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22 lines
899 B
22 lines
899 B
uint64 timestamp # time since system start (microseconds) |
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# Topic to test individual actuator output functions |
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# Note: this is only used with SYS_CTRL_ALLOC=1 |
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uint8 ACTION_RELEASE_CONTROL = 0 # exit test mode for the given function |
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uint8 ACTION_DO_CONTROL = 1 # enable actuator test mode |
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uint8 FUNCTION_MOTOR1 = 101 |
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uint8 MAX_NUM_MOTORS = 12 |
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uint8 FUNCTION_SERVO1 = 201 |
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uint8 MAX_NUM_SERVOS = 8 |
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uint8 action # one of ACTION_* |
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uint16 function # actuator output function |
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float32 value # range: [-1, 1], where 1 means maximum positive output, |
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# 0 to center servos or minimum motor thrust, |
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# -1 maximum negative (if not supported by the motors, <0 maps to NaN), |
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# and NaN maps to disarmed (stop the motors) |
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uint32 timeout_ms # timeout in ms after which to exit test mode (if 0, do not time out) |
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uint8 ORB_QUEUE_LENGTH = 8
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