|
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|
|
rtps:
|
|
|
|
|
- msg: actuator_armed
|
|
|
|
|
id: 0
|
|
|
|
|
- msg: actuator_controls
|
|
|
|
|
id: 1
|
|
|
|
|
- msg: actuator_outputs
|
|
|
|
|
id: 3
|
|
|
|
|
- msg: adc_report
|
|
|
|
|
id: 4
|
|
|
|
|
- msg: airspeed
|
|
|
|
|
id: 5
|
|
|
|
|
- msg: battery_status
|
|
|
|
|
id: 6
|
|
|
|
|
- msg: camera_capture
|
|
|
|
|
id: 7
|
|
|
|
|
- msg: camera_trigger
|
|
|
|
|
id: 8
|
|
|
|
|
- msg: collision_report
|
|
|
|
|
id: 9
|
|
|
|
|
- msg: commander_state
|
|
|
|
|
id: 10
|
|
|
|
|
- msg: cpuload
|
|
|
|
|
id: 11
|
|
|
|
|
- msg: debug_array
|
|
|
|
|
id: 12
|
|
|
|
|
receive: true
|
|
|
|
|
- msg: debug_key_value
|
|
|
|
|
id: 13
|
|
|
|
|
receive: true
|
|
|
|
|
- msg: debug_value
|
|
|
|
|
id: 14
|
|
|
|
|
receive: true
|
|
|
|
|
- msg: debug_vect
|
|
|
|
|
id: 15
|
|
|
|
|
receive: true
|
|
|
|
|
- msg: differential_pressure
|
|
|
|
|
id: 16
|
|
|
|
|
- msg: distance_sensor
|
|
|
|
|
id: 17
|
|
|
|
|
- msg: estimator_innovations
|
|
|
|
|
id: 18
|
|
|
|
|
- msg: ekf2_timestamps
|
|
|
|
|
id: 19
|
|
|
|
|
- msg: ekf_gps_drift
|
|
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id: 20
|
|
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|
- msg: sensor_gps
|
|
|
|
|
id: 21
|
|
|
|
|
- msg: esc_report
|
|
|
|
|
id: 22
|
|
|
|
|
- msg: esc_status
|
|
|
|
|
id: 23
|
|
|
|
|
- msg: estimator_status
|
|
|
|
|
id: 24
|
|
|
|
|
- msg: follow_target
|
|
|
|
|
id: 25
|
|
|
|
|
- msg: geofence_result
|
|
|
|
|
id: 26
|
|
|
|
|
- msg: gps_dump
|
|
|
|
|
id: 27
|
|
|
|
|
- msg: gps_inject_data
|
|
|
|
|
id: 28
|
|
|
|
|
- msg: home_position
|
|
|
|
|
id: 29
|
|
|
|
|
- msg: input_rc
|
|
|
|
|
id: 30
|
|
|
|
|
send: true
|
|
|
|
|
- msg: iridiumsbd_status
|
|
|
|
|
id: 31
|
|
|
|
|
- msg: irlock_report
|
|
|
|
|
id: 32
|
|
|
|
|
- msg: landing_target_innovations
|
|
|
|
|
id: 33
|
|
|
|
|
- msg: landing_target_pose
|
|
|
|
|
id: 34
|
|
|
|
|
- msg: led_control
|
|
|
|
|
id: 35
|
|
|
|
|
- msg: log_message
|
|
|
|
|
id: 36
|
|
|
|
|
- msg: manual_control_setpoint
|
|
|
|
|
id: 37
|
|
|
|
|
- msg: mavlink_log
|
|
|
|
|
id: 38
|
|
|
|
|
- msg: mission
|
|
|
|
|
id: 39
|
|
|
|
|
- msg: mission_result
|
|
|
|
|
id: 40
|
|
|
|
|
- msg: mount_orientation
|
|
|
|
|
id: 41
|
|
|
|
|
- msg: multirotor_motor_limits
|
|
|
|
|
id: 42
|
|
|
|
|
- msg: obstacle_distance
|
|
|
|
|
id: 43
|
|
|
|
|
- msg: offboard_control_mode
|
|
|
|
|
id: 44
|
|
|
|
|
receive: true
|
|
|
|
|
- msg: optical_flow
|
|
|
|
|
id: 45
|
|
|
|
|
receive: true
|
|
|
|
|
- msg: parameter_update
|
|
|
|
|
id: 46
|
|
|
|
|
- msg: ping
|
|
|
|
|
id: 47
|
|
|
|
|
