Skip to content

v1.16.0

Choose a tag to compare

View all tags
@TSC21 TSC21 released this 09 Jun 05:52
· 163 commits to main since this release
v1.16.0
This tag was signed with the committer’s verified signature.
beniaminopozzan Beniamino Pozzan
SSH Key Fingerprint: kj3nwNg7ZWcjZzWEarnLBJZWg+OjS+LAKwY89IPnV/k
Verified
Learn about vigilant mode.
392e831
This commit was signed with the committer’s verified signature.
beniaminopozzan Beniamino Pozzan
SSH Key Fingerprint: kj3nwNg7ZWcjZzWEarnLBJZWg+OjS+LAKwY89IPnV/k
Verified
Learn about vigilant mode.

Message and service definitions synchronized with PX4 Autopilot 1.16.0.

Changes are mirrored from the upstream uORB definitions in PX4-Autopilot.

Summary of interface changes since v1.15.4:

Added

  • AckermannVelocitySetpoint.msg
  • DifferentialVelocitySetpoint.msg
  • DistanceSensorModeChangeRequest.msg
  • FuelTankStatus.msg
  • InternalCombustionEngineControl.msg
  • NavigatorStatus.msg
  • OpenDroneIdArmStatus.msg
  • OpenDroneIdOperatorId.msg
  • OpenDroneIdSelfId.msg
  • OpenDroneIdSystem.msg
  • PurePursuitStatus.msg
  • RoverAttitudeSetpoint.msg
  • RoverAttitudeStatus.msg
  • RoverPositionSetpoint.msg
  • RoverRateSetpoint.msg
  • RoverRateStatus.msg
  • RoverSteeringSetpoint.msg
  • RoverThrottleSetpoint.msg
  • RoverVelocityStatus.msg
  • TrajectorySetpoint6dof.msg

Removed

  • Buffer128.msg
  • CollisionReport.msg
  • DifferentialDriveSetpoint.msg
  • TrajectoryBezier.msg
  • TrajectoryWaypoint.msg
  • VehicleTrajectoryBezier.msg
  • VehicleTrajectoryWaypoint.msg

