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control_allocator: remove direct mixer, add actuator_{motors,servos} instead

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This commit is contained in:
Beat Küng
2021-09-11 17:29:53 +02:00
committed by Daniel Agar
parent a51c465b54
commit 38fa65a47e
21 changed files with 49 additions and 371 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc
+2 -1
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@@ -46,4 +46,5 @@ param set-default CA_MC_R3_PY 0.1875
param set-default CA_MC_R3_CT 6.5
param set-default CA_MC_R3_KM -0.05
set MIXER direct
set MIXER skip
set MIXER_AUX none
ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc
+2 -2
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@@ -78,5 +78,5 @@ param set-default CA_MC_R5_KM -0.05
set MAV_TYPE 13
# set MIXER hexa_x
set MIXER direct
set MIXER skip
set MIXER_AUX none
ROMFS/px4fmu_common/init.d/airframes/4018_s500_ctrlalloc
+2 -3
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@@ -12,7 +12,8 @@
. ${R}etc/init.d/rc.mc_defaults
set MIXER none
set MIXER skip
set MIXER_AUX none
param set-default SYS_CTRL_ALLOC 1
@@ -51,6 +52,4 @@ param set-default CA_MC_R3_PY 0.177
param set-default CA_MC_R3_CT 6.5
param set-default CA_MC_R3_KM -0.05
set MIXER direct
set MIXER_AUX direct_aux
ROMFS/px4fmu_common/init.d/airframes/6003_hexa_x_ctrlalloc
+2 -5
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@@ -66,8 +66,5 @@ param set-default CA_MC_R5_PY -0.1375
param set-default CA_MC_R5_CT 6.5
param set-default CA_MC_R5_KM -0.05
set MIXER direct
set PWM_OUT 123456
set MIXER_AUX direct_aux
set PWM_AUX_OUT 123456
set MIXER skip
set MIXER_AUX none
ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt
-1
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@@ -44,5 +44,4 @@ px4_add_romfs_files(
tiltrotor_sitl.main.mix
uuv_x_sitl.main.mix
vectored6dof_sitl.main.mix
tiltrotor_sitl_direct.main.mix
)
ROMFS/px4fmu_common/mixers-sitl/tiltrotor_sitl_direct.main.mix
-14
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@@ -1,14 +0,0 @@
Mixer for quad tiltrotor (x motor configuration)
================================================
A: 0
A: 1
A: 2
A: 3
A: 4
A: 5
A: 6
A: 7
A: 8
A: 9
A: 10
ROMFS/px4fmu_common/mixers/CMakeLists.txt
-1
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@@ -46,7 +46,6 @@ px4_add_romfs_files(
coax.main.mix
delta.main.mix
deltaquad.main.mix
direct.main.mix
dodeca_bottom_cox.aux.mix
dodeca_top_cox.main.mix
firefly6.aux.mix
ROMFS/px4fmu_common/mixers/direct.main.mix
-11
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@@ -1,11 +0,0 @@
# Direct mixer
# @board px4_fmu-v2 exclude
A: 0
A: 1
A: 2
A: 3
A: 4
A: 5
A: 6
A: 7
msg/CMakeLists.txt
+2
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@@ -40,7 +40,9 @@ set(msg_files
actuator_armed.msg
actuator_controls.msg
actuator_controls_status.msg
actuator_motors.msg
actuator_outputs.msg
actuator_servos.msg
adc_report.msg
airspeed.msg
airspeed_validated.msg
msg/actuator_controls.msg
+1 -4
View File
@@ -1,6 +1,6 @@
uint64 timestamp # time since system start (microseconds)
uint8 NUM_ACTUATOR_CONTROLS = 8
uint8 NUM_ACTUATOR_CONTROL_GROUPS = 6
uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
uint8 INDEX_ROLL = 0
uint8 INDEX_PITCH = 1
uint8 INDEX_YAW = 2
@@ -16,13 +16,10 @@ uint8 GROUP_INDEX_ATTITUDE = 0
uint8 GROUP_INDEX_ATTITUDE_ALTERNATE = 1
uint8 GROUP_INDEX_GIMBAL = 2
uint8 GROUP_INDEX_MANUAL_PASSTHROUGH = 3
uint8 GROUP_INDEX_ALLOCATED_PART1 = 4
uint8 GROUP_INDEX_ALLOCATED_PART2 = 5
uint8 GROUP_INDEX_PAYLOAD = 6
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[8] control
# TOPICS actuator_controls actuator_controls_0 actuator_controls_1 actuator_controls_2 actuator_controls_3
# TOPICS actuator_controls_4 actuator_controls_5
# TOPICS actuator_controls_virtual_fw actuator_controls_virtual_mc
msg/actuator_motors.msg
+9
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@@ -0,0 +1,9 @@
# Motor control message
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
uint8 NUM_CONTROLS = 8
float32[8] control # range: [-1, 1], where 1 means maximum positive thrust,
# -1 maximum negative (if not supported by the output, <0 maps to NaN),
# and NaN maps to disarmed (stop the motors)
msg/actuator_servos.msg
+9
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@@ -0,0 +1,9 @@
# Servo control message
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
uint8 NUM_CONTROLS = 8
float32[8] control # range: [-1, 1], where 1 means maximum positive position,
# -1 maximum negative,
# and NaN maps to disarmed
src/lib/mixer/AllocatedActuatorMixer/AllocatedActuatorMixer.cpp
-149
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@@ -1,149 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mixer_AllocatedActuatorMixer.cpp
*
* Mixer for allocated actuators.
