Update message definitions Fri Nov 3 16:02:34 UTC 2023

msg/EstimatorStates.msg

@@ -4,4 +4,4 @@ uint64 timestamp_sample         # the timestamp of the raw data (microseconds)
 float32[24] states		# Internal filter states
 uint8 n_states		# Number of states effectively used
 
-float32[24] covariances	# Diagonal Elements of Covariance Matrix
+float32[23] covariances	# Diagonal Elements of Covariance Matrix

msg/FigureEightStatus.msg

@@ -0,0 +1,8 @@
+uint64 timestamp # time since system start (microseconds)
+float32 major_radius 	# Major axis radius of the figure eight [m]. Positive values orbit clockwise, negative values orbit counter-clockwise.
+float32 minor_radius 	# Minor axis radius of the figure eight [m].
+float32 orientation 	# Orientation of the major axis of the figure eight [rad].
+uint8 frame      # The coordinate system of the fields: x, y, z.
+int32 x          # X coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.
+int32 y        	 # Y coordinate of center point. Coordinate system depends on frame field: local = y position in meters * 1e4, global = latitude in degrees * 1e7.
+float32 z        # Altitude of center point. Coordinate system depends on frame field.

msg/PositionSetpoint.msg

@@ -9,6 +9,9 @@ uint8 SETPOINT_TYPE_TAKEOFF=3	# takeoff setpoint
 uint8 SETPOINT_TYPE_LAND=4	# land setpoint, altitude must be ignored, descend until landing
 uint8 SETPOINT_TYPE_IDLE=5	# do nothing, switch off motors or keep at idle speed (MC)
 
+uint8 LOITER_TYPE_ORBIT=0 	# Circular pattern
+uint8 LOITER_TYPE_FIGUREEIGHT=1 # Pattern resembling an 8
+
 bool valid			# true if setpoint is valid
 uint8 type			# setpoint type to adjust behavior of position controller
 
@@ -25,8 +28,11 @@ bool yaw_valid			# true if yaw setpoint valid
 float32 yawspeed		# yawspeed (only for multirotors, in rad/s)
 bool yawspeed_valid		# true if yawspeed setpoint valid
 
-float32 loiter_radius		# loiter radius (only for fixed wing), in m
+float32 loiter_radius		# loiter major axis radius in m
+float32 loiter_minor_radius	# loiter minor axis radius (used for non-circular loiter shapes) in m
 bool loiter_direction_counter_clockwise # loiter direction is clockwise by default and can be changed using this field
+float32 loiter_orientation 	# Orientation of the major axis with respect to true north in rad [-pi,pi)
+uint8 	loiter_pattern		# loitern pattern to follow
 
 float32 acceptance_radius   # navigation acceptance_radius if we're doing waypoint navigation
 

msg/VehicleCommand.msg

@@ -15,6 +15,7 @@ uint16 VEHICLE_CMD_NAV_LAND = 21			# Land at location |Empty| Empty| Empty| Desi
 uint16 VEHICLE_CMD_NAV_TAKEOFF = 22			# Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|
 uint16 VEHICLE_CMD_NAV_PRECLAND = 23			# Attempt a precision landing
 uint16 VEHICLE_CMD_DO_ORBIT = 34			# Start orbiting on the circumference of a circle defined by the parameters. |Radius [m] |Velocity [m/s] |Yaw behaviour |Empty |Latitude/X |Longitude/Y |Altitude/Z |
+uint16 VEHICLE_CMD_DO_FIGUREEIGHT = 35        		# Start flying on the outline of a figure eight defined by the parameters. |Major Radius [m] |Minor Radius [m] |Velocity [m/s] |Orientation |Latitude/X |Longitude/Y |Altitude/Z |
 uint16 VEHICLE_CMD_NAV_ROI = 80				# Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of interest mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|
 uint16 VEHICLE_CMD_NAV_PATHPLANNING = 81		# Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal|
 uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84		# Takeoff from ground / hand and transition to fixed wing |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude|