ManualControlSwitches (UORB message)
TOPICS: manual_controlswitches
Fields
| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
|---|---|---|---|---|
| timestamp | uint64 | time since system start (microseconds) | ||
| timestamp_sample | uint64 | the timestamp of the raw data (microseconds) | ||
| mode_slot | uint8 | the slot a specific model selector is in | ||
| arm_switch | uint8 | arm/disarm switch: DISARMED, ARMED | ||
| return_switch | uint8 | return to launch 2 position switch (mandatory): NORMAL, RTL | ||
| loiter_switch | uint8 | loiter 2 position switch (optional): MISSION, LOITER | ||
| offboard_switch | uint8 | offboard 2 position switch (optional): NORMAL, OFFBOARD | ||
| kill_switch | uint8 | throttle kill: NORMAL, KILL | ||
| termination_switch | uint8 | trigger termination which cannot be undone | ||
| gear_switch | uint8 | landing gear switch: DOWN, UP | ||
| transition_switch | uint8 | VTOL transition switch: _HOVER, FORWARD_FLIGHT | ||
| photo_switch | uint8 | Photo trigger switch | ||
| video_switch | uint8 | Photo trigger switch | ||
| engage_main_motor_switch | uint8 | Engage the main motor (for helicopters) | ||
| payload_power_switch | uint8 | Payload power switch | ||
| switch_changes | uint32 | number of switch changes |
Constants
Source Message
Details
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c
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
uint8 SWITCH_POS_NONE = 0 # switch is not mapped
uint8 SWITCH_POS_ON = 1 # switch activated (value = 1)
uint8 SWITCH_POS_MIDDLE = 2 # middle position (value = 0)
uint8 SWITCH_POS_OFF = 3 # switch not activated (value = -1)
uint8 MODE_SLOT_NONE = 0 # no mode slot assigned
uint8 MODE_SLOT_1 = 1 # mode slot 1 selected
uint8 MODE_SLOT_2 = 2 # mode slot 2 selected
uint8 MODE_SLOT_3 = 3 # mode slot 3 selected
uint8 MODE_SLOT_4 = 4 # mode slot 4 selected
uint8 MODE_SLOT_5 = 5 # mode slot 5 selected
uint8 MODE_SLOT_6 = 6 # mode slot 6 selected
uint8 MODE_SLOT_NUM = 6 # number of slots
uint8 mode_slot # the slot a specific model selector is in
uint8 arm_switch # arm/disarm switch: _DISARMED_, ARMED
uint8 return_switch # return to launch 2 position switch (mandatory): _NORMAL_, RTL
uint8 loiter_switch # loiter 2 position switch (optional): _MISSION_, LOITER
uint8 offboard_switch # offboard 2 position switch (optional): _NORMAL_, OFFBOARD
uint8 kill_switch # throttle kill: _NORMAL_, KILL
uint8 termination_switch # trigger termination which cannot be undone
uint8 gear_switch # landing gear switch: _DOWN_, UP
uint8 transition_switch # VTOL transition switch: _HOVER, FORWARD_FLIGHT
uint8 photo_switch # Photo trigger switch
uint8 video_switch # Photo trigger switch
uint8 engage_main_motor_switch # Engage the main motor (for helicopters)
uint8 payload_power_switch # Payload power switch
uint32 switch_changes # number of switch changes