From 361454efa374ba3dc4c51e8c8eee356ba336f084 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Tue, 19 Aug 2014 21:56:34 +0400
Subject: [PATCH] Reorganized actuator control messages

---
 .../uavcan/equipment/actuator/265.ArrayCommand.uavcan |  6 ++----
 dsdl/uavcan/equipment/actuator/600.Status.uavcan      | 11 ++++++-----
 dsdl/uavcan/equipment/actuator/Command.uavcan         |  7 +++++++
 3 files changed, 15 insertions(+), 9 deletions(-)
 create mode 100644 dsdl/uavcan/equipment/actuator/Command.uavcan

diff --git a/dsdl/uavcan/equipment/actuator/265.ArrayCommand.uavcan b/dsdl/uavcan/equipment/actuator/265.ArrayCommand.uavcan
index 5e78fab822..b8c35a3de0 100644
--- a/dsdl/uavcan/equipment/actuator/265.ArrayCommand.uavcan
+++ b/dsdl/uavcan/equipment/actuator/265.ArrayCommand.uavcan
@@ -1,10 +1,8 @@
 #
 # Actuator commands.
-# The system supports up to 256 actuators; up to 32 of them can be commanded with one message.
+# The system supports up to 256 actuators; up to 31 of them can be commanded with one message.
 #
 
 uavcan.FigureOfMerit figure_of_merit
 
-uint8[<=32] actuator_id      # Can be empty, in which case ID is defined by the command index
-
-float16[<=32] command        # For a servo use [-1; 1]
+Command[<32] commands
diff --git a/dsdl/uavcan/equipment/actuator/600.Status.uavcan b/dsdl/uavcan/equipment/actuator/600.Status.uavcan
index c2a842f061..6e81e095fb 100644
--- a/dsdl/uavcan/equipment/actuator/600.Status.uavcan
+++ b/dsdl/uavcan/equipment/actuator/600.Status.uavcan
@@ -1,12 +1,13 @@
 #
 # Generic actuator feedback, if available.
+# Unknown components should be NAN.
 #
 
 uint8 actuator_id
 
-float16 position
+float16 position     # Position feedback; same units as command
+float16 power        # Watt
+float16 force        # Newton (sign depends on the direction of the force)
 
-float16 power        # Watt; negative if unknown
-
-uint7 POWER_RATE_PCT_UNKNOWN = 127
-uint7 power_rate_pct
+uint7 POWER_RATING_PCT_UNKNOWN = 127
+uint7 power_rating_pct                # 0 - unloaded, 100 - full load/overload
diff --git a/dsdl/uavcan/equipment/actuator/Command.uavcan b/dsdl/uavcan/equipment/actuator/Command.uavcan
new file mode 100644
index 0000000000..4be40ebdf1
--- /dev/null
+++ b/dsdl/uavcan/equipment/actuator/Command.uavcan
@@ -0,0 +1,7 @@
+#
+# Nested type.
+# Single actuator command.
+#
+
+uint8 actuator_id
+float16 command     # Any units. For a generic servo use [-1; 1].