uorb autogeneration

CMakeLists.txt

@@ -295,11 +295,11 @@ add_definitions(${definitions})
 #=============================================================================
 # source code generation
 #
-file(GLOB_RECURSE msg_files msg/*.msg)
+file(GLOB msg_files msg/*.msg)
 px4_generate_messages(TARGET msg_gen
 	MSG_FILES ${msg_files}
 	OS ${OS}
-	DEPENDS git_genmsg git_gencpp
+	DEPENDS git_genmsg git_gencpp prebuild_targets
 	)
 px4_generate_parameters_xml(OUT parameters.xml BOARD ${BOARD})
 px4_generate_airframes_xml(OUT airframes.xml BOARD ${BOARD})

Makefile

@@ -155,6 +155,9 @@ px4-stm32f4discovery_default:
 px4fmu-v2_ekf2:
 	$(call cmake-build,nuttx_px4fmu-v2_ekf2)
 
+px4fmu-v2_lpe:
+	$(call cmake-build,nuttx_px4fmu-v2_lpe)
+
 mindpx-v2_default:
 	$(call cmake-build,nuttx_mindpx-v2_default)
 

Tools/px_generate_uorb_topic_headers.py

@@ -49,6 +49,7 @@ sys.path.append(px4_tools_dir + "/genmsg/src")
 sys.path.append(px4_tools_dir + "/gencpp/src")
 
 try:
+        import em
         import genmsg.template_tools
 except ImportError as e:
         print("python import error: ", e)
@@ -74,24 +75,75 @@ __license__ = "BSD"
 __email__ = "thomasgubler@gmail.com"
 
 
-msg_template_map = {'msg.h.template': '@NAME@.h'}
-srv_template_map = {}
-incl_default = ['std_msgs:./msg/std_msgs']
-package = 'px4'
+TEMPLATE_FILE = 'msg.h.template'
+OUTPUT_FILE_EXT = '.h'
+INCL_DEFAULT = ['std_msgs:./msg/std_msgs']
+PACKAGE = 'px4'
+TOPICS_TOKEN = '# TOPICS '
 
 
-def convert_file(filename, outputdir, templatedir, includepath):
+def get_multi_topics(filename):
         """
-        Converts a single .msg file to a uorb header
+        Get TOPICS names from a "# TOPICS" line
         """
-        #print("Generating headers from {0}".format(filename))
-        genmsg.template_tools.generate_from_file(filename,
-                                                 package,
-                                                 outputdir,
-                                                 templatedir,
-                                                 includepath,
-                                                 msg_template_map,
-                                                 srv_template_map)
+        ofile = open(filename, 'r')
+        text = ofile.read()
+        result = []
+        for each_line in text.split('\n'):
+                if each_line.startswith (TOPICS_TOKEN):
+                        topic_names_str = each_line.strip()
+                        topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "")
+                        result.extend(topic_names_str.split(" "))
+        ofile.close()
+        return result
+
+
+def generate_header_from_file(filename, outputdir, templatedir, includepath):
+        """
+        Converts a single .msg file to a uorb header file
+        """
+        msg_context = genmsg.msg_loader.MsgContext.create_default()
+        full_type_name = genmsg.gentools.compute_full_type_name(PACKAGE, os.path.basename(filename))
+        spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename, full_type_name)
+        topics = get_multi_topics(filename)
+        if includepath:
+                search_path = genmsg.command_line.includepath_to_dict(includepath)
+        else:
+                search_path = {}
+        genmsg.msg_loader.load_depends(msg_context, spec, search_path)
+        md5sum = genmsg.gentools.compute_md5(msg_context, spec)
+        if len(topics) == 0:
+                topics.append(spec.short_name)
+        em_globals = {
+            "file_name_in": filename,
+            "md5sum": md5sum,
+            "search_path": search_path,
+            "msg_context": msg_context,
+            "spec": spec,
+            "topics": topics
+        }
+
+        # Make sure output directory exists:
+        if not os.path.isdir(outputdir):
+                os.makedirs(outputdir)
+
+        template_file = os.path.join(templatedir, TEMPLATE_FILE)
+        output_file = os.path.join(outputdir, spec.short_name + OUTPUT_FILE_EXT)
+
+        if os.path.isfile(output_file):
+                return False
+
+        ofile = open(output_file, 'w')
+        # todo, reuse interpreter
+        interpreter = em.Interpreter(output=ofile, globals=em_globals, options={em.RAW_OPT:True,em.BUFFERED_OPT:True})
+        if not os.path.isfile(template_file):
+                ofile.close()
+                os.remove(output_file)
+                raise RuntimeError("Template file %s not found in template dir %s" % (template_file, templatedir))
+        interpreter.file(open(template_file)) #todo try
+        interpreter.shutdown()
+        ofile.close()
+        return True
 
