add mode registration messages

PX4 · Jul 20, 2023 · 77d7b97 · 77d7b97
1 parent 67d6426
commit 77d7b97
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Showing 16 changed files with 204 additions and 42 deletions.
diff --git a/msg/ArmingCheckReply.msg b/msg/ArmingCheckReply.msg
@@ -0,0 +1,34 @@
+uint64 timestamp # time since system start (microseconds)
+
+uint8 request_id
+uint8 registration_id
+
+uint8 HEALTH_COMPONENT_INDEX_NONE = 0
+uint8 HEALTH_COMPONENT_INDEX_AVOIDANCE = 19
+
+uint8 health_component_index      # HEALTH_COMPONENT_INDEX_*
+bool health_component_is_present
+bool health_component_warning
+bool health_component_error
+
+bool can_arm_and_run              # whether arming is possible, and if it's a navigation mode, if it can run
+
+uint8 num_events
+
+Event[5] events
+
+# Mode requirements
+bool mode_req_angular_velocity
+bool mode_req_attitude
+bool mode_req_local_alt
+bool mode_req_local_position
+bool mode_req_local_position_relaxed
+bool mode_req_global_position
+bool mode_req_mission
+bool mode_req_home_position
+bool mode_req_prevent_arming
+bool mode_req_manual_control
+
+
+uint8 ORB_QUEUE_LENGTH = 4
+
diff --git a/msg/ArmingCheckRequest.msg b/msg/ArmingCheckRequest.msg
@@ -0,0 +1,7 @@
+uint64 timestamp # time since system start (microseconds)
+
+# broadcast message to request all registered arming checks to be reported
+
+uint8 request_id
+
+
diff --git a/msg/ConfigOverrides.msg b/msg/ConfigOverrides.msg
@@ -0,0 +1,19 @@
+# Configurable overrides by (external) modes or mode executors
+uint64 timestamp		# time since system start (microseconds)
+
+bool disable_auto_disarm         # Prevent the drone from automatically disarming after landing (if configured)
+
+bool defer_failsafes             # Defer all failsafes that can be deferred (until the flag is cleared)
+int16 defer_failsafes_timeout_s  # Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout
+
+
+int8 SOURCE_TYPE_MODE = 0
+int8 SOURCE_TYPE_MODE_EXECUTOR = 1
+int8 source_type
+
+uint8 source_id                  # ID depending on source_type
+
+uint8 ORB_QUEUE_LENGTH = 4
+
+# TOPICS config_overrides config_overrides_request
+
diff --git a/msg/MessageFormatRequest.msg b/msg/MessageFormatRequest.msg
@@ -0,0 +1,11 @@
+uint64 timestamp # time since system start (microseconds)
+
+# Request to PX4 to get the hash of a message, to check for message
+# compatibility
+
+uint16 LATEST_PROTOCOL_VERSION = 1 # Current version of this protocol. Increase this whenever the MessageFormatRequest or MessageFormatResponse changes.
+
+uint16 protocol_version           # Must be set to LATEST_PROTOCOL_VERSION. Do not change this field, it must be the first field after the timestamp
+
+char[50] topic_name  # E.g. /fmu/in/vehicle_command
+
diff --git a/msg/MessageFormatResponse.msg b/msg/MessageFormatResponse.msg
@@ -0,0 +1,11 @@
+uint64 timestamp # time since system start (microseconds)
+
+# Response from PX4 with the format of a message
+
+uint16 protocol_version           # Must be set to LATEST_PROTOCOL_VERSION. Do not change this field, it must be the first field after the timestamp
+
+char[50] topic_name  # E.g. /fmu/in/vehicle_command
+
+bool success
+uint32 message_hash # hash over all message fields
+
diff --git a/msg/RegisterExtComponentReply.msg b/msg/RegisterExtComponentReply.msg
@@ -0,0 +1,14 @@
+uint64 timestamp # time since system start (microseconds)
+
+uint64 request_id          # ID from the request
+char[25] name              # name from the request
+
+uint16 px4_sdk_api_version
+
+bool success
+int8 arming_check_id      # arming check registration ID (-1 if invalid)
+int8 mode_id              # assigned mode ID (-1 if invalid)
+int8 mode_executor_id     # assigned mode executor ID (-1 if invalid)
+
+uint8 ORB_QUEUE_LENGTH = 2
+
diff --git a/msg/RegisterExtComponentRequest.msg b/msg/RegisterExtComponentRequest.msg
@@ -0,0 +1,21 @@
+# Request to register an external component
+uint64 timestamp # time since system start (microseconds)
+
+uint64 request_id                  # ID, set this to a random value
+char[25] name                      # either the requested mode name, or component name
+
+uint16 LATEST_PX4_SDK_API_VERSION = 1 # API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change.
+
+uint16 px4_sdk_api_version   # Set to LATEST_PX4_SDK_API_VERSION
+
+# Components to be registered
+bool register_arming_check
+bool register_mode                 # registering a mode also requires arming_check to be set
+bool register_mode_executor        # registering an executor also requires a mode to be registered (which is the owned mode by the executor)
+
+bool enable_replace_internal_mode  # set to true if an internal mode should be replaced
+uint8 replace_internal_mode        # vehicle_status::NAVIGATION_STATE_*
+bool activate_mode_immediately     # switch to the registered mode (can only be set in combination with an executor)
+
+
+uint8 ORB_QUEUE_LENGTH = 2
diff --git a/msg/SensorGps.msg b/msg/SensorGps.msg
@@ -5,10 +5,10 @@ uint64 timestamp_sample
 
 uint32 device_id                # unique device ID for the sensor that does not change between power cycles
 
