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feat(actuators): increase servo channel count from 8 to 15

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Bumps NUM_CONTROLS/MAX_ACTUATORS from 8 to 15 across all layers.

Signed-off-by: alexcekay <alexander@auterion.com>
This commit is contained in:
alexcekay
2026-05-22 15:55:43 +02:00
committed by Alexander Lerach
parent 9e27a3c5e1
commit 13868013d2
11 changed files with 79 additions and 19 deletions
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1
msg/translation_node/translations/all_translations.h
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@@ -6,6 +6,7 @@
#include <translation_util.h>
#include "translation_actuator_servos_v1.h"
#include "translation_airspeed_validated_v1.h"
#include "translation_aux_global_position_v1.h"
#include "translation_arming_check_reply_v1.h"

45
msg/translation_node/translations/translation_actuator_servos_v1.h Normal file
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@@ -0,0 +1,45 @@
/****************************************************************************
* Copyright (c) 2026 PX4 Development Team.
* SPDX-License-Identifier: BSD-3-Clause
****************************************************************************/
#pragma once
// Translate ActuatorServos v0 <--> v1
#include <px4_msgs_old/msg/actuator_servos_v0.hpp>
#include <px4_msgs/msg/actuator_servos.hpp>
class ActuatorServosV1Translation {
public:
using MessageOlder = px4_msgs_old::msg::ActuatorServosV0;
static_assert(MessageOlder::MESSAGE_VERSION == 0);
using MessageNewer = px4_msgs::msg::ActuatorServos;
static_assert(MessageNewer::MESSAGE_VERSION == 1);
static constexpr const char* kTopic = "fmu/in/actuator_servos";
static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
msg_newer.timestamp = msg_older.timestamp;
msg_newer.timestamp_sample = msg_older.timestamp_sample;
for (int i = 0; i < 8; ++i) {
msg_newer.control[i] = msg_older.control[i];
}
// Channels 8-14 did not exist in v0; treat as disarmed
for (int i = 8; i < 15; ++i) {
msg_newer.control[i] = NAN;
}
}
static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
msg_older.timestamp = msg_newer.timestamp;
msg_older.timestamp_sample = msg_newer.timestamp_sample;
for (int i = 0; i < 8; ++i) {
msg_older.control[i] = msg_newer.control[i];
}
}
};
REGISTER_TOPIC_TRANSLATION_DIRECT(ActuatorServosV1Translation);