 
 def convert_dir(inputdir, outputdir, templatedir):
@@ -122,7 +174,7 @@ def convert_dir(inputdir, outputdir, templatedir):
         if (maxinputtime != 0 and maxouttime != 0 and maxinputtime < maxouttime):
             return False
 
-        includepath = incl_default + [':'.join([package, inputdir])]
+        includepath = INCL_DEFAULT + [':'.join([PACKAGE, inputdir])]
         for f in os.listdir(inputdir):
                 # Ignore hidden files
                 if f.startswith("."):
@@ -133,11 +185,7 @@ def convert_dir(inputdir, outputdir, templatedir):
                 if not os.path.isfile(fn):
                         continue
 
-                convert_file(fn,
-                             outputdir,
-                             templatedir,
-                             includepath)
-
+                generate_header_from_file(fn, outputdir, templatedir, includepath)
         return True
 
 
@@ -151,15 +199,15 @@ def copy_changed(inputdir, outputdir, prefix='', quiet=False):
         if not os.path.isdir(outputdir):
                 os.makedirs(outputdir)
 
-        for f in os.listdir(inputdir):
-                fni = os.path.join(inputdir, f)
+        for input_file in os.listdir(inputdir):
+                fni = os.path.join(inputdir, input_file)
                 if os.path.isfile(fni):
-                        # Check if f exists in outpoutdir, copy the file if not
-                        fno = os.path.join(outputdir, prefix + f)
+                        # Check if input_file exists in outpoutdir, copy the file if not
+                        fno = os.path.join(outputdir, prefix + input_file)
                         if not os.path.isfile(fno):
                                 shutil.copy(fni, fno)
                                 if not quiet:
-                                    print("{0}: new header file".format(f))
+                                    print("{0}: new header file".format(fno))
                                 continue
 
                         if os.path.getmtime(fni) > os.path.getmtime(fno):
@@ -168,11 +216,11 @@ def copy_changed(inputdir, outputdir, prefix='', quiet=False):
                                 if not filecmp.cmp(fni, fno):
                                         shutil.copy(fni, fno)
                                         if not quiet:
-                                            print("{0}: updated".format(f))
+                                            print("{0}: updated".format(input_file))
                                         continue
 
                         if not quiet:
-                            print("{0}: unchanged".format(f))
+                            print("{0}: unchanged".format(input_file))
 
 
 def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix, quiet=False):
@@ -208,11 +256,7 @@ if __name__ == "__main__":
 
         if args.file is not None:
                 for f in args.file:
-                        convert_file(
-                            f,
-                            args.outputdir,
-                            args.templatedir,
-                            incl_default)
+                        generate_header_from_file(f, args.outputdir, args.templatedir, INCL_DEFAULT)
         elif args.dir is not None:
                 convert_dir_save(
                     args.dir,

