Messages list for Anafi UKR

Here you may find messages exchanged between the different processes: Flight Supervisor, Guidance, Drone Controller, Services and the Remote UI.

There are two types of messages, commands and events.

Flight supervisor

Flight supervisor contains the state machine of the autopilot. It receives commands from and sends events to the Remote UI.

External commands

command emergency()

Emergency command, the default behavior is to cut the motors (causing a freefall).

command flightplan_start(start_wpt_idx, waypoints)

Start a FlightPlan based on a waypoints list.

Parameters:

  • start_wpt_idx (uint32) - Index of first waypoint.

  • waypoints - Array of waypoints.

command flightplan_abort()

Abort the FlightPlan in progress.

command flightplan_pause()

Pause a FlightPlan in progress. To resume a FlightPlan, see flightplan_resume().

command flightplan_resume()

Resume a FlightPlan on pause.

command hand_land()

Ask the drone to initiate hand landing.

command hand_takeoff()

Prepare the drone for a hand take-off by starting the motors at a low rpm.

command hand_takeoff_abort()

Abort current hand take-off.

command land()

Land.

command lookat_start()

Start to LookAt. The drone looks at the selected target.

command lookat_abort()

Abort LookAt.

command move_to(latitude, longitude, altitude, heading)
Parameters:

  • latitude (float64) - Latitude of the location to reach (°).

  • longitude (float64) - Longitude of the location to reach (°).

  • altitude (float64) - Altitude above take off point to reach (m).

  • heading (float32) - Heading, relative to the North (°).

command poi_start(latitude, longitude, altitude, mode)

Start a piloted Point Of Interest (POI). During a piloted POI, the front camera always points towards the given POI. If mode is locked, the front camera pitch will track the POI altitude. If mode is free the user has control of the front camera pitch angle.

Parameters:

  • latitude (float64) - Latitude of the location to look at (°).

  • longitude (float64) - Longitude of the location to look at (°).

  • altitude (float64) - Altitude above take off to look at (m).

  • mode (enum.PoiType).

command poi_abort()

Abort the piloted Point Of Interest (POI).

command relative_move_start(dx, dy, dz, dpsi)

Move the drone relative to the current position and current heading angle.

Parameters:

  • dx (float32) - Wanted displacement along the front axis (m).

  • dy (float32) - Wanted displacement along the right axis (m).

  • dz (float32) - Wanted displacement along the down axis (m).

  • dpsi (float32) - Wanted rotation of heading (rad).

command smart_takeoff_land()

Acts as a Takeoff or a Land command depending on the current drone state. This is used by controllers with a single takeoff/land button.

command takeoff()

Ask the drone to take off.

External events

This is a list of events sent by Flight Supervisor, matching the above commands.

event flightplan_state(state, evt, cause)

State of the FlightPlan.

Parameters:
event flightplan_waypoint_evt(event, num)

A waypoint has been reached or skipped.

Parameters:
event hand_land_state(evt)

Sent when the drone is landing on a hand.

Parameter:

evt (enum.HandLandEvt).

event hand_takeoff_ready()

Sent when the drone is ready to be hand launched after motors have started.

event lookat_state(behavior)

LookAt state behavior.

Parameter:

behavior (enum.LookAtBehavior).

event move_to_status(latitude, longitude, altitude, heading, status)

The drone moves or moved to a given location.

Parameters:

  • latitude (float64) - Latitude of the location to reach (°).

  • longitude (float64) - Longitude of the location to reach (°).

  • altitude (float64) - Altitude above take off point to reach (m).

  • heading (float32) - Heading, relative to the North (°).

  • status (enum.MoveStatus) - Status of the move_to().

event poi_changed(latitude, longitude, altitude, mode, status)

Piloted POI state. Latitude, longitude, altitude and mode information are only valid when the status are pending or running.

Parameters:

  • latitude (float64) - Latitude of the location to look at (°).

  • longitude (float64) - Longitude of the location to look at (°).

  • altitude (float64) - Altitude above take-off point to look at (m).

  • mode (enum.PoiType) - POI mode.

  • status (enum.PoiStatus) - Status of the piloted POI.

event relative_move_status(dx, dy, dz, dpsi, status)

Relative move ended. Informs about the move that the drone managed to do.

Parameters:

  • dx (float32) - Distance traveled along the front axis (m).

  • dy (float32) - Distance traveled along the right axis (m).

  • dz (float32) - Distance traveled along the down axis (m).

  • dpsi (float32) - Applied angle on heading (rad).

  • status : (enum.MoveStatus) - Status of the relative move.

Internal events

struct Event

Public Members

TimeOut time_out

Generic timeout message.

generated when timer configured with :py:class:fsup.genstate.State.set_timeout expire.

WakeUp wake_up

Generic wake_up message.

generated when timer configured with :py:class:fsup.genstate.State.wakeup_after or

‘genstate.State.wakeup_periodically’ expire.

google::protobuf::Empty landing

Trigger a landing.

google::protobuf::Empty landing_interrupt_done

Sent when a landing interruption is complete.

google::protobuf::Empty emergency_ground_reset

Sent during emergency ground when all sensors are OK. Used to reset emergency state.

PcmdHoriz pcmd_horizontal_move

Ask the drone to move in the horizontal plane.

PcmdYaw pcmd_yaw

Ask the drone to turn around its yaw axis.

PcmdVertical pcmd_vertical

Ask the drone to move vertically.

google::protobuf::Empty pcmd_gotofix

Ask the drone to brake and go to fixed point.

google::protobuf::Empty pcmd_horizontal_move_zero

Piloting command on the horizontal axes (roll, pitch) with zero values.

google::protobuf::Empty pcmd_yaw_zero

Piloting yaw command with zero values.

google::protobuf::Empty pcmd_vertical_zero

Piloting vertical command with zero values.

PcmdHoriz pcmd_horizontal_move_long

Long press in the horizontal plane.

PcmdYaw pcmd_yaw_long

Long press around yaw.

PcmdVertical pcmd_vertical_long

Long press vertically.

google::protobuf::Empty is_steady

Sent when motion state is: steady.

google::protobuf::Empty is_moving

Sent when motion state is: moving.

Structures

struct TimeOut

Public Members

string reason

Reason of the timeout, given at configuration.

struct WakeUp

Public Members

string reason

Reason of the wake up, given at configuration.

struct PowerAlertBatteryLevel

Public Members

::PowerAlerts::BatteryPowerLevel::Enum level

Power level.

struct PowerAlertRthCapacity

Public Members

::PowerAlerts::RthBatteryCapacity::Enum capacity

RTH battery capacity.

struct PcmdHoriz

Public Members

float x

Translation ratio along x-axis [%]. If positive the drone will fly forward.

float y

Translation ratio along y-axis [%]. If positive the drone will fly to the right.

struct PcmdYaw

Public Members

float yaw_rate

Yaw rate ratio around z-axis [%]. If positive the drone will turn clockwise.

struct PcmdVertical

Public Members

float z

Translation ratio along z-axis [%]. If positive the drone will go down.

