mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
d0f1a551e9
* This fix is necessary because usually uORB structs get initialized with all zeros and then get filled with the fields that are actually in use. * The number 0 for the mode slot was already commanding to switch to the mode in slot one even though for example the joystick input via mavlink does not use this mechanism at all.
68 lines
3.7 KiB
Plaintext
68 lines
3.7 KiB
Plaintext
uint64 timestamp # time since system start (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 SOURCE_RC = 1 # radio control
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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 4
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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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# The variable names follow the definition of the
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# MANUAL_CONTROL mavlink message.
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# The default range is from -1 to 1 (mavlink message -1000 to 1000)
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# The range for the z variable is defined from 0 to 1. (The z field of
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# the MANUAL_CONTROL mavlink message is defined from -1000 to 1000)
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float32 x # stick position in x direction -1..1
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# in general corresponds to forward/back motion or pitch of vehicle,
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# in general a positive value means forward or negative pitch and
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# a negative value means backward or positive pitch
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float32 y # stick position in y direction -1..1
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# in general corresponds to right/left motion or roll of vehicle,
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# in general a positive value means right or positive roll and
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# a negative value means left or negative roll
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float32 z # throttle stick position 0..1
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# in general corresponds to up/down motion or thrust of vehicle,
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# in general the value corresponds to the demanded throttle by the user,
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# if the input is used for setting the setpoint of a vertical position
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# controller any value > 0.5 means up and any value < 0.5 means down
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float32 r # yaw stick/twist position, -1..1
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# in general corresponds to the righthand rotation around the vertical
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# (downwards) axis of the vehicle
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float32 flaps # flap position
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float32 aux1 # default function: camera yaw / azimuth
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float32 aux2 # default function: camera pitch / tilt
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float32 aux3 # default function: camera trigger
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float32 aux4 # default function: camera roll
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float32 aux5 # default function: payload drop
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float32 aux6
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uint8 mode_switch # main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO
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uint8 return_switch # return to launch 2 position switch (mandatory): _NORMAL_, RTL
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uint8 rattitude_switch # rattitude control 2 position switch (optional): _MANUAL, RATTITUDE
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uint8 posctl_switch # position control 2 position switch (optional): _ALTCTL_, POSCTL
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uint8 loiter_switch # loiter 2 position switch (optional): _MISSION_, LOITER
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uint8 acro_switch # acro 2 position switch (optional): _MANUAL_, ACRO
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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 arm_switch # arm/disarm switch: _DISARMED_, ARMED
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uint8 transition_switch # VTOL transition switch: _HOVER, FORWARD_FLIGHT
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uint8 gear_switch # landing gear switch: _DOWN_, UP
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uint8 mode_slot # the slot a specific model selector is in
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uint8 data_source # where this input is coming from
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uint8 stab_switch # stabilize switch (only relevant for fixed wings, optional): _MANUAL, STABILIZED
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uint8 man_switch # manual switch (only relevant for fixed wings, optional): _STABILIZED_, MANUAL
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