From bb5d6a01b8fca9592e4695ef92bdd3bf10c18601 Mon Sep 17 00:00:00 2001 From: Pedro-Roque Date: Thu, 30 Jan 2025 17:00:47 +0100 Subject: [PATCH] fix: adding thruster definition to actuators --- Tools/module_config/generate_actuators_metadata.py | 2 ++ msg/versioned/ActuatorMotors.msg | 2 +- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/Tools/module_config/generate_actuators_metadata.py b/Tools/module_config/generate_actuators_metadata.py index 196119259b..bf9096e382 100755 --- a/Tools/module_config/generate_actuators_metadata.py +++ b/Tools/module_config/generate_actuators_metadata.py @@ -364,6 +364,8 @@ def get_mixers(yaml_config, output_functions, verbose): actuator['group-label'] = 'Motors' elif actuator_conf['actuator_type'] == 'servo': actuator['group-label'] = 'Servos' + elif actuator_conf['actuator_type'] == 'thruster': + actuator['group-label'] = 'Thrusters' else: raise Exception('Missing group label for actuator type "{}"'.format(actuator_conf['actuator_type'])) diff --git a/msg/versioned/ActuatorMotors.msg b/msg/versioned/ActuatorMotors.msg index 91cd69c1f1..216784354b 100644 --- a/msg/versioned/ActuatorMotors.msg +++ b/msg/versioned/ActuatorMotors.msg @@ -8,7 +8,7 @@ uint64 timestamp_sample # the timestamp the data this control response is ba uint16 reversible_flags # bitset which motors are configured to be reversible uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 -uint8 ACTUATOR_FUNCTION_THRUSTER1 = 501 +uint16 ACTUATOR_FUNCTION_THRUSTER1 = 501 uint8 NUM_CONTROLS = 12 float32[12] control # range: [-1, 1], where 1 means maximum positive thrust,