mixer_module: add testing for SYS_CTRL_ALLOC=1 with actuator_test cmd+uorb msg

msg/CMakeLists.txt

@@ -44,6 +44,7 @@ set(msg_files
 	actuator_motors.msg
 	actuator_outputs.msg
 	actuator_servos.msg
+	actuator_test.msg
 	adc_report.msg
 	airspeed.msg
 	airspeed_validated.msg

msg/actuator_test.msg

@@ -0,0 +1,22 @@
+uint64 timestamp				# time since system start (microseconds)
+
+# Topic to test individual actuator output functions
+# Note: this is only used with SYS_CTRL_ALLOC=1
+
+uint8 ACTION_RELEASE_CONTROL = 0	# exit test mode for the given function
+uint8 ACTION_DO_CONTROL = 1			# enable actuator test mode
+
+uint8 FUNCTION_MOTOR1 = 101
+uint8 MAX_NUM_MOTORS  = 8
+uint8 FUNCTION_SERVO1 = 201
+uint8 MAX_NUM_SERVOS  = 8
+
+uint8 action					# one of ACTION_*
+uint16 function					# actuator output function
+float32 value					# range: [-1, 1], where 1 means maximum positive output,
+								# 0 to center servos or minimum motor thrust,
+                   				# -1 maximum negative (if not supported by the motors, <0 maps to NaN),
+                   				# and NaN maps to disarmed (stop the motors)
+uint32 timeout_ms				# timeout in ms after which to exit test mode (if 0, do not time out)
+
+uint8 ORB_QUEUE_LENGTH = 8