Enumerations

namespace BatteryPowerLevel

Enums

enum Enum

Values:

enumerator SHUTDOWN

Battery power is too low, battery will go into shutdown

enumerator CRITICAL

Critical battery level: just enough to trigger a landing

enumerator LOW

Low battery, a critical landing will soon be triggered

enumerator OK

Nominal power level

enumerator UNKNOWN

Unknown power level

namespace RthBatteryCapacity

Enums

enum Enum

Values:

enumerator OK

Enough battery to return home.

enumerator WARNING

Battery will soon be at the minimum capacity to do a RTH.

enumerator CRITICAL

Just enough battery to do a RTH.

enumerator TOOLATE

Not enough battery to return home.

enumerator UNKNOWN

Unknown battery consumption for RTH.

enum FlightplanEvt
FLIGHTPLAN_EVT_STARTED (0)

The flightplan has been started

FLIGHTPLAN_EVT_PAUSED (1)

The flightplan has been paused

FLIGHTPLAN_EVT_ABORTED (2)

The flightplan has been aborted

FLIGHTPLAN_EVT_DONE (3)

The flightplan is completed (all waypoints reached or skipped)

FLIGHTPLAN_EVT_ENABLED (4)

The flightplan is enabled

FLIGHTPLAN_EVT_DISABLED (5)

The flightplan is disabled

enum FlightplanReason
FLIGHTPLAN_REASON_OK (0)

The flightplan is started, paused, aborted by a user command, or completed

FLIGHTPLAN_REASON_GPS (1)

If GPS fix is lost, the flightplan is paused if it was running and disabled if not. If GPS fix is recovered, the flightplan is enabled

FLIGHTPLAN_REASON_LANDING (16)

The running flightplan is paused because of a landing command

FLIGHTPLAN_REASON_BATTERY_LOW (64)

The flightplan is disabled because battery level is low

FLIGHTPLAN_REASON_USER_EMERGENCY (128)

The flightplan is aborted because of a user emergency command

enum FlightplanState
FLIGHTPLAN_STATE_UNAVAILABLE (0)

The flightplan is unavailable

FLIGHTPLAN_STATE_AVAILABLE (1)

The flightplan is available

FLIGHTPLAN_STATE_RUNNING (2)

The flightplan is running

enum FlightplanWaypointEvt
FLIGHTPLAN_WAYPOINT_EVT_SKIPPED (0)

The waypoint has been skipped due to obstacle avoidance for example

FLIGHTPLAN_WAYPOINT_EVT_REACHED (1)

The waypoint has been reached

enum HandLandEvt
HAND_LAND_EVT_IDLE (0)

Hand land is idle

HAND_LAND_EVT_ONGOING (1)

Hand land is ongoing

enum LookAtBehavior
LOOKAT_BEHAVIOR_IDLE (0)

Drone is not looking at the target

LOOKAT_BEHAVIOR_LOOKAT (1)

Look at the target

enum MoveStatus
MOVE_STATUS_RUNNING (0)

The drone is actually flying to the given position

MOVE_STATUS_DONE (1)

The drone has reached the target

MOVE_STATUS_ABORTED (2)

The move_to() has been aborted, either by an abort command or when a disconnection occurs

MOVE_STATUS_ERROR (3)

The move_to() has not been finished or started because of an error

enum PoiType
POI_TYPE_FREE (0)

Front camera axes are freely controllable

POI_TYPE_LOCKED (1)

Front camera axes are locked on the POI

enum PoiStatus
POI_STATUS_UNAVAILABLE (0)

The piloted POI is not available

POI_STATUS_AVAILABLE (1)

The piloted POI is available

POI_STATUS_RUNNING (3)

The Piloted POI is running

Guidance

address: unix:/tmp/guidance

Core

Guidance

Commands
struct Command

Public Members

reserved
ModeConfig set_mode

Set guidance mode.

Pcmd set_pcmd

Set piloting commands.

string load_mission

Load mission guidance modes.

string unload_mission

Unload mission guidance modes.

bool set_wind_reliability

Set wind estimation reliability status (‘true’ when reliable).

bool set_obstacle_avoidance

Enable or disable obstacle avoidance.

bool set_obstacle_avoidance_user_setting

Enable or disable obstacle avoidance.

FIXME: To remove when OA supervised is validated

bool set_geofence

Enable or disable geofence.

GeofenceCenter set_geofence_center_local

Set geofence local center.

GeofenceCenter set_geofence_center_global

Set geofence global center.

bool set_yaw_rate_limiter

Enable or disable yaw rate limiter.

bool set_night_mode

Enable or disable night vision mode.

Events
struct Event

Public Members

ModeList init_ok

Send a list of loaded modes after init.

ModeChanged mode_changed

Acknowledgment of set_mode command.

Error error

Error message returned by a guidance mode via guidance::Mode::setError.

bool high_trajectory_deviation

Distance from nominal trajectory exceeds threshold.

google::protobuf::Empty gotofix_done

Request to go to fixed point completed.

bool horizontal_geofence_reached

Indicate if the drone has reached the geofence horizontal limit

bool vertical_geofence_reached

Indicate if the drone has reached the geofence vertical limit

GeofenceCenter geofence_center_changed

Indicate that the center of the geofence changed.

Structures
struct Error

Public Members

string message

Error message for logs.

string mode

Current mode.

struct GeofenceCenter

Public Members

float x

x coordinate

float y

y coordinate

struct ModeList

Public Members

string loaded_modes[]

List of loaded mode names.

struct MissionStatus

Public Members

string mission

Mission uid.

ModeList modes

List of loaded modes.

struct ModeChanged

Public Members

bool ok

Indicate if the mode was correctly changed after request.

string mode

New mode name. Set to the current mode in case of failure.

bool obstacle_avoidance_available

Indicate if new mode supports obstacle avoidance.

bool geofence_available

Indicate if new mode supports geofence.

struct Pcmd

Public Members

float x

Translation ratio along x-axis [%]. If positive the drone will fly forward.

float y

Translation ratio along y-axis [%]. If positive the drone will fly to the right.

float z

Translation ratio along z-axis [%]. If positive the drone will go down.

float yaw_rate

Yaw rate ratio [%]. If positive the drone will turn clockwise.

bool gotofix

Brake and go to fixed point.

uint32 seqnum

Sequence number at the source (only 8 bits used so it wraps at 255 -> 0).

uint32 ts

Timestamp (in ms) at the source (only 24 bits used).

struct ModeConfig

Public Members

string mode

Mode name.

google::protobuf::Any config

Serialized config object specific to each mode.

::Guidance::Local::Plugins::AxesCamController::Messages::Config cam_config_override[]

Override the camera axes configuration (if supported).

If multiple configurations are given for the same camera, they will be

merged.

AxesCamController

Commands
struct Command

Public Members

Reset reset

Reset camera axes reference.

Reference set_reference

Set camera axes reference.

Config set_config

Set camera axes configuration.

Events
struct Event

Public Members

Config config

Camera axes configuration advertised after a mode change.

ReferenceStatus reference_status

Camera axes reference status

Capabilities capabilities

Camera axes capabilities advertised when a client connects.

Structures
struct AxisConfig

Axis configuration.

Public Members

bool locked

Specify if axis reference will be used or discarded.

bool filtered

Enable filtering to have a smoother movement.

float smoothness

The filtering magnitude applied to the axis.

float max_vel

The maximum velocity of the axis.

struct AxisReference

Reference for a single axis.

Public Members

CamController::Messages::ControlMode::Enum ctrl_mode

Control mode type.

CamController::Messages::FrameOfReference::Enum frame_of_ref

Axis position and velocity frame of reference.

float position

Axis position reference [rad].

float velocity

Axis velocity reference [rad/s].

struct Capabilities

Public Members

bool yaw_drivable

Yaw axis drivable.

bool pitch_drivable

Pitch axis drivable.

bool roll_drivable

Roll axis drivable.

Bounds yaw_bounds

Angle bounds for yaw axis.

Bounds pitch_bounds

Angle bounds for pitch axis.

Bounds roll_bounds

Angle bounds for roll axis.

struct Bounds

Public Members

float min

Min angle value [rad].

float max

Max angle value [rad].

struct Config

Public Members

reserved
::AxesCamController::Messages::Config config

Camera axes configuration.

bool lock_to_body

Specify if camera will follow drone attitude.

struct Config

Axes configuration.

Public Members

CamController::Messages::AxisConfig yaw

Yaw axis configuration.

CamController::Messages::AxisConfig pitch

Pitch axis configuration.

CamController::Messages::AxisConfig roll

Roll axis configuration.

struct Reference

Public Members

reserved
::AxesCamController::Messages::Reference reference

Camera axes references.

struct Reference

Axes reference, consisting of one reference for each axis (yaw, pitch, roll).

Public Members

CamController::Messages::AxisReference yaw

Yaw axis reference.

CamController::Messages::AxisReference pitch

Pitch axis reference.

CamController::Messages::AxisReference roll

Roll axis reference.

struct ReferenceStatus

Public Members

reserved
::AxesCamController::Messages::ReferenceStatus status

Camera axes status.

struct ReferenceStatus

Axes reference status.

Public Members

CamController::Messages::ReferenceStatus::Enum yaw

Yaw axis reference status.