- msg: position_controller_landing_status
|
|
|
|
|
id: 48
|
|
|
|
|
- msg: position_controller_status
|
|
|
|
|
id: 49
|
|
|
|
|
- msg: position_setpoint
|
|
|
|
|
id: 50
|
|
|
|
|
receive: true
|
|
|
|
|
- msg: position_setpoint_triplet
|
|
|
|
|
id: 51
|
|
|
|
|
receive: true
|
|
|
|
|
- msg: power_button_state
|
|
|
|
|
id: 52
|
|
|
|
|
- msg: pwm_input
|
|
|
|
|
id: 53
|
|
|
|
|
- msg: qshell_req
|
|
|
|
|
id: 54
|
|
|
|
|
- msg: qshell_retval
|
|
|
|
|
id: 55
|
|
|
|
|
- msg: radio_status
|
|
|
|
|
id: 56
|
|
|
|
|
- msg: rate_ctrl_status
|
|
|
|
|
id: 57
|
|
|
|
|
- msg: rc_channels
|
|
|
|
|
id: 58
|
|
|
|
|
- msg: rc_parameter_map
|
|
|
|
|
id: 59
|
|
|
|
|
- msg: safety
|
|
|
|
|
id: 60
|
|
|
|
|
- msg: satellite_info
|
|
|
|
|
id: 61
|
|
|
|
|
send: true
|
|
|
|
|
- msg: sensor_accel
|
|
|
|
|
id: 62
|
|
|
|
|
- msg: sensor_baro
|
|
|
|
|
id: 63
|
|
|
|
|
- msg: estimator_sensor_bias
|
|
|
|
|
id: 64
|
|
|
|
|
- msg: sensor_combined
|
|
|
|
|
id: 65
|
|
|
|
|
send: true
|
|
|
|
|
- msg: sensor_correction
|
|
|
|
|
id: 66
|
|
|
|
|
- msg: sensor_gyro
|
|
|
|
|
id: 67
|
|
|
|
|
- msg: sensor_mag
|
|
|
|
|
id: 68
|
|
|
|
|
- msg: sensors_status_imu
|
|
|
|
|
id: 69
|
|
|
|
|
- msg: sensor_selection
|
|
|
|
|
id: 70
|
|
|
|
|
- msg: px4io_status
|
|
|
|
|
id: 71
|
|
|
|
|
- msg: system_power
|
|
|
|
|
id: 73
|
|
|
|
|
- msg: task_stack_info
|
|
|
|
|
id: 74
|
|
|
|
|
- msg: tecs_status
|
|
|
|
|
id: 75
|
|
|
|
|
- msg: telemetry_status
|
|
|
|
|
id: 76
|
|
|
|
|
receive: true
|
|
|
|
|
- msg: test_motor
|
|
|
|
|
id: 77
|
|
|
|
|
- msg: timesync
|
|
|
|
|
id: 78
|
|
|
|
|
receive: true
|
|
|
|
|
send: true
|
|
|
|
|
- msg: trajectory_waypoint
|
|
|
|
|
id: 79
|
|
|
|
|
send: true
|
|
|
|
|
- msg: transponder_report
|
|
|
|
|
id: 80
|
|
|
|
|
- msg: tune_control
|
|
|
|
|
id: 81
|
|
|
|
|
- msg: uavcan_parameter_request
|
|
|
|
|
id: 82
|
|
|
|
|
- msg: uavcan_parameter_value
|
|
|
|
|
id: 83
|
|
|
|
|
- msg: ulog_stream
|
|
|
|
|
id: 84
|
|
|
|
|
- msg: ulog_stream_ack
|
|
|
|
|
id: 85
|
|
|
|
|
- msg: vehicle_air_data
|
|
|
|
|
id: 86
|
|
|
|
|
- msg: vehicle_attitude
|
|
|
|
|
id: 87
|
|
|
|
|
send: true
|
|
|
|
|
- msg: vehicle_attitude_setpoint
|
|
|
|
|
id: 88
|
|
|
|
|
- msg: vehicle_command
|
|
|
|
|
id: 89
|
|
|
|
|
receive: true
|
|
|
|
|
- msg: vehicle_command_ack
|
|
|
|
|
id: 90
|
|
|
|
|
- msg: vehicle_constraints
|
|
|
|
|
id: 91
|
|
|
|
|
- msg: vehicle_control_mode
|
|
|
|
|
id: 92
|
|
|
|
|
send: true
|
|
|
|
|
- msg: vehicle_global_position
|
|
|
|
|
id: 93
|
|
|
|
|
- msg: vehicle_gps_position
|
|
|
|
|
id: 94
|
|
|
|
|
- msg: vehicle_land_detected
|
|
|
|
|
id: 95