Tools/px_generate_uorb_topic_sources.py

+#!/usr/bin/env python
+#############################################################################
+#
+#   Copyright (C) 2013-2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+#############################################################################
+
+"""
+px_generate_uorb_topic_sources.py
+Generates cpp source files for uorb topics from .msg (ROS syntax)
+message files
+"""
+from __future__ import print_function
+import os
+import shutil
+import filecmp
+import argparse
+
+import sys
+px4_tools_dir = os.path.dirname(os.path.abspath(__file__))
+sys.path.append(px4_tools_dir + "/genmsg/src")
+sys.path.append(px4_tools_dir + "/gencpp/src")
+
+try:
+        import em
+        import genmsg.template_tools
+except ImportError as e:
+        print("python import error: ", e)
+        print('''
+Required python packages not installed.
+
+On a Debian/Ubuntu system please run:
+
+  sudo apt-get install python-empy
+  sudo pip install catkin_pkg
+
+On MacOS please run:
+  sudo pip install empy catkin_pkg
+
+On Windows please run:
+  easy_install empy catkin_pkg
+''')
+        exit(1)
+
+__author__ = "Sergey Belash, Thomas Gubler"
+__copyright__ = "Copyright (C) 2013-2014 PX4 Development Team."
+__license__ = "BSD"
+__email__ = "againagainst@gmail.com, thomasgubler@gmail.com"
+
+TOPIC_TEMPLATE_FILE = 'msg.cpp.template'
+TOPICS_LIST_TEMPLATE_FILE = 'uORBTopics.cpp.template'
+OUTPUT_FILE_EXT = '.cpp'
+PACKAGE = 'px4'
+TOPICS_TOKEN = '# TOPICS '
+
+
+def get_multi_topics(filename):
+        """
+        Get TOPICS names from a "# TOPICS" line
+        """
+        ofile = open(filename, 'r')
+        text = ofile.read()
+        result = []
+        for each_line in text.split('\n'):
+                if each_line.startswith (TOPICS_TOKEN):
+                        topic_names_str = each_line.strip()
+                        topic_names_str = topic_names_str.replace(TOPICS_TOKEN, "")
+                        result.extend(topic_names_str.split(" "))
+        ofile.close()
+        return result
+
+
+def get_msgs_list(msgdir):
+    """
+    Makes list of msg files in the given directory
+    """
+    return [fn for fn in os.listdir(msgdir) if fn.endswith(".msg")]
+
+
+def generate_source_from_file(filename, outputdir, template_file, quiet=False):
+        """
+        Converts a single .msg file to a uorb source file
+        """
+        # print("Generating sources from {0}".format(filename))
+        msg_context = genmsg.msg_loader.MsgContext.create_default()
+        full_type_name = genmsg.gentools.compute_full_type_name(PACKAGE, os.path.basename(filename))
+        spec = genmsg.msg_loader.load_msg_from_file(msg_context, filename, full_type_name)
+        topics = get_multi_topics(filename)
+        if len(topics) == 0:
+            topics.append(spec.short_name)
+        em_globals = {
+            "file_name_in": filename,
+            "spec": spec,
+            "topics": topics
+        }
+
+        output_file = os.path.join(outputdir, spec.short_name + OUTPUT_FILE_EXT)
+        if os.path.isfile(output_file):
+            return False
+        generate_by_template(output_file, template_file, em_globals)
+        if not quiet:
+            print("{0}: new source file".format(output_file))
+        return True
+
+
+def generate_by_template(output_file, template_file, em_globals):
+        """
+        Invokes empy intepreter to geneate output_file by the
+        given template_file and predefined em_globals dict
+        """
+        ofile = open(output_file, 'w')
+        # todo, reuse interpreter
+        interpreter = em.Interpreter(output=ofile, globals=em_globals, options={em.RAW_OPT:True,em.BUFFERED_OPT:True})
+        if not os.path.isfile(template_file):
+            ofile.close()
+            os.remove(output_file)
+            raise RuntimeError("Template file %s not found" % (template_file))
+        interpreter.file(open(template_file)) #todo try
+        interpreter.shutdown()
+        ofile.close()
+
+
+def convert_dir(msgdir, outputdir, templatedir, quiet=False):
+        """
+        Converts all .msg files in msgdir to uORB sources
+        """
+        # Make sure output directory exists:
+        if not os.path.isdir(outputdir):
+                os.makedirs(outputdir)
+        template_file = os.path.join(templatedir, TOPIC_TEMPLATE_FILE)
+
+        for f in os.listdir(msgdir):
+                # Ignore hidden files
+                if f.startswith("."):
+                        continue
+                fn = os.path.join(msgdir, f)
+                # Only look at actual files
+                if not os.path.isfile(fn):
+                        continue
+                generate_source_from_file(fn, outputdir, template_file, quiet)
+
+        # generate cpp file with topics list
+        tl_globals = {"msgs" : get_msgs_list(msgdir)}
+        tl_template_file = os.path.join(templatedir, TOPICS_LIST_TEMPLATE_FILE)
+        tl_out_file = os.path.join(outputdir, TOPICS_LIST_TEMPLATE_FILE.replace(".template", ""))
+        generate_by_template(tl_out_file, tl_template_file, tl_globals)
+        return True
+
+
+if __name__ == "__main__":
+        parser = argparse.ArgumentParser(description='Convert msg files to uorb sources')
+        parser.add_argument('-d', dest='dir', help='directory with msg files')
+        parser.add_argument('-f', dest='file', help="files to convert (use only without -d)", nargs="+")
+        parser.add_argument('-e', dest='templatedir', help='directory with template files',)
+        parser.add_argument('-o', dest='outputdir', help='output directory for source files')
+        parser.add_argument('-q', dest='quiet', default=False, action='store_true',
+                            help='string added as prefix to the output file '
+                            ' name when converting directories')
+        args = parser.parse_args()
+
+        if args.file is not None:
+                for f in args.file:
+                        generate_source_from_file(f, args.outputdir, args.templatedir, args.quiet)
+        elif args.dir is not None:
+                convert_dir(args.dir, args.outputdir, args.templatedir, args.quiet)

