Update message definitions Thu Nov 23 13:34:43 UTC 2023

msg/FailsafeFlags.msg

@@ -43,7 +43,7 @@ bool battery_low_remaining_time       # Low battery based on remaining flight ti
 bool battery_unhealthy                # Battery unhealthy
 
 # Other
-bool primary_geofence_breached        # Primary Geofence breached
+bool geofence_breached        	      # Geofence breached (one or multiple)
 bool mission_failure                  # Mission failure
 bool vtol_fixed_wing_system_failure   # vehicle in fixed-wing system failure failsafe mode (after quad-chute)
 bool wind_limit_exceeded              # Wind limit exceeded

msg/GeofenceResult.msg

@@ -6,9 +6,8 @@ uint8 GF_ACTION_RTL = 3                 # switch to AUTO|RTL
 uint8 GF_ACTION_TERMINATE = 4           # flight termination
 uint8 GF_ACTION_LAND = 5                # switch to AUTO|LAND
 
-uint8 geofence_violation_reason         # one of geofence_violation_reason_t::*
+bool geofence_max_dist_triggered	# true the check for max distance from Home is triggered
+bool geofence_max_alt_triggered		# true the check for max altitude above Home is triggered
+bool geofence_custom_fence_triggered	# true the check for custom inclusion/exclusion geofence(s) is triggered
 
-bool primary_geofence_breached          # true if the primary geofence is breached
-uint8 primary_geofence_action           # action to take when the primary geofence is breached
-
-bool home_required                      # true if the geofence requires a valid home position
+uint8 geofence_action           	# action to take when the geofence is breached

msg/OffboardControlMode.msg

@@ -7,4 +7,5 @@ bool velocity
 bool acceleration
 bool attitude
 bool body_rate
-bool actuator
+bool thrust_and_torque
+bool direct_actuator

msg/VehicleLocalPosition.msg

@@ -15,11 +15,10 @@ float32 y				# East position in NED earth-fixed frame, (metres)
 float32 z				# Down position (negative altitude) in NED earth-fixed frame, (metres)
 
 # Position reset delta
-float32[2] delta_xy
-uint8 xy_reset_counter
-
-float32 delta_z
-uint8 z_reset_counter
+float32[2] delta_xy			# Amount of lateral shift of position estimate in latest reset (in x and y) [m]
+uint8 xy_reset_counter			# Index of latest lateral position estimate reset
+float32 delta_z				# Amount of vertical shift of position estimate in latest reset [m]
+uint8 z_reset_counter			# Index of latest vertical position estimate reset
 
 # Velocity in NED frame
 float32 vx 				# North velocity in NED earth-fixed frame, (metres/sec)
@@ -28,20 +27,20 @@ float32 vz				# Down velocity in NED earth-fixed frame, (metres/sec)
 float32 z_deriv				# Down position time derivative in NED earth-fixed frame, (metres/sec)
 
 # Velocity reset delta
-float32[2] delta_vxy
-uint8 vxy_reset_counter
+float32[2] delta_vxy			# Amount of lateral shift of velocity estimate in latest reset (in x and y) [m/s]
+uint8 vxy_reset_counter			# Index of latest vertical velocity estimate reset
+float32 delta_vz			# Amount of vertical shift of velocity estimate in latest reset [m/s]
+uint8 vz_reset_counter			# Index of latest vertical velocity estimate reset
 
-float32 delta_vz
-uint8 vz_reset_counter
 # Acceleration in NED frame
 float32 ax        # North velocity derivative in NED earth-fixed frame, (metres/sec^2)
 float32 ay        # East velocity derivative in NED earth-fixed frame, (metres/sec^2)
 float32 az        # Down velocity derivative in NED earth-fixed frame, (metres/sec^2)
 
 float32 heading				# Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI,  (radians)
 float32 unaided_heading                 # Same as heading but generated by integrating corrected gyro data only
-float32 delta_heading
-uint8 heading_reset_counter
+float32 delta_heading			# Heading delta caused by latest heading reset [rad]
+uint8 heading_reset_counter		# Index of latest heading reset
 bool heading_good_for_control
 
 # Position of reference point (local NED frame origin) in global (GPS / WGS84) frame