lanyard.flight.VehicleState.1.1¶
Consolidated vehicle state, published by the flight controller at 50 Hz.
| Full name | lanyard.flight.VehicleState |
| Version | 1.1 |
| Kind | Message |
| Fixed port ID | 6210 |
| Least supported transport | CAN FD |
Wire layout¶
| Section | Extent (bytes) | Max serialized (bytes) |
|---|---|---|
| Message | 128 | 53 |
A sealed type reports its extent as its exact serialised size; a delimited type reports the declared @extent, which bounds what a reader must be prepared to receive.
Definition¶
# Consolidated vehicle state, published by the flight controller at 50
# Hz.
#
# LEAST SUPPORTED TRANSPORT: CAN FD.
#
# VERSIONING -- THIS IS THE NON-BREAKING CHANGE EXAMPLE.
#
# Relative to VehicleState.1.0 this definition appends one field and
# changes nothing else. That is permissible without a major version bump
# because:
#
# 1. The type is delimited (@extent), so every serialised value is
# preceded by a length header and a reader may skip a tail it does
# not recognise.
# 2. The extent is unchanged, so a 1.0 reader's buffer is still large
# enough for a 1.1 message.
# 3. Existing fields keep their order, type, and meaning, so a 1.0
# reader decoding a 1.1 message gets correct values for everything
# it knows about and ignores height_above_takeoff.
# 4. A 1.1 reader decoding a 1.0 message sees a short tail and leaves
# height_above_takeoff at its zero value -- which is why an
# appended field must have a sane interpretation when absent.
#
# Because it is compatible in both directions, 1.1 keeps the same fixed
# port identifier as 1.0: both minor versions share port 6210 and
# coexist on the same subject.
uavcan.time.SynchronizedTimestamp.1.0 timestamp
# The network-synchronized moment this state estimate is valid for.
lanyard.flight.FlightMode.1.0 mode
# The active flight mode.
uavcan.si.unit.angle.Quaternion.1.0 orientation_ned
# Vehicle attitude as a unit quaternion in the North-East-Down reference
# frame.
uavcan.si.unit.angular_velocity.Vector3.1.0 angular_velocity
# Body-frame roll, pitch, and yaw rates in radians per second.
uavcan.si.unit.velocity.Vector3.1.0 velocity_ned
# Velocity over ground in the North-East-Down frame, in meters per
# second.
bool armed
# True when the propulsion system is energized and will respond to
# throttle commands.
void7
# Padding to a byte boundary.
uavcan.si.unit.length.Scalar.1.0 height_above_takeoff
# NEW IN 1.1. Height above the recorded takeoff elevation, in meters.
# Zero -- the value a 1.0 sender effectively transmits by omission --
# correctly means "at takeoff elevation", so the absent case degrades
# gracefully. An appended field whose zero value meant something
# dangerous would have been a breaking change in practice even though
# the wire format tolerated it.
@extent 128 * 8
# Unchanged from 1.0. Growing the extent would break 1.0 readers whose
# buffers are sized from it.Generated code¶
Declaration excerpts only -- the serialisation bodies are omitted for length. Build the showroom target for the complete output in every language and profile.
