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commander: implement external modes and mode executors

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This commit is contained in:
Beat Küng
2022-11-07 15:57:51 +01:00
parent 58d2badf9f
commit fbbccf6997
32 changed files with 1632 additions and 51 deletions
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msg/VehicleCommand.msg
+4 -2
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@@ -174,8 +174,10 @@ uint32 command # Command ID
uint8 target_system # System which should execute the command
uint8 target_component # Component which should execute the command, 0 for all components
uint8 source_system # System sending the command
uint8 source_component # Component sending the command
uint16 source_component # Component / mode executor sending the command
uint8 confirmation # 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
bool from_external
# TOPICS vehicle_command gimbal_v1_command
uint16 COMPONENT_MODE_EXECUTOR_START = 1000
# TOPICS vehicle_command gimbal_v1_command vehicle_command_mode_executor