diff --git a/msg/uav_status/NodeCpuLoad.msg b/msg/uav_status/NodeCpuLoad.msg index ae1b16de..00d3eb6d 100644 --- a/msg/uav_status/NodeCpuLoad.msg +++ b/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 diff --git a/msg/uav_status/UavStatus.msg b/msg/uav_status/UavStatus.msg index 436998ac..1a1c03f9 100644 --- a/msg/uav_status/UavStatus.msg +++ b/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