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WIP: px4io lobotomy

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This commit is contained in:
Daniel Agar
2021-02-21 22:00:52 -05:00
parent 410ca51a4a
commit d9e33b68cf
51 changed files with 892 additions and 3633 deletions
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msg/input_rc.msg
+1
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@@ -23,6 +23,7 @@ uint64 timestamp_last_signal # last valid reception time
uint8 channel_count # number of channels actually being seen
int8 RSSI_MAX = 100
int32 rssi # receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 100: full reception
bool rc_failsafe # explicit failsafe flag: true on TX failure or TX out of range , false otherwise. Only the true state is reliable, as there are some (PPM) receivers on the market going into failsafe without telling us explicitly.
msg/manual_control_switches.msg
-8
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@@ -26,12 +26,4 @@ uint8 kill_switch # throttle kill: _NORMAL_, KILL
uint8 gear_switch # landing gear switch: _DOWN_, UP
uint8 transition_switch # VTOL transition switch: _HOVER, FORWARD_FLIGHT
# legacy "advanced" switch configuration (will be removed soon)
uint8 mode_switch # main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO
uint8 man_switch # manual switch (only relevant for fixed wings, optional): _STABILIZED_, MANUAL
uint8 acro_switch # acro 2 position switch (optional): _MANUAL_, ACRO
uint8 rattitude_switch # rattitude control 2 position switch (optional): _MANUAL, RATTITUDE
uint8 stab_switch # stabilize switch (only relevant for fixed wings, optional): _MANUAL, STABILIZED
uint8 posctl_switch # position control 2 position switch (optional): _ALTCTL_, POSCTL
uint32 switch_changes # number of switch changes
msg/px4io_status.msg
+17 -28
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@@ -6,49 +6,38 @@ float32 voltage_v # Servo rail voltage in volts
float32 rssi_v # RSSI pin voltage in volts
# PX4IO status flags (PX4IO_P_STATUS_FLAGS)
bool status_outputs_armed
bool status_override
bool status_rc_ok
bool status_rc_ppm
bool status_rc_dsm
bool status_rc_sbus
bool status_fmu_ok
bool status_raw_pwm
bool status_mixer_ok
bool status_arm_sync
bool status_init_ok
bool status_failsafe
bool status_safety_off
bool status_fmu_initialized
bool status_fmu_ok
bool status_init_ok
bool status_outputs_armed
bool status_raw_pwm
bool status_rc_ok
bool status_rc_dsm
bool status_rc_ppm
bool status_rc_sbus
bool status_rc_st24
bool status_rc_sumd
bool status_safety_off
# PX4IO alarms (PX4IO_P_STATUS_ALARMS)
bool alarm_vbatt_low
bool alarm_temperature
bool alarm_servo_current
bool alarm_acc_current
bool alarm_fmu_lost
bool alarm_rc_lost
bool alarm_pwm_error
bool alarm_vservo_fault
bool alarm_rc_lost
# PX4IO arming (PX4IO_P_SETUP_ARMING)
bool arming_io_arm_ok
bool arming_failsafe_custom
bool arming_fmu_armed
bool arming_fmu_prearmed
bool arming_manual_override_ok
bool arming_failsafe_custom
bool arming_inair_restart_ok
bool arming_always_pwm_enable
bool arming_rc_handling_disabled
bool arming_lockdown
bool arming_force_failsafe
bool arming_io_arm_ok
bool arming_lockdown
bool arming_termination_failsafe
bool arming_override_immediate
uint16[8] pwm
uint16[8] pwm_disarmed
uint16[8] pwm_failsafe
int16[8] actuators
uint16[8] servos
uint16[8] pwm_rate_hz
uint16[18] raw_inputs
msg/rc_channels.msg
+22 -28
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@@ -1,37 +1,31 @@
uint64 timestamp # time since system start (microseconds)
uint8 FUNCTION_THROTTLE=0
uint8 FUNCTION_ROLL=1
uint8 FUNCTION_PITCH=2
uint8 FUNCTION_YAW=3
uint8 FUNCTION_MODE=4
uint8 FUNCTION_RETURN=5
uint8 FUNCTION_POSCTL=6
uint8 FUNCTION_LOITER=7
uint8 FUNCTION_OFFBOARD=8
uint8 FUNCTION_ACRO=9
uint8 FUNCTION_FLAPS=10
uint8 FUNCTION_AUX_1=11
uint8 FUNCTION_AUX_2=12
uint8 FUNCTION_AUX_3=13
uint8 FUNCTION_AUX_4=14
uint8 FUNCTION_AUX_5=15
uint8 FUNCTION_PARAM_1=16
uint8 FUNCTION_PARAM_2=17
uint8 FUNCTION_PARAM_3_5=18
uint8 FUNCTION_RATTITUDE=19
uint8 FUNCTION_KILLSWITCH=20
uint8 FUNCTION_TRANSITION=21
uint8 FUNCTION_GEAR=22
uint8 FUNCTION_ARMSWITCH=23
uint8 FUNCTION_STAB=24
uint8 FUNCTION_AUX_6=25
uint8 FUNCTION_MAN=26
uint8 FUNCTION_THROTTLE = 0
uint8 FUNCTION_ROLL = 1
uint8 FUNCTION_PITCH = 2
uint8 FUNCTION_YAW = 3
uint8 FUNCTION_RETURN = 4
uint8 FUNCTION_LOITER = 5
uint8 FUNCTION_OFFBOARD = 6
uint8 FUNCTION_FLAPS = 7
uint8 FUNCTION_AUX_1 = 8
uint8 FUNCTION_AUX_2 = 9
uint8 FUNCTION_AUX_3 = 10
uint8 FUNCTION_AUX_4 = 11
uint8 FUNCTION_AUX_5 = 12
uint8 FUNCTION_AUX_6 = 13
uint8 FUNCTION_PARAM_1 = 14
uint8 FUNCTION_PARAM_2 = 15
uint8 FUNCTION_PARAM_3_5 = 16
uint8 FUNCTION_KILLSWITCH = 17
uint8 FUNCTION_TRANSITION = 18
uint8 FUNCTION_GEAR = 19
uint8 FUNCTION_ARMSWITCH = 20
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[27] function # Functions mapping
int8[21] 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
msg/safety.msg
-2
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@@ -1,5 +1,3 @@
uint64 timestamp # time since system start (microseconds)
bool safety_switch_available # Set to true if a safety switch is connected
bool safety_off # Set to true if safety is off
bool override_available # Set to true if external override system is connected
bool override_enabled # Set to true if override is engaged
msg/vehicle_control_mode.msg
-2
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@@ -1,8 +1,6 @@
uint64 timestamp # time since system start (microseconds)
bool flag_armed # synonym for actuator_armed.armed
bool flag_external_manual_override_ok # external override non-fatal for system. Only true for fixed wing
bool flag_control_manual_enabled # true if manual input is mixed in
bool flag_control_auto_enabled # true if onboard autopilot should act
bool flag_control_offboard_enabled # true if offboard control should be used