msg: introduce message versioning

2026-11-02 17:11:36 +08:00 · 2024-12-13 16:34:37 +01:00
parent f9140fcd50
commit 4fe7d713d3
28 changed files with 100 additions and 33 deletions
@@ -0,0 +1,11 @@
+# Servo control message
+
+uint32 MESSAGE_VERSION = 0
+
+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