|
|
|
|
|
- msg: vehicle_local_position
|
|
|
|
|
id: 96
|
|
|
|
|
send: true
|
|
|
|
|
- msg: vehicle_local_position_setpoint
|
|
|
|
|
id: 97
|
|
|
|
|
receive: true
|
|
|
|
|
- msg: vehicle_magnetometer
|
|
|
|
|
id: 98
|
|
|
|
|
- msg: vehicle_odometry
|
|
|
|
|
id: 99
|
|
|
|
|
send: true
|
|
|
|
|
- msg: vehicle_rates_setpoint
|
|
|
|
|
id: 100
|
|
|
|
|
- msg: vehicle_roi
|
|
|
|
|
id: 101
|
|
|
|
|
- msg: vehicle_status
|
|
|
|
|
id: 102
|
|
|
|
|
send: true
|
|
|
|
|
- msg: vehicle_status_flags
|
|
|
|
|
id: 103
|
|
|
|
|
- msg: vehicle_trajectory_waypoint
|
|
|
|
|
id: 104
|
|
|
|
|
receive: true
|
|
|
|
|
- msg: vtol_vehicle_status
|
|
|
|
|
id: 105
|
|
|
|
|
- msg: wind
|
|
|
|
|
id: 106
|
|
|
|
|
- msg: collision_constraints
|
|
|
|
|
id: 107
|
|
|
|
|
send: true
|
|
|
|
|
- msg: orbit_status
|
|
|
|
|
id: 108
|
|
|
|
|
- msg: power_monitor
|
|
|
|
|
id: 109
|
|
|
|
|
- msg: landing_gear
|
|
|
|
|
id: 110
|
|
|
|
|
- msg: wheel_encoders
|
|
|
|
|
id: 111
|
|
|
|
|
- msg: vehicle_angular_velocity
|
|
|
|
|
id: 112
|
|
|
|
|
send: true
|
|
|
|
|
- msg: vehicle_acceleration
|
|
|
|
|
id: 113
|
|
|
|
|
- msg: airspeed_validated
|
|
|
|
|
id: 115
|
|
|
|
|
- msg: onboard_computer_status
|
|
|
|
|
id: 116
|
|
|
|
|
receive: true
|
|
|
|
|
- msg: cellular_status
|
|
|
|
|
id: 117
|
|
|
|
|
- msg: sensor_accel_fifo
|
|
|
|
|
id: 118
|
|
|
|
|
- msg: sensor_gyro_fifo
|
|
|
|
|
id: 119
|
|
|
|
|
- msg: vehicle_imu
|
|
|
|
|
id: 120
|
|
|
|
|
- msg: vehicle_imu_status
|
|
|
|
|
id: 121
|
|
|
|
|
- msg: vehicle_angular_acceleration
|
|
|
|
|
id: 122
|
|
|
|
|
- msg: logger_status
|
|
|
|
|
id: 123
|
|
|
|
|
- msg: rpm
|
|
|
|
|
id: 124
|
|
|
|
|
- msg: hover_thrust_estimate
|
|
|
|
|
id: 125
|
|
|
|
|
- msg: trajectory_bezier
|
|
|
|
|
id: 126
|
|
|
|
|
receive: true
|
|
|
|
|
- msg: vehicle_trajectory_bezier
|
|
|
|
|
id: 127
|
|
|
|
|
receive: true
|
|
|
|
|
- msg: timesync_status
|
|
|
|
|
id: 128
|
|
|
|
|
- msg: orb_test
|
|
|
|
|
id: 129
|
|
|
|
|
- msg: orb_test_medium
|
|
|
|
|
id: 130
|
|
|
|
|
- msg: orb_test_large
|
|
|
|
|
id: 131
|
|
|
|
|
- msg: yaw_estimator_status
|
|
|
|
|
id: 132
|
|
|
|
|
- msg: sensor_preflight_mag
|
|
|
|
|
id: 133
|
|
|
|
|
- msg: estimator_states
|
|
|
|
|
id: 134
|
|
|
|
|
- msg: generator_status
|
|
|
|
|
id: 135
|
|
|
|
|
- msg: sensor_gyro_fft
|
|
|
|
|
id: 136
|
|
|
|
|
- msg: navigator_mission_item
|
|
|
|
|
id: 137
|
|
|
|
|
- msg: estimator_optical_flow_vel
|
|
|
|
|
id: 138
|
|
|
|
|
- msg: estimator_selector_status
|
|
|
|
|
id: 139
|
|
|
|
|
- msg: manual_control_switches
|
|
|
|
|
id: 140
|
msg: new estimator_status_flags message for more accessible ekf2 status logging