C¶
/* Consolidated vehicle state, published by the flight controller at 50 */
/* Hz. */
/* */
/* LEAST SUPPORTED TRANSPORT: CAN FD. */
/* */
/* VERSIONING -- THIS IS THE NON-BREAKING CHANGE EXAMPLE. */
/* */
/* Relative to VehicleState.1.0 this definition appends one field and */
/* changes nothing else. That is permissible without a major version bump */
/* because: */
/* */
/* 1. The type is delimited (@extent), so every serialised value is */
/* preceded by a length header and a reader may skip a tail it does */
/* not recognise. */
/* 2. The extent is unchanged, so a 1.0 reader's buffer is still large */
/* enough for a 1.1 message. */
/* 3. Existing fields keep their order, type, and meaning, so a 1.0 */
/* reader decoding a 1.1 message gets correct values for everything */
/* it knows about and ignores height_above_takeoff. */
/* 4. A 1.1 reader decoding a 1.0 message sees a short tail and leaves */
/* height_above_takeoff at its zero value -- which is why an */
/* appended field must have a sane interpretation when absent. */
/* */
/* Because it is compatible in both directions, 1.1 keeps the same fixed */
/* port identifier as 1.0: both minor versions share port 6210 and */
/* coexist on the same subject. */
typedef struct lanyard__flight__VehicleState_1_1 {
/* The network-synchronized moment this state estimate is valid for. */
struct uavcan__time__SynchronizedTimestamp_1_0 timestamp;
/* The active flight mode. */
struct lanyard__flight__FlightMode_1_0 mode;
/* Vehicle attitude as a unit quaternion in the North-East-Down reference */
/* frame. */
struct uavcan__si__unit__angle__Quaternion_1_0 orientation_ned;
/* Body-frame roll, pitch, and yaw rates in radians per second. */
struct uavcan__si__unit__angular_velocity__Vector3_1_0 angular_velocity;
/* Velocity over ground in the North-East-Down frame, in meters per */
/* second. */
struct uavcan__si__unit__velocity__Vector3_1_0 velocity_ned;
/* True when the propulsion system is energized and will respond to */
/* throttle commands. */
bool armed;
/* NEW IN 1.1. Height above the recorded takeoff elevation, in meters. */
/* Zero -- the value a 1.0 sender effectively transmits by omission -- */
/* correctly means "at takeoff elevation", so the absent case degrades */
/* gracefully. An appended field whose zero value meant something */
/* dangerous would have been a breaking change in practice even though */
/* the wire format tolerated it. */
struct uavcan__si__unit__length__Scalar_1_0 height_above_takeoff;
} lanyard__flight__VehicleState_1_1;C++ (std)¶
// Consolidated vehicle state, published by the flight controller at 50
// Hz.
//
// LEAST SUPPORTED TRANSPORT: CAN FD.
//
// VERSIONING -- THIS IS THE NON-BREAKING CHANGE EXAMPLE.
//
// Relative to VehicleState.1.0 this definition appends one field and
// changes nothing else. That is permissible without a major version bump
// because:
//
// 1. The type is delimited (@extent), so every serialised value is
// preceded by a length header and a reader may skip a tail it does
// not recognise.
// 2. The extent is unchanged, so a 1.0 reader's buffer is still large
// enough for a 1.1 message.
// 3. Existing fields keep their order, type, and meaning, so a 1.0
// reader decoding a 1.1 message gets correct values for everything
// it knows about and ignores height_above_takeoff.
// 4. A 1.1 reader decoding a 1.0 message sees a short tail and leaves
// height_above_takeoff at its zero value -- which is why an
// appended field must have a sane interpretation when absent.
//
// Because it is compatible in both directions, 1.1 keeps the same fixed
// port identifier as 1.0: both minor versions share port 6210 and
// coexist on the same subject.
struct VehicleState_1_1 {
// The network-synchronized moment this state estimate is valid for.
::uavcan::time::SynchronizedTimestamp_1_0 timestamp{};
// The active flight mode.
::lanyard::flight::FlightMode_1_0 mode{};
// Vehicle attitude as a unit quaternion in the North-East-Down reference
// frame.
::uavcan::si::unit::angle::Quaternion_1_0 orientation_ned{};
// Body-frame roll, pitch, and yaw rates in radians per second.
::uavcan::si::unit::angular_velocity::Vector3_1_0 angular_velocity{};
// Velocity over ground in the North-East-Down frame, in meters per
// second.
::uavcan::si::unit::velocity::Vector3_1_0 velocity_ned{};
// True when the propulsion system is energized and will respond to
// throttle commands.
bool armed{};
// NEW IN 1.1. Height above the recorded takeoff elevation, in meters.
// Zero -- the value a 1.0 sender effectively transmits by omission --
// correctly means "at takeoff elevation", so the absent case degrades
// gracefully. An appended field whose zero value meant something
// dangerous would have been a breaking change in practice even though
// the wire format tolerated it.