CamController::Messages::ReferenceStatus::Enum pitch

Pitch axis reference status.

CamController::Messages::ReferenceStatus::Enum roll

Roll axis reference status.

struct Reset

Public Members

reserved

ZoomCamController

Commands
struct Command

Public Members

Reset reset

Reset camera zoom level.

Zoom set_zoom

Set camera zoom level.

Config set_config

Set camera zoom configuration.

GotoPreset goto_preset

Go to zoom preset.

Events
struct Event

Public Members

Config config

Camera zoom configuration advertised after a mode change.

Structures
struct Config

Public Members

::ZoomCamController::Messages::Config config

Camera zoom configuration.

struct Config

Zoom configuration.

Public Members

bool locked

Specify if zoom reference will be used or discarded.

bool filtered

Filter zoom to have a smoother zoom in, zoom out movement.

bool lossy

Allow lossy zoom.

float max_vel

Maximum zoom velocity.

Fov fov

FOV configuration.

struct Fov

Field-Of-View configuration.

Public Members

float bound_min

Minimal FOV in degrees.

float bound_max_lossless

Maximal FOV in degrees for lossless domain.

float bound_max_lossy

Maximal FOV in degrees for lossy domain.

float ratio

Image ratio

float presets[]

FOV presets in degrees for discrete zoom from biggest FOV to lowest FOV.

struct Reset
struct Zoom

Public Members

::ZoomCamController::Messages::Zoom zoom

Camera zoom level.

struct Zoom

Zoom reference.

Public Members

CamController::Messages::ControlMode::Enum ctrl_mode

Control mode type.

float position

Zoom level [/].

float velocity

Zoom velocity [s^-1].

Enumerations

namespace ControlMode

Enums

enum Enum

Values:

enumerator POSITION

Axis position [rad] or zoom level [/].

enumerator HFOV

zoom hfov [rad].

enumerator VELOCITY

Axis velocity [rad/s] or zoom velocity [s^-1].

enumerator POSITION_VELOCITY

Position velocity.

enumerator NONE

Target has no frame (target will not be taken into account).

namespace FrameOfReference

Enums

enum Enum

Values:

enumerator RELATIVE

Target is expressed in the frame defined by the latest reference.

enumerator NED

Target is expressed in NED (North East Down).

enumerator NED_START

Target is expressed in NED start (North East Down).

enumerator BASE

Target is expressed in the frame defined by the base.

enumerator NONE

Target has no frame (target will not be taken into account).

namespace ReferenceStatus

Enums

enum Enum

Values:

enumerator NONE

No reference set.

enumerator IN_PROGRESS

Reference is being reached.

enumerator REACHED

Reference reached.

Modes

Ascent

There are no commands for this mode.

Events
struct Event

Public Members

reserved
google::protobuf::Empty done

Ascent is completed.

google::protobuf::Empty done_with_immobility

Ascent is completed and drone is immobile

google::protobuf::Empty done_without_immobility

Ascent is completed and drone is not immobile

Structure
struct Config

Ascent mode configuration

Public Members

Type type

Ascent type.

float altitude

Target altitude [m].

bool is_takeoff

True if the ascent is to takeoff

Enumeration
enum Guidance::Local::Plugins::Ascent::Messages::Type

Ascent type options

Values:

enumerator TYPE_DEFAULT

Do not take horizontal piloting commands into account.

enumerator TYPE_MANUAL

Accept horizontal piloting commands.

Descent

There are no commands for this mode.

Events
struct Event

Union of all possible events of this package.

Public Members

DoneType done

Descent has been completed successfully

google::protobuf::Empty aborted

Descent has been aborted

Structure
struct Config

Descent mode configuration

Public Members

::Guidance::Global::Plugins::Descent::Messages::Type type

Set up descent type.

::Guidance::Types::Frame frame

Target altitude type.

::Guidance::Global::Plugins::Descent::Messages::TargetType target_type

Target altitude type.

float altitude

AGL altitude of descent [m]

float threshold

Threshold for target reached [m]

float max_speed

Max custom descent speed [m/s]

float min_speed

Min custom descent speed [m/s]

Enumeration
enum Guidance::Global::Plugins::Descent::Messages::TargetType

Type of target altitude

Values:

enumerator TARGET_TYPE_ALTITUDE_AGL

Target altitude is defined wrt ground distance

enumerator TARGET_TYPE_ALTITUDE_ATO

Target altitude is defined wrt global altitude (above take off)

enum Guidance::Global::Plugins::Descent::Messages::Type

Descent Type

Values:

enumerator reserved
enumerator TYPE_DEFAULT

Descent type, can take horizontal piloting commands into account.

enumerator TYPE_PRECISE

Descent type go on the precise home landing

enumerator TYPE_GOTOFIX

Descent type performs a “Go to fix” while descending.

enumerator TYPE_AUTO_LANDING

Descent type in case of autolanding, can take horizontal piloting commands into account.

enumerator TYPE_BYPASS

Descent type bypasses guidance and triggers directly an autopilot landing command.

Emergency Descent

There are no commands or events for this mode.

Structure
struct Config

Emergency descent mode configuration

Public Members

Type type

Emergency descent type.

Enumeration
enum Guidance::Local::Plugins::EmergencyDescent::Messages::Type

Emergency descent type

Values:

enumerator TYPE_DEFAULT

Do not take horizontal piloting commands into account.

enumerator TYPE_MANUAL

Accept horizontal piloting commands.

Flightplan

Commands
struct Command

Public Members

google::protobuf::Empty pause

Pause current flightplan, brake and go to fixed point.

google::protobuf::Empty resume

Resume flightplan

InsertWaypoint insert_waypoint

Insert waypoint at given index The waypoint that formerly had index i will be shifted to i+1. All subsequent waypoints will be shifted in the same way.

int32 remove_waypoint

Remove waypoint at given index.

ReplaceWaypoint replace_waypoint

Replace waypoint at given index with another waypoint.

uint32 set_current_index

Change current waypoint index.

Events
struct Event

Public Members

google::protobuf::Empty done

The waypoint list has been completed.

WaypointValidated waypoint_validated

A waypoint has been validated.

WaypointSkipped waypoint_skipped

A waypoint has been skipped

::Flightplan::Messages::WaypointPath changed

Flightplan modifications have been accepted return new flightplan

google::protobuf::Empty rejected

Flightplan modifications have been rejected

Structures
struct InsertWaypoint

Public Members

::Flightplan::Messages::Waypoint waypoint
int32 index
struct ReplaceWaypoint

Public Members

::Flightplan::Messages::Waypoint waypoint
int32 index
bool keep_original_id
struct WaypointValidated

Public Members

int32 current_waypoint_id

Id of the waypoint being joined after validation

int32 waypoint_id

Id of the waypoint that was validated

int32 original_id

Original Id of the waypoint that was validated

struct WaypointSkipped

Public Members

int32 current_waypoint_id

Id of the waypoint being joined after skipping waypoint

int32 skipped_waypoint_id

Id of the waypoint that was skipped

int32 original_id

Original Id of the waypoint that was skipped

struct Waypoint

Waypoint containing

  • A View to join (camera position, attitude and zoom factor)

  • A camera behavior (ViewMode) to adopt while joining the waypoint

  • A speed reference to respect while joining the waypoint

  • A type of validation (specifying the criterion to validate the waypoint)

  • A validation radius used for trajectory generation

Public Members

View view

Camera view on the waypoint.

ViewMode view_mode

Camera view mode while joining the waypoint - “FREE” if not provided.

