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16594bffa9
- remove deprecated actuator_controls[INDEX_LANDING_GEAR] - remove dead code in mc rate controller that used to prevent it from being retracted on the ground (anyway had no effect as it only affected the actuator_control[LANDING_GEAR] which wasn't sent to the control allocation) - for VTOLs handle deployment/retraction of landing gear in AUTO as a MC (retract if more than 2m above ground, deploy if WP is a landing WP), plus additionally when transition flight task is called (ALTITUDE mode and higher) - for FW in AUTO: add logic in FW Position Controller, depending on waypoint type mainly - manual landing gear settings always come through (a manual command overrides a previous auto command, and vice-versa) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
23 lines
708 B
Plaintext
23 lines
708 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint8 NUM_ACTUATOR_CONTROLS = 9
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uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
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uint8 INDEX_ROLL = 0
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uint8 INDEX_PITCH = 1
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uint8 INDEX_YAW = 2
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uint8 INDEX_THROTTLE = 3
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uint8 INDEX_FLAPS = 4
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uint8 INDEX_SPOILERS = 5
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uint8 INDEX_AIRBRAKES = 6
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uint8 INDEX_GIMBAL_SHUTTER = 3
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uint8 INDEX_CAMERA_ZOOM = 4
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uint8 GROUP_INDEX_ATTITUDE = 0
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uint8 GROUP_INDEX_ATTITUDE_ALTERNATE = 1
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uint8 GROUP_INDEX_GIMBAL = 2
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uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
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float32[9] control
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# TOPICS actuator_controls_0 actuator_controls_1 actuator_controls_2
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# TOPICS actuator_controls_virtual_fw actuator_controls_virtual_mc
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