AUX_2=12 +uint8 RC_CHANNELS_FUNCTION_AUX_3=13 +uint8 RC_CHANNELS_FUNCTION_AUX_4=14 +uint8 RC_CHANNELS_FUNCTION_AUX_5=15 +uint64 timestamp # Timestamp in microseconds since boot time +uint64 timestamp_last_valid # Timestamp of last valid RC signal +float32[18] channels # Scaled to -1..1 (throttle: 0..1) +uint8 channel_count # Number of valid channels +int8[18] function # Functions mapping +uint8 rssi # Receive signal strength index +bool signal_lost # Control signal lost, should be checked together with topic timeout diff --git a/msg/std_msgs/Bool.msg b/msg/std_msgs/Bool.msg new file mode 100644 index 000000000..f7cabb94f --- /dev/null +++ b/msg/std_msgs/Bool.msg @@ -0,0 +1 @@ +bool data
\ No newline at end of file diff --git a/msg/std_msgs/Byte.msg b/msg/std_msgs/Byte.msg new file mode 100644 index 000000000..d993b3455 --- /dev/null +++ b/msg/std_msgs/Byte.msg @@ -0,0 +1 @@ +byte data diff --git a/msg/std_msgs/ByteMultiArray.msg b/msg/std_msgs/ByteMultiArray.msg new file mode 100644 index 000000000..bb00bd348 --- /dev/null +++ b/msg/std_msgs/ByteMultiArray.msg @@ -0,0 +1,6 @@ +# Please look at the MultiArrayLayout message definition for +# documentation on all multiarrays. + +MultiArrayLayout layout # specification of data layout +byte[] data # array of data + diff --git a/msg/std_msgs/Char.msg b/msg/std_msgs/Char.msg new file mode 100644 index 000000000..39a1d46a9 --- /dev/null +++ b/msg/std_msgs/Char.msg @@ -0,0 +1 @@ +char data
\ No newline at end of file diff --git a/msg/std_msgs/ColorRGBA.msg b/msg/std_msgs/ColorRGBA.msg new file mode 100644 index 000000000..182dbc834 --- /dev/null +++ b/msg/std_msgs/ColorRGBA.msg @@ -0,0 +1,4 @@ +float32 r +float32 g +float32 b +float32 a diff --git a/msg/std_msgs/Duration.msg b/msg/std_msgs/Duration.msg new file mode 100644 index 000000000..f13931ec8 --- /dev/null +++ b/msg/std_msgs/Duration.msg @@ -0,0 +1 @@ +duration data diff --git a/msg/std_msgs/Empty.msg b/msg/std_msgs/Empty.msg new file mode 100644 index 000000000..e69de29bb --- /dev/null +++ b/msg/std_msgs/Empty.msg diff --git a/msg/std_msgs/Float32.msg b/msg/std_msgs/Float32.msg new file mode 100644 index 000000000..e89740534 --- /dev/null +++ b/msg/std_msgs/Float32.msg @@ -0,0 +1 @@ +float32 data
\ No newline at end of file diff --git a/msg/std_msgs/Float32MultiArray.msg b/msg/std_msgs/Float32MultiArray.msg new file mode 100644 index 000000000..915830846 --- /dev/null +++ b/msg/std_msgs/Float32MultiArray.msg @@ -0,0 +1,6 @@ +# Please look at the MultiArrayLayout message definition for +# documentation on all multiarrays. + +MultiArrayLayout layout # specification of data layout +float32[] data # array of data + diff --git a/msg/std_msgs/Float64.msg b/msg/std_msgs/Float64.msg new file mode 100644 index 000000000..cd09d39b8 --- /dev/null +++ b/msg/std_msgs/Float64.msg @@ -0,0 +1 @@ +float64 data
\ No newline at end of file diff --git a/msg/std_msgs/Float64MultiArray.msg b/msg/std_msgs/Float64MultiArray.msg new file mode 100644 index 000000000..0a13b928f --- /dev/null +++ b/msg/std_msgs/Float64MultiArray.msg @@ -0,0 +1,6 @@ +# Please look at the MultiArrayLayout message definition for +# documentation on all multiarrays. + +MultiArrayLayout layout # specification of data layout +float64[] data # array of data + diff --git a/msg/std_msgs/Header.msg b/msg/std_msgs/Header.msg new file mode 100644 index 000000000..f90d622ea --- /dev/null +++ b/msg/std_msgs/Header.msg @@ -0,0 +1,15 @@ +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id diff --git a/msg/std_msgs/Int16.msg b/msg/std_msgs/Int16.msg new file mode 100644 index 000000000..c4389faf7 --- /dev/null +++ b/msg/std_msgs/Int16.msg @@ -0,0 +1 @@ +int16 data diff --git a/msg/std_msgs/Int16MultiArray.msg b/msg/std_msgs/Int16MultiArray.msg new file mode 100644 index 000000000..d2ddea1d1 --- /dev/null +++ b/msg/std_msgs/Int16MultiArray.msg @@ -0,0 +1,6 @@ +# Please look at the MultiArrayLayout message definition for +# documentation on all multiarrays. + +MultiArrayLayout layout # specification of data layout +int16[] data # array of data + diff --git a/msg/std_msgs/Int32.msg b/msg/std_msgs/Int32.msg new file mode 100644 index 000000000..0ecfe35f5 --- /dev/null +++ b/msg/std_msgs/Int32.msg @@ -0,0 +1 @@ +int32 data
\ No newline at end of file diff --git a/msg/std_msgs/Int32MultiArray.msg b/msg/std_msgs/Int32MultiArray.msg new file mode 100644 index 000000000..af60abda3 --- /dev/null +++ b/msg/std_msgs/Int32MultiArray.msg @@ -0,0 +1,6 @@ +# Please look at the MultiArrayLayout message definition for +# documentation on all multiarrays. + +MultiArrayLayout layout # specification of data layout +int32[] data # array of data + diff --git a/msg/std_msgs/Int64.msg b/msg/std_msgs/Int64.msg new file mode 100644 index 000000000..6961e00f5 --- /dev/null +++ b/msg/std_msgs/Int64.msg @@ -0,0 +1 @@ +int64 data
\ No newline at end of file diff --git a/msg/std_msgs/Int64MultiArray.msg b/msg/std_msgs/Int64MultiArray.msg new file mode 100644 index 000000000..f4f35e171 --- /dev/null +++ b/msg/std_msgs/Int64MultiArray.msg @@ -0,0 +1,6 @@ +# Please look at the MultiArrayLayout message definition for +# documentation on all multiarrays. + +MultiArrayLayout layout # specification of data layout +int64[] data # array of data + diff --git a/msg/std_msgs/Int8.msg b/msg/std_msgs/Int8.msg new file mode 100644 index 000000000..1e42e554f --- /dev/null +++ b/msg/std_msgs/Int8.msg @@ -0,0 +1 @@ +int8 data diff --git a/msg/std_msgs/Int8MultiArray.msg b/msg/std_msgs/Int8MultiArray.msg new file mode 100644 index 000000000..a59a37259 --- /dev/null +++ b/msg/std_msgs/Int8MultiArray.msg @@ -0,0 +1,6 @@ +# Please look at the MultiArrayLayout message definition for +# documentation on all multiarrays. + +MultiArrayLayout layout # specification of data layout +int8[] data # array of data + diff --git a/msg/std_msgs/MultiArrayDimension.msg b/msg/std_msgs/MultiArrayDimension.msg new file mode 100644 index 000000000..08240462c --- /dev/null +++ b/msg/std_msgs/MultiArrayDimension.msg @@ -0,0 +1,3 @@ +string label # label of given dimension +uint32 size # size of given dimension (in type units) +uint32 stride # stride of given dimension
\ No newline at end of file diff --git a/msg/std_msgs/MultiArrayLayout.msg b/msg/std_msgs/MultiArrayLayout.msg new file mode 100644 index 000000000..5437f8542 --- /dev/null +++ b/msg/std_msgs/MultiArrayLayout.msg @@ -0,0 +1,26 @@ +# The multiarray declares a generic multi-dimensional array of a +# particular data type. Dimensions are ordered from outer most +# to inner most. + +MultiArrayDimension[] dim # Array of dimension properties +uint32 data_offset # padding bytes at front of data + +# Accessors should ALWAYS be written in terms of dimension stride +# and specified outer-most dimension first. +# +# multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k] +# +# A standard, 3-channel 640x480 image with interleaved color channels +# would be specified as: +# +# dim[0].label = "height" +# dim[0].size = 480 +# dim[0].stride = 3*640*480 = 921600 (note dim[0] stride is just size of image) +# dim[1].label = "width" +# dim[1].size = 640 +# dim[1].stride = 3*640 = 1920 +# dim[2].label = "channel" +# dim[2].size = 3 +# dim[2].stride = 3 +# +# multiarray(i,j,k) refers to the ith row, jth column, and kth channel.
