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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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7e75b497ae
For helicopters it's useful (e.g. during bringup) to be able to disable the main rotor while the tail is still controlled to safely land.
35 lines
1.7 KiB
Plaintext
35 lines
1.7 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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uint8 photo_switch # Photo trigger switch
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uint8 video_switch # Photo trigger switch
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uint8 engage_main_motor_switch # Engage the main motor (for helicopters)
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uint32 switch_changes # number of switch changes
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