::uavcan::si::unit::length::Scalar_1_0 height_above_takeoff{};
static constexpr const char* FULL_NAME = "lanyard.flight.VehicleState";
static constexpr bool IS_DEPRECATED = false;
static constexpr const char* FULL_NAME_AND_VERSION = "lanyard.flight.VehicleState.1.1";
static constexpr std::size_t EXTENT_BYTES = 128U;
static constexpr std::size_t SERIALIZATION_BUFFER_SIZE_BYTES = 53U;
static constexpr bool WIRE_FLAT = false;
static constexpr const char* WIRE_FLAT_REASON = "sub-byte-field";
static constexpr bool HOST_IMAGE = false;
static constexpr const char* HOST_IMAGE_REASON = "sub-byte-field";
static constexpr bool HAS_FIXED_PORT_ID = true;
static constexpr std::uint16_t FIXED_PORT_ID = 6210U;
LLVMDSDL_NODISCARD inline std::int8_t serialize(std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes) const {
return VehicleState_1_1_serialize_(this, buffer, inout_buffer_size_bytes);
}
LLVMDSDL_NODISCARD inline std::int8_t deserialize(const std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes) {
return VehicleState_1_1_deserialize_(this, buffer, inout_buffer_size_bytes);
}
};C++ (pmr)¶
Polymorphic-allocator profile: variable-length fields route through std::pmr.
// Consolidated vehicle state, published by the flight controller at 50
// Hz.
//
// LEAST SUPPORTED TRANSPORT: CAN FD.
//
// VERSIONING -- THIS IS THE NON-BREAKING CHANGE EXAMPLE.
//
// Relative to VehicleState.1.0 this definition appends one field and
// changes nothing else. That is permissible without a major version bump
// because:
//
// 1. The type is delimited (@extent), so every serialised value is
// preceded by a length header and a reader may skip a tail it does
// not recognise.
// 2. The extent is unchanged, so a 1.0 reader's buffer is still large
// enough for a 1.1 message.
// 3. Existing fields keep their order, type, and meaning, so a 1.0
// reader decoding a 1.1 message gets correct values for everything
// it knows about and ignores height_above_takeoff.
// 4. A 1.1 reader decoding a 1.0 message sees a short tail and leaves
// height_above_takeoff at its zero value -- which is why an
// appended field must have a sane interpretation when absent.
//
// Because it is compatible in both directions, 1.1 keeps the same fixed
// port identifier as 1.0: both minor versions share port 6210 and
// coexist on the same subject.
struct VehicleState_1_1 {
// The network-synchronized moment this state estimate is valid for.
::uavcan::time::SynchronizedTimestamp_1_0 timestamp{};
// The active flight mode.
::lanyard::flight::FlightMode_1_0 mode{};
// Vehicle attitude as a unit quaternion in the North-East-Down reference
// frame.
::uavcan::si::unit::angle::Quaternion_1_0 orientation_ned{};
// Body-frame roll, pitch, and yaw rates in radians per second.
::uavcan::si::unit::angular_velocity::Vector3_1_0 angular_velocity{};
// Velocity over ground in the North-East-Down frame, in meters per
// second.
::uavcan::si::unit::velocity::Vector3_1_0 velocity_ned{};
// True when the propulsion system is energized and will respond to
// throttle commands.
bool armed{};
// NEW IN 1.1. Height above the recorded takeoff elevation, in meters.
// Zero -- the value a 1.0 sender effectively transmits by omission --
// correctly means "at takeoff elevation", so the absent case degrades
// gracefully. An appended field whose zero value meant something
// dangerous would have been a breaking change in practice even though
// the wire format tolerated it.
::uavcan::si::unit::length::Scalar_1_0 height_above_takeoff{};
::llvmdsdl::cpp::MemoryResource* _memory_resource{::llvmdsdl::cpp::default_memory_resource()};
VehicleState_1_1() = default;
explicit VehicleState_1_1(::llvmdsdl::cpp::MemoryResource* memory_resource) { set_memory_resource(memory_resource); }
void set_memory_resource(::llvmdsdl::cpp::MemoryResource* memory_resource) {
_memory_resource = (memory_resource != nullptr) ? memory_resource : ::llvmdsdl::cpp::default_memory_resource();
timestamp.set_memory_resource(_memory_resource);
mode.set_memory_resource(_memory_resource);
orientation_ned.set_memory_resource(_memory_resource);