*
* @author Julien Lecoeur <julien.lecoeur@gmail.com>
*/
#include "AllocatedActuatorMixer.hpp"
#include <mathlib/mathlib.h>
#include <cstdio>
#include <px4_platform_common/defines.h>
// #define debug(fmt, args...) do { } while(0)
#define debug(fmt, args...) do { printf("[mixer] " fmt "\n", ##args); } while(0)
AllocatedActuatorMixer::AllocatedActuatorMixer(ControlCallback control_cb,
uintptr_t cb_handle,
uint8_t index) :
Mixer(control_cb, cb_handle)
{
if (index < 8) {
_control_group = 4;
_control_index = index;
} else if (index < 16) {
_control_group = 5;
_control_index = index - 8;
} else {
debug("'A:' invalid index");
}
}
unsigned AllocatedActuatorMixer::set_trim(float trim)
{
return 1;
}
unsigned AllocatedActuatorMixer::get_trim(float *trim)
{
*trim = 0.0f;
return 1;
}
int
AllocatedActuatorMixer::parse(const char *buf, unsigned &buflen, uint8_t &index)
{
int ret;
int i;
// enforce that the mixer ends with a new line
if (!string_well_formed(buf, buflen)) {
return -1;
}
// parse line
if ((ret = sscanf(buf, "A: %d", &i)) != 1) {
debug("'A:' parser: failed on '%s'", buf);
return -1;
}
buf = skipline(buf, buflen);
if (buf == nullptr) {
debug("'A:' parser: no line ending, line is incomplete");
return -1;
}
// check parsed index
if (i < 16) {
index = i;
} else {
debug("'A:' parser: invalid index");
return -1;
}
return 0;
}
AllocatedActuatorMixer *
AllocatedActuatorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, const char *buf,
unsigned &buflen)
{
uint8_t index;
if (parse(buf, buflen, index) == 0) {
return new AllocatedActuatorMixer(control_cb, cb_handle, index);
} else {
return nullptr;
}
}
unsigned
AllocatedActuatorMixer::mix(float *outputs, unsigned space)
{
if (space < 1) {
return 0;
}
_control_cb(_cb_handle,
_control_group,
_control_index,
*outputs);
return 1;
}
void
AllocatedActuatorMixer::groups_required(uint32_t &groups)
{
groups |= 1 << _control_group;
}
src/lib/mixer/AllocatedActuatorMixer/AllocatedActuatorMixer.hpp
-103
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@@ -1,103 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012-2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mixer_AllocatedActuatorMixer.hpp
*
* Mixer for allocated actuators.
*
* @author Julien Lecoeur <julien.lecoeur@gmail.com>
*/
#pragma once
#include <lib/mixer/MixerBase/Mixer.hpp>
/**
* Mixer for allocated actuators.
*
* Copies a single actuator to a single output.
*/
class AllocatedActuatorMixer : public Mixer
{
public:
/**
* Constructor
*
* @param index Actuator index (0..15)
*/
AllocatedActuatorMixer(ControlCallback control_cb,
uintptr_t cb_handle,
uint8_t index);
virtual ~AllocatedActuatorMixer() = default;
// no copy, assignment, move, move assignment
AllocatedActuatorMixer(const AllocatedActuatorMixer &) = delete;
AllocatedActuatorMixer &operator=(const AllocatedActuatorMixer &) = delete;
AllocatedActuatorMixer(AllocatedActuatorMixer &&) = delete;
AllocatedActuatorMixer &operator=(AllocatedActuatorMixer &&) = delete;
/**
* Factory method with full external configuration.
