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px4-firmware/msg/ManualControlSwitches.msg

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new manual_control_switches msg (split out of manual_control_setpoint) (#16270) - 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>
2020-12-11 13:11:35 -04:00
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
uint8 SWITCH_POS_NONE = 0 # switch is not mapped
uint8 SWITCH_POS_ON = 1 # switch activated (value = 1)
uint8 SWITCH_POS_MIDDLE = 2 # middle position (value = 0)
uint8 SWITCH_POS_OFF = 3 # switch not activated (value = -1)
uint8 MODE_SLOT_NONE = 0 # no mode slot assigned
uint8 MODE_SLOT_1 = 1 # mode slot 1 selected
uint8 MODE_SLOT_2 = 2 # mode slot 2 selected
uint8 MODE_SLOT_3 = 3 # mode slot 3 selected
uint8 MODE_SLOT_4 = 4 # mode slot 4 selected
uint8 MODE_SLOT_5 = 5 # mode slot 5 selected
uint8 MODE_SLOT_6 = 6 # mode slot 6 selected
uint8 MODE_SLOT_NUM = 6 # number of slots
uint8 mode_slot # the slot a specific model selector is in
uint8 arm_switch # arm/disarm switch: _DISARMED_, ARMED
uint8 return_switch # return to launch 2 position switch (mandatory): _NORMAL_, RTL
uint8 loiter_switch # loiter 2 position switch (optional): _MISSION_, LOITER
uint8 offboard_switch # offboard 2 position switch (optional): _NORMAL_, OFFBOARD
uint8 kill_switch # throttle kill: _NORMAL_, KILL
uint8 gear_switch # landing gear switch: _DOWN_, UP
uint8 transition_switch # VTOL transition switch: _HOVER, FORWARD_FLIGHT
manual_control: enable sending camera commands
2021-10-05 09:31:51 -03:00
uint8 photo_switch # Photo trigger switch
uint8 video_switch # Photo trigger switch
helicopter: add switch to engage main motor 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.
2022-08-16 12:32:57 -03:00
uint8 engage_main_motor_switch # Engage the main motor (for helicopters)
new manual_control_switches msg (split out of manual_control_setpoint) (#16270) - 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>
2020-12-11 13:11:35 -04:00
uint32 switch_changes # number of switch changes