forked from Archive/PX4-Autopilot
57 lines
3.0 KiB
Plaintext
57 lines
3.0 KiB
Plaintext
|
|
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)
|
|
int8 MODE_SLOT_NONE = -1 # no mode slot assigned
|
|
int8 MODE_SLOT_1 = 0 # mode slot 1 selected
|
|
int8 MODE_SLOT_2 = 1 # mode slot 2 selected
|
|
int8 MODE_SLOT_3 = 2 # mode slot 3 selected
|
|
int8 MODE_SLOT_4 = 3 # mode slot 4 selected
|
|
int8 MODE_SLOT_5 = 4 # mode slot 5 selected
|
|
int8 MODE_SLOT_6 = 5 # mode slot 6 selected
|
|
int8 MODE_SLOT_MAX = 6 # number of slots plus one
|
|
|
|
uint64 timestamp
|
|
|
|
# Any of the channels may not be available and be set to NaN
|
|
# to indicate that it does not contain valid data.
|
|
# The variable names follow the definition of the
|
|
# MANUAL_CONTROL mavlink message.
|
|
# The default range is from -1 to 1 (mavlink message -1000 to 1000)
|
|
# The range for the z variable is defined from 0 to 1. (The z field of
|
|
# the MANUAL_CONTROL mavlink message is defined from -1000 to 1000)
|
|
|
|
float32 x # stick position in x direction -1..1
|
|
# in general corresponds to forward/back motion or pitch of vehicle,
|
|
# in general a positive value means forward or negative pitch and
|
|
# a negative value means backward or positive pitch
|
|
float32 y # stick position in y direction -1..1
|
|
# in general corresponds to right/left motion or roll of vehicle,
|
|
# in general a positive value means right or positive roll and
|
|
# a negative value means left or negative roll
|
|
float32 z # throttle stick position 0..1
|
|
# in general corresponds to up/down motion or thrust of vehicle,
|
|
# in general the value corresponds to the demanded throttle by the user,
|
|
# if the input is used for setting the setpoint of a vertical position
|
|
# controller any value > 0.5 means up and any value < 0.5 means down
|
|
float32 r # yaw stick/twist position, -1..1
|
|
# in general corresponds to the righthand rotation around the vertical
|
|
# (downwards) axis of the vehicle
|
|
float32 flaps # flap position
|
|
float32 aux1 # default function: camera yaw / azimuth
|
|
float32 aux2 # default function: camera pitch / tilt
|
|
float32 aux3 # default function: camera trigger
|
|
float32 aux4 # default function: camera roll
|
|
float32 aux5 # default function: payload drop
|
|
|
|
uint8 mode_switch # main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO
|
|
uint8 return_switch # return to launch 2 position switch (mandatory): _NORMAL_, RTL
|
|
uint8 rattitude_switch # rattitude control 2 position switch (optional): _MANUAL, RATTITUDE
|
|
uint8 posctl_switch # position control 2 position switch (optional): _ALTCTL_, POSCTL
|
|
uint8 loiter_switch # loiter 2 position switch (optional): _MISSION_, LOITER
|
|
uint8 acro_switch # acro 2 position switch (optional): _MANUAL_, ACRO
|
|
uint8 offboard_switch # offboard 2 position switch (optional): _NORMAL_, OFFBOARD
|
|
uint8 kill_switch # throttle kill: _NORMAL_, KILL
|
|
int8 mode_slot # the slot a specific model selector is in
|