Flightplan::Enums::ValidationType::Enum validation_type

Type of waypoint validation.

float validation_radius

Waypoint validation radius for sphere waypoints [m].

float speed

Speed reference for joining the waypoint [m/s].

int32 original_id

ID of waypoint, >=0 if waypoint is original, <0 if it was added dynamically.

struct WaypointPath

Series of waypoint

Public Members

Waypoint waypoints[]

List of waypoints to follow.

uint32 start_at_index

Starting index, 0 by default.

struct View

7D viewpoint: 3D position, 3D orientation, 1D zoom factor

Public Members

Position position

Position of the viewpoint

Orientation orientation

Orientation of the viewpoint

float zoom_factor

Zoom factor

struct ViewMode

Public Members

Flightplan::Enums::ViewMode::Yaw::Enum yaw

Yaw view mode

Flightplan::Enums::ViewMode::Pitch::Enum pitch

Pitch view mode

Flightplan::Enums::ViewMode::Roll::Enum roll

Roll view mode

Flightplan::Enums::ViewMode::Zoom::Enum zoom

Zoom view mode

Position poi_position

Position of the point of interest (POI) Taken into account if one of the view modes is ‘poi’

struct Orientation

Public Members

float roll

[rad]

float pitch

[rad]

float yaw

[rad]

struct Position

Public Members

float x

[m]

float y

[m]

float z

[m]

Enumerations
namespace ValidationType

Enums

enum Enum

Validation type

Values:

enumerator STOP

Stop and wait on the waypoint until it receives an ok to continue.

enumerator SPHERE

Fly through in a neighborhood of specified radius around the waypoint.

enumerator ARC

Similar to SPHERE but the turns are circular arcs with a limited turning rate.

namespace Yaw

Enums

enum Enum

Yaw view mode

Values:

enumerator FREE

Unconstrained: No camera reference (reference not updated).

enumerator CONSTANT

Travelling: Constant camera angle.

enumerator RAMP

Transition: Reference varies linearly to join the reference on the waypoint.

enumerator POI

Point Of Interest: Camera tracks a fixed target.

enumerator TANGENT

Subjective: Camera aligned with its velocity vector.

enumerator SET_ON_WAYPOINT

FREE mode outside of waypoint validation radius, CONSTANT mode inside.

namespace Pitch

Enums

enum Enum

Pitch view mode

Values:

enumerator FREE

Unconstrained: No camera reference (reference not updated).

enumerator CONSTANT

Travelling: Constant camera angle.

enumerator RAMP

Transition: Reference varies linearly to join the reference on the waypoint.

enumerator POI

Point Of Interest: Camera tracks a fixed target.

enumerator TANGENT

Subjective: Camera aligned with its velocity vector.

enumerator SET_ON_WAYPOINT

FREE mode outside of waypoint validation radius, CONSTANT mode inside.

namespace Roll

Enums

enum Enum

Roll view mode

Values:

enumerator FREE

Unconstrained: No camera reference (reference not updated).

enumerator CONSTANT

Travelling: Constant camera angle.

enumerator RAMP

Transition: Reference varies linearly to join the reference on the waypoint.

enumerator SET_ON_WAYPOINT

FREE mode outside of waypoint validation radius, CONSTANT mode inside.

namespace Zoom

Enums

enum Enum

Zoom view mode

Values:

enumerator FREE

No camera reference (reference not updated).

enumerator CONSTANT

Constant camera zoom.

enumerator RAMP

Camera zoom varies linearly to join the reference on the waypoint.

enumerator SET_ON_WAYPOINT

FREE mode outside of waypoint validation radius, CONSTANT mode inside.

Hand Grab

Structure
struct Config

Hand grab modes (Descent/Goto) configuration

Public Members

Type type

Hand grab type.

Enumeration
enum Guidance::Local::Plugins::HandGrab::Messages::Type

Hand grab type

Values:

enumerator TYPE_POSITION

Only position will be followed.

enumerator TYPE_POSITION_ORIENTATION

Position and orientation will be followed.

Hand Launch

Structure
struct Config

Hand launch mode configuration

Public Members

State state

Hand launch mode state.

FCamBehavior fcam

Front camera configuration.

Enumeration
enum Guidance::Local::Plugins::HandLaunch::Messages::State

Hand launch mode state

Values:

enumerator STATE_CONSTANT_MIN_THRUST

Set vertical reference as constant thrust to minimum reachable value, to enable closed loop control.

enumerator STATE_THRUST_RAMP_ZERO_ANGLE

Set vertical reference as thrust ramp with null horizontal angles reference.

enumerator STATE_CONSTANT_THRUST_ZERO_ANGLE

Set vertical reference as constant thrust value with null horizontal angles reference.

enumerator STATE_VERTICAL_SPEED_ZERO_ANGLE

Set vertical reference according to piloting commands with null horizontal angles reference.

enumerator STATE_VERTICAL_SPEED_GO_TO_FIX

Set vertical reference according to piloting commands and go to fixed point.

Poi

There are no commands or events for this mode.

Structure
struct Config

Point of interest modes configuration

Public Members

Target target

Point of interest type and coordinates

Enumeration
enum Guidance::Local::Plugins::Poi::Messages::Type

Point of interest type

Values:

enumerator TYPE_FREE

The pilot has control of the front camera pitch angle.

enumerator TYPE_LOCKED

The front camera pitch will track the POI altitude.

enumerator TYPE_LOCK_ONCE

The front camera pitch is locked while reaching requested position and free after then.

Drone controller

address: unix:/tmp/drone-controller

Core

Commands

struct Command

Public Members

DroneController::Messages::EstimationMode::Enum set_estimation_mode

Select drone estimation mode according to the drone state.

google::protobuf::Empty disable_horizontal_control

Disable horizontal closed loop control.

HorizontalReference set_horizontal_reference

Modify horizontal reference.

google::protobuf::Empty disable_vertical_control

Disable vertical closed loop control.

VerticalReference set_vertical_reference

Modify vertical reference.

google::protobuf::Empty disable_yaw_control

Disable yaw closed loop control.

YawReference set_yaw_reference

Modify yaw reference.

google::protobuf::Empty start_motors

Start all motors. The service will reply with either {motors_started} or {motors_start_failure}.

google::protobuf::Empty stop_all_motors

Stop all motors. The service will reply with {motors_stopped}.

TickNotificationConfig set_tick_notification_config

Configure notification of internal ‘ticks’ of the processing loop

Events

struct Event

Public Members

reserved
ColibryLite::Messages::MotionState::Enum motion_state_changed

Sent when motion state changed (steady, moving).

ColibryLite::Messages::EventDetectionState::Enum moving_ground_state_changed

Sent when a moving ground has been detected.

google::protobuf::Empty freefall_detected

Sent when the drone has entered into a freefall phase.

google::protobuf::Empty landed_detected

Sent when the drone has landed.

google::protobuf::Empty thrust_ramp_done

Sent when the given thrust target has been reached.

ColibryLite::Messages::EventDetectionState::Enum horizontal_steady

Sent when the drone is steady in the horizontal plan.

ColibryLite::Messages::EventDetectionState::Enum vertical_steady

Sent when the drone is steady on the vertical axis.

ColibryLite::Messages::EventDetectionState::Enum yaw_steady

Sent when the drone is steady on the yaw axis.

google::protobuf::Empty full_steady_ok

Sent when the drone is steady on all axes (horizontal/vertical/yaw).

google::protobuf::Empty full_steady_ko

Sent when the drone is not steady on all axes (horizontal/vertical/yaw).

google::protobuf::Empty too_much_angle_detected

Sent when sensors detected too much pitch/roll angle.

google::protobuf::Empty too_much_angle_detected_at_low_altitude

Sent when sensors detected too much pitch/roll angle, near ground.

google::protobuf::Empty nominal_angle_detected

Sent when the pitch/roll angle is nominal.

google::protobuf::Empty nominal_angle_detected_at_low_altitude

Sent when the pitch/roll angle is nominal, near ground.

google::protobuf::Empty flyaway_detected

Sent when a vertical flyaway is detected.

TODO: find a better name

google::protobuf::Empty magneto_far_enough_from_earth_poles

Sent when flying far from earth poles, where horizontal magnetic field is high enough.

google::protobuf::Empty magneto_too_close_to_earth_poles

Sent when flying near the earth poles, where horizontal magnetic field is too small.

google::protobuf::Empty magnetic_interference_detected

Sent when sensor magnetic norm is not coherent with earth magnetic norm.

google::protobuf::Empty no_magnetic_interference

Sent when sensor magnetic norm is coherent with earth magnetic norm.

google::protobuf::Empty freefall_not_detected

Sent when the drone is not in a freefall phase.

google::protobuf::Empty motors_started

Sent when motors are started (requested start_motors ok).

google::protobuf::Empty motors_start_failure

Sent when motors failed to start (requested start_motors ko).

google::protobuf::Empty motors_stopped

Sent when at least one motor stopped spinning after stop_motors was requested.

google::protobuf::Empty motors_cutout

Sent when at least one motor stopped spinning, but no request was made to stop motors.

google::protobuf::Empty motors_ramping_done

Sent when motors reached their target speed before taking off.

