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Mixer: Added 3D thrust capability to the multirotor and 6-dof mixers

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- Added 3D thrust definitions to actuator controls and multirotor motor limits messages
This commit is contained in:
Azarakhsh Keipour
2020-01-21 18:23:06 -05:00
parent d7f61e41d8
commit a878d6823d
5 changed files with 54 additions and 36 deletions
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msg/actuator_controls.msg
+4 -1
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@@ -9,10 +9,13 @@ uint8 INDEX_FLAPS = 4
uint8 INDEX_SPOILERS = 5
uint8 INDEX_AIRBRAKES = 6
uint8 INDEX_LANDING_GEAR = 7
uint8 INDEX_X_THRUST = 8
uint8 INDEX_Y_THRUST = 9
uint8 INDEX_Z_THRUST = 10
uint8 GROUP_INDEX_ATTITUDE = 0
uint8 GROUP_INDEX_ATTITUDE_ALTERNATE = 1
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[8] control
float32[11] control
# TOPICS actuator_controls actuator_controls_0 actuator_controls_1 actuator_controls_2 actuator_controls_3
# TOPICS actuator_controls_virtual_fw actuator_controls_virtual_mc