Andrew Tridgell
3 years ago
12 changed files with 1 additions and 195 deletions
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# This directory can be used for vendor specific DSDL for ArduPilot |
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This directory contains the DSDL for the ArduPilot vendor specific |
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UAVCAN messages. |
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For service messages we use IDs starting at 200 |
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For non-service messages we use IDs starting at 20000 |
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https://uavcan.org/Specification/5._Application_level_conventions/#id-distribution |
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# |
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# Auxilary Single battery info. |
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# |
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# This message is to be used in conjunction with uavcan/equipment/power/1092.BatteryInfo.uavcan |
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# Please ensure that this message is sent before the BatteryInfo which doesn't |
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# include the timestamp. The following fields should contain the timestamp of the last current measurement. |
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uavcan.Timestamp timestamp |
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# Battery individual cell voltages |
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# length of following field also used as cell count |
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float16[<=255] voltage_cell # [Volt] |
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# Number of Charge/Discharge Cycles |
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# A charge cycle is defined as a complete discharge and charge. |
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# IE when the system uses all of the battery's available energy capacity. |
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# Please note that this value doesn't mean that the cycle count should be incremented at every charge. |
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# For example, if half of a battery's charge is used in one run, |
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# and then recharged fully that is half of a cycle. If the same thing occurs again |
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# then the charge cycle count would be incremented once, not twice. |
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uint16 cycle_count |
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# Number of times the battery was discharged over the rated capacity |
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uint16 over_discharge_count |
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# Max instantaneous current draw since last message |
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float16 max_current # [Ampere] |
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# Nominal voltage of the battery pack |
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# the nominal Voltage can be used for conversion between Wh and Ah |
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# if the value of this field is 0, the conversion should be omitted. |
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float16 nominal_voltage # [Volt] |
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bool is_powering_off # Power off event imminent indication, false if unknown |
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uint8 battery_id # Identifies the battery within this vehicle, e.g. 0 - primary battery |
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# Network-synchronized timestamp, 0 if not available. Note: not necessarily a UTC time. |
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uavcan.Timestamp timestamp |
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# icao address |
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uint32 icao_address |
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# Time since last communication in seconds |
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uint16 tslc |
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# Traffic position in lat-lon-alt. Check alt_type for altitude datum |
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int32 latitude_deg_1e7 |
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int32 longitude_deg_1e7 |
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float32 alt_m |
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# Traffic heading in radians. |
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# Course over ground if heading is unavailable. 0 if neither are available. |
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float16 heading |
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# Traffic velocity in m/s |
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float16[3] velocity |
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# Traffic squawk code |
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uint16 squawk |
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# Traffic callsign |
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uint8[9] callsign |
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# Traffic source |
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uint3 SOURCE_ADSB = 0 |
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uint3 SOURCE_ADSB_UAT = 1 |
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uint3 SOURCE_FLARM = 2 |
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uint3 source |
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# Traffic type |
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uint5 TRAFFIC_TYPE_UNKNOWN = 0 |
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uint5 TRAFFIC_TYPE_LIGHT = 1 |
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uint5 TRAFFIC_TYPE_SMALL = 2 |
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uint5 TRAFFIC_TYPE_LARGE = 3 |
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uint5 TRAFFIC_TYPE_HIGH_VORTEX_LARGE = 4 |
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uint5 TRAFFIC_TYPE_HEAVY = 5 |
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uint5 TRAFFIC_TYPE_HIGHLY_MANUV = 6 |
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uint5 TRAFFIC_TYPE_ROTOCRAFT = 7 |
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uint5 TRAFFIC_TYPE_GLIDER = 9 |
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uint5 TRAFFIC_TYPE_LIGHTER_THAN_AIR = 10 |
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uint5 TRAFFIC_TYPE_PARACHUTE = 11 |
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uint5 TRAFFIC_TYPE_ULTRA_LIGHT = 12 |
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uint5 TRAFFIC_TYPE_UAV = 14 |
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uint5 TRAFFIC_TYPE_SPACE = 15 |
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uint5 TRAFFIC_TYPE_EMERGENCY_SURFACE = 17 |
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uint5 TRAFFIC_TYPE_SERVICE_SURFACE = 18 |
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uint5 TRAFFIC_TYPE_POINT_OBSTACLE = 19 |
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uint5 traffic_type |