- log all estimator (ekf2) flags as separate booleans in a new dedicated low rate message (only publishes at 1 Hz or immediately on any change)
- this is a bit verbose, but it avoids the duplicate bit definitions we currently have across PX4 msgs, ecl analysis script, flight review, and many other custom tools and it's much easier for casual log review in FlightPlot, PlotJuggler, csv, etc
- for compatibility I've left estimator_status filter_fault_flags, innovation_check_flags, and solution_status_flags in place, but they can gradually be removed as tooling is updated
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
4 years ago
|
|
|
- msg: estimator_status_flags
|
|
|
|
|
id: 141
|
|
|
|
|
- msg: rtl_flight_time
|
|
|
|
|
id: 142
|
|
|
|
|
- msg: vehicle_angular_acceleration_setpoint
|
|
|
|
|
id: 143
|
|
|
|
|
- msg: vehicle_torque_setpoint
|
|
|
|
|
id: 144
|
|
|
|
|
- msg: vehicle_thrust_setpoint
|
|
|
|
|
id: 145
|
|
|
|
|
- msg: vehicle_actuator_setpoint
|
|
|
|
|
id: 146
|
|
|
|
|
- msg: control_allocator_status
|
|
|
|
|
id: 147
|
|
|
|
|
- msg: mag_worker_data
|
|
|
|
|
id: 148
|
|
|
|
|
- msg: takeoff_status
|
|
|
|
|
id: 149
|
|
|
|
|
- msg: heater_status
|
|
|
|
|
id: 150
|
|
|
|
|
- msg: gimbal_device_attitude_status
|
|
|
|
|
id: 151
|
|
|
|
|
- msg: gimbal_device_information
|
|
|
|
|
id: 152
|
|
|
|
|
- msg: gimbal_device_set_attitude
|
|
|
|
|
id: 153
|
|
|
|
|
- msg: gimbal_manager_information
|
|
|
|
|
id: 154
|
|
|
|
|
- msg: gimbal_manager_set_attitude
|
|
|
|
|
id: 155
|
|
|
|
|
- msg: gimbal_manager_status
|
|
|
|
|
id: 156
|
|
|
|
|
- msg: gimbal_manager_set_manual_control
|
|
|
|
|
id: 157
|
|
|
|
|
- msg: airspeed_wind
|
|
|
|
|
id: 158
|
|
|
|
|
- msg: estimator_event_flags
|
|
|
|
|
id: 159
|
|
|
|
|
########## multi topics: begin ##########
|
|
|
|
|
- msg: actuator_controls_0
|
|
|
|
|
id: 170
|
|
|
|
|
alias: actuator_controls
|
|
|
|
|
- msg: actuator_controls_1
|
|
|
|
|
id: 171
|
|
|
|
|
alias: actuator_controls
|
|
|
|
|
- msg: actuator_controls_2
|
|
|
|
|
id: 172
|
|
|
|
|
alias: actuator_controls
|
|
|
|
|
- msg: actuator_controls_3
|
|
|
|
|
id: 173
|
|
|
|
|
alias: actuator_controls
|
|
|
|
|
- msg: actuator_controls_virtual_fw
|
|
|
|
|
id: 174
|
|
|
|
|
alias: actuator_controls
|
|
|
|
|
- msg: actuator_controls_virtual_mc
|
|
|
|
|
id: 175
|
|
|
|
|
alias: actuator_controls
|
|
|
|
|
- msg: mc_virtual_attitude_setpoint
|
|
|
|
|
id: 176
|
|
|
|
|
alias: vehicle_attitude_setpoint
|
|
|
|
|
- msg: fw_virtual_attitude_setpoint
|
|
|
|
|
id: 177
|
|
|
|
|
alias: vehicle_attitude_setpoint
|
|
|
|
|
