From 3be3dcf56e589144b12e20cea356d62b8450ea8e Mon Sep 17 00:00:00 2001 From: PX4 BuildBot Date: Thu, 23 Nov 2023 13:34:43 +0000 Subject: [PATCH] Update message definitions Thu Nov 23 13:34:43 UTC 2023 --- msg/FailsafeFlags.msg | 2 +- msg/GeofenceResult.msg | 9 ++++----- msg/OffboardControlMode.msg | 3 ++- msg/VehicleLocalPosition.msg | 21 ++++++++++----------- 4 files changed, 17 insertions(+), 18 deletions(-) diff --git a/msg/FailsafeFlags.msg b/msg/FailsafeFlags.msg index b697b708..44945afa 100644 --- a/msg/FailsafeFlags.msg +++ b/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 diff --git a/msg/GeofenceResult.msg b/msg/GeofenceResult.msg index 4121f6f5..7782d1d6 100644 --- a/msg/GeofenceResult.msg +++ b/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 diff --git a/msg/OffboardControlMode.msg b/msg/OffboardControlMode.msg index 319ba1ac..885164a6 100644 --- a/msg/OffboardControlMode.msg +++ b/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 diff --git a/msg/VehicleLocalPosition.msg b/msg/VehicleLocalPosition.msg index 5f17cde4..c08b4117 100644 --- a/msg/VehicleLocalPosition.msg +++ b/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) @@ -28,11 +27,11 @@ 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) @@ -40,8 +39,8 @@ float32 az # Down velocity derivative in NED earth-fixed frame, (metres/s 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