forked from Archive/PX4-Autopilot
46 lines
2.5 KiB
Plaintext
46 lines
2.5 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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uint64 timestamp
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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 positon, -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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