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feat(msg): add VEHICLE_CMD_ACTUATOR_GROUP_TEST for actuator group testing

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 - https://github.com/mavlink/mavlink/pull/2224
 - https://github.com/mavlink/mavlink/pull/2476
This commit is contained in:
Balduin
2026-05-05 11:36:29 +02:00
committed by Silvan Fuhrer
parent da2b23e57e
commit 84a287cd43
2 changed files with 14 additions and 2 deletions
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msg/ControlAllocatorStatus.msg
+4 -2
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@@ -18,5 +18,7 @@ int8[16] actuator_saturation # Indicates actuator saturation status.
# Note 1: actuator saturation does not necessarily imply that the thrust setpoint or the torque setpoint were not achieved.
# Note 2: an actuator with limited dynamics can be indicated as upper-saturated even if it as not reached its maximum value.
uint16 handled_motor_failure_mask # Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector
uint16 motor_stop_mask # Bitmaks of motors stopped by failure injection
uint16 handled_motor_failure_mask # Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector
uint16 motor_stop_mask # Bitmaks of motors stopped by failure injection
bool actuator_group_preflight_check_active # True while an actuator group preflight check (VEHICLE_CMD_ACTUATOR_GROUP_TEST) is overriding the torque/thrust setpoint or collective-tilt
msg/versioned/VehicleCommand.msg
+10
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@@ -78,6 +78,7 @@ uint16 VEHICLE_CMD_DO_SET_STANDARD_MODE=262 # Enable the specified standard MAVL
uint16 VEHICLE_CMD_GIMBAL_DEVICE_INFORMATION = 283 # Command to ask information about a low level gimbal.
uint16 VEHICLE_CMD_MISSION_START = 300 # Start running a mission. |first_item: the first mission item to run|last_item: the last mission item to run (after this item is run, the mission ends)|
uint16 VEHICLE_CMD_ACTUATOR_GROUP_TEST = 309 # Test groups of related actuators (e.g. all actuators contributing to roll torque). |[@enum ACTUATOR_TEST_GROUP] Group|[@range -1,1] Value|Unused|Unused|Unused|Unused|Unused|
uint16 VEHICLE_CMD_ACTUATOR_TEST = 310 # Actuator testing command. |[@range -1,1] value|[s] timeout|Unused|Unused|output function|
uint16 VEHICLE_CMD_CONFIGURE_ACTUATOR = 311 # Actuator configuration command. |configuration|Unused|Unused|Unused|output function|
uint16 VEHICLE_CMD_ESC_REQUEST_EEPROM = 312 # Request EEPROM data from an ESC. |ESC Index|Firmware Type|Unused|Unused|Unused|
@@ -210,6 +211,15 @@ uint8 GRIPPER_ACTION_GRAB = 1
uint8 SAFETY_OFF = 0
uint8 SAFETY_ON = 1
# param1 in VEHICLE_CMD_ACTUATOR_GROUP_TEST (matches MAVLink ACTUATOR_TEST_GROUP enum)
uint8 ACTUATOR_TEST_GROUP_ROLL_TORQUE = 0
uint8 ACTUATOR_TEST_GROUP_PITCH_TORQUE = 1
uint8 ACTUATOR_TEST_GROUP_YAW_TORQUE = 2
uint8 ACTUATOR_TEST_GROUP_COLLECTIVE_TILT = 3
uint8 ACTUATOR_TEST_GROUP_X_THRUST = 4
uint8 ACTUATOR_TEST_GROUP_Y_THRUST = 5
uint8 ACTUATOR_TEST_GROUP_Z_THRUST = 6
uint8 ORB_QUEUE_LENGTH = 8
float32 param1 # Parameter 1, as defined by MAVLink uint16 VEHICLE_CMD enum.