MotorsErrorsChanged motors_errors

Sent when motor errors changed.

MotorsVersion motors_version

Sent at init with motors version.

MotorsFlightInfo motors_flight_info

Sent when motors flight info changed.

ColibryLite::Messages::EventDetectionState::Enum hand_takeoff_low_angle

Sent when pitch/roll angle is low enough after hand takeoff.

ColibryLite::Messages::EventDetectionState::Enum hand_takeoff_low_vertical_speed_error

Sent when the vertical speed error is low enough after hand takeoff.

ColibryLite::Messages::EventDetectionState::Enum hand_takeoff_low_angular_velocity

Sent when the angular velocity on both horizontal plane and yaw axis are low enough after hand takeoff.

google::protobuf::Empty linear_velocity_reliable

Sent when velocity estimation is reliable enough.

google::protobuf::Empty linear_velocity_unreliable

Sent when velocity estimation is not reliable.

google::protobuf::Empty ground_distance_defective

Sent when ground distance sensors are defective.

google::protobuf::Empty ground_distance_functional

Sent when at least one ground distance sensor is not defective.

google::protobuf::Empty thrust_for_angle_reached

Sent when motors provide the thrust required to enable angle control.

google::protobuf::Empty gps_navigation_ready

Sent when everything is ready for GPS navigation. The GPS has fixed a location and the geographic north is known.

google::protobuf::Empty gps_navigation_unavailable

Sent when GPS navigation is unavailable. Either the GPS has not fixed a location or the geographic north is unknown.

google::protobuf::Empty gps_sensor_ok

Sent when GPS sensor has fixed a location.

google::protobuf::Empty gps_sensor_ko

Sent when GPS sensor has not fixed a location.

google::protobuf::Empty heading_locked_ok

Sent when geographic north is known.

google::protobuf::Empty heading_locked_ko

Sent when geographic north is unknown.

uint32 gps_satellites

Sent when the number of detected satellites changed.

google::protobuf::Empty vision_navigation_ready

Sent when everything is ready for vision navigation.

google::protobuf::Empty vision_navigation_unavailable

Sent when vision navigation is unavailable.

bool vio_navigation_ready

Signal vio availability

bool gps_spoofing_detected

Sent when a Gps spoofing is detected or not

google::protobuf::Empty ground_distance_unreliable

Sent when ground distance is unreliable.

google::protobuf::Empty ground_distance_reliable

Sent when ground distance is reliable.

ColibryLite::Messages::WindStatus::Enum wind_status_changed

Sent when the wind status changed.

ColibryLite::Messages::DefectiveMotorId::Enum defective_motor_id_changed

Sent when the defective motor status changed.

ColibryLite::Messages::DefectiveMotorFailureType::Enum defective_motor_failure_type_changed

Sent when the defective motor failure changed.

ColibryLite::Messages::ThreeLevelStatus::Enum vibration_level_changed

Sent on IMU vibration level changed.

ColibryLite::Messages::ThreeLevelStatus::Enum propeller_icing_level_changed

Sent on propeller icing level changed.

ColibryLite::Messages::EventDetectionState::Enum battery_land_voltage_reached

Sent on battery land voltage reached changed.

ColibryLite::Messages::EstimationAttribute global_estimation_attribute_changed

Sent on global estimation attribute changed.

ColibryLite::Messages::EstimationAttribute local_estimation_attribute_changed

Sent on local estimation attribute changed.

ColibryLite::Messages::EstimationAttribute geo_estimation_attribute_changed

Sent on geo estimation attribute changed.

bool local_estimation_reliable

Signal local estimation reliability

google::protobuf::Empty magneto_not_calibrated

Sent on specific magneto calibration state.

google::protobuf::Empty magneto_calibration_x_done

Sent on specific magneto calibration state.

google::protobuf::Empty magneto_calibration_y_done

Sent on specific magneto calibration state.

google::protobuf::Empty magneto_calibration_z_done

Sent on specific magneto calibration state.

google::protobuf::Empty magneto_calibration_aborted

Sent on specific magneto calibration state.

google::protobuf::Empty magneto_calibration_failed

Sent on specific magneto calibration state.

google::protobuf::Empty magneto_calibration_done

Sent on specific magneto calibration state.

google::protobuf::Empty magneto_calibration_required

Sent on specific magneto calibration state.

google::protobuf::Empty magneto_calibration_advised

Sent on specific magneto calibration state.

uint32 defective_sensors_state_changed

Sent when the state of defective sensors changed.

BatteryState battery_state_changed

Sent when the battery state changed.

BatteryRole battery_role_changed

Sent when the battery role changed.

BatteryAlert::Enum battery_alert_too_hot

Sent when the battery is too hot.

BatteryAlert::Enum battery_alert_too_cold

Sent when the battery is too cold.

BatteryHealth battery_health

Sent when the battery health changed.

BatteryAlert::Enum battery_alert_lost_comm

Sent when a battery defect is detected.

Tick tick

Notify ticks of the processing loop. It is only sent if a client configured it with {set_tick_notification_config}.

google::protobuf::Empty too_much_angle_persists_detected

Sent when a too much tilt angle detection persists for a number of seconds.

google::protobuf::Empty nominal_angle_persists_detected

Sent when the tilt angle returns to nominal value for a specified duration.

google::protobuf::Empty motor_down_yaw_rate_too_low_detected

Sent when yaw rate is too low for a specified duration of ‘motorDownYawRateTooLowDuration’ seconds when in motor down mode.

AutopilotInfo autopilot_info

Send autopilot information

google::protobuf::Empty external_takeoff_done

Sent when the external autopilot (e.g. ArduPilot) validates a takeoff.

google::protobuf::Empty external_landing_done

Sent when the external autopilot (e.g. ArduPilot) validates a landing.

google::protobuf::Empty external_landing_failed
google::protobuf::Empty external_mission_upload_done

Sent when the external autopilot (e.g. ArduPilot) correctly receives a mission.

google::protobuf::Empty external_mission_upload_failed
google::protobuf::Empty external_autopilot_connected

Notify connection to external autopilot

google::protobuf::Empty external_autopilot_disconnected

Notify disconnection to external autopilot

google::protobuf::Empty external_autopilot_sync_ko

Notify syncrhonization status from external autopilot

google::protobuf::Empty external_autopilot_sync_ok
InitStatus init_ok

Sent at startup when all estimators (etc.) are initialized.

Structures

struct HorizontalReference

Public Members

HorizontalAngles angles

Set horizontal angle references Roll and pitch are defined respectively as the third and second Euler angle of the drone attitude in NED Euler angles mean here the ZYX angle decomposition of a given attitude (yaw, pitch, roll)

HorizontalTrajectoryLocal trajectory_local

Set linear horizontal trajectory reference The trajectory is given in local frame.

HorizontalTrajectoryGlobal trajectory_global

Set linear horizontal trajectory reference The trajectory is given in global frame.

HorizontalGoToFix go_to_fix

Set a null horizontal velocity control (useful for braking)

HorizontalVelocityTrajectory velocity_trajectory

Set linear horizontal velocity and acceleration references Position, velocity and acceleration are controlled Both velocity and acceleration references are given in north and east axis.

HorizontalVelocity velocity

Set linear horizontal velocity and acceleration references Only velocity and acceleration are controlled, position control is bypassed. Both velocity and acceleration references are given in north and east axis.

struct VerticalReference

Union of all kind of vertical reference messages.

Public Members

VerticalVelocity velocity

Set vertical velocity reference.

This reference is positive downwards.

VerticalVelocityTrajectory velocity_trajectory

Set vertical velocity trajectory reference.

This reference components (velocity and acceleration) are positive downwards.

VerticalTrajectory trajectory

Set vertical trajectory reference.

