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Switch assignment: added manual and stabilized switch for a default stabilized switch scheme, let FW go into Acro

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This commit is contained in:
Andreas Antener
2017-02-18 08:03:19 +01:00
committed by Andreas Daniel Antener
parent 21f5219bbc
commit a5f3f65c2b
8 changed files with 199 additions and 24 deletions
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msg/manual_control_setpoint.msg
+3 -1
View File
@@ -54,10 +54,12 @@ uint8 rattitude_switch # rattitude control 2 position switch (optional): _MANUA
uint8 posctl_switch # position control 2 position switch (optional): _ALTCTL_, POSCTL
uint8 loiter_switch # loiter 2 position switch (optional): _MISSION_, LOITER
uint8 acro_switch # acro 2 position switch (optional): _MANUAL_, ACRO
uint8 offboard_switch # offboard 2 position switch (optional): _NORMAL_, OFFBOARD
uint8 offboard_switch # offboard 2 position switch (optional): _NORMAL_, OFFBOARD
uint8 kill_switch # throttle kill: _NORMAL_, KILL
uint8 arm_switch # arm/disarm switch: _DISARMED_, ARMED
uint8 transition_switch # VTOL transition switch: _HOVER, FORWARD_FLIGHT
uint8 gear_switch # landing gear switch: _DOWN_, UP
int8 mode_slot # the slot a specific model selector is in
uint8 data_source # where this input is coming from
uint8 stab_switch # stabilize switch (only relevant for fixed wings, optional): _MANUAL, STABILIZED
uint8 man_switch # manual switch (only relevant for fixed wings, optional): _STABILIZED_, MANUAL
msg/rc_channels.msg
+4 -3
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@@ -1,4 +1,3 @@
int32 RC_CHANNELS_FUNCTION_MAX=21
uint8 RC_CHANNELS_FUNCTION_THROTTLE=0
uint8 RC_CHANNELS_FUNCTION_ROLL=1
uint8 RC_CHANNELS_FUNCTION_PITCH=2
@@ -23,11 +22,13 @@ uint8 RC_CHANNELS_FUNCTION_KILLSWITCH=20
uint8 RC_CHANNELS_FUNCTION_TRANSITION=21
uint8 RC_CHANNELS_FUNCTION_GEAR=22
uint8 RC_CHANNELS_FUNCTION_ARMSWITCH=23
uint8 RC_CHANNELS_FUNCTION_STAB=24
uint8 RC_CHANNELS_FUNCTION_MAN=25
uint64 timestamp_last_valid # Timestamp of last valid RC signal
float32[18] channels # Scaled to -1..1 (throttle: 0..1)
uint8 channel_count # Number of valid channels
int8[24] function # Functions mapping
uint8 rssi # Receive signal strength indicator (0-100)
int8[26] function # Functions mapping
uint8 rssi # Receive signal strength index
bool signal_lost # Control signal lost, should be checked together with topic timeout
uint32 frame_drop_count # Number of dropped frames