angular_velocity.set_memory_resource(_memory_resource);
velocity_ned.set_memory_resource(_memory_resource);
height_above_takeoff.set_memory_resource(_memory_resource);
}
static constexpr const char* FULL_NAME = "lanyard.flight.VehicleState";
static constexpr bool IS_DEPRECATED = false;
static constexpr const char* FULL_NAME_AND_VERSION = "lanyard.flight.VehicleState.1.1";
static constexpr std::size_t EXTENT_BYTES = 128U;
static constexpr std::size_t SERIALIZATION_BUFFER_SIZE_BYTES = 53U;
static constexpr bool WIRE_FLAT = false;
static constexpr const char* WIRE_FLAT_REASON = "sub-byte-field";
static constexpr bool HOST_IMAGE = false;
static constexpr const char* HOST_IMAGE_REASON = "sub-byte-field";
static constexpr bool HAS_FIXED_PORT_ID = true;
static constexpr std::uint16_t FIXED_PORT_ID = 6210U;
LLVMDSDL_NODISCARD inline std::int8_t serialize(std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes) const {
return VehicleState_1_1_serialize_(this, buffer, inout_buffer_size_bytes, _memory_resource);
}
LLVMDSDL_NODISCARD inline std::int8_t deserialize(const std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes) {
return VehicleState_1_1_deserialize_(this, buffer, inout_buffer_size_bytes, _memory_resource);
}
LLVMDSDL_NODISCARD inline std::int8_t serialize(std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes, ::llvmdsdl::cpp::MemoryResource* memory_resource) const {
return VehicleState_1_1_serialize_(this, buffer, inout_buffer_size_bytes, memory_resource);
}
LLVMDSDL_NODISCARD inline std::int8_t deserialize(const std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes, ::llvmdsdl::cpp::MemoryResource* memory_resource) {
return VehicleState_1_1_deserialize_(this, buffer, inout_buffer_size_bytes, memory_resource);
}
};C++ (autosar)¶
AUTOSAR C++14 subset profile.
// Consolidated vehicle state, published by the flight controller at 50
// Hz.
//
// LEAST SUPPORTED TRANSPORT: CAN FD.
//
// VERSIONING -- THIS IS THE NON-BREAKING CHANGE EXAMPLE.
//
// Relative to VehicleState.1.0 this definition appends one field and
// changes nothing else. That is permissible without a major version bump
// because:
//
// 1. The type is delimited (@extent), so every serialised value is
// preceded by a length header and a reader may skip a tail it does
// not recognise.
// 2. The extent is unchanged, so a 1.0 reader's buffer is still large
// enough for a 1.1 message.
// 3. Existing fields keep their order, type, and meaning, so a 1.0
// reader decoding a 1.1 message gets correct values for everything
// it knows about and ignores height_above_takeoff.
// 4. A 1.1 reader decoding a 1.0 message sees a short tail and leaves
// height_above_takeoff at its zero value -- which is why an
// appended field must have a sane interpretation when absent.
//
// Because it is compatible in both directions, 1.1 keeps the same fixed
// port identifier as 1.0: both minor versions share port 6210 and
// coexist on the same subject.
struct VehicleState_1_1 {
// The network-synchronized moment this state estimate is valid for.
::uavcan::time::SynchronizedTimestamp_1_0 timestamp{};
// The active flight mode.
::lanyard::flight::FlightMode_1_0 mode{};
// Vehicle attitude as a unit quaternion in the North-East-Down reference
// frame.
::uavcan::si::unit::angle::Quaternion_1_0 orientation_ned{};
// Body-frame roll, pitch, and yaw rates in radians per second.
::uavcan::si::unit::angular_velocity::Vector3_1_0 angular_velocity{};
// Velocity over ground in the North-East-Down frame, in meters per
// second.
::uavcan::si::unit::velocity::Vector3_1_0 velocity_ned{};
// True when the propulsion system is energized and will respond to
// throttle commands.
bool armed{};
// NEW IN 1.1. Height above the recorded takeoff elevation, in meters.
// Zero -- the value a 1.0 sender effectively transmits by omission --
// correctly means "at takeoff elevation", so the absent case degrades
// gracefully. An appended field whose zero value meant something
// dangerous would have been a breaking change in practice even though
// the wire format tolerated it.