Changed

  • ActionRequest.msg
    • added uint8 SOURCE_STICK_GESTURE = 0
    • removed uint8 SOURCE_RC_STICK_GESTURE = 0
  • ActuatorMotors.msg
    • added uint32 MESSAGE_VERSION = 0
  • ActuatorServos.msg
    • added uint32 MESSAGE_VERSION = 0
  • Airspeed.msg
    • removed float32 air_temperature_celsius
  • AirspeedValidated.msg
    • added float32 airspeed_derivative_filtered
    • added float32 pitch_filtered
    • added float32 throttle_filtered
    • added uint32 MESSAGE_VERSION = 0
  • ArmingCheckReply.msg
    • added uint32 MESSAGE_VERSION = 0
    • removed uint8 HEALTH_COMPONENT_INDEX_AVOIDANCE = 19
  • ArmingCheckRequest.msg
    • added uint32 MESSAGE_VERSION = 0
  • BatteryStatus.msg
    • added float32 estimation_covariance_norm
    • added float32 internal_resistance_estimate
    • added float32 ocv_estimate
    • added float32 ocv_estimate_filtered
    • added float32 prediction_error
    • added float32 voltage_prediction
    • added float32 volt_based_soc_estimate
    • added uint32 MESSAGE_VERSION = 0
    • added uint8 FAULT_CELL_FAIL= 2
    • added uint8 FAULT_COUNT = 11
    • added uint8 FAULT_DEEP_DISCHARGE = 0
    • added uint8 FAULT_FAILED_TO_ARM = 10
    • added uint8 FAULT_HARDWARE_FAILURE = 9
    • added uint8 FAULT_INCOMPATIBLE_FIRMWARE = 7
    • added uint8 FAULT_INCOMPATIBLE_MODEL = 8
    • added uint8 FAULT_INCOMPATIBLE_VOLTAGE = 6
    • added uint8 FAULT_OVER_CURRENT = 3
    • added uint8 FAULT_OVER_TEMPERATURE = 4
    • added uint8 FAULT_SPIKES = 1
    • added uint8 FAULT_UNDER_TEMPERATURE = 5
    • added uint8 SOURCE_ESCS = 2
    • added uint8 SOURCE_EXTERNAL = 1
    • added uint8 SOURCE_POWER_MODULE = 0
    • added uint8 STATE_CHARGING = 7
    • added uint8 STATE_UNHEALTHY = 6
    • added uint8 WARNING_CRITICAL = 2
    • added uint8 WARNING_EMERGENCY = 3
    • added uint8 WARNING_FAILED = 4
    • added uint8 WARNING_LOW = 1
    • added uint8 WARNING_NONE = 0
    • removed float32 available_energy
    • removed float32 average_power
    • removed float32 current_filtered_a
    • removed float32 design_capacity
    • removed float32 voltage_filtered_v
    • removed uint16 average_time_to_full
    • removed uint32 custom_faults
    • removed uint8 BATTERY_FAULT_CELL_FAIL= 2
    • removed uint8 BATTERY_FAULT_COUNT = 11
    • removed uint8 BATTERY_FAULT_DEEP_DISCHARGE = 0
    • removed uint8 BATTERY_FAULT_HARDWARE_FAILURE = 9
    • removed uint8 BATTERY_FAULT_INCOMPATIBLE_FIRMWARE = 7
    • removed uint8 BATTERY_FAULT_INCOMPATIBLE_MODEL = 8
    • removed uint8 BATTERY_FAULT_INCOMPATIBLE_VOLTAGE = 6
    • removed uint8 BATTERY_FAULT_OVER_CURRENT = 3
    • removed uint8 BATTERY_FAULT_OVER_TEMPERATURE = 4
    • removed uint8 BATTERY_FAULT_SPIKES = 1
    • removed uint8 BATTERY_FAULT_UNDER_TEMPERATURE = 5
    • removed uint8 BATTERY_MODE_AUTO_DISCHARGING = 1
    • removed uint8 BATTERY_MODE_COUNT = 3
    • removed uint8 BATTERY_MODE_HOT_SWAP = 2
    • removed uint8 BATTERY_MODE_UNKNOWN = 0
    • removed uint8 BATTERY_SOURCE_ESCS = 2
    • removed uint8 BATTERY_SOURCE_EXTERNAL = 1
    • removed uint8 BATTERY_SOURCE_POWER_MODULE = 0
    • removed uint8 BATTERY_STATE_CHARGING = 7
    • removed uint8 BATTERY_STATE_UNHEALTHY = 6
    • removed uint8 BATTERY_WARNING_CRITICAL = 2
    • removed uint8 BATTERY_WARNING_EMERGENCY = 3
    • removed uint8 BATTERY_WARNING_FAILED = 4
    • removed uint8 BATTERY_WARNING_LOW = 1
    • removed uint8 BATTERY_WARNING_NONE = 0
    • removed uint8 BATTERY_WARNING_OVER_TEMPERATURE = 10
    • removed uint8 mode
  • ConfigOverrides.msg
    • added uint32 MESSAGE_VERSION = 0
  • DatamanRequest.msg — documentation/comment updates only
