control_allocator: remove direct mixer, add actuator_{motors,servos} instead

msg/CMakeLists.txt

@@ -40,7 +40,9 @@ set(msg_files
 	actuator_armed.msg
 	actuator_controls.msg
 	actuator_controls_status.msg
+	actuator_motors.msg
 	actuator_outputs.msg
+	actuator_servos.msg
 	adc_report.msg
 	airspeed.msg
 	airspeed_validated.msg

msg/actuator_controls.msg

@@ -1,6 +1,6 @@
 uint64 timestamp			# time since system start (microseconds)
 uint8 NUM_ACTUATOR_CONTROLS = 8
-uint8 NUM_ACTUATOR_CONTROL_GROUPS = 6
+uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
 uint8 INDEX_ROLL = 0
 uint8 INDEX_PITCH = 1
 uint8 INDEX_YAW = 2
@@ -16,13 +16,10 @@ uint8 GROUP_INDEX_ATTITUDE = 0
 uint8 GROUP_INDEX_ATTITUDE_ALTERNATE = 1
 uint8 GROUP_INDEX_GIMBAL = 2
 uint8 GROUP_INDEX_MANUAL_PASSTHROUGH = 3
-uint8 GROUP_INDEX_ALLOCATED_PART1 = 4
-uint8 GROUP_INDEX_ALLOCATED_PART2 = 5
 uint8 GROUP_INDEX_PAYLOAD = 6
 
 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_4 actuator_controls_5
 # TOPICS actuator_controls_virtual_fw actuator_controls_virtual_mc

msg/actuator_motors.msg

@@ -0,0 +1,9 @@
+# Motor control message
+uint64 timestamp			# time since system start (microseconds)
+uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
+
+uint8 NUM_CONTROLS = 8
+float32[8] control # range: [-1, 1], where 1 means maximum positive thrust,
+                   # -1 maximum negative (if not supported by the output, <0 maps to NaN),
+                   # and NaN maps to disarmed (stop the motors)
+

msg/actuator_servos.msg

@@ -0,0 +1,9 @@
+# Servo control message
+uint64 timestamp			# time since system start (microseconds)
+uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
+
+uint8 NUM_CONTROLS = 8
+float32[8] control # range: [-1, 1], where 1 means maximum positive position,
+                   # -1 maximum negative,
+                   # and NaN maps to disarmed
+