messages

paparazzi · Sep 30, 2023 · 11b3085 · 11b3085
1 parent 9604214
commit 11b3085
Showing 1 changed file with 89 additions and 16 deletions.
diff --git a/conf/messages.xml b/conf/messages.xml
@@ -1711,7 +1711,15 @@
       <field name="delay_ns" type="uint32"/>
     </message>
 
-    <!-- 181 is free -->
+    <message name="ROTATING_WING_STATE" id="181">
+      <field name="current_state" type="uint8" values="QUAD|SKEW|FW_THRUST|FW_IDLE|FW|FREE"/>
+      <field name="desired_state" type="uint8" values="QUAD|SKEW|FW_THRUST|FW_IDLE|FW|FREE"/>
+      <field name="wing_angle_deg"      type="float"/>
+      <field name="wing_angle_deg_sp"   type="float"/>
+      <field name="ADC_position"        type="uint16"/>
+      <field name="pprz_cmd"            type="int32"/>
+    </message>
+
     <!-- 182 is free -->
 
     <message name="DOUBLET" id="183">
@@ -1751,9 +1759,74 @@
       <field name="mz"    type="float" />
     </message>
 
-    <!-- 194 is free -->
-    <!-- 195 is free -->
-    <!-- 196 is free -->
+    <message name="AIRSPEED_WIND_ESTIMATOR_EKF_FORCES" id="194">
+      <field name="fuselage_x"     type="float" unit="N"/>
+      <field name="fuselage_y"     type="float" unit="N"/>
+      <field name="fuselage_z"     type="float" unit="N"/>
+      <field name="wing_x"     type="float" unit="N"/>
+      <field name="wing_y"     type="float" unit="N"/>
+      <field name="wing_z"     type="float" unit="N"/>
+      <field name="elevator_x"     type="float" unit="N"/>
+      <field name="elevator_y"     type="float" unit="N"/>
+      <field name="elevator_z"     type="float" unit="N"/>
+      <field name="hover_x"     type="float" unit="N"/>
+      <field name="hover_y"     type="float" unit="N"/>
+      <field name="hover_z"     type="float" unit="N"/>
+      <field name="pusher_x"     type="float" unit="N"/>
+      <field name="pusher_y"     type="float" unit="N"/>
+      <field name="pusher_z"     type="float" unit="N"/>
+      <field name="skew"     type="float" unit="rad"/>
+      <field name="elevator_angle"     type="float" unit="rad"/>
+      <field name="pusher_prop"     type="float" unit="RPM"/>
+      <field name="hover_prop"     type="float" unit="RPM"/>
+    </message>
+
+    <message name="AIRSPEED_WIND_ESTIMATOR_EKF_COV" id="195">
+      <field name="Q_accel"     type="float" unit="-"/>
+      <field name="Q_gyro"     type="float" unit="-"/>
+      <field name="Q_mu_x"     type="float" unit="-"/>
+      <field name="Q_mu_y"      type="float" unit="-"/>
+      <field name="Q_mu_z"      type="float" unit="-"/>
+      <field name="Q_k"      type="float" unit="-"/>
+      <field name="R_V_gnd"      type="float" unit="-"/>
+      <field name="R_accel_filt_x"      type="float" unit="-"/>
+      <field name="R_accel_filt_y"      type="float" unit="-"/>
+      <field name="R_accel_filt_z"      type="float" unit="-"/>
+      <field name="R_V_pitot"      type="float" unit="-"/>
+      <field name="P_u"  type="float" unit="-"/>
+      <field name="P_v"  type="float" unit="-"/>
+      <field name="P_w"  type="float" unit="-"/>
+      <field name="P_mu_x"  type="float" unit="-"/>
+      <field name="P_mu_y"  type="float" unit="-"/>
+      <field name="P_mu_z"  type="float" unit="-"/>
+      <field name="P_k_x"  type="float" unit="-"/>
+      <field name="P_k_y"  type="float" unit="-"/>
+      <field name="P_k_z"  type="float" unit="-"/>
+    </message>
+
+    <message name="AIRSPEED_WIND_ESTIMATOR_EKF" id="196">
+      <field name="u_est"     type="float" unit="m/s"/>
+      <field name="v_est"     type="float" unit="m/s"/>
+      <field name="w_est"     type="float" unit="m/s"/>
+      <field name="mu_N"      type="float" unit="m/s"/>
+      <field name="mu_E"      type="float" unit="m/s"/>
+      <field name="mu_D"      type="float" unit="m/s"/>
+      <field name="offset_x"  type="float" unit="-"/>
+      <field name="offset_y"  type="float" unit="-"/>
+      <field name="offset_z"  type="float" unit="-"/>
+      <field name="healthy"   type="uint8" unit="bool"/>
+      <field name="crashes_n"  type="uint16" unit="-"/>
+      <field name="innov_V_gnd_x"  type="float" unit="-"/>
+      <field name="innov_V_gnd_y"  type="float" unit="-"/>
+      <field name="innov_V_gnd_z"  type="float" unit="-"/>
+      <field name="innov_acc_x"  type="float" unit="-"/>
+      <field name="innov_acc_y"  type="float" unit="-"/>
+      <field name="innov_acc_z"  type="float" unit="-"/>
+      <field name="innov_V_pitot"  type="float" unit="-"/>
+      <field name="debug_1"  type="float" unit="-"/>
+      <field name="debug_2"  type="float" unit="-"/>
+      <field name="debug_3"  type="float" unit="-"/>
+    </message>
 
     <message name="NPS_SENSORS_SCALED" id="197">
       <field name="acc_x"    type="float" />
@@ -1904,18 +1977,18 @@
       <field name="body_accel_x" type="float" unit="m/s2"/><!-- setpoint -->
       <field name="body_accel_y" type="float" unit="m/s2"/>
       <field name="body_accel_z" type="float" unit="m/s2"/>
-      <field name="angular_rate_p" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"/><!-- rate tracking -->
-      <field name="angular_rate_q" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"/>
-      <field name="angular_rate_r" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"/>
-      <field name="angular_rate_ref_p" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"/>
-      <field name="angular_rate_ref_q" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"/>
-      <field name="angular_rate_ref_r" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"/>
-      <field name="angular_accel_p" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"/><!-- angular acceleration -->
-      <field name="angular_accel_q" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"/>
-      <field name="angular_accel_r" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"/>
-      <field name="angular_accel_ref_p" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"/>
-      <field name="angular_accel_ref_q" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"/>
-      <field name="angular_accel_ref_r" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"/>
+      <field name="angular_rate_p" type="float" unit="rad/s"/><!-- rate tracking -->
+      <field name="angular_rate_q" type="float" unit="rad/s"/>
+      <field name="angular_rate_r" type="float" unit="rad/s"/>
+      <field name="angular_rate_ref_p" type="float" unit="rad/s"/>
+      <field name="angular_rate_ref_q" type="float" unit="rad/s"/>
+      <field name="angular_rate_ref_r" type="float" unit="rad/s"/>
+      <field name="angular_accel_p" type="float" unit="rad/s2"/><!-- angular acceleration -->
+      <field name="angular_accel_q" type="float" unit="rad/s2"/>
+      <field name="angular_accel_r" type="float" unit="rad/s2"/>
+      <field name="angular_accel_ref_p" type="float" unit="rad/s2"/>
+      <field name="angular_accel_ref_q" type="float" unit="rad/s2"/>
+      <field name="angular_accel_ref_r" type="float" unit="rad/s2"/>
       <field name="g1_p" type="float"/><!-- INDI Simple G-matrix -->
       <field name="g1_q" type="float"/>
       <field name="g1_r" type="float"/>