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hitl,sitl,sih: use separate actuator_outputs_sim for SYS_CTRL_ALLOC==1

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- removes the need to do type-specific rescaling of pwm to normalized values
- allows to run physical output drivers alongside HIL/SIH
This commit is contained in:
Beat Küng
2022-02-25 08:30:58 +01:00
parent 1e32398217
commit 9b629a9e95
8 changed files with 264 additions and 164 deletions
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msg/actuator_outputs.msg
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@@ -3,3 +3,6 @@ uint8 NUM_ACTUATOR_OUTPUTS = 16
uint8 NUM_ACTUATOR_OUTPUT_GROUPS = 4 # for sanity checking
uint32 noutputs # valid outputs
float32[16] output # output data, in natural output units
# actuator_outputs_sim is used for SITL, HITL & SIH (with an output range of [-1, 1])
# TOPICS actuator_outputs actuator_outputs_sim