This reference components (position, velocity and acceleration) are positive downwards.

VerticalThrust thrust

Set vertical normalized thrust.

This reference is positive downwards.

VerticalThrustRamp thrust_ramp

Set vertical thrust ramp.

This reference is positive downwards.

Thrust will ramp from the current thrust to the target thrust at a given rate.

struct YawReference

Public Members

YawRate rate

Set yaw rate reference Euler angles mean here the ZYX angle decomposition of a given attitude (yaw, pitch, roll) Yaw is defined as the first Euler angle which describes the drone attitude in NED start or NED frame (yaw rate is equal in both vector basis).

YawTrajectoryNedStart trajectory_ned_start

Set yaw trajectory reference Euler angles mean here the ZYX angle decomposition of a given attitude (yaw, pitch, roll) Yaw is defined as the first Euler angle which describes the drone attitude in NED start frame. North reference for NED start frame is defined at power-on (before GPS and magnetometer fix)

YawTrajectoryNed trajectory_ned

Set yaw angular trajectory reference Euler angles mean here the ZYX angle decomposition of a given attitude (yaw, pitch, roll) Yaw is defined as the first Euler angle which describes the drone attitude in NED frame. North reference for NED frame is true north, defined when yaw alignment is completed (GPS and magnetometer fix available). Before yaw alignment is completed, NED frame will use NED start reference frame

struct TickNotificationConfig

Public Members

uint32 period

Number of processing cycles between each tick. A period of zero will stop the notifications. One tick is 5ms (processing loop @200Hz)

struct HorizontalAngles

Public Members

ColibryLite::Messages::TiltTrajectoryPoint ref

Tilt trajectory (roll, pitch) in [rad].

ColibryLite::Messages::HorizontalControlConfig::Enum config

Control mode for horizontal angles.

bool enable_wind_compensation

True if estimated wind should be compensated by making the drone increase its tilt angle reference.

bool enable_auto_banked_turn

True if the drone should automatically perform a banked turn.

ColibryLite::Messages::HorizontalControllerReactivity::Enum controller_reactivity

Reactivity of the disturbance rejection controller.

struct HorizontalTrajectoryLocal

Public Members

ColibryLite::Messages::HorizontalTrajectoryPoint ref

Horizontal linear trajectory (X, Y) in local frame.

ColibryLite::Messages::HorizontalControlConfig::Enum config

Control mode for horizontal trajectory in local frame.

ColibryLite::Messages::HorizontalControllerReactivity::Enum controller_reactivity

Reactivity of the disturbance rejection controller.

ColibryLite::Messages::ReferencePropagationModel::Enum reference_propagation_model

Propagation model used for reference trajectory computation

float maximum_horizontal_speed

Maximum horizontal speed [m/s]. Only taken into account when config == DYNAMIC

struct HorizontalTrajectoryGlobal

Public Members

ColibryLite::Messages::HorizontalTrajectoryPoint ref

Horizontal linear trajectory (X, Y) in global frame.

ColibryLite::Messages::HorizontalControlConfig::Enum config

Control mode for horizontal trajectory in global frame.

ColibryLite::Messages::HorizontalControllerReactivity::Enum controller_reactivity

Reactivity of the disturbance rejection controller.

ColibryLite::Messages::ReferencePropagationModel::Enum reference_propagation_model

Propagation model used for reference trajectory computation

float maximum_horizontal_speed

Maximum horizontal speed [m/s]. Only taken into account when config == DYNAMIC

struct HorizontalGoToFix

Public Members

ColibryLite::Messages::HorizontalControlConfig::Enum config

Control mode for horizontal gotofix.

struct HorizontalVelocityTrajectory

Public Members

ColibryLite::Messages::HorizontalVelocityTrajectory ref

Horizontal velocity trajectory (X, Y) in north and east axis.

ColibryLite::Messages::HorizontalControlConfig::Enum config

Control mode for horizontal velocity trajectory.

ColibryLite::Messages::HorizontalControllerReactivity::Enum controller_reactivity

Reactivity of the disturbance rejection controller.

struct HorizontalVelocity

Public Members

ColibryLite::Messages::HorizontalVelocityTrajectory ref

Horizontal velocity trajectory (X, Y) in north and east axis.

ColibryLite::Messages::HorizontalControlConfig::Enum config

Control mode for horizontal velocity.

ColibryLite::Messages::HorizontalControllerReactivity::Enum controller_reactivity

Reactivity of the disturbance rejection controller.

struct VerticalVelocity

Public Members

float ref

Vertical velocity reference [m/s].

ColibryLite::Messages::VerticalControlConfig::Enum config

Control mode for vertical velocity.

ColibryLite::Messages::VerticalControllerSetting::Enum controller_setting

Vertical controller setting.

bool ground_constrained

True if descent is limited to a minimum altitude above ground.

struct VerticalVelocityTrajectory

Public Members

ColibryLite::Messages::VelocityTrajectory ref

Vertical velocity trajectory reference in [m/s] and [m/s2]

ColibryLite::Messages::VerticalControlConfig::Enum config

Control mode for vertical velocity.

ColibryLite::Messages::VerticalControllerSetting::Enum controller_setting

Vertical controller setting.

bool ground_constrained

True if descent is limited to a minimum altitude above ground.

struct VerticalTrajectory

Public Members

ColibryLite::Messages::TrajectoryPoint ref

Vertical trajectory reference.

ColibryLite::Messages::VerticalControlConfig::Enum config

Control mode for vertical trajectory.

ColibryLite::Messages::VerticalControllerSetting::Enum controller_setting

Vertical controller setting.

ColibryLite::Messages::ReferencePropagationModel::Enum reference_propagation_model

Propagation model used for reference trajectory computation

bool ground_constrained

True if descent is limited to a minimum altitude above ground.

float maximum_vertical_speed

Maximum vertical speed [m/s]. Only taken into account when config == DYNAMIC

struct VerticalThrust

Public Members

float ref

Vertical thrust, normalized by the drone mass [m.s^-2]

ColibryLite::Messages::VerticalControlConfig::Enum config

Control mode for vertical thrust.

struct VerticalThrustRamp

Public Members

float ref

Vertical thrust target, normalized by drone mass [m.s^-2].

float rate

Vertical thrust change rate, normalized by drone mass [m.s^-3].

ColibryLite::Messages::VerticalControlConfig::Enum config

Control mode for vertical thrust ramp.

struct YawRate

Public Members

float ref

Yaw rate reference [rad/s].

ColibryLite::Messages::YawControlConfig::Enum config

Yaw control mode.

struct YawTrajectoryNed

Public Members

ColibryLite::Messages::AngularTrajectoryPoint ref

Yaw trajectory reference in NED vector basis.

ColibryLite::Messages::YawControlConfig::Enum config

Yaw control mode.

ColibryLite::Messages::ReferencePropagationModel::Enum reference_propagation_model

Propagation model used for reference trajectory computation

bool use_shortest_path

Use the shortest path from current yaw reference.

float maximum_yaw_angular_rate

Maximum angular rate [rad/s]. Only taken into account when config == DYNAMIC

struct YawTrajectoryNedStart

Public Members

ColibryLite::Messages::AngularTrajectoryPoint ref

Yaw trajectory reference in NED start vector basis.

ColibryLite::Messages::YawControlConfig::Enum config

Yaw control mode.

