yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 01:12:31 +00:00
Code Issues Packages Projects Releases Wiki Activity

add RC kill switch

Browse Source
This commit is contained in:
Mark Whitehorn
2015-12-18 21:21:51 -07:00
committed by Lorenz Meier
parent c802b86acc
commit 8cb472af31
5 changed files with 64 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
msg/manual_control_setpoint.msg
View File

@@ -38,8 +38,9 @@ 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 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 offboard_switch # offboard 2 position switch (optional): _NORMAL_, OFFBOARD
uint8 kill_switch # throttle kill: _NORMAL_, KILL

7
msg/rc_channels.msg
View File

@@ -1,4 +1,4 @@
int32 RC_CHANNELS_FUNCTION_MAX=20
int32 RC_CHANNELS_FUNCTION_MAX=21
uint8 RC_CHANNELS_FUNCTION_THROTTLE=0
uint8 RC_CHANNELS_FUNCTION_ROLL=1
uint8 RC_CHANNELS_FUNCTION_PITCH=2
@@ -19,11 +19,12 @@ uint8 RC_CHANNELS_FUNCTION_PARAM_1=16
uint8 RC_CHANNELS_FUNCTION_PARAM_2=17
uint8 RC_CHANNELS_FUNCTION_PARAM_3_5=18
uint8 RC_CHANNELS_FUNCTION_RATTITUDE=19
uint8 RC_CHANNELS_FUNCTION_KILLSWITCH=20
uint64 timestamp # Timestamp in microseconds since boot time
uint64 timestamp_last_valid # Timestamp of last valid RC signal
float32[20] channels # Scaled to -1..1 (throttle: 0..1)
float32[18] channels # Scaled to -1..1 (throttle: 0..1)
uint8 channel_count # Number of valid channels
int8[20] function # Functions mapping
int8[21] function # Functions mapping
uint8 rssi # Receive signal strength index
bool signal_lost # Control signal lost, should be checked together with topic timeout
uint32 frame_drop_count # Number of dropped frames