PX4源码分析7：msg消息解读（基于1.10.2版本）

msg文件夹里共有116个.msg文件、1个CMakelist.txt文件、2个文件夹，如图：
（点击目录跳到源码处）

（点击目录跳到源码处）

actuator_armed（执行器）

uint64 timestamp # time since system start (microseconds)

uint64 timestamp	# time since system start (microseconds)

uint32 armed_time_ms	# Arming timestamp
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
bool lockdown		# Set to true if actuators are forced to being disabled (due to emergency or HIL)
bool manual_lockdown    # Set to true if manual throttle kill switch is engaged
bool force_failsafe	# Set to true if the actuators are forced to the failsafe position
bool in_esc_calibration_mode # IO/FMU should ignore messages from the actuator controls topics
bool soft_stop # Set to true if we need to ESCs to remove the idle constraint

actuator_controls

actuator_direct

actuator_outputs

adc_report

uint64 timestamp		# time since system start (microseconds)

int16[12] channel_id		# ADC channel IDs, negative for non-existent
float32[12] channel_value	# ADC channel value in volt, valid if channel ID is positive

airspeed

airspeed_validated （空速验证）

battery_status （电池电压电流温度s数等数据）

camera_capture

camera_trigger

collision_constraints （碰撞约束条件）

collision_report

commander_state

cpuload （cpu使用率、ram使用率）

debug_array

debug_key_value

debug_value

debug_vect

differential_pressure

distance_sensor

ekf_gps_drift

ekf_gps_position

ekf2_innovations

ekf2_timestamps

esc_report

esc_status

estimator_status

follow_target

geofence_result

gps_dump

gps_inject_data

home_position

input_rc

iridiumsbd_status

irlock_report

landing_gear

landing_target_innovations

landing_target_pose

led_control

log_message

manual_control_setpoint

mavlink_log

mission

mission_result

mount_orientation

multirotor_motor_limits

obstacle_distance

offboard_control_mode

optical_flow

orbit_status

parameter_update

ping

position_controller_landing_status

position_controller_status

position_setpoint

position_setpoint_triplet

power_button_state

power_monitor

pwm_input

qshell_req

qshell_retval

radio_status

rate_ctrl_status

rc_channels

rc_parameter_map

safety

satellite_info

sensor_accel

sensor_baro

sensor_bias

sensor_combined

sensor_correction

sensor_gyro

sensor_gyro_control

sensor_mag

sensor_preflight

sensor_selection

servorail_status

subsystem_info

system_power

task_stack_info

tecs_status

telemetry_status

test_motor

timesync_status

trajectory_waypoint

transponder_report

tune_control

uavcan_parameter_request

uavcan_parameter_value

ulog_stream

ulog_stream_ack

vehicle_acceleration

vehicle_air_data

vehicle_angular_velocity

vehicle_attitude

vehicle_attitude_setpoint

vehicle_command

vehicle_command_ack

vehicle_constraints

vehicle_control_mode

vehicle_global_position

vehicle_gps_position

vehicle_land_detected

vehicle_local_position

vehicle_local_position_setpoint

vehicle_magnetometer

vehicle_odometry

vehicle_rates_setpoint

vehicle_roi

vehicle_status

vehicle_status_flags

vehicle_trajectory_waypoint

vtol_vehicle_status

wheel_encoders

wind_estimate