mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
ef6209ba03
- split out switches from manual_control_setpoint into new message manual_control_switches
- manual_control_switches published at minimal rate (~ 1 Hz) or immediately on change
- simple switch debounce in rc_update (2 consecutive identical decodes required)
- manual_control_switches logged at full rate rather than sampled at (5-10% of messages logged)
- manual_control_setpoint publish at minimal rate unless changing
- commander handle landing gear switch for manual modes
- processing of mode_slot and mode_switch is now split so we only do one or the other (not both)
- a future step will be to finally drop mode_switch and accompanying switches entirely
Co-authored-by: Matthias Grob <maetugr@gmail.com>
38 lines
2.2 KiB
Plaintext
38 lines
2.2 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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uint8 SWITCH_POS_NONE = 0 # switch is not mapped
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uint8 SWITCH_POS_ON = 1 # switch activated (value = 1)
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uint8 SWITCH_POS_MIDDLE = 2 # middle position (value = 0)
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uint8 SWITCH_POS_OFF = 3 # switch not activated (value = -1)
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uint8 MODE_SLOT_NONE = 0 # no mode slot assigned
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uint8 MODE_SLOT_1 = 1 # mode slot 1 selected
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uint8 MODE_SLOT_2 = 2 # mode slot 2 selected
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uint8 MODE_SLOT_3 = 3 # mode slot 3 selected
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uint8 MODE_SLOT_4 = 4 # mode slot 4 selected
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uint8 MODE_SLOT_5 = 5 # mode slot 5 selected
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uint8 MODE_SLOT_6 = 6 # mode slot 6 selected
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uint8 MODE_SLOT_NUM = 6 # number of slots
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uint8 mode_slot # the slot a specific model selector is in
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uint8 arm_switch # arm/disarm switch: _DISARMED_, ARMED
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uint8 return_switch # return to launch 2 position switch (mandatory): _NORMAL_, RTL
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uint8 loiter_switch # loiter 2 position switch (optional): _MISSION_, LOITER
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uint8 offboard_switch # offboard 2 position switch (optional): _NORMAL_, OFFBOARD
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uint8 kill_switch # throttle kill: _NORMAL_, KILL
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uint8 gear_switch # landing gear switch: _DOWN_, UP
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uint8 transition_switch # VTOL transition switch: _HOVER, FORWARD_FLIGHT
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# legacy "advanced" switch configuration (will be removed soon)
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uint8 mode_switch # main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO
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uint8 man_switch # manual switch (only relevant for fixed wings, optional): _STABILIZED_, MANUAL
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uint8 acro_switch # acro 2 position switch (optional): _MANUAL_, ACRO
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uint8 rattitude_switch # rattitude control 2 position switch (optional): _MANUAL, RATTITUDE
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uint8 stab_switch # stabilize switch (only relevant for fixed wings, optional): _MANUAL, STABILIZED
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uint8 posctl_switch # position control 2 position switch (optional): _ALTCTL_, POSCTL
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uint32 switch_changes # number of switch changes
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