*
* Given a pointer to a buffer containing a text description of the mixer,
* returns a pointer to a new instance of the mixer.
*
* @param control_cb The callback to invoke when fetching a
* control value.
* @param cb_handle Handle passed to the control callback.
* @param buf Buffer containing a text description of
* the mixer.
* @param buflen Length of the buffer in bytes, adjusted
* to reflect the bytes consumed.
* @return A new AllocatedActuatorMixer instance, or nullptr
* if the text format is bad.
*/
static AllocatedActuatorMixer *from_text(Mixer::ControlCallback control_cb,
uintptr_t cb_handle,
const char *buf,
unsigned &buflen);
unsigned mix(float *outputs, unsigned space) override;
void groups_required(uint32_t &groups) override;
unsigned set_trim(float trim) override;
unsigned get_trim(float *trim) override;
private:
uint8_t _control_group; /**< group from which the input reads */
uint8_t _control_index; /**< index within the control group */
static int parse(const char *buf,
unsigned &buflen,
uint8_t &index);
};
src/lib/mixer/AllocatedActuatorMixer/CMakeLists.txt
-39
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@@ -1,39 +0,0 @@
############################################################################
#
# Copyright (c) 2015-2019 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
add_library(AllocatedActuatorMixer
AllocatedActuatorMixer.cpp
AllocatedActuatorMixer.hpp
)
target_link_libraries(AllocatedActuatorMixer PRIVATE MixerBase)
add_dependencies(AllocatedActuatorMixer prebuild_targets)
src/lib/mixer/CMakeLists.txt
-2
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@@ -34,7 +34,6 @@
# required by other mixers
add_subdirectory(MixerBase)
add_subdirectory(AllocatedActuatorMixer)
add_subdirectory(HelicopterMixer)
add_subdirectory(MultirotorMixer)
add_subdirectory(NullMixer)
@@ -49,7 +48,6 @@ add_library(mixer
target_link_libraries(mixer
PRIVATE
AllocatedActuatorMixer
HelicopterMixer
MultirotorMixer
NullMixer
src/lib/mixer/MixerGroup.cpp
-5
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@@ -39,7 +39,6 @@
#include "MixerGroup.hpp"
#include "AllocatedActuatorMixer/AllocatedActuatorMixer.hpp"
#include "HelicopterMixer/HelicopterMixer.hpp"
#include "MultirotorMixer/MultirotorMixer.hpp"
#include "NullMixer/NullMixer.hpp"
@@ -193,10 +192,6 @@ MixerGroup::load_from_buf(Mixer::ControlCallback control_cb, uintptr_t cb_handle
m = NullMixer::from_text(p, resid);
break;
case 'A':
m = AllocatedActuatorMixer::from_text(control_cb, cb_handle, p, resid);
break;
case 'M':
m = SimpleMixer::from_text(control_cb, cb_handle, p, resid);
break;
src/lib/mixer_module/mixer_module.cpp
+6 -12
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@@ -50,8 +50,6 @@ MixingOutput::MixingOutput(uint8_t max_num_outputs, OutputModuleInterface &inter
{&interface, ORB_ID(actuator_controls_1)},
{&interface, ORB_ID(actuator_controls_2)},
{&interface, ORB_ID(actuator_controls_3)},
{&interface, ORB_ID(actuator_controls_4)},
{&interface, ORB_ID(actuator_controls_5)},
},
_scheduling_policy(scheduling_policy),
_support_esc_calibration(support_esc_calibration),
@@ -542,11 +540,9 @@ int MixingOutput::controlCallback(uintptr_t handle, uint8_t control_group, uint8
/* motor spinup phase - lock throttle to zero */
if (output->_output_limit.state == OUTPUT_LIMIT_STATE_RAMP) {
if (((control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE ||
control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) &&
control_index == actuator_controls_s::INDEX_THROTTLE) ||
(control_group == actuator_controls_s::GROUP_INDEX_ALLOCATED_PART1 ||
control_group == actuator_controls_s::GROUP_INDEX_ALLOCATED_PART2)) {
if ((control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE ||
control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) &&
control_index == actuator_controls_s::INDEX_THROTTLE) {
/* limit the throttle output to zero during motor spinup,
* as the motors cannot follow any demand yet
*/
@@ -556,11 +552,9 @@ int MixingOutput::controlCallback(uintptr_t handle, uint8_t control_group, uint8
/* throttle not arming - mark throttle input as invalid */
if (output->armNoThrottle() && !output->_armed.in_esc_calibration_mode) {