  • DebugArray.msg — documentation/comment updates only
  • DistanceSensor.msg
    • added uint8 mode
    • added uint8 MODE_DISABLED = 2
    • added uint8 MODE_ENABLED = 1
    • added uint8 MODE_UNKNOWN = 0
  • Ekf2Timestamps.msg
    • added int16 airspeed_validated_timestamp_rel
  • EstimatorAidSource1d.msg
    • added float32 innovation_filtered
    • added float32 test_ratio_filtered
  • EstimatorAidSource2d.msg
    • added float32[2] innovation_filtered
    • added float32[2] test_ratio_filtered
    • added float64[2] observation
    • removed float32[2] observation
  • EstimatorAidSource3d.msg
    • added float32[3] innovation_filtered
    • added float32[3] test_ratio_filtered
  • EstimatorBias.msg — documentation/comment updates only
  • EstimatorEventFlags.msg
    • removed bool bad_yaw_using_gps_course
    • removed bool emergency_yaw_reset_gps_yaw_stopped
    • removed bool emergency_yaw_reset_mag_stopped
    • removed bool gps_data_stopped
    • removed bool gps_data_stopped_using_alternate
    • removed bool gps_fusion_timout
    • removed bool gps_quality_poor
    • removed bool height_sensor_timeout
    • removed bool invalid_accel_bias_cov_reset
    • removed bool stopping_mag_use
    • removed bool stopping_navigation
    • removed bool vision_data_stopped
    • removed uint32 warning_event_changes
  • EstimatorGpsStatus.msg
    • added bool check_fail_spoofed_gps
  • EstimatorInnovations.msg
    • removed float32[2] terr_flow
  • EstimatorStates.msg
    • added float32[24] covariances
    • added float32[25] states
    • removed float32[23] covariances
    • removed float32[24] states
  • EstimatorStatusFlags.msg
    • added bool cs_baro_fault
    • added bool cs_constant_pos
    • added bool cs_gnss_pos
    • added bool cs_gnss_vel
    • added bool cs_gnss_yaw
    • added bool cs_gnss_yaw_fault
    • added bool cs_opt_flow_terrain
    • added bool cs_rng_terrain
    • added bool cs_valid_fake_pos
    • removed bool cs_gps
    • removed bool cs_gps_yaw
    • removed bool cs_gps_yaw_fault
    • removed bool fs_bad_acc_bias
  • EstimatorStatus.msg
    • added bool pre_flt_fail_innov_pos_horiz
    • added float32 hdg_test_ratio
    • added uint8 CS_GNSS_POS = 2
    • added uint8 CS_GNSS_VEL = 44
    • added uint8 GPS_CHECK_FAIL_SPOOFED = 10
    • removed float32 mag_test_ratio
    • removed uint16 innovation_check_flags
    • removed uint8 CS_GPS = 2
  • FailsafeFlags.msg
    • added bool navigator_failure
  • GimbalDeviceAttitudeStatus.msg
    • added float32 delta_yaw
    • added float32 delta_yaw_velocity
    • added uint8 gimbal_device_id
  • GimbalDeviceInformation.msg
    • added uint8 gimbal_device_id
    • removed uint8 gimbal_device_compid
  • GimbalManagerSetAttitude.msg
    • added uint8 ORB_QUEUE_LENGTH = 2
  • GotoSetpoint.msg
    • added uint32 MESSAGE_VERSION = 0
  • HomePosition.msg
    • added uint32 MESSAGE_VERSION = 0
  • InputRc.msg — documentation/comment updates only
  • IridiumsbdStatus.msg
    • added uint64 last_at_ok_timestamp
    • removed uint64 last_heartbeat
  • LoggerStatus.msg
    • added bool is_logging
  • LogMessage.msg — documentation/comment updates only
  • ManualControlSetpoint.msg
    • added uint32 MESSAGE_VERSION = 0
  • MavlinkTunnel.msg — documentation/comment updates only
  • MessageFormatResponse.msg — documentation/comment updates only
  • ModeCompleted.msg
    • added uint32 MESSAGE_VERSION = 0
  • NavigatorMissionItem.msg
    • removed uint32 instance_count
  • ObstacleDistance.msg — documentation/comment updates only
  • OrbitStatus.msg
    • added uint8 ORBIT_YAW_BEHAVIOUR_UNCHANGED = 5
  • ParameterSetValueResponse.msg — documentation/comment updates only