-float64 latitude_deg		# Latitude in degrees, allows centimeter level RTK precision
-float64 longitude_deg		# Longitude in degrees, allows centimeter level RTK precision
-float64 altitude_msl_m		# Altitude above MSL, meters
-float64 altitude_ellipsoid_m	# Altitude above Ellipsoid, meters
+int32 lat			# Latitude in 1E-7 degrees
+int32 lon			# Longitude in 1E-7 degrees
+int32 alt			# Altitude in 1E-3 meters above MSL, (millimetres)
+int32 alt_ellipsoid 		# Altitude in 1E-3 meters bove Ellipsoid, (millimetres)
 
 float32 s_variance_m_s		# GPS speed accuracy estimate, (metres/sec)
 float32 c_variance_rad		# GPS course accuracy estimate, (radians)

diff --git a/msg/SensorUwb.msg b/msg/SensorUwb.msg
diff --git a/msg/UnregisterExtComponent.msg b/msg/UnregisterExtComponent.msg
@@ -0,0 +1,10 @@
+uint64 timestamp # time since system start (microseconds)
+
+char[25] name                      # either the mode name, or component name
+
+int8 arming_check_id      # arming check registration ID (-1 if not registered)
+int8 mode_id              # assigned mode ID (-1 if not registered)
+int8 mode_executor_id     # assigned mode executor ID (-1 if not registered)
+
+
+
diff --git a/msg/UwbDistance.msg b/msg/UwbDistance.msg
@@ -0,0 +1,15 @@
+# UWB distance contains the distance information measured by an ultra-wideband positioning system,
+# such as Pozyx or NXP Rddrone.
+
+uint64 	timestamp		# time since system start (microseconds)
+uint32 	time_uwb_ms		# Time of UWB device in ms
+uint32 	counter			# Number of Ranges since last Start of Ranging
+uint32 	sessionid		# UWB SessionID
+uint32 	time_offset		# Time between Ranging Rounds in ms
+uint16 	status			# status feedback #
+
+uint16[12] anchor_distance	# distance in cm to each UWB Anchor (UWB Device which takes part in Ranging)
+bool[12] nlos			# Visual line of sight yes/no
+float32[12] aoafirst		# Angle of arrival of first incoming RX msg
+
+float32[3] position		# Position of the Landing point in relation to the Drone (x,y,z in Meters NED)
diff --git a/msg/UwbGrid.msg b/msg/UwbGrid.msg
@@ -0,0 +1,25 @@
+# UWB report message contains the grid information measured by an ultra-wideband positioning system,
+# such as Pozyx or NXP Rddrone.
+
+uint64 	timestamp	# time since system start (microseconds)
+uint16 	initator_time	# time to synchronize clocks (microseconds)
+uint8 	num_anchors	# Number of anchors
+
+float64[4] target_gps	# GPS position of target of the UWB system (Lat / Lon / Alt / Yaw Offset to true North)
+
+# Grid position information
+# Position in x,y,z in  (x,y,z in centimeters NED)
+# staring with POI and Anchor 0 up to Anchor 11
+int16[3] target_pos 	# Point of Interest, mostly landing Target x,y,z
+int16[3] anchor_pos_0
+int16[3] anchor_pos_1
+int16[3] anchor_pos_2
+int16[3] anchor_pos_3
+int16[3] anchor_pos_4
+int16[3] anchor_pos_5
+int16[3] anchor_pos_6
+int16[3] anchor_pos_7
+int16[3] anchor_pos_8
+int16[3] anchor_pos_9
+int16[3] anchor_pos_10
+int16[3] anchor_pos_11
diff --git a/msg/VehicleCommand.msg b/msg/VehicleCommand.msg
@@ -70,6 +70,7 @@ uint16 VEHICLE_CMD_PREFLIGHT_UAVCAN = 243		# UAVCAN configuration. If param 1 ==
 uint16 VEHICLE_CMD_PREFLIGHT_STORAGE = 245		# Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246	# Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_OBLIQUE_SURVEY=260			# Mission command to set a Camera Auto Mount Pivoting Oblique Survey for this flight|Camera trigger distance (meters)| Shutter integration time (ms)| Camera minimum trigger interval| Number of positions| Roll| Pitch| Empty|
+uint16 VEHICLE_CMD_DO_SET_STANDARD_MODE=262		# Enable the specified standard MAVLink mode |MAV_STANDARD_MODE|
 uint16 VEHICLE_CMD_GIMBAL_DEVICE_INFORMATION = 283	# Command to ask information about a low level gimbal
 