::uavcan::si::unit::length::Scalar_1_0 height_above_takeoff{};
static constexpr const char* FULL_NAME = "lanyard.flight.VehicleState";
static constexpr bool IS_DEPRECATED = false;
static constexpr const char* FULL_NAME_AND_VERSION = "lanyard.flight.VehicleState.1.1";
static constexpr std::size_t EXTENT_BYTES = 128U;
static constexpr std::size_t SERIALIZATION_BUFFER_SIZE_BYTES = 53U;
static constexpr bool WIRE_FLAT = false;
static constexpr const char* WIRE_FLAT_REASON = "sub-byte-field";
static constexpr bool HOST_IMAGE = false;
static constexpr const char* HOST_IMAGE_REASON = "sub-byte-field";
static constexpr bool HAS_FIXED_PORT_ID = true;
static constexpr std::uint16_t FIXED_PORT_ID = 6210U;
LLVMDSDL_NODISCARD inline std::int8_t serialize(std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes) const {
return VehicleState_1_1_serialize_(this, buffer, inout_buffer_size_bytes);
}
LLVMDSDL_NODISCARD inline std::int8_t deserialize(const std::uint8_t* buffer, std::size_t* inout_buffer_size_bytes) {
return VehicleState_1_1_deserialize_(this, buffer, inout_buffer_size_bytes);
}
};Rust (std)¶
/// Consolidated vehicle state, published by the flight controller at 50
/// Hz.
///
/// LEAST SUPPORTED TRANSPORT: CAN FD.
///
/// VERSIONING -- THIS IS THE NON-BREAKING CHANGE EXAMPLE.
///
/// Relative to VehicleState.1.0 this definition appends one field and
/// changes nothing else. That is permissible without a major version bump
/// because:
///
/// 1. The type is delimited (@extent), so every serialised value is
/// preceded by a length header and a reader may skip a tail it does
/// not recognise.
/// 2. The extent is unchanged, so a 1.0 reader's buffer is still large
/// enough for a 1.1 message.
/// 3. Existing fields keep their order, type, and meaning, so a 1.0
/// reader decoding a 1.1 message gets correct values for everything
/// it knows about and ignores height_above_takeoff.
/// 4. A 1.1 reader decoding a 1.0 message sees a short tail and leaves
/// height_above_takeoff at its zero value -- which is why an
/// appended field must have a sane interpretation when absent.
///
/// Because it is compatible in both directions, 1.1 keeps the same fixed
/// port identifier as 1.0: both minor versions share port 6210 and
/// coexist on the same subject.
#[derive(Clone, Debug, PartialEq)]
pub struct lanyard_flight_VehicleState_1_1 {
/// The network-synchronized moment this state estimate is valid for.
pub timestamp: uavcan_time_SynchronizedTimestamp_1_0,
/// The active flight mode.
pub mode: lanyard_flight_FlightMode_1_0,
/// Vehicle attitude as a unit quaternion in the North-East-Down reference
/// frame.
pub orientation_ned: uavcan_si_unit_angle_Quaternion_1_0,
/// Body-frame roll, pitch, and yaw rates in radians per second.
pub angular_velocity: uavcan_si_unit_angular_velocity_Vector3_1_0,
/// Velocity over ground in the North-East-Down frame, in meters per
/// second.
pub velocity_ned: uavcan_si_unit_velocity_Vector3_1_0,
/// True when the propulsion system is energized and will respond to
/// throttle commands.
pub armed: bool,
/// NEW IN 1.1. Height above the recorded takeoff elevation, in meters.
/// Zero -- the value a 1.0 sender effectively transmits by omission --
/// correctly means "at takeoff elevation", so the absent case degrades
/// gracefully. An appended field whose zero value meant something
/// dangerous would have been a breaking change in practice even though
/// the wire format tolerated it.
pub height_above_takeoff: uavcan_si_unit_length_Scalar_1_0,
}Rust (no-std)¶
no_std + alloc profile, as a flight-controller firmware build would use.
/// Consolidated vehicle state, published by the flight controller at 50
/// Hz.
///
/// LEAST SUPPORTED TRANSPORT: CAN FD.
///
/// VERSIONING -- THIS IS THE NON-BREAKING CHANGE EXAMPLE.
///
/// Relative to VehicleState.1.0 this definition appends one field and
/// changes nothing else. That is permissible without a major version bump
/// because:
///
/// 1. The type is delimited (@extent), so every serialised value is
/// preceded by a length header and a reader may skip a tail it does
/// not recognise.
/// 2. The extent is unchanged, so a 1.0 reader's buffer is still large
/// enough for a 1.1 message.
/// 3. Existing fields keep their order, type, and meaning, so a 1.0
/// reader decoding a 1.1 message gets correct values for everything
/// it knows about and ignores height_above_takeoff.
/// 4. A 1.1 reader decoding a 1.0 message sees a short tail and leaves
/// height_above_takeoff at its zero value -- which is why an
/// appended field must have a sane interpretation when absent.