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# Altitude type |
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uint7 ALT_TYPE_ALT_UNKNOWN = 0 |
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uint7 ALT_TYPE_PRESSURE_AMSL = 1 |
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uint7 ALT_TYPE_WGS84 = 2 |
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uint7 alt_type |
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# Validity flags |
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bool lat_lon_valid |
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bool heading_valid |
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bool velocity_valid |
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bool callsign_valid |
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bool ident_valid |
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bool simulated_report |
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bool vertical_velocity_valid |
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bool baro_valid |
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bool heading_valid |
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bool heading_accuracy_valid |
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float16 heading_rad |
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float16 heading_accuracy_rad |
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# Node specific GNSS error codes, primarily available for logging and diagnostics |
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uint32 error_codes |
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# GNSS system is self assesd as healthy |
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bool healthy |
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# Status is actually a bitmask, due to encoding issues pretend it's just a field, and leave it up to the application do decode it) |
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uint23 STATUS_LOGGING = 1 # GNSS system is doing any onboard logging |
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uint23 STATUS_ARMABLE = 2 # GNSS system is in a reasonable state to allow the system to arm |
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uint23 status |
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# length of data is set per the number of bytes for pkt in |
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# libraries/AP_GPS/RTCM3_Parser.h |
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uint8[<=300] data |
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# timestamp on the gps message |
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uavcan.Timestamp timestamp |
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bool reported_heading_acc_available |
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float32 reported_heading_deg |
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float32 reported_heading_acc_deg |
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float16 relative_distance_m |
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float16 relative_down_pos_m |
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# |
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# support for Safety LED on UAVCAN |
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uint8 STATUS_SAFETY_ON = 0 |
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uint8 STATUS_SAFETY_OFF = 255 |
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uint8 status |
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# |
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# support for buttons on UAVCAN |
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# while a button is being pressed this message should be sent at 10Hz |
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uint8 BUTTON_SAFETY = 1 |
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uint8 button |
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# number of 0.1s units the button has been pressed for. If over 255 |
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# then send 255 |
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uint8 press_time |
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uint8 VEHICLE_STATE_INITIALISING = 0 |
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uint8 VEHICLE_STATE_ARMED = 1 |
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uint8 VEHICLE_STATE_FLYING = 2 |
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uint8 VEHICLE_STATE_PREARM = 3 |
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uint8 VEHICLE_STATE_PREARM_GPS = 4 |
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uint8 VEHICLE_STATE_SAVE_TRIM = 5 |
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uint8 VEHICLE_STATE_ESC_CALIBRATION = 6 |
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uint8 VEHICLE_STATE_FAILSAFE_RADIO = 7 |
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uint8 VEHICLE_STATE_FAILSAFE_BATT = 8 |
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uint8 VEHICLE_STATE_FAILSAFE_GCS = 9 |
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uint8 VEHICLE_STATE_CHUTE_RELEASED = 10 |
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uint8 VEHICLE_STATE_EKF_BAD = 11 |
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uint8 VEHICLE_STATE_FW_UPDATE = 12 |
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uint8 VEHICLE_STATE_MAGCAL_RUN = 13 |
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uint8 VEHICLE_STATE_LEAK_DET = 14 |
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uint8 VEHICLE_STATE_GPS_FUSION = 15 |
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uint8 VEHICLE_STATE_GPS_GLITCH = 16 |
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uint8 VEHICLE_STATE_POS_ABS_AVAIL = 17 |
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uint8 VEHICLE_STATE_LOST = 18 |
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uint8 VEHICLE_STATE_THROW_READY = 19 |
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uint8 VEHICLE_STATE_POWERING_OFF = 20 |
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uint8 VEHICLE_STATE_VIDEO_RECORDING = 21 |
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uint8 VEHICLE_YAW_EARTH_CENTIDEGREES = 0 |
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# set the type of aux data to be sent |
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uint8 aux_data_type |
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# bytes containing packed auxiliary data |
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# placing it first so we don't do TAO |
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uint8[<=255] aux_data |
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# Current Vehicle State Mask |
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uint64 vehicle_state |
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float32 integration_interval # Integration Interval in seconds |
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float32[2] rate_gyro_integral # Integrated Gyro Data in radians |
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float32[2] flow_integral # Integrated LOS Data in radians |
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uint8 quality # Flow Data Quality Lowest(0)-Highest(255) Unitless |
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