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Unify motor function mapping checks to only depend on the interface

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Matthias Grob
2026-02-23 14:02:56 +01:00
parent 8bb82c70ee
commit 6361b4cd7e
7 changed files with 17 additions and 30 deletions
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13
msg/EscReport.msg
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@@ -11,19 +11,8 @@ uint8 esc_cmdcount # Counter of number of commands
uint8 esc_state # State of ESC - depend on Vendor
uint8 actuator_function # actuator output function (one of Motor1...MotorN)
uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
uint8 ACTUATOR_FUNCTION_MOTOR2 = 102
uint8 ACTUATOR_FUNCTION_MOTOR3 = 103
uint8 ACTUATOR_FUNCTION_MOTOR4 = 104
uint8 ACTUATOR_FUNCTION_MOTOR5 = 105
uint8 ACTUATOR_FUNCTION_MOTOR6 = 106
uint8 ACTUATOR_FUNCTION_MOTOR7 = 107
uint8 ACTUATOR_FUNCTION_MOTOR8 = 108
uint8 ACTUATOR_FUNCTION_MOTOR9 = 109
uint8 ACTUATOR_FUNCTION_MOTOR10 = 110
uint8 ACTUATOR_FUNCTION_MOTOR11 = 111
uint8 ACTUATOR_FUNCTION_MOTOR12 = 112
uint8 ACTUATOR_FUNCTION_MOTOR_MAX = 112 # output_functions.yaml Motor.start + Motor.count - 1
uint16 failures # Bitmask to indicate the internal ESC faults
int8 esc_power # Applied power 0-100 in % (negative values reserved)

4
msg/versioned/ActuatorMotors.msg
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@@ -10,7 +10,7 @@ uint64 timestamp_sample # [us] Sampling timestamp of the data this control respo
uint16 reversible_flags # [-] Bitset indicating which motors are configured to be reversible
uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 # output_functions.yaml Motor.start
uint8 NUM_CONTROLS = 12
uint8 NUM_CONTROLS = 12 # output_functions.yaml Motor.count
float32[12] control # [@range -1, 1] Normalized thrust. Where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)