documented the UavStatus message

msg/uav_status/NodeCpuLoad.msg

@@ -1,2 +1,4 @@
+# A list of names of all ROS nodes running on this UAV
 string[] node_names
+# A list of the corresponding CPU loads of these nodes relative to a single CPU core (i.e. a maximal load of a 2-core CPU is 200.0)
 float32[] cpu_loads

msg/uav_status/UavStatus.msg

@@ -1,75 +1,140 @@
+# Standard ROS header with stamp and coordinate frame ID
 Header header
 
+# Unique name of the UAV
 string uav_name
+# Name of the UAV model
 string uav_type
+# The current estimated UAV's mass as a string for display purposes
 string uav_mass
 
+# Frequency of receiving the Control Manager diagnostics
 float32 control_manager_diag_hz
+# Display color (for TUI visualization purposes)
 int16 control_manager_diag_color
+# A list of the available control algorithms
 string[] controllers
+# A list of the available control gain presets for the current controller
 string[] gains
+# A list of the available trajectory tracking (pre-shaping) algorithms
 string[] trackers
+# A list of the available dynamic constraint presets for the current tracker
 string[] constraints
+# True if the null (no-output) tracker is active
 bool null_tracker
+# Flight time
 uint32 secs_flown
 
+# Frequency of receiving the Estimation Manager diagnostics
 float32 odom_hz
+# Display color (for TUI visualization purposes)
 int16 odom_color
+# X position of the UAV in the current estimation coordinate frame
 float32 odom_x
+# Y position of the UAV in the current estimation coordinate frame
 float32 odom_y
+# Z position of the UAV in the current estimation coordinate frame
 float32 odom_z
+# Heading of the UAV in the current estimation coordinate frame
 float32 odom_hdg
+# Name of the current estimation coordinate frame
 string odom_frame
+# A list of the available ego-state estimation sources
 string[] odom_estimators
+# Name of the current source used for estimation of the UAV's horizontal position 
 string horizontal_estimator
+# Name of the current source used for estimation of the UAV's vertical position 
 string vertical_estimator
+# Name of the current source used for estimation of the UAV's heading
 string heading_estimator
+# Name of the current source used for estimation of the UAV's above ground level
 string agl_estimator
+# Maximal allowed Z coordinate of the UAV
 float32 max_flight_z
 
+# Setpoint X position of the UAV in the current estimation coordinate frame
 float32 cmd_x
+# Setpoint Y position of the UAV in the current estimation coordinate frame
 float32 cmd_y
+# Setpoint Z position of the UAV in the current estimation coordinate frame
 float32 cmd_z
+# Setpoint heading of the UAV in the current estimation coordinate frame
 float32 cmd_hdg
 
+# Current load of the CPU in percent relative all CPU cores (i.e. a maximal load of a 2-core CPU is 100.0)
 float32 cpu_load
+# Current load of the CPU in percent relative to a single CPU core (i.e. a maximal load of a 2-core CPU is 200.0)
 float32 cpu_load_total
+# Current average frequency of the CPU in gigahertz
 float32 cpu_ghz
+# Current temperature of the CPU in degrees Celsius (or zero if not supported by the current system)
 float32 cpu_temperature
+# The amount of free RAM in gigabytes
 float32 free_ram
+# The total available RAM in gigabytes
 float32 total_ram
+# The amount of free disk space in gigabytes
 int32 free_hdd
 
+# Frequency of receiving the Hardware API diagnostics
 float32 hw_api_hz
+# Display color (for TUI visualization purposes)
 int16 hw_api_color
+# Frequency of receiving the battery status from the Hardware API
 float32 hw_api_battery_hz
+# Frequency of receiving the Hardware API status
 float32 hw_api_state_hz
+# Frequency of receiving the Hardware API commanded setpoint
 float32 hw_api_cmd_hz
+# Name of the current mode reported by the Hardware API (e.g.: "OFFBOARD", "AUTO.LAND", etc.)
 string hw_api_mode
+# True if the vehicle is armed (actuator movement is enabled)
 bool hw_api_armed
+# True if the GPS data is being received correctly
 bool hw_api_gnss_ok
+# A measure of the GPS position quality
 float32 hw_api_gnss_qual
+# Frequency of receiving the magnetic field norm
 float32 mag_norm_hz
+# Norm of the  magnetic field (in unknown units)
 float32 mag_norm
+# Battery voltage in volts
 float32 battery_volt
+# Battery current in amperes
 float32 battery_curr
+# Estimate of the drained battery power in watthours
 float32 battery_wh_drained
+# Current collective thrust relative to max. thrust (i.e. between 0 and 1)
 float32 thrust
+# Current estimated mass of the vehicle
 float32 mass_estimate
+# Nominal mass of the vehicle
 float32 mass_set
 
+# A list of custom topics to be displayed in the TUI
 CustomTopic[] custom_topics
+# A list of custom strings to be displayed in the TUI
 string[] custom_string_outputs
 
+# A list of node names and a list of their corresponding CPU loads relative to a single CPU core
 NodeCpuLoad node_cpu_loads
 
+# True if the UAV is flying and there are no emergency or safety maneuvers taking place
 bool flying_normally
+# True if the UAV is currently controlled by the RC
 bool rc_mode
+# True if the UAV is currently flying to a goal waypoint
 bool have_goal
+# True if the UAV is currently following a trajectory (implies have_goal == true)
 bool tracking_trajectory
+# True if the control pipeline is ready to receive and execute waypoints and trajectories
 bool callbacks_enabled
+# True if collision avoidance with other UAVs using the NimbRo network is enabled
 bool collision_avoidance_enabled
+# True if the UAV is currently performing a maneuver to avoid a collision with another UAV
 bool avoiding_collision
+# True if the UAV is ready to take off
 bool automatic_start_can_takeoff
 
+# The number of other UAVs whose predicted trajectory is available to this one (for collision avoidance purposes)
 uint16 num_other_uavs