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added ChannelConfig message for configuration of multi-actuator setups #80

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added ChannelConfig message for configuration of multi-actuator setups #80

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15 changes: 15 additions & 0 deletions uavcan/equipment/actuator/1012.ChannelConfig.uavcan
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Original file line number Diff line number Diff line change
@@ -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