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Use separate arm_request instead of vehicle_command for RC arming

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This commit is contained in:
Matthias Grob
2021-11-09 16:05:25 +01:00
parent c4473bdab7
commit af607e3040
7 changed files with 78 additions and 92 deletions
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msg/vehicle_command.msg
+1 -7
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@@ -69,7 +69,7 @@ uint16 VEHICLE_CMD_OBLIQUE_SURVEY=260 # Mission command to set a Camera Auto M
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_COMPONENT_ARM_DISARM = 400 # Arms / Disarms a component |1 to arm, 0 to disarm|-1 to toggle
uint16 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400 # Arms / Disarms a component |1 to arm, 0 to disarm
uint16 VEHICLE_CMD_INJECT_FAILURE = 420 # Inject artificial failure for testing purposes
uint16 VEHICLE_CMD_START_RX_PAIR = 500 # Starts receiver pairing |0:Spektrum| 0:Spektrum DSM2, 1:Spektrum DSMX|
uint16 VEHICLE_CMD_REQUEST_MESSAGE = 512 # Request to send a single instance of the specified message
@@ -151,15 +151,9 @@ uint8 FAILURE_TYPE_DELAYED = 6
uint8 FAILURE_TYPE_INTERMITTENT = 7
# used as param1 in ARM_DISARM command
int8 ARMING_ACTION_TOGGLE = -1
int8 ARMING_ACTION_DISARM = 0
int8 ARMING_ACTION_ARM = 1
# used as param3 in ARM_DISARM command
int8 ARMING_ORIGIN_GESTURE = 1
int8 ARMING_ORIGIN_SWITCH = 2
int8 ARMING_ORIGIN_BUTTON = 3
uint8 ORB_QUEUE_LENGTH = 8
float32 param1 # Parameter 1, as defined by MAVLink uint16 VEHICLE_CMD enum.