ColibryLite::Messages::ReferencePropagationModel::Enum reference_propagation_model

Propagation model used for reference trajectory computation

bool use_shortest_path

Use the shortest path from current yaw reference.

float maximum_yaw_angular_rate

Maximum angular rate [rad/s]. Only taken into account when config == DYNAMIC

struct BatteryHealth

Public Members

uint32 state_of_health

Battery state of health [%].

uint32 cycle_count

Battery cycle count.

struct BatteryRole

Public Members

BatteryDataRole::Enum data_role
BatteryPowerRole::Enum power_role
struct BatteryState

Battery alert events

Public Members

float voltage

Current battery voltage [V].

int32 level

Current charge level, aka. state of charge [%].

uint32 remaining_cap

Remaining battery capacity [Ah].

uint32 full_charge_cap

Full charge battery capacity [Ah].

bool is_smartbattery

Indicate if battery is a SmartBattery.

bool is_level_reliable

Indicate whether the charge level is reliable.

struct InitStatus

Public Members

bool flying

True when motors are in motion

struct MotorErrorChange

Public Members

uint32 index
MotorError::Enum value
struct MotorsErrorsChanged

Public Members

MotorErrorChange errors[]

one entry for each motor error change.

struct MotorsFlightInfo

Public Members

uint32 nb_flights

Current flight number

uint32 previous_time

Previous flight time [s]

uint32 total_time

Total flight time [s]

MotorError::Enum last_error

Last error seen on motors

struct MotorsVersion

Public Members

uint32 hard_version
uint32 major_version
uint32 minor_version
uint32 type_version

char

uint32 motors_count
struct Tick

Public Members

uint32 num

Tick sequence number.

uint64 timestamp_us

Tick timestamp [us].

Enumerations

namespace BatteryAlert

Enums

enum Enum

Alert level for a battery alert

Values:

enumerator NONE

No alert.

enumerator WARNING

Warning alert level.

enumerator CRITICAL

Critical alert level.

namespace BatteryDataRole

Enums

enum Enum

Values:

enumerator NONE

Unknown data role.

enumerator HOST

Usb on battery is Host.

enumerator DEVICE

Usb on battery is device.

namespace BatteryPowerRole

Enums

enum Enum

Values:

enumerator NONE

Unknown power role.

enumerator SOURCE

Battery is powering the drone.

enumerator SINK

Battery is being powered externally.

namespace MotorError

Enums

enum Enum

Values:

enumerator NONE

No error detected.

enumerator EEPROM

EEPROM access failure.

enumerator MOTOR_STALLED

Motor stalled.

enumerator PROPELLER_SECURITY

Propeller cutout security triggered.

enumerator COMM_LOST

Communication with motor failed by timeout.

enumerator RC_EMERGENCY_STOP

RC emergency stop.

enumerator REAL_TIME

Motor controller scheduler real-time out of bounds.

enumerator MOTOR_SETTING

One or several incorrect values in motor settings.

enumerator TEMPERATURE

Too hot or too cold Cypress temperature.

enumerator BATTERY_VOLTAGE

Battery voltage out of bounds

enumerator LIPO_CELLS

Incorrect number of LIPO cells.

enumerator MOSFETS

Defective MOSFET or broken motor phases.

enumerator BOOTLOADER

Not use for BLDC but useful for HAL.

enumerator ASSERT

Error Made by BLDC_ASSERT().

ColibryLite

Structures

struct TrajectoryPoint

Generic trajectory

Public Members

float x

Position

float dx

Velocity

float ddx

Acceleration

float dddx

Jerk

struct VelocityTrajectory

////////////////////////////////////////////// Generic velocity trajectory

Public Members

float x

Velocity

float dx

Acceleration

struct HorizontalTrajectoryPoint

Horizontal (x, y) trajectory

Public Members

TrajectoryPoint x
TrajectoryPoint y
struct HorizontalVelocityTrajectory

Horizontal (x, y) velocity trajectory

Public Members

VelocityTrajectory x
VelocityTrajectory y
struct TiltTrajectoryPoint

Tilt (phi, theta) angle trajectory

Public Members

AngularTrajectoryPoint phi
AngularTrajectoryPoint theta

Enumerations

namespace DefectiveMotorFailureType

Enums

enum Enum

Values:

enumerator NONE

Default: all motors running.

enumerator MOTOR_STALLED

ESC error : Motor Stalled.

enumerator PROPELLER_SECURITY

ESC error : Propeller Security.

enumerator RC_EMERGENCY_STOP

ESC error : Emergency Stop.

enumerator DEFECTIVE_PROP

Defective propeller detected.

enumerator BLOCKED_PROP

Blocked propeller detected

enumerator MOSFETS

ESC error : MOSFETS.

enumerator TIMEOUT

ESC error : Timeout.

namespace DefectiveMotorId

Enums

enum Enum

Values:

enumerator FRONT_LEFT

Front left motor down.

enumerator FRONT_RIGHT

Front right motor down.

enumerator REAR_RIGHT

Rear right motor down.

enumerator REAR_LEFT

Rear left motor down.

enumerator NONE

Default: all motors running.

namespace EstimationMode

Enums

enum Enum

Values:

enumerator INIT

Estimators initialization at autopilot start.

enumerator MOTORS_STOPPED

Motors stopped.

enumerator USER_MAGNETO_CALIBRATION

User magnetometer calibration performed on the ground.

enumerator MOTORS_STARTING_STOPPING

Starting motors before takeoff or stopping motors after landing (ESC in open-loop).

enumerator MOTORS_RAMPING

Motors ramping until reaching the speed to leave the ground.

enumerator TAKEOFF

Takeoff ascent phase.

enumerator WAIT_FREEFALL

Wait for free fall.

enumerator RESCUE

Angular and linear stabilization phase after free fall.

enumerator FLYING

Hovering and flying states.

enumerator LANDING

Landing descent phase.

enumerator EMERGENCY_LANDING

Emergency descent phase.

enumerator LANDING_UNSTEADY_SURFACE

Landing descent phase on unsteady surface (hand, vehicle…).

enumerator TAKEOFF_UNSTEADY_SURFACE

Takeoff ascent phase on unsteady surface (vehicle…)

namespace EventDetectionState

Enums

enum Enum

Values:

enumerator S_FALSE
enumerator S_TRUE
enumerator S_UNKNOWN
namespace HorizontalControlConfig

Enums

enum Enum

Values:

enumerator DEFAULT

Default configuration.

Maximum horizontal speed: 12 m/s

Maximum horizontal acceleration: 4 m/s²

Maximum pitch/roll angles: 30° (but can be changed according to altitude)

Maximum pitch/roll angular rates: 200°/s

enumerator AGGRESSIVE

Fast and aggressive config.

Maximum horizontal speed: 15 m/s

Maximum horizontal acceleration: 5 m/s²

Maximum pitch/roll angles: 30° (but can be changed according to altitude)

Maximum pitch/roll angular rates: 300°/s

enumerator SOFT

Slow and smooth config.

Maximum horizontal speed: 7 m/s

Maximum horizontal acceleration: 1.5 m/s²

Maximum pitch/roll angles: 30° (but can be changed according to altitude)

Maximum pitch/roll angular rates: 80°/s

enumerator DYNAMIC

Customizable speed config.

Maximum horizontal speed: from reference message (but never higher than 12 ms/s)

Maximum horizontal acceleration: 4 m/s²

Maximum pitch/roll angles: 30° (but can be changed according to altitude)

Maximum pitch/roll angular rates: 300°/s

namespace HorizontalControllerReactivity

Enums

enum Enum

Values:

enumerator DEFAULT

Default horizontal trajectory control reactivity Medium reactivity, nervosity and variations in angular commands

enumerator SOFT

Slow and smooth horizontal trajectory control reactivity Low reactivity, nervosity and variations in angular commands

enumerator AGGRESSIVE

Fast and nervous horizontal trajectory control reactivity Strong reactivity, nervosity and variations in angular commands

namespace MotionState

Enums

enum Enum

Values:

enumerator STEADY

No motion detected and the motors are off.

enumerator MOVING

Drone is moving.

namespace ReferencePropagationModel

Enums

enum Enum

Values:

enumerator IDEAL_MODEL

Reference trajectory is computed using the ideal model.

enumerator INPUT_INTEGRATOR

Reference trajectory is computed by integrating the input trajectory.

namespace ThreeLevelStatus

Enums

enum Enum

Values:

enumerator OK
enumerator WARNING
enumerator CRITICAL
namespace VerticalControlConfig

Enums

enum Enum

Values:

enumerator DEFAULT

Default configuration.

Maximum upward speed: 3 m/s

Maximum downward speed: 3 m/s

Maximum upward acceleration: 3 m/s²

Maximum downward acceleration: 3 m/s²

enumerator SOFT

Slow and smooth config.