\ No newline at end of file diff --git a/msg/std_msgs/String.msg b/msg/std_msgs/String.msg new file mode 100644 index 000000000..ae721739e --- /dev/null +++ b/msg/std_msgs/String.msg @@ -0,0 +1 @@ +string data diff --git a/msg/std_msgs/Time.msg b/msg/std_msgs/Time.msg new file mode 100644 index 000000000..7f8f72171 --- /dev/null +++ b/msg/std_msgs/Time.msg @@ -0,0 +1 @@ +time data diff --git a/msg/std_msgs/UInt16.msg b/msg/std_msgs/UInt16.msg new file mode 100644 index 000000000..87d0c44eb --- /dev/null +++ b/msg/std_msgs/UInt16.msg @@ -0,0 +1 @@ +uint16 data diff --git a/msg/std_msgs/UInt16MultiArray.msg b/msg/std_msgs/UInt16MultiArray.msg new file mode 100644 index 000000000..f38970b65 --- /dev/null +++ b/msg/std_msgs/UInt16MultiArray.msg @@ -0,0 +1,6 @@ +# Please look at the MultiArrayLayout message definition for +# documentation on all multiarrays. + +MultiArrayLayout layout # specification of data layout +uint16[] data # array of data + diff --git a/msg/std_msgs/UInt32.msg b/msg/std_msgs/UInt32.msg new file mode 100644 index 000000000..b6c696b42 --- /dev/null +++ b/msg/std_msgs/UInt32.msg @@ -0,0 +1 @@ +uint32 data
\ No newline at end of file diff --git a/msg/std_msgs/UInt32MultiArray.msg b/msg/std_msgs/UInt32MultiArray.msg new file mode 100644 index 000000000..b2bb0771f --- /dev/null +++ b/msg/std_msgs/UInt32MultiArray.msg @@ -0,0 +1,6 @@ +# Please look at the MultiArrayLayout message definition for +# documentation on all multiarrays. + +MultiArrayLayout layout # specification of data layout +uint32[] data # array of data + diff --git a/msg/std_msgs/UInt64.msg b/msg/std_msgs/UInt64.msg new file mode 100644 index 000000000..2eb1afad3 --- /dev/null +++ b/msg/std_msgs/UInt64.msg @@ -0,0 +1 @@ +uint64 data
\ No newline at end of file diff --git a/msg/std_msgs/UInt64MultiArray.msg b/msg/std_msgs/UInt64MultiArray.msg new file mode 100644 index 000000000..30d0cd928 --- /dev/null +++ b/msg/std_msgs/UInt64MultiArray.msg @@ -0,0 +1,6 @@ +# Please look at the MultiArrayLayout message definition for +# documentation on all multiarrays. + +MultiArrayLayout layout # specification of data layout +uint64[] data # array of data + diff --git a/msg/std_msgs/UInt8.msg b/msg/std_msgs/UInt8.msg new file mode 100644 index 000000000..5eefd870d --- /dev/null +++ b/msg/std_msgs/UInt8.msg @@ -0,0 +1 @@ +uint8 data diff --git a/msg/std_msgs/UInt8MultiArray.msg b/msg/std_msgs/UInt8MultiArray.msg new file mode 100644 index 000000000..31f7d6a21 --- /dev/null +++ b/msg/std_msgs/UInt8MultiArray.msg @@ -0,0 +1,6 @@ +# Please look at the MultiArrayLayout message definition for +# documentation on all multiarrays. + +MultiArrayLayout layout # specification of data layout +uint8[] data # array of data + diff --git a/msg/templates/msg.h.template b/msg/templates/msg.h.template new file mode 100644 index 000000000..19068a3a1 --- /dev/null +++ b/msg/templates/msg.h.template @@ -0,0 +1,153 @@ +@############################################### +@# +@# PX4 ROS compatible message source code +@# generation for C++ +@# +@# EmPy template for generating <msg>.h files +@# Based on the original template for ROS +@# +@############################################### +@# Start of Template +@# +@# Context: +@# - file_name_in (String) Source file +@# - spec (msggen.MsgSpec) Parsed specification of the .msg file +@# - md5sum (String) MD5Sum of the .msg specification +@############################################### +/**************************************************************************** + * + * Copyright (C) 2013-2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + + /* Auto-generated by genmsg_cpp from file @file_name_in */ + +@{ +import genmsg.msgs +import gencpp + +cpp_namespace = '::%s::'%(spec.package) # TODO handle nested namespace +cpp_class = '%s_'%spec.short_name +cpp_full_name = '%s%s'%(cpp_namespace,cpp_class) +cpp_full_name_with_alloc = '%s<ContainerAllocator>'%(cpp_full_name) +cpp_msg_definition = gencpp.escape_message_definition(msg_definition) +}@ + +#pragma once + +@############################## +@# Generic Includes +@############################## +#include <stdint.h> +#include "../uORB.h" + +@############################## +@# Includes for dependencies +@############################## +@{ +for field in spec.parsed_fields(): + if (not field.is_builtin): + if (not field.is_header): + (package, name) = genmsg.names.package_resource_name(field.base_type) + package = package or spec.package # convert '' to package + print('#include <uORB/topics/%s.h>'%(name)) + +}@ +@# Constants +@[for constant in spec.constants]@ +#define @(constant.name) @(int(constant.val)) +@[end for] + +/** + * @@addtogroup topics + * @@{ + */ + +@############################## +@# Main struct of message +@############################## +@{ + +type_map = {'int8': 'int8_t', + 'int16': 'int16_t', + 'int32': 'int32_t', + 'int64': 'int64_t', + 'uint8': 'uint8_t', + 'uint16': 'uint16_t', + 'uint32': 'uint32_t', + 'uint64': 'uint64_t', + 'float32': 'float', + 'bool': 'bool', + 'fence_vertex': 'fence_vertex'} + +# Function to print a standard ros type +def print_field_def(field): + type = field.type + # detect embedded types + sl_pos = type.find('/') + type_appendix = '' + type_prefix = '' + if (sl_pos >= 0): + type = type[sl_pos + 1:] + type_prefix = 'struct ' + type_appendix = '_s' + + # detect arrays + a_pos = type.find('[') + array_size = '' + if (a_pos >= 0): + # field is array + array_size = type[a_pos:] + type = type[:a_pos] + + if type in type_map: + # need to add _t: int8 --> int8_t + type_px4 = type_map[type] + else: + raise Exception("Type {0} not supported, add to to template file!".format(type)) + + print('\t%s%s%s %s%s;'%(type_prefix, type_px4, type_appendix, field.name, array_size)) + +} +struct @(spec.short_name)_s { +@{ +# loop over all fields and print the type and name +for field in spec.parsed_fields(): + if (not field.is_header): + print_field_def(field) +}@ +}; + +/** + * @@} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(@(spec.short_name)); diff --git a/msg/vehicle_attitude.msg b/msg/vehicle_attitude.msg new file mode 100644 index 000000000..dbfd8b6bc --- /dev/null +++ b/msg/vehicle_attitude.msg @@ -0,0 +1,35 @@ +# This is similar to the mavlink message ATTITUDE, but for onboard use */ +uint64 timestamp # in microseconds since system start +# @warning roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional +float32 roll # Roll angle (rad, Tait-Bryan, NED) +float32 pitch # Pitch angle (rad, Tait-Bryan, NED) +float32 yaw # Yaw angle (rad, Tait-Bryan, NED) +float32 rollspeed # Roll angular speed (rad/s, Tait-Bryan, NED) +float32 pitchspeed # Pitch angular speed (rad/s, Tait-Bryan, NED) +float32 yawspeed # Yaw angular speed (rad/s, Tait-Bryan, NED) +float32 rollacc # Roll angular accelration (rad/s, Tait-Bryan, NED) +float32 pitchacc # Pitch angular acceleration (rad/s, Tait-Bryan, NED) +float32 yawacc # Yaw angular acceleration (rad/s, Tait-Bryan, NED) +float32[3] rate_offsets # Offsets of the body angular rates from