cmake/common/px4_base.cmake

@@ -359,13 +359,15 @@ function(px4_generate_messages)
 		NAME px4_generate_messages
 		OPTIONS VERBOSE
 		ONE_VALUE OS TARGET
-		MULTI_VALUE MSG_FILES DEPENDS
+		MULTI_VALUE MSG_FILES DEPENDS INCLUDES
 		REQUIRED MSG_FILES OS TARGET
 		ARGN ${ARGN})
 	set(QUIET)
 	if(NOT VERBOSE)
 		set(QUIET "-q")
 	endif()
+
+	# headers
 	set(msg_out_path ${CMAKE_BINARY_DIR}/src/modules/uORB/topics)
 	set(msg_list)
 	foreach(msg_file ${MSG_FILES})
@@ -390,6 +392,26 @@ function(px4_generate_messages)
 		VERBATIM
 		)
 
+	# !sources
+	set(msg_source_out_path	${CMAKE_BINARY_DIR}/topics_sources)
+	set(msg_source_files_out ${msg_source_out_path}/uORBTopics.cpp)
+	foreach(msg ${msg_list})
+		list(APPEND msg_source_files_out ${msg_source_out_path}/${msg}.cpp)
+	endforeach()
+	add_custom_command(OUTPUT ${msg_source_files_out}
+		COMMAND ${PYTHON_EXECUTABLE} 
+			Tools/px_generate_uorb_topic_sources.py
+			${QUIET}
+			-d msg
+			-e msg/templates/uorb
+			-o ${msg_source_out_path}
+		DEPENDS ${DEPENDS} ${MSG_FILES}
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		COMMENT "Generating uORB topic sources"
+		VERBATIM
+		)
+	set_source_files_properties(${msg_source_files_out} PROPERTIES GENERATED TRUE)
+
 	# multi messages for target OS
 	set(msg_multi_out_path
 		${CMAKE_BINARY_DIR}/src/platforms/${OS}/px4_messages)
@@ -411,8 +433,13 @@ function(px4_generate_messages)
 		COMMENT "Generating uORB topic multi headers for ${OS}"
 		VERBATIM
 		)
-	add_custom_target(${TARGET}
-		DEPENDS ${msg_multi_files_out} ${msg_files_out})
+
+	add_library(${TARGET}
+		${msg_source_files_out}
+		${msg_multi_files_out}
+		${msg_files_out}
+		)
+
 endfunction()
 