  • PositionControllerStatus.msg
    • removed float32 altitude_acceptance
    • removed float32 yaw_acceptance
  • PositionSetpoint.msg
    • added float32 alt_acceptance_radius
  • PwmInput.msg — documentation/comment updates only
  • RegisterExtComponentReply.msg
    • added uint32 MESSAGE_VERSION = 0
  • RegisterExtComponentRequest.msg
    • added uint32 MESSAGE_VERSION = 0
  • Rpm.msg
    • added float32 rpm_estimate
    • added float32 rpm_raw
    • removed float32 estimated_accurancy_rpm
    • removed float32 indicated_frequency_rpm
  • RtlStatus.msg — documentation/comment updates only
  • SensorAirflow.msg — documentation/comment updates only
  • SensorOpticalFlow.msg — documentation/comment updates only
  • TecsStatus.msg
    • added float32 altitude_time_constant
    • added float32 fast_descend_ratio
  • TelemetryStatus.msg
    • removed bool avoidance_system_healthy
    • removed bool heartbeat_component_obstacle_avoidance
  • TrajectorySetpoint.msg
    • added uint32 MESSAGE_VERSION = 0
  • UnregisterExtComponent.msg
    • added uint32 MESSAGE_VERSION = 0
  • VehicleAirData.msg
    • added float32 ambient_temperature
    • added uint8 temperature_source
    • removed float32 baro_temp_celcius
    • removed float32 eas2tas
  • VehicleAngularVelocity.msg
    • added uint32 MESSAGE_VERSION = 0
  • VehicleAttitude.msg
    • added uint32 MESSAGE_VERSION = 0
  • VehicleAttitudeSetpoint.msg
    • added uint32 MESSAGE_VERSION = 0
    • removed float32 pitch_body
    • removed float32 roll_body
    • removed float32 yaw_body
  • VehicleCommandAck.msg
    • added uint32 MESSAGE_VERSION = 0
  • VehicleCommand.msg
    • added uint16 VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE = 43004
    • added uint32 MESSAGE_VERSION = 0
    • added uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE = 3
    • added uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER = 0
    • added uint8 ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING = 1
    • added uint8 ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED = 4
    • added uint8 ORBIT_YAW_BEHAVIOUR_UNCHANGED = 5
    • added uint8 ORBIT_YAW_BEHAVIOUR_UNCONTROLLED = 2
  • VehicleControlMode.msg
    • added uint32 MESSAGE_VERSION = 0
  • VehicleGlobalPosition.msg
    • added bool alt_valid
    • added bool lat_lon_valid
    • added float32 delta_terrain
    • added uint32 MESSAGE_VERSION = 0
    • added uint8 terrain_reset_counter
  • VehicleImu.msg
    • added uint32 delta_angle_dt
    • added uint32 delta_velocity_dt
    • removed uint16 delta_angle_dt
    • removed uint16 delta_velocity_dt
  • VehicleLandDetected.msg
    • added uint32 MESSAGE_VERSION = 0
  • VehicleLocalPosition.msg
    • added float32 delta_dist_bottom
    • added float32 dist_bottom_var
    • added float32 hagl_max_xy
    • added float32 hagl_max_z
    • added uint32 MESSAGE_VERSION = 0
    • added uint8 dist_bottom_reset_counter
    • removed float32 hagl_max
  • VehicleOdometry.msg
    • added uint32 MESSAGE_VERSION = 0
  • VehicleOpticalFlow.msg — documentation/comment updates only
  • VehicleOpticalFlowVel.msg
    • added float32[2] vel_body_filtered
    • added float32[2] vel_ne_filtered
  • VehicleRatesSetpoint.msg
    • added uint32 MESSAGE_VERSION = 0
  • VehicleStatus.msg
    • added uint32 MESSAGE_VERSION = 1
    • added uint8 ARM_DISARM_REASON_STICK_GESTURE = 1
    • removed bool avoidance_system_required
    • removed bool avoidance_system_valid
    • removed uint8 ARM_DISARM_REASON_RC_STICK = 1
    • removed uint8 VEHICLE_TYPE_AIRSHIP = 4
    • removed uint8 VEHICLE_TYPE_UNKNOWN = 0
  • VtolVehicleStatus.msg
    • added uint32 MESSAGE_VERSION = 0
Assets 2
Loading