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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>
20 lines
635 B
Plaintext
20 lines
635 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_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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