mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-02-07 19:02:57 +08:00
cea185268e
- update all msgs to be directly compatible with ROS2 - microdds_client improvements - timesync - reduced code size - add to most default builds if we can afford it - lots of other little changes - purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)
41 lines
1.4 KiB
Plaintext
41 lines
1.4 KiB
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint8 FUNCTION_THROTTLE = 0
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uint8 FUNCTION_ROLL = 1
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uint8 FUNCTION_PITCH = 2
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uint8 FUNCTION_YAW = 3
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uint8 FUNCTION_RETURN = 4
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uint8 FUNCTION_LOITER = 5
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uint8 FUNCTION_OFFBOARD = 6
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uint8 FUNCTION_FLAPS = 7
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uint8 FUNCTION_AUX_1 = 8
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uint8 FUNCTION_AUX_2 = 9
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uint8 FUNCTION_AUX_3 = 10
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uint8 FUNCTION_AUX_4 = 11
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uint8 FUNCTION_AUX_5 = 12
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uint8 FUNCTION_AUX_6 = 13
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uint8 FUNCTION_PARAM_1 = 14
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uint8 FUNCTION_PARAM_2 = 15
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uint8 FUNCTION_PARAM_3_5 = 16
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uint8 FUNCTION_KILLSWITCH = 17
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uint8 FUNCTION_TRANSITION = 18
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uint8 FUNCTION_GEAR = 19
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uint8 FUNCTION_ARMSWITCH = 20
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uint8 FUNCTION_FLTBTN_SLOT_1 = 21
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uint8 FUNCTION_FLTBTN_SLOT_2 = 22
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uint8 FUNCTION_FLTBTN_SLOT_3 = 23
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uint8 FUNCTION_FLTBTN_SLOT_4 = 24
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uint8 FUNCTION_FLTBTN_SLOT_5 = 25
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uint8 FUNCTION_FLTBTN_SLOT_6 = 26
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uint8 FUNCTION_ENGAGE_MAIN_MOTOR = 27
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uint8 FUNCTION_FLTBTN_SLOT_COUNT = 6
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uint64 timestamp_last_valid # Timestamp of last valid RC signal
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float32[18] channels # Scaled to -1..1 (throttle: 0..1)
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uint8 channel_count # Number of valid channels
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int8[28] function # Functions mapping
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uint8 rssi # Receive signal strength index
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bool signal_lost # Control signal lost, should be checked together with topic timeout
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uint32 frame_drop_count # Number of dropped frames
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