 #=============================================================================

cmake/configs/nuttx_px4fmu-v2_debug.cmake

+set(CMAKE_BUILD_TYPE "Debug" CACHE STRING "build type")
+
+
+include(nuttx/px4_impl_nuttx)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	drivers/stm32
+	drivers/stm32/adc
+	drivers/stm32/tone_alarm
+	drivers/led
+	drivers/px4fmu
+	drivers/px4io
+	drivers/boards/px4fmu-v2
+	drivers/rgbled
+	drivers/mpu6000
+	#drivers/mpu9250
+	drivers/lsm303d
+	drivers/l3gd20
+	#drivers/hmc5883
+	drivers/ms5611
+	#drivers/mb12xx
+	#drivers/srf02
+	#drivers/sf0x
+	#drivers/ll40ls
+	drivers/trone
+	drivers/gps
+	drivers/pwm_out_sim
+	#drivers/hott
+	#drivers/hott/hott_telemetry
+	#drivers/hott/hott_sensors
+	#drivers/blinkm
+	drivers/airspeed
+	drivers/ets_airspeed
+	drivers/meas_airspeed
+	#drivers/frsky_telemetry
+	modules/sensors
+	#drivers/mkblctrl
+	#drivers/px4flow
+	#drivers/oreoled
+	drivers/gimbal
+	drivers/pwm_input
+	drivers/camera_trigger
+	drivers/bst
+	#drivers/snapdragon_rc_pwm
+	#drivers/lis3mdl
+
+	#
+	# System commands
+	#
+	systemcmds/bl_update
+	systemcmds/mixer
+	systemcmds/param
+	systemcmds/perf
+	systemcmds/pwm
+	systemcmds/esc_calib
+	systemcmds/reboot
+	#systemcmds/topic_listener
+	systemcmds/top
+	systemcmds/config
+	systemcmds/nshterm
+	systemcmds/mtd
+	systemcmds/dumpfile
+	systemcmds/ver
+
+	#
+	# General system control
+	#
+	modules/commander
+	modules/navigator
+	modules/mavlink
+	modules/gpio_led
+	#modules/uavcan
+	modules/land_detector
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	# Too high RAM usage due to static allocations
+	# modules/attitude_estimator_ekf
+	modules/attitude_estimator_q
+	modules/ekf_att_pos_estimator
+	modules/position_estimator_inav
+
+	#
+	# Vehicle Control
+	#
+	# modules/segway # XXX Needs GCC 4.7 fix
+	modules/fw_pos_control_l1
+	modules/fw_att_control
+	modules/mc_att_control
+	modules/mc_pos_control
+	modules/vtol_att_control
+
+	#
+	# Logging
+	#
+	modules/sdlog2
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/dataman
+
+	#
+	# Libraries
+	#
+	lib/controllib
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/ecl
+	lib/external_lgpl
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+	lib/launchdetection
+	lib/terrain_estimation
+	lib/runway_takeoff
+	lib/tailsitter_recovery
+	platforms/nuttx
+
+	# had to add for cmake, not sure why wasn't in original config
+	platforms/common 
+	platforms/nuttx/px4_layer
+
+	#
+	# OBC challenge
+	#
+	#modules/bottle_drop
+
+	#
+	# Rover apps
+	#
+	#examples/rover_steering_control
+
+	#
+	# Demo apps
+	#
+	#examples/math_demo
+	# Tutorial code from
+	# https://px4.io/dev/px4_simple_app
+	#examples/px4_simple_app
+
+	# Tutorial code from
+	# https://px4.io/dev/daemon
+	#examples/px4_daemon_app
+
+	# Tutorial code from
+	# https://px4.io/dev/debug_values
+	#examples/px4_mavlink_debug
+
+	# Tutorial code from
+	# https://px4.io/dev/example_fixedwing_control
+	#examples/fixedwing_control
+
+	# Hardware test
+	#examples/hwtest
+)
+
+set(config_extra_builtin_cmds
+	serdis
+	sercon
+	)
+
+set(config_io_board
+	px4io-v2
+	)
+
+set(config_io_extra_libs
+	)
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+	PRIORITY "SCHED_PRIORITY_DEFAULT"
+	MAIN "sercon" STACK_MAIN "2048")
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+	PRIORITY "SCHED_PRIORITY_DEFAULT"
+	MAIN "serdis" STACK_MAIN "2048")