zero +float32[9] R # Rotation matrix, body to world, (Tait-Bryan, NED) +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_attitude_setpoint.msg b/msg/vehicle_attitude_setpoint.msg new file mode 100644 index 000000000..1a8e6e3d5 --- /dev/null +++ b/msg/vehicle_attitude_setpoint.msg @@ -0,0 +1,21 @@ + +uint64 timestamp # in microseconds since system start, is set whenever the writing thread stores new data + +float32 roll_body # body angle in NED frame +float32 pitch_body # body angle in NED frame +float32 yaw_body # body angle in NED frame + +float32[9] R_body # Rotation matrix describing the setpoint as rotation from the current body frame +bool R_valid # Set to true if rotation matrix is valid + +# For quaternion-based attitude control +float32[4] q_d # Desired quaternion for quaternion control +bool q_d_valid # Set to true if quaternion vector is valid +float32[4] q_e # Attitude error in quaternion +bool q_e_valid # Set to true if quaternion error vector is valid + +float32 thrust # Thrust in Newton the power system should generate + +bool roll_reset_integral # Reset roll integral part (navigation logic change) +bool pitch_reset_integral # Reset pitch integral part (navigation logic change) +bool yaw_reset_integral # Reset yaw integral part (navigation logic change) diff --git a/msg/vehicle_control_mode.msg b/msg/vehicle_control_mode.msg new file mode 100644 index 000000000..153a642bb --- /dev/null +++ b/msg/vehicle_control_mode.msg @@ -0,0 +1,22 @@ + +uint64 timestamp # in microseconds since system start + # is set whenever the writing thread stores new data + +bool flag_armed + +bool flag_external_manual_override_ok # external override non-fatal for system. Only true for fixed wing + +# XXX needs yet to be set by state machine helper +bool flag_system_hil_enabled + +bool flag_control_manual_enabled # true if manual input is mixed in +bool flag_control_auto_enabled # true if onboard autopilot should act +bool flag_control_offboard_enabled # true if offboard control should be used +bool flag_control_rates_enabled # true if rates are stabilized +bool flag_control_attitude_enabled # true if attitude stabilization is mixed in +bool flag_control_force_enabled # true if force control is mixed in +bool flag_control_velocity_enabled # true if horizontal velocity (implies direction) is controlled +bool flag_control_position_enabled # true if position is controlled +bool flag_control_altitude_enabled # true if altitude is controlled +bool flag_control_climb_rate_enabled # true if climb rate is controlled +bool flag_control_termination_enabled # true if flighttermination is enabled diff --git a/msg/vehicle_rates_setpoint.msg b/msg/vehicle_rates_setpoint.msg new file mode 100644 index 000000000..834113c79 --- /dev/null +++ b/msg/vehicle_rates_setpoint.msg @@ -0,0 +1,6 @@ +uint64 timestamp # in microseconds since system start + +float32 roll # body angular rates in NED frame +float32 pitch # body angular rates in NED frame +float32 yaw # body angular rates in NED frame +float32 thrust # thrust normalized to 0..1 diff --git a/msg/vehicle_status.msg b/msg/vehicle_status.msg new file mode 100644 index 000000000..21a088f12 --- /dev/null +++ b/msg/vehicle_status.msg @@ -0,0 +1,158 @@ +# 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 # True if system is in rotary wing configuration, so for a VTOL this is only true while flying as a multicopter +bool is_vtol # True if the system is VTOL capable + +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 |