///
/// Because it is compatible in both directions, 1.1 keeps the same fixed
/// port identifier as 1.0: both minor versions share port 6210 and
/// coexist on the same subject.
#[derive(Clone, Debug, PartialEq)]
pub struct lanyard_flight_VehicleState_1_1 {
/// The network-synchronized moment this state estimate is valid for.
pub timestamp: uavcan_time_SynchronizedTimestamp_1_0,
/// The active flight mode.
pub mode: lanyard_flight_FlightMode_1_0,
/// Vehicle attitude as a unit quaternion in the North-East-Down reference
/// frame.
pub orientation_ned: uavcan_si_unit_angle_Quaternion_1_0,
/// Body-frame roll, pitch, and yaw rates in radians per second.
pub angular_velocity: uavcan_si_unit_angular_velocity_Vector3_1_0,
/// Velocity over ground in the North-East-Down frame, in meters per
/// second.
pub velocity_ned: uavcan_si_unit_velocity_Vector3_1_0,
/// True when the propulsion system is energized and will respond to
/// throttle commands.
pub armed: bool,
/// NEW IN 1.1. Height above the recorded takeoff elevation, in meters.
/// Zero -- the value a 1.0 sender effectively transmits by omission --
/// correctly means "at takeoff elevation", so the absent case degrades
/// gracefully. An appended field whose zero value meant something
/// dangerous would have been a breaking change in practice even though
/// the wire format tolerated it.
pub height_above_takeoff: uavcan_si_unit_length_Scalar_1_0,
}Go¶
// Consolidated vehicle state, published by the flight controller at 50
// Hz.
//
// LEAST SUPPORTED TRANSPORT: CAN FD.
//
// VERSIONING -- THIS IS THE NON-BREAKING CHANGE EXAMPLE.
//
// Relative to VehicleState.1.0 this definition appends one field and
// changes nothing else. That is permissible without a major version bump
// because:
//
// 1. The type is delimited (@extent), so every serialised value is
// preceded by a length header and a reader may skip a tail it does
// not recognise.
// 2. The extent is unchanged, so a 1.0 reader's buffer is still large
// enough for a 1.1 message.
// 3. Existing fields keep their order, type, and meaning, so a 1.0
// reader decoding a 1.1 message gets correct values for everything
// it knows about and ignores height_above_takeoff.
// 4. A 1.1 reader decoding a 1.0 message sees a short tail and leaves
// height_above_takeoff at its zero value -- which is why an
// appended field must have a sane interpretation when absent.
//
// Because it is compatible in both directions, 1.1 keeps the same fixed
// port identifier as 1.0: both minor versions share port 6210 and
// coexist on the same subject.
type VehicleState_1_1 struct {
// The network-synchronized moment this state estimate is valid for.
Timestamp pkg_uavcan_time.SynchronizedTimestamp_1_0
// The active flight mode.
Mode FlightMode_1_0
// Vehicle attitude as a unit quaternion in the North-East-Down reference
// frame.
OrientationNed pkg_uavcan_si_unit_angle.Quaternion_1_0
// Body-frame roll, pitch, and yaw rates in radians per second.
AngularVelocity pkg_uavcan_si_unit_angular_velocity.Vector3_1_0
// Velocity over ground in the North-East-Down frame, in meters per
// second.
VelocityNed pkg_uavcan_si_unit_velocity.Vector3_1_0
// True when the propulsion system is energized and will respond to
// throttle commands.
Armed bool
// NEW IN 1.1. Height above the recorded takeoff elevation, in meters.
// Zero -- the value a 1.0 sender effectively transmits by omission --
// correctly means "at takeoff elevation", so the absent case degrades
// gracefully. An appended field whose zero value meant something
// dangerous would have been a breaking change in practice even though
// the wire format tolerated it.
HeightAboveTakeoff pkg_uavcan_si_unit_length.Scalar_1_0
}TypeScript¶
// Consolidated vehicle state, published by the flight controller at 50
// Hz.
//
// LEAST SUPPORTED TRANSPORT: CAN FD.
//
// VERSIONING -- THIS IS THE NON-BREAKING CHANGE EXAMPLE.
//
// Relative to VehicleState.1.0 this definition appends one field and
// changes nothing else. That is permissible without a major version bump
// because:
//
// 1. The type is delimited (@extent), so every serialised value is
// preceded by a length header and a reader may skip a tail it does
// not recognise.
