2021-11-05 07:44:12 -03:00
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uint64 timestamp # time since system start (microseconds)
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# Topic to test individual actuator output functions
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uint8 ACTION_RELEASE_CONTROL = 0 # exit test mode for the given function
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uint8 ACTION_DO_CONTROL = 1 # enable actuator test mode
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uint8 FUNCTION_MOTOR1 = 101
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2022-04-28 08:32:02 -03:00
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uint8 MAX_NUM_MOTORS = 12
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2021-11-05 07:44:12 -03:00
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uint8 FUNCTION_SERVO1 = 201
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uint8 MAX_NUM_SERVOS = 8
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uint8 action # one of ACTION_*
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uint16 function # actuator output function
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float32 value # range: [-1, 1], where 1 means maximum positive output,
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# 0 to center servos or minimum motor thrust,
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# -1 maximum negative (if not supported by the motors, <0 maps to NaN),
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# and NaN maps to disarmed (stop the motors)
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uint32 timeout_ms # timeout in ms after which to exit test mode (if 0, do not time out)
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2023-09-07 12:11:56 -03:00
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uint8 ORB_QUEUE_LENGTH = 16 # >= MAX_NUM_MOTORS to support code in esc_calibration
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