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
1.1 KiB
Plaintext
38 lines
1.1 KiB
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint8 FUNCTION_THROTTLE=0
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uint8 FUNCTION_ROLL=1
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uint8 FUNCTION_PITCH=2
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uint8 FUNCTION_YAW=3
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uint8 FUNCTION_MODE=4
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uint8 FUNCTION_RETURN=5
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uint8 FUNCTION_POSCTL=6
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uint8 FUNCTION_LOITER=7
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uint8 FUNCTION_OFFBOARD=8
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uint8 FUNCTION_ACRO=9
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uint8 FUNCTION_FLAPS=10
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uint8 FUNCTION_AUX_1=11
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uint8 FUNCTION_AUX_2=12
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uint8 FUNCTION_AUX_3=13
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uint8 FUNCTION_AUX_4=14
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uint8 FUNCTION_AUX_5=15
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uint8 FUNCTION_PARAM_1=16
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uint8 FUNCTION_PARAM_2=17
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uint8 FUNCTION_PARAM_3_5=18
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uint8 FUNCTION_RATTITUDE=19
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uint8 FUNCTION_KILLSWITCH=20
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uint8 FUNCTION_TRANSITION=21
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uint8 FUNCTION_GEAR=22
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uint8 FUNCTION_ARMSWITCH=23
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uint8 FUNCTION_STAB=24
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uint8 FUNCTION_AUX_6=25
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uint8 FUNCTION_MAN=26
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uint64 timestamp_last_valid # Timestamp of last valid RC signal
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float32[18] channels # Scaled to -1..1 (throttle: 0..1)
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uint8 channel_count # Number of valid channels
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int8[27] function # Functions mapping
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uint8 rssi # Receive signal strength index
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bool signal_lost # Control signal lost, should be checked together with topic timeout
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uint32 frame_drop_count # Number of dropped frames
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