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Replace arm_request and mode_request with combined action_request

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Which saves flash space, log size and is extensible to handle e.g.
the VTOL transition and future actions.
This commit is contained in:
Matthias Grob
2021-10-19 15:54:49 +02:00
parent 052e29267d
commit 956997eb1e
8 changed files with 55 additions and 74 deletions
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msg/action_request.msg
+17
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@@ -0,0 +1,17 @@
uint64 timestamp # time since system start (microseconds)
uint8 action # what action is requested
uint8 ACTION_DISARM = 0
uint8 ACTION_ARM = 1
uint8 ACTION_TOGGLE_ARMING = 2
uint8 ACTION_UNKILL = 3
uint8 ACTION_KILL = 4
uint8 ACTION_SWITCH_MODE = 5
uint8 source # how the request was triggered
uint8 SOURCE_RC_STICK_GESTURE = 0
uint8 SOURCE_RC_SWITCH = 1
uint8 SOURCE_RC_BUTTON = 2
uint8 SOURCE_RC_MODE_SLOT = 3
uint8 mode # for ACTION_SWITCH_MODE what mode is requested according to commander_state.MAIN_STATE_