forked from Archive/PX4-Autopilot
66 lines
3.6 KiB
Plaintext
66 lines
3.6 KiB
Plaintext
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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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int8 MODE_SLOT_NONE = -1 # no mode slot assigned
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int8 MODE_SLOT_1 = 0 # mode slot 1 selected
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int8 MODE_SLOT_2 = 1 # mode slot 2 selected
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int8 MODE_SLOT_3 = 2 # mode slot 3 selected
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int8 MODE_SLOT_4 = 3 # mode slot 4 selected
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int8 MODE_SLOT_5 = 4 # mode slot 5 selected
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int8 MODE_SLOT_6 = 5 # mode slot 6 selected
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int8 MODE_SLOT_MAX = 6 # number of slots plus one
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uint8 SOURCE_RC = 1 # radio control
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uint8 SOURCE_MAVLINK_0 = 2 # mavlink instance 0
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uint8 SOURCE_MAVLINK_1 = 3 # mavlink instance 1
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uint8 SOURCE_MAVLINK_2 = 4 # mavlink instance 2
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uint8 SOURCE_MAVLINK_3 = 5 # mavlink instance 4
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# Any of the channels may not be available and be set to NaN
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# to indicate that it does not contain valid data.
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# The variable names follow the definition of the
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# MANUAL_CONTROL mavlink message.
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# The default range is from -1 to 1 (mavlink message -1000 to 1000)
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# The range for the z variable is defined from 0 to 1. (The z field of
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# the MANUAL_CONTROL mavlink message is defined from -1000 to 1000)
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float32 x # stick position in x direction -1..1
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# in general corresponds to forward/back motion or pitch of vehicle,
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# in general a positive value means forward or negative pitch and
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# a negative value means backward or positive pitch
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float32 y # stick position in y direction -1..1
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# in general corresponds to right/left motion or roll of vehicle,
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# in general a positive value means right or positive roll and
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# a negative value means left or negative roll
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float32 z # throttle stick position 0..1
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# in general corresponds to up/down motion or thrust of vehicle,
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# in general the value corresponds to the demanded throttle by the user,
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# if the input is used for setting the setpoint of a vertical position
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# controller any value > 0.5 means up and any value < 0.5 means down
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float32 r # yaw stick/twist position, -1..1
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# in general corresponds to the righthand rotation around the vertical
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# (downwards) axis of the vehicle
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float32 flaps # flap position
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float32 aux1 # default function: camera yaw / azimuth
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float32 aux2 # default function: camera pitch / tilt
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float32 aux3 # default function: camera trigger
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float32 aux4 # default function: camera roll
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float32 aux5 # default function: payload drop
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uint8 mode_switch # main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO
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uint8 return_switch # return to launch 2 position switch (mandatory): _NORMAL_, RTL
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uint8 rattitude_switch # rattitude control 2 position switch (optional): _MANUAL, RATTITUDE
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uint8 posctl_switch # position control 2 position switch (optional): _ALTCTL_, POSCTL
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uint8 loiter_switch # loiter 2 position switch (optional): _MISSION_, LOITER
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uint8 acro_switch # acro 2 position switch (optional): _MANUAL_, ACRO
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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 arm_switch # arm/disarm switch: _DISARMED_, ARMED
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uint8 transition_switch # VTOL transition switch: _HOVER, FORWARD_FLIGHT
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uint8 gear_switch # landing gear switch: _DOWN_, UP
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int8 mode_slot # the slot a specific model selector is in
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uint8 data_source # where this input is coming from
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uint8 stab_switch # stabilize switch (only relevant for fixed wings, optional): _MANUAL, STABILIZED
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uint8 man_switch # manual switch (only relevant for fixed wings, optional): _STABILIZED_, MANUAL
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