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ControlAllocator: Add control surface preflight check

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This commit is contained in:
Balduin
2025-07-03 14:58:50 +02:00
parent bb423bc007
commit 9e4b058935
8 changed files with 380 additions and 76 deletions
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msg/versioned/VehicleCommand.msg
+7
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@@ -77,6 +77,7 @@ uint16 VEHICLE_CMD_DO_SET_STANDARD_MODE=262 # Enable the specified standard MAVL
uint16 VEHICLE_CMD_GIMBAL_DEVICE_INFORMATION = 283 # Command to ask information about a low level gimbal.
uint16 VEHICLE_CMD_MISSION_START = 300 # Start running a mission. |first_item: the first mission item to run|last_item: the last mission item to run (after this item is run, the mission ends)|
uint16 VEHICLE_CMD_DO_PREFLIGHT_CS_CHECK = 309 # Do control surface preflight check. Axis|value [-1, 1]|Unused|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_ACTUATOR_TEST = 310 # Actuator testing command. |[@range -1,1] value|[s] timeout|Unused|Unused|output function|
uint16 VEHICLE_CMD_CONFIGURE_ACTUATOR = 311 # Actuator configuration command. |configuration|Unused|Unused|Unused|output function|
uint16 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400 # Arms / Disarms a component. |1 to arm, 0 to disarm.
@@ -177,6 +178,12 @@ int8 ARMING_ACTION_ARM = 1
uint8 GRIPPER_ACTION_RELEASE = 0
uint8 GRIPPER_ACTION_GRAB = 1
# param1 in VEHICLE_CMD_DO_PREFLIGHT_CS_CHECK
uint8 AXIS_ROLL = 0
uint8 AXIS_PITCH = 1
uint8 AXIS_YAW = 2
uint8 AXIS_COLLECTIVE_TILT = 3
uint8 ORB_QUEUE_LENGTH = 8
float32 param1 # Parameter 1, as defined by MAVLink uint16 VEHICLE_CMD enum.