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helicopter: add switch to engage main motor

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For helicopters it's useful (e.g. during bringup) to be able to disable
the main rotor while the tail is still controlled to safely land.
This commit is contained in:
Beat Küng
2022-08-16 17:32:57 +02:00
parent f32d931117
commit 7e75b497ae
7 changed files with 70 additions and 17 deletions
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msg/manual_control_switches.msg
+2
View File
@@ -29,4 +29,6 @@ uint8 transition_switch # VTOL transition switch: _HOVER, FORWARD_FLIGH
uint8 photo_switch # Photo trigger switch
uint8 video_switch # Photo trigger switch
uint8 engage_main_motor_switch # Engage the main motor (for helicopters)
uint32 switch_changes # number of switch changes
msg/rc_channels.msg
+2 -1
View File
@@ -27,13 +27,14 @@ uint8 FUNCTION_FLTBTN_SLOT_3 = 23
uint8 FUNCTION_FLTBTN_SLOT_4 = 24
uint8 FUNCTION_FLTBTN_SLOT_5 = 25
uint8 FUNCTION_FLTBTN_SLOT_6 = 26
uint8 FUNCTION_ENGAGE_MAIN_MOTOR = 27
uint8 FUNCTION_FLTBTN_SLOT_COUNT = 6
uint64 timestamp_last_valid # Timestamp of last valid RC signal
float32[18] channels # Scaled to -1..1 (throttle: 0..1)
uint8 channel_count # Number of valid channels
int8[27] function # Functions mapping
int8[28] 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