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Using mixers on the IO side had a remote benefit of being able to override all control surfaces with a radio remote on a fixed wing. This ended up not being used that much and since the original design 10 years ago (2011) we have been able to convince ourselves that the overall system stability is at a level where this marginal benefit, which is not present on multicopters, is not worth the hazzle. Co-authored-by: Beat Küng <beat-kueng@gmx.net> Co-authored-by: Daniel Agar <daniel@agar.ca>
17 lines
992 B
Plaintext
17 lines
992 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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bool flag_armed # synonym for actuator_armed.armed
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bool flag_multicopter_position_control_enabled
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bool flag_control_manual_enabled # true if manual input is mixed in
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bool flag_control_auto_enabled # true if onboard autopilot should act
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bool flag_control_offboard_enabled # true if offboard control should be used
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bool flag_control_rates_enabled # true if rates are stabilized
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bool flag_control_attitude_enabled # true if attitude stabilization is mixed in
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bool flag_control_acceleration_enabled # true if acceleration is controlled
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bool flag_control_velocity_enabled # true if horizontal velocity (implies direction) is controlled
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bool flag_control_position_enabled # true if position is controlled
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bool flag_control_altitude_enabled # true if altitude is controlled
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bool flag_control_climb_rate_enabled # true if climb rate is controlled
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bool flag_control_termination_enabled # true if flighttermination is enabled
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