msg/actuator_armed.msg

 
-uint64 timestamp	# Microseconds since system boot
 bool armed		# Set to true if system is armed
 bool prearmed		# Set to true if the actuator safety is disabled but motors are not armed
 bool ready_to_arm	# Set to true if system is ready to be armed

msg/actuator_controls.msg

@@ -10,6 +10,9 @@ uint8 INDEX_AIRBRAKES = 6
 uint8 INDEX_LANDING_GEAR = 7
 uint8 GROUP_INDEX_ATTITUDE = 0
 uint8 GROUP_INDEX_ATTITUDE_ALTERNATE = 1
-uint64 timestamp
 uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
 float32[8] control
+
+# TOPICS actuator_controls actuator_controls_0 actuator_controls_1 actuator_controls_2 actuator_controls_3
+# TOPICS actuator_controls_virtual_fw actuator_controls_virtual_mc
+

msg/actuator_controls_1.msg

-uint8 NUM_ACTUATOR_CONTROLS = 8
-uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
-uint64 timestamp
-uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
-float32[8] control

msg/actuator_controls_2.msg

-uint8 NUM_ACTUATOR_CONTROLS = 8
-uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
-uint64 timestamp
-uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
-float32[8] control

msg/actuator_controls_3.msg

-uint8 NUM_ACTUATOR_CONTROLS = 8
-uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
-uint64 timestamp
-uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
-float32[8] control

msg/actuator_controls_virtual_fw.msg

-uint8 NUM_ACTUATOR_CONTROLS = 8
-uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
-uint64 timestamp
-uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
-float32[8] control

msg/actuator_direct.msg

 uint8 NUM_ACTUATORS_DIRECT = 16
-uint64 timestamp			# timestamp in us since system boot
 uint32 nvalues				# number of valid values
 float32[16] values			# actuator values, from -1 to 1

msg/actuator_outputs.msg

 uint8 NUM_ACTUATOR_OUTPUTS		= 16
 uint8 NUM_ACTUATOR_OUTPUT_GROUPS	= 4	# for sanity checking
-uint64 timestamp			# output timestamp in us since system boot
 uint32 noutputs				# valid outputs
 float32[16] output			# output data, in natural output units

msg/airspeed.msg

-uint64 timestamp			# microseconds since system boot, needed to integrate
 float32 indicated_airspeed_m_s		# indicated airspeed in meters per second, -1 if unknown
 float32 true_airspeed_m_s		# true filtered airspeed in meters per second, -1 if unknown
 float32 true_airspeed_unfiltered_m_s	# true airspeed in meters per second, -1 if unknown

msg/battery_status.msg

-uint64 timestamp		# microseconds since system boot, needed to integrate
 float32 voltage_v		# Battery voltage in volts, 0 if unknown
 float32 voltage_filtered_v	# Battery voltage in volts, filtered, 0 if unknown
 float32 current_a		# Battery current in amperes, -1 if unknown

msg/camera_trigger.msg

 
-uint64 timestamp	# Timestamp when camera was triggered
 uint32 seq		# Image sequence
 

msg/commander_state.msg

@@ -14,6 +14,5 @@ uint8 MAIN_STATE_AUTO_LAND = 11
 uint8 MAIN_STATE_AUTO_FOLLOW_TARGET = 12
 uint8 MAIN_STATE_MAX = 13
 
-uint64 timestamp # in microseconds since system start, is set whenever the writing thread stores new data
 
 uint8 main_state		    	# main state machine

msg/control_state.msg

 # This is similar to the mavlink message CONTROL_SYSTEM_STATE, but for onboard use */
-uint64 timestamp		# in microseconds since system start
 float32 x_acc			# X acceleration in body frame
 float32 y_acc			# Y acceleration in body frame
 float32 z_acc			# Z acceleration in body frame

msg/differential_pressure.msg

-uint64 timestamp				# Microseconds since system boot, needed to integrate
 uint64 error_count				# Number of errors detected by driver
 float32 differential_pressure_raw_pa		# Raw differential pressure reading (may be negative)
 float32 differential_pressure_filtered_pa	# Low pass filtered differential pressure reading