From 8411852ff8ef967f7993076e6eaa2917d921d2a7 Mon Sep 17 00:00:00 2001 From: alexcekay Date: Fri, 1 May 2026 15:11:58 +0200 Subject: [PATCH] added ChannelConfig message for configuration of multi-actuator setups --- .../equipment/actuator/1012.ChannelConfig.uavcan | 15 +++++++++++++++ 1 file changed, 15 insertions(+) create mode 100644 uavcan/equipment/actuator/1012.ChannelConfig.uavcan diff --git a/uavcan/equipment/actuator/1012.ChannelConfig.uavcan b/uavcan/equipment/actuator/1012.ChannelConfig.uavcan new file mode 100644 index 0000000..9902d1c --- /dev/null +++ b/uavcan/equipment/actuator/1012.ChannelConfig.uavcan @@ -0,0 +1,15 @@ +# +# Actuator channel config. +# +# Configures which actuator handles which Command on which channel. +# More precisely, given i, Command[i] of ArrayCommand will be handled by +# actuator_channel[i] of the actuator actuator_id[i]. +# +# If devices don't support or are not configured to use this message, +# all actuators handle all Commands by default. +# + +uint8 NOT_CONFIGURED = 255 # Slot is unused. Receiver shall ignore it. + +uint8[15] actuator_id +uint8[15] actuator_channel