Maximum upward speed: 1 m/s

Maximum downward speed: 1 m/s

Maximum upward acceleration: 2 m/s²

Maximum downward acceleration: 2 m/s²

enumerator AGGRESSIVE

Fast and aggressive config.

Maximum upward speed: 4 m/s

Maximum downward speed: 3 m/s

Maximum upward acceleration: 6 m/s²

Maximum downward acceleration: 5 m/s²

enumerator DYNAMIC

Customizable speed config.

Maximum upward speed: from reference message (but never higher than 4 m/s)

Maximum downward speed: from reference message (but never higher than 3 m/s)

Maximum upward acceleration: 6 m/s²

Maximum downward acceleration: 5 m/s²

namespace VerticalControllerSetting

Enums

enum Enum

Values:

enumerator DEFAULT

Default altitude control setting Medium reactivity, nervosity and variations in motors commands

enumerator SOFT

Slow and smooth altitude control setting Low reactivity, nervosity and variations in motors commands

enumerator AGGRESSIVE

Fast and nervous altitude control setting Strong reactivity, nervosity and variations in motors commands

namespace WindStatus

Enums

enum Enum

Values:

enumerator OK

Mean wind speed is below warning threshold

enumerator WARNING

Mean wind speed is above warning threshold

enumerator CRITICAL

Mean wind speed is critical and can limit the whole flight performances.

namespace YawControlConfig

Enums

enum Enum

Values:

enumerator DEFAULT

Default ideal model Maximum command angular rate: 100 °/s Maximum angular rate: 180 °/s

enumerator SOFT

Slow and smooth ideal model Maximum command angular rate: 60 °/s Maximum angular rate: 45 °/s

enumerator AGGRESSIVE

Aggressive ideal model Maximum command angular rate: 235 °/s Maximum angular rate: 235 °/s

enumerator DYNAMIC

Customizable speed config with default ideal model Maximum command angular rate: from reference message (but never higher than 235 °/s) Maximum angular rate: from reference message (but never higher than 235 °/s)

Computer vision

Computer vision exposes control on different features:

  • visual tracking: this feature will enhance the tracking of a target with image and deep learning processing. Once enable, a mission may select the target with the dedicated commands described hereafter.

  • precise hovering feature: this feature enhances hovering flying state by providing accurate estimations of drone position to the flight controller.

    Two different computer vision algorithms are available (can work simultaneously)

    • hovering 3d: takes video frames from stereo camera (in its current position) and take advantage of the depth to provide position estimations.

    • hovering 2d: takes video frames from the vertical monocular camera to provide drone position estimation. (always available)

  • precise home feature: this feature enhances the ‘Return To Home’ feature by providing during the landing stage an accurate position of the drone relatively to the initial take off frame.

Here are the messages to use them.

Tracking

address: unix:/tmp/selkie

Commands

struct Command

Union of all possible commands of this package.

Public Members

Enable enable
google::protobuf::Empty disable
Target target
SetRect set_rect
SetId set_id
RemoveId remove_id
google::protobuf::Empty stop_all_tracking
google::protobuf::Empty pause_tracking
google::protobuf::Empty resume_tracking

Events

struct Event

Union of all possible events of this package.

Public Members

TrackingStates states
Answer answer
Availability availability

Structures

struct Enable

Enable tracking with or without box proposal.

Public Members

bool with_boxprop
struct Target

Target position strategy.

Public Types

enum Position

Values:

enumerator NONE

Don’t use a target position.

enumerator PILOT_ESTIMATION

Use position from pilot estimation.

Public Members

Position position
struct Rect

Normalized rectangle inside the streamed image.

Public Members

float left_x
float top_y
float width
float height
struct SetRect

Set a new target using a rectangle.

Public Members

Rect rect
uint32 cookie

The cookie is chosen by the client to identify the request and will be provided with any result relative to this request.

SetMode mode
uint64 ts_us

Timestamp that was associated to the frame on which the selection rectangle was drawn.

struct SetId

Set a new target using an id from the proposed targets.

Public Members

uint32 id

Identification of one of the proposed boxes.

uint32 cookie

The cookie is chosen by the client to identify the request and will be provided with any result relative to this request.

SetMode mode
uint64 ts_us

Timestamp that was associated to the frame on which the box was selected.

struct RemoveId

Remove the tracking on a target using its id.

Public Members

uint32 id

Identification of the box id to stop tracking.

struct TrackingState

Tracking state of a target.

Public Members

uint32 id

Target box identification.

uint32 cookie

Client identification chosen at the SetId or SetRect command.

Status status

Tracking status.

struct TrackingStates

Tracking states for all the targets

Public Members

TrackingState states[]

Enumerations

enum CvTrackingService::Messages::SetMode

Set target mode while setting a new target.

Values:

enumerator ADD

Add a new target to the previous ones (if not above the total number of trackable targets).

enumerator REPLACE

Replace the previous target with the new one.

enum CvTrackingService::Messages::Status

Tracking status of a target.

Values:

enumerator TRACKING

The target is tracked.

enumerator SEARCHING

The target is lost but still searched for.

enumerator ABANDON

The target is lost and research has been abandoned.

enumerator PAUSE

The pilot is piloting the camera, tracking is waiting to resume.

enum CvTrackingService::Messages::Answer

Answer to a tracking request.

Values:

enumerator PROCESSED

The tracking request is being processed.

enumerator TARGET_LIMIT_REACHED

The request is refused because we are at the limit of the number of targets we can track at the same time.

enumerator NOT_FOUND

The described target doesn’t exists (wrong id…).

enumerator INVALID

The tracking request is invalid.

enum CvTrackingService::Messages::Availability

Availability of the visual tracking feature.

Values:

enumerator AVAILABLE
enumerator NOT_AVAILABLE

Hovering

address: unix:@pimp-hovering

Commands

struct Command

Public Members

Void start_estimate_3d
Void stop_3d
Void start_2d
Void stop_2d

Events

struct Event

Public Members

Result start_estimate_3d
Result start_evaluate_3d
Result stop_3d
Result start_2d
Result stop_2d

Enumerations

struct Result

Public Types

enum ResultVal

Values:

enumerator OK
enumerator ERROR_GENERIC
enumerator ERROR_ALREADY_IN_STATE
enumerator ERROR_IGNORED

Public Members

ResultVal result

Precise home

address: unix:@pimp-hovering

Commands

struct Command

Public Members

Void set_ground_pos

Store drone ground position before takeoff

Void set_heading_is_locked

Notify precise home that yaw alignment is completed

Void reset_score

Notify precise home to reset its scoring system but keep reference image

Void set_ref_image

Store picture from vertical camera at the end of takeoff

Void start_compute

Start process to estimate motion from current drone position to takeoff area

Void stop_compute

End process

Events

struct Event

Public Members

Result new_result
struct Result

data structure for event result

Public Types

enum PreciseHomeStatus

Values:

enumerator NOT_AVAILABLE

No reference image, cannot compute

enumerator AVAILABLE

Ready to compute, reference image available.

enumerator SEARCHING

Computing, home position not found yet.

enumerator FOUND

Home position found, computation was made to improve accuracy.

Public Members

PreciseHomeStatus status

Camera failures

address: unix:/tmp/heimdall

Commands

struct Command

Union of all possible commands of this package.

TODO: add the proper commands when known

Public Members

google::protobuf::Empty decal_detector_start
google::protobuf::Empty decal_detector_stop
Camera calibration_start
CalibrationStop calibration_stop

Events

struct Event

Public Members

Camera nominal
Camera failure
Camera decalibration_failure_start
Camera decalibration_failure_stop
Camera too_dark_failure_start
Camera too_dark_failure_stop
Camera stabilization_failure_start
Camera stabilization_failure_stop
Camera sensor_failure_start
Camera sensor_failure_stop
Camera led_on
Camera led_off
Camera calibration_running_start
Camera calibration_running_stop

Structures

struct Camera

Public Types

enum CameraId

Values:

enumerator FSTCAM

front stereo camera

enumerator VCAM

vertical camera

enumerator FCAM

front camera

Public Members

CameraId camera
struct CalibrationStop

Public Types

enum Result

Values:

enumerator OK
enumerator KO
enumerator ABORTED

Public Members

Camera::CameraId camera
Result result