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px4-firmware/msg/manual_control_switches.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
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