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4b54ddfe61
Tiltrotor_extra_controls also contains collective thrust beside collective tilt, as passing a 3D thrust setpoint vector beside the tilt is not feasible. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
24 lines
737 B
Plaintext
24 lines
737 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_LANDING_GEAR = 7
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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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