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added an rc switch for arming and disarming with the option to use it as a button

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This commit is contained in:
Matthias Grob
2016-11-28 11:29:58 +01:00
committed by Lorenz Meier
parent 537f72073d
commit aa984edd90
8 changed files with 108 additions and 5 deletions
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msg/manual_control_setpoint.msg
+1
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@@ -51,6 +51,7 @@ 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 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
msg/rc_channels.msg
+2 -1
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@@ -22,11 +22,12 @@ uint8 RC_CHANNELS_FUNCTION_RATTITUDE=19
uint8 RC_CHANNELS_FUNCTION_KILLSWITCH=20
uint8 RC_CHANNELS_FUNCTION_TRANSITION=21
uint8 RC_CHANNELS_FUNCTION_GEAR=22
uint8 RC_CHANNELS_FUNCTION_ARMSWITCH=23
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[23] function # Functions mapping
int8[24] function # Functions mapping
uint8 rssi # Receive signal strength indicator (0-100)
bool signal_lost # Control signal lost, should be checked together with topic timeout
uint32 frame_drop_count # Number of dropped frames