if (((control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE ||
control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) &&
control_index == actuator_controls_s::INDEX_THROTTLE) ||
(control_group == actuator_controls_s::GROUP_INDEX_ALLOCATED_PART1 ||
control_group == actuator_controls_s::GROUP_INDEX_ALLOCATED_PART2)) {
if ((control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE ||
control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) &&
control_index == actuator_controls_s::INDEX_THROTTLE) {
/* set the throttle to an invalid value */
input = NAN;
}
src/modules/control_allocator/ControlAllocation/ControlAllocation.cpp
+2 -2
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@@ -97,10 +97,10 @@ const
for (size_t i = 0; i < ControlAllocation::NUM_ACTUATORS; i++) {
if (_actuator_min(i) < _actuator_max(i)) {
actuator_normalized(i) = -1.0f + 2.0f * (actuator(i) - _actuator_min(i)) / (_actuator_max(i) - _actuator_min(i));
actuator_normalized(i) = (actuator(i) - _actuator_min(i)) / (_actuator_max(i) - _actuator_min(i));
} else {
actuator_normalized(i) = -1.0f + 2.0f * (_actuator_trim(i) - _actuator_min(i)) / (_actuator_max(i) - _actuator_min(i));
actuator_normalized(i) = (_actuator_trim(i) - _actuator_min(i)) / (_actuator_max(i) - _actuator_min(i));
}
}
src/modules/control_allocator/ControlAllocator.cpp
+8 -13
View File
@@ -436,26 +436,21 @@ ControlAllocator::publish_control_allocator_status()
void
ControlAllocator::publish_legacy_actuator_controls()
{
// For compatibility with the current mixer system,
// publish normalized version on actuator_controls_4/5
actuator_controls_s actuator_controls_4{};
actuator_controls_s actuator_controls_5{};
actuator_controls_4.timestamp = hrt_absolute_time();
actuator_controls_5.timestamp = hrt_absolute_time();
actuator_controls_4.timestamp_sample = _timestamp_sample;
actuator_controls_5.timestamp_sample = _timestamp_sample;
actuator_motors_s actuator_motors;
actuator_motors.timestamp = hrt_absolute_time();
actuator_motors.timestamp_sample = _timestamp_sample;
matrix::Vector<float, NUM_ACTUATORS> actuator_sp = _control_allocation->getActuatorSetpoint();
matrix::Vector<float, NUM_ACTUATORS> actuator_sp_normalized = _control_allocation->normalizeActuatorSetpoint(
actuator_sp);
for (size_t i = 0; i < 8; i++) {
actuator_controls_4.control[i] = (PX4_ISFINITE(actuator_sp_normalized(i))) ? actuator_sp_normalized(i) : 0.0f;
actuator_controls_5.control[i] = (PX4_ISFINITE(actuator_sp_normalized(i + 8))) ? actuator_sp_normalized(i + 8) : 0.0f;
for (size_t i = 0; i < actuator_motors_s::NUM_CONTROLS; i++) {
actuator_motors.control[i] = PX4_ISFINITE(actuator_sp_normalized(i)) ? actuator_sp_normalized(i) : NAN;
}
_actuator_controls_4_pub.publish(actuator_controls_4);
_actuator_controls_5_pub.publish(actuator_controls_5);
_actuator_motors_pub.publish(actuator_motors);
// TODO: servos
}
int ControlAllocator::task_spawn(int argc, char *argv[])
src/modules/control_allocator/ControlAllocator.hpp
+4 -4
View File
@@ -59,7 +59,8 @@
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_motors.h>
#include <uORB/topics/actuator_servos.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/control_allocator_status.h>
@@ -140,9 +141,8 @@ private:
uORB::Publication<vehicle_actuator_setpoint_s> _vehicle_actuator_setpoint_pub{ORB_ID(vehicle_actuator_setpoint)}; /**< actuator setpoint publication */
uORB::Publication<control_allocator_status_s> _control_allocator_status_pub{ORB_ID(control_allocator_status)}; /**< actuator setpoint publication */
// actuator_controls publication handles (temporary hack to plug actuator_setpoint into the mixer system)
uORB::Publication<actuator_controls_s> _actuator_controls_4_pub{ORB_ID(actuator_controls_4)}; /**< actuator controls 4 publication */
uORB::Publication<actuator_controls_s> _actuator_controls_5_pub{ORB_ID(actuator_controls_5)}; /**< actuator controls 5 publication */
uORB::Publication<actuator_motors_s> _actuator_motors_pub{ORB_ID(actuator_motors)};
uORB::Publication<actuator_servos_s> _actuator_servos_pub{ORB_ID(actuator_servos)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};