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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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1e56d9c219
- remove deprecated actuator_controls[INDEX_FLAPS/SPOILERS/AIRBRAKES] - use new topic normalized_unsigned_setpoint.msg (with instances flaps_setpoint and spoilers_setpoint) to pass into control allocation - remove flaps/spoiler related fields from attitude_setpoint topic - CA: add possibility to map flaps/spoilers to any control surface - move flaps/spoiler pitch trimming to CA (previously called DTRIM_FLAPS/SPOILER) - move manual flaps/spoiler handling from rate to attitude controller FW Position controller: change how negative switch readings are intepreted for flaps/spoilers (considered negative as 0). VTOL: Rework spoiler publishing in hover - pushlish spoiler_setpoint.msg in the VTOL module if in hover - also set spoilers to land configuration if in Descend mode Allocation: add slew rate limit of 0.5 to flaps/spoilers configuration change Instead of doing the flaps/spoilers slew rate limiting in the FW Position Controller (which then only is applied in Auto flight), do it consistently over all flight modes, so also for manual modes. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
45 lines
1.6 KiB
Plaintext
45 lines
1.6 KiB
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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bool valid
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uint8 SOURCE_UNKNOWN = 0
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uint8 SOURCE_RC = 1 # radio control (input_rc)
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uint8 SOURCE_MAVLINK_0 = 2 # mavlink instance 0
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uint8 SOURCE_MAVLINK_1 = 3 # mavlink instance 1
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uint8 SOURCE_MAVLINK_2 = 4 # mavlink instance 2
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uint8 SOURCE_MAVLINK_3 = 5 # mavlink instance 3
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uint8 SOURCE_MAVLINK_4 = 6 # mavlink instance 4
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uint8 SOURCE_MAVLINK_5 = 7 # mavlink instance 5
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uint8 data_source
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# Any of the channels may not be available and be set to NaN
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# to indicate that it does not contain valid data.
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# Stick positions [-1,1]
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# on a common RC mode 1/2/3/4 remote/joystick the stick deflection: -1 is down/left, 1 is up/right
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# Note: QGC sends throttle/z in range [0,1000] - [0,1]. The MAVLink input conversion [0,1] to [-1,1] is at the moment kept backwards compatible.
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# Positive values are generally used for:
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float32 roll # move right, positive roll rotation, right side down
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float32 pitch # move forward, negative pitch rotation, nose down
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float32 yaw # positive yaw rotation, clockwise when seen top down
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float32 throttle # move up, positive thrust, -1 is minimum available 0% or -100% +1 is 100% thrust
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float32 flaps # position of flaps switch/knob/lever [-1, 1]
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float32 aux1
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float32 aux2
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float32 aux3
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float32 aux4
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float32 aux5
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float32 aux6
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bool sticks_moving
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# TOPICS manual_control_setpoint manual_control_input
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# DEPRECATED: float32 x
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# DEPRECATED: float32 y
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# DEPRECATED: float32 z
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# DEPRECATED: float32 r
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