WIP

msg/actuator_armed.msg

@@ -2,7 +2,6 @@ uint64 timestamp	# time since system start (microseconds)
 
 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

msg/heater_status.msg

@@ -14,7 +14,3 @@ uint32 controller_time_on_usec
 float32 proportional_value
 float32 integrator_value
 float32 feed_forward_value
-
-uint8 MODE_GPIO  = 1
-uint8 MODE_PX4IO = 2
-uint8 mode

msg/px4io_status.msg

@@ -6,19 +6,16 @@ float32 voltage_v		# Servo rail voltage in volts
 float32 rssi_v			# RSSI pin voltage in volts
 
 # PX4IO status flags (PX4IO_P_STATUS_FLAGS)
-bool status_arm_sync
-bool status_failsafe
-bool status_fmu_initialized
 bool status_fmu_ok
-bool status_init_ok
-bool status_outputs_armed
 bool status_raw_pwm
+
 bool status_rc_ok
 bool status_rc_dsm
 bool status_rc_ppm
 bool status_rc_sbus
 bool status_rc_st24
 bool status_rc_sumd
+
 bool status_safety_button_event # px4io safety button was pressed for longer than 1 second
 
 # PX4IO alarms (PX4IO_P_STATUS_ALARMS)
@@ -26,18 +23,11 @@ bool alarm_pwm_error
 bool alarm_rc_lost
 
 # PX4IO arming (PX4IO_P_SETUP_ARMING)
-bool arming_failsafe_custom
 bool arming_fmu_armed
-bool arming_fmu_prearmed
-bool arming_force_failsafe
 bool arming_io_arm_ok
-bool arming_lockdown
-bool arming_termination_failsafe
 
 uint16[8] pwm
-uint16[8] pwm_disarmed
-uint16[8] pwm_failsafe
 
-uint16[8] pwm_rate_hz
+uint16[4] pwm_group_rate_hz
 
 uint16[18] raw_inputs