mirror of https://github.com/ArduPilot/ardupilot
AP_UAVCAN: removed old vendor DSDL and add README.md
this DSDL is in https://github.com/DroneCAN/DSDL now
This commit is contained in:
Andrew Tridgell
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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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