- msg: vehicle_attitude_groundtruth
|
|
|
|
|
id: 178
|
|
|
|
|
alias: vehicle_attitude
|
|
|
|
|
- msg: vehicle_global_position_groundtruth
|
|
|
|
|
id: 179
|
|
|
|
|
alias: vehicle_global_position
|
|
|
|
|
- msg: vehicle_local_position_groundtruth
|
|
|
|
|
id: 180
|
|
|
|
|
alias: vehicle_local_position
|
|
|
|
|
- msg: vehicle_mocap_odometry
|
|
|
|
|
alias: vehicle_odometry
|
|
|
|
|
id: 181
|
|
|
|
|
receive: true
|
|
|
|
|
- msg: vehicle_visual_odometry
|
|
|
|
|
id: 182
|
|
|
|
|
alias: vehicle_odometry
|
|
|
|
|
receive: true
|
|
|
|
|
- msg: vehicle_trajectory_waypoint_desired
|
|
|
|
|
id: 183
|
|
|
|
|
alias: vehicle_trajectory_waypoint
|
|
|
|
|
send: true
|
|
|
|
|
- msg: obstacle_distance_fused
|
|
|
|
|
id: 184
|
|
|
|
|
alias: obstacle_distance
|
|
|
|
|
- msg: vehicle_vision_attitude
|
|
|
|
|
id: 185
|
|
|
|
|
alias: vehicle_attitude
|
|
|
|
|
- msg: trajectory_setpoint
|
|
|
|
|
id: 186
|
|
|
|
|
alias: vehicle_local_position_setpoint
|
|
|
|
|
receive: true
|
|
|
|
|
- msg: camera_trigger_secondary
|
|
|
|
|
id: 187
|
|
|
|
|
alias: camera_trigger
|
|
|
|
|
- msg: vehicle_angular_velocity_groundtruth
|
|
|
|
|
id: 188
|
|
|
|
|
alias: vehicle_angular_velocity
|
|
|
|
|
- msg: estimator_visual_odometry_aligned
|
|
|
|
|
id: 189
|
|
|
|
|
alias: vehicle_odometry
|
|
|
|
|
- msg: estimator_innovation_variances
|
|
|
|
|
id: 190
|
|
|
|
|
alias: estimator_innovations
|
|
|
|
|
- msg: estimator_innovation_test_ratios
|
|
|
|
|
id: 191
|
|
|
|
|
alias: estimator_innovations
|
|
|
|
|
- msg: orb_multitest
|
|
|
|
|
id: 192
|
|
|
|
|
alias: orb_test
|
|
|
|
|
- msg: orb_test_medium_multi
|
|
|
|
|
id: 193
|
|
|
|
|
alias: orb_test_medium
|
|
|
|
|
- msg: orb_test_medium_queue
|
|
|
|
|
id: 194
|
|
|
|
|
alias: orb_test_medium
|
|
|
|
|
- msg: orb_test_medium_queue_poll
|
|
|
|
|
id: 195
|
|
|
|
|
alias: orb_test_medium
|
|
|
|
|
- msg: orb_test_medium_wrap_around
|
|
|
|
|
id: 196
|
|
|
|
|
alias: orb_test_medium
|
|
|
|
|
- msg: estimator_local_position
|
|
|
|
|
id: 197
|
|
|
|
|
alias: vehicle_local_position
|
|
|
|
|
- msg: estimator_global_position
|
|
|
|
|
id: 198
|
|
|
|
|
alias: vehicle_global_position
|
|
|
|
|
- msg: estimator_attitude
|
|
|
|
|
id: 199
|
|
|
|
|
alias: vehicle_attitude
|
|
|
|
|
- msg: estimator_odometry
|
|
|
|
|
id: 200
|
|
|
|
|
alias: vehicle_odometry
|
|
|
|
|
- msg: actuator_controls_4
|
|
|
|
|
id: 201
|
|
|
|
|
alias: actuator_controls
|
|
|
|
|
- msg: actuator_controls_5
|
|
|
|
|
id: 202
|
|
|
|
|
alias: actuator_controls
|
|
|
|
|
- msg: estimator_wind
|
|
|
|
|
id: 203
|
|
|
|
|
alias: wind
|
|
|
|
|
########## multi topics: end ##########
|