 uint16 VEHICLE_CMD_MISSION_START = 300			# start running a mission |first_item: the first mission item to run| last_item:  the last mission item to run (after this item is run, the mission ends)|
@@ -102,6 +103,7 @@ uint16 VEHICLE_CMD_DO_WINCH = 42600			# Command to operate winch.
 # PX4 vehicle commands (beyond 16 bit mavlink commands)
 uint32 VEHICLE_CMD_PX4_INTERNAL_START    = 65537        # start of PX4 internal only vehicle commands (> UINT16_MAX)
 uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000       # Sets the GPS coordinates of the vehicle local origin (0,0,0) position. |Empty|Empty|Empty|Empty|Latitude|Longitude|Altitude|
+uint32 VEHICLE_CMD_SET_NAV_STATE = 100001               # Change mode by specifying nav_state directly. |nav_state|Empty|Empty|Empty|Empty|Empty|Empty|
 
 uint8 VEHICLE_MOUNT_MODE_RETRACT = 0			# Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization |
 uint8 VEHICLE_MOUNT_MODE_NEUTRAL = 1			# Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. |
@@ -173,8 +175,10 @@ uint32 command			# Command ID
 uint8 target_system		# System which should execute the command
 uint8 target_component		# Component which should execute the command, 0 for all components
 uint8 source_system		# System sending the command
-uint8 source_component		# Component sending the command
+uint16 source_component	# Component / mode executor sending the command
 uint8 confirmation		# 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
 bool from_external
 
-# TOPICS vehicle_command gimbal_v1_command
+uint16 COMPONENT_MODE_EXECUTOR_START = 1000
+
+# TOPICS vehicle_command gimbal_v1_command vehicle_command_mode_executor
diff --git a/msg/VehicleCommandAck.msg b/msg/VehicleCommandAck.msg
@@ -28,6 +28,6 @@ uint8 result						# Command result
 uint8 result_param1					# 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
 int32 result_param2					# Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.
 uint8 target_system
-uint8 target_component
+uint16 target_component 				# Target component / mode executor
 
 bool from_external					# Indicates if the command came from an external source
diff --git a/msg/VehicleControlMode.msg b/msg/VehicleControlMode.msg
@@ -14,3 +14,9 @@ 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
+bool flag_control_allocation_enabled		# true if control allocation is enabled
+
+# TODO: use dedicated topic for external requests
+uint8 source_id                  # Mode ID (nav_state)
+
+# TOPICS vehicle_control_mode config_control_setpoints
diff --git a/msg/VehicleStatus.msg b/msg/VehicleStatus.msg
@@ -57,7 +57,20 @@ uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19  # Auto Follow
 uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20       # Precision land with landing target
 uint8 NAVIGATION_STATE_ORBIT = 21               # Orbit in a circle
 uint8 NAVIGATION_STATE_AUTO_VTOL_TAKEOFF = 22   # Takeoff, transition, establish loiter
-uint8 NAVIGATION_STATE_MAX = 23
+uint8 NAVIGATION_STATE_EXTERNAL1 = 23
+uint8 NAVIGATION_STATE_EXTERNAL2 = 24
+uint8 NAVIGATION_STATE_EXTERNAL3 = 25
+uint8 NAVIGATION_STATE_EXTERNAL4 = 26
+uint8 NAVIGATION_STATE_EXTERNAL5 = 27
+uint8 NAVIGATION_STATE_EXTERNAL6 = 28
+uint8 NAVIGATION_STATE_EXTERNAL7 = 29
+uint8 NAVIGATION_STATE_EXTERNAL8 = 30
+uint8 NAVIGATION_STATE_MAX = 31
+
+uint8 executor_in_charge                        # Current mode executor in charge (0=Autopilot)
+
+uint32 valid_nav_states_mask                    # Bitmask for all valid nav_state values
+uint32 can_set_nav_states_mask                  # Bitmask for all modes that a user can select
 
 # Bitmask of detected failures
 uint16 failure_detector_status
@@ -83,8 +96,13 @@ uint8 VEHICLE_TYPE_FIXED_WING = 2
 uint8 VEHICLE_TYPE_ROVER = 3
 uint8 VEHICLE_TYPE_AIRSHIP = 4
 
+uint8 FAILSAFE_DEFER_STATE_DISABLED = 0
+uint8 FAILSAFE_DEFER_STATE_ENABLED = 1
+uint8 FAILSAFE_DEFER_STATE_WOULD_FAILSAFE = 2 # Failsafes deferred, but would trigger a failsafe
+
 bool failsafe # true if system is in failsafe state (e.g.:RTL, Hover, Terminate, ...)
 bool failsafe_and_user_took_over # true if system is in failsafe state but the user took over control
+uint8 failsafe_defer_state # one of FAILSAFE_DEFER_STATE_*
 
 # Link loss
 bool gcs_connection_lost              # datalink to GCS lost
@@ -121,3 +139,4 @@ bool rc_calibration_in_progress
 bool calibration_enabled
 
 bool pre_flight_checks_pass		# true if all checks necessary to arm pass
+