// 2. The extent is unchanged, so a 1.0 reader's buffer is still large
// enough for a 1.1 message.
// 3. Existing fields keep their order, type, and meaning, so a 1.0
// reader decoding a 1.1 message gets correct values for everything
// it knows about and ignores height_above_takeoff.
// 4. A 1.1 reader decoding a 1.0 message sees a short tail and leaves
// height_above_takeoff at its zero value -- which is why an
// appended field must have a sane interpretation when absent.
//
// Because it is compatible in both directions, 1.1 keeps the same fixed
// port identifier as 1.0: both minor versions share port 6210 and
// coexist on the same subject.
export interface VehicleState_1_1 {
// The network-synchronized moment this state estimate is valid for.
timestamp: SynchronizedTimestamp_1_0;
// The active flight mode.
mode: FlightMode_1_0;
// Vehicle attitude as a unit quaternion in the North-East-Down reference
// frame.
orientation_ned: Quaternion_1_0;
// Body-frame roll, pitch, and yaw rates in radians per second.
angular_velocity: Vector3_1_0__uavcan_si_unit_angular_velocity;
// Velocity over ground in the North-East-Down frame, in meters per
// second.
velocity_ned: Vector3_1_0__uavcan_si_unit_velocity;
// True when the propulsion system is energized and will respond to
// throttle commands.
armed: boolean;
// NEW IN 1.1. Height above the recorded takeoff elevation, in meters.
// Zero -- the value a 1.0 sender effectively transmits by omission --
// correctly means "at takeoff elevation", so the absent case degrades
// gracefully. An appended field whose zero value meant something
// dangerous would have been a breaking change in practice even though
// the wire format tolerated it.
height_above_takeoff: Scalar_1_0;
}Python¶
# Consolidated vehicle state, published by the flight controller at 50
# Hz.
#
# LEAST SUPPORTED TRANSPORT: CAN FD.
#
# VERSIONING -- THIS IS THE NON-BREAKING CHANGE EXAMPLE.
#
# Relative to VehicleState.1.0 this definition appends one field and
# changes nothing else. That is permissible without a major version bump
# because:
#
# 1. The type is delimited (@extent), so every serialised value is
# preceded by a length header and a reader may skip a tail it does
# not recognise.
# 2. The extent is unchanged, so a 1.0 reader's buffer is still large
# enough for a 1.1 message.
# 3. Existing fields keep their order, type, and meaning, so a 1.0
# reader decoding a 1.1 message gets correct values for everything
# it knows about and ignores height_above_takeoff.
# 4. A 1.1 reader decoding a 1.0 message sees a short tail and leaves
# height_above_takeoff at its zero value -- which is why an
# appended field must have a sane interpretation when absent.
#
# Because it is compatible in both directions, 1.1 keeps the same fixed
# port identifier as 1.0: both minor versions share port 6210 and
# coexist on the same subject.
@dataclass(slots=True)
class VehicleState_1_1:
# The network-synchronized moment this state estimate is valid for.
timestamp: SynchronizedTimestamp_1_0 = field(default_factory=lambda: SynchronizedTimestamp_1_0())
# The active flight mode.
mode: FlightMode_1_0 = field(default_factory=lambda: FlightMode_1_0())
# Vehicle attitude as a unit quaternion in the North-East-Down reference
# frame.
orientation_ned: Quaternion_1_0 = field(default_factory=lambda: Quaternion_1_0())
# Body-frame roll, pitch, and yaw rates in radians per second.
angular_velocity: Vector3_1_0 = field(default_factory=lambda: Vector3_1_0())
# Velocity over ground in the North-East-Down frame, in meters per
# second.
velocity_ned: Vector3_1_0 = field(default_factory=lambda: Vector3_1_0())
# True when the propulsion system is energized and will respond to
# throttle commands.
armed: bool = False
# NEW IN 1.1. Height above the recorded takeoff elevation, in meters.
# Zero -- the value a 1.0 sender effectively transmits by omission --
# correctly means "at takeoff elevation", so the absent case degrades
# gracefully. An appended field whose zero value meant something
# dangerous would have been a breaking change in practice even though
# the wire format tolerated it.
height_above_takeoff: Scalar_1_0 = field(default_factory=lambda: Scalar_1_0())Every build recipe compiles this definition along with the rest of the namespace.