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66 lines
3.7 KiB
66 lines
3.7 KiB
uint64 timestamp # time since system start (microseconds) |
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uint8 SWITCH_POS_NONE = 0 # switch is not mapped |
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uint8 SWITCH_POS_ON = 1 # switch activated (value = 1) |
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uint8 SWITCH_POS_MIDDLE = 2 # middle position (value = 0) |
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uint8 SWITCH_POS_OFF = 3 # switch not activated (value = -1) |
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int8 MODE_SLOT_NONE = -1 # no mode slot assigned |
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int8 MODE_SLOT_1 = 0 # mode slot 1 selected |
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int8 MODE_SLOT_2 = 1 # mode slot 2 selected |
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int8 MODE_SLOT_3 = 2 # mode slot 3 selected |
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int8 MODE_SLOT_4 = 3 # mode slot 4 selected |
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int8 MODE_SLOT_5 = 4 # mode slot 5 selected |
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int8 MODE_SLOT_6 = 5 # mode slot 6 selected |
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int8 MODE_SLOT_MAX = 6 # number of slots plus one |
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uint8 SOURCE_RC = 1 # radio control |
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uint8 SOURCE_MAVLINK_0 = 2 # mavlink instance 0 |
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uint8 SOURCE_MAVLINK_1 = 3 # mavlink instance 1 |
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uint8 SOURCE_MAVLINK_2 = 4 # mavlink instance 2 |
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uint8 SOURCE_MAVLINK_3 = 5 # mavlink instance 4 |
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# Any of the channels may not be available and be set to NaN |
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# to indicate that it does not contain valid data. |
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# The variable names follow the definition of the |
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# MANUAL_CONTROL mavlink message. |
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# The default range is from -1 to 1 (mavlink message -1000 to 1000) |
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# The range for the z variable is defined from 0 to 1. (The z field of |
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# the MANUAL_CONTROL mavlink message is defined from -1000 to 1000) |
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float32 x # stick position in x direction -1..1 |
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# in general corresponds to forward/back motion or pitch of vehicle, |
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# in general a positive value means forward or negative pitch and |
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# a negative value means backward or positive pitch |
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float32 y # stick position in y direction -1..1 |
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# in general corresponds to right/left motion or roll of vehicle, |
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# in general a positive value means right or positive roll and |
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# a negative value means left or negative roll |
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float32 z # throttle stick position 0..1 |
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# in general corresponds to up/down motion or thrust of vehicle, |
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# in general the value corresponds to the demanded throttle by the user, |
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# if the input is used for setting the setpoint of a vertical position |
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# controller any value > 0.5 means up and any value < 0.5 means down |
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float32 r # yaw stick/twist position, -1..1 |
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# in general corresponds to the righthand rotation around the vertical |
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# (downwards) axis of the vehicle |
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float32 flaps # flap position |
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float32 aux1 # default function: camera yaw / azimuth |
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float32 aux2 # default function: camera pitch / tilt |
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float32 aux3 # default function: camera trigger |
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float32 aux4 # default function: camera roll |
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float32 aux5 # default function: payload drop |
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uint8 mode_switch # main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO |
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uint8 return_switch # return to launch 2 position switch (mandatory): _NORMAL_, RTL |
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uint8 rattitude_switch # rattitude control 2 position switch (optional): _MANUAL, RATTITUDE |
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uint8 posctl_switch # position control 2 position switch (optional): _ALTCTL_, POSCTL |
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uint8 loiter_switch # loiter 2 position switch (optional): _MISSION_, LOITER |
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uint8 acro_switch # acro 2 position switch (optional): _MANUAL_, ACRO |
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uint8 offboard_switch # offboard 2 position switch (optional): _NORMAL_, OFFBOARD |
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uint8 kill_switch # throttle kill: _NORMAL_, KILL |
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uint8 arm_switch # arm/disarm switch: _DISARMED_, ARMED |
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uint8 transition_switch # VTOL transition switch: _HOVER, FORWARD_FLIGHT |
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uint8 gear_switch # landing gear switch: _DOWN_, UP |
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int8 mode_slot # the slot a specific model selector is in |
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uint8 data_source # where this input is coming from |
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uint8 stab_switch # stabilize switch (only relevant for fixed wings, optional): _MANUAL, STABILIZED |
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uint8 man_switch # manual switch (only relevant for fixed wings, optional): _STABILIZED_, MANUAL
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