Add set actuator

dlech · May 4, 2021 · ec8ce8c · ec8ce8c
1 parent 8246091
commit ec8ce8c
Showing 1 changed file with 12 additions and 0 deletions.
diff --git a/protos/action/action.proto b/protos/action/action.proto
@@ -98,6 +98,10 @@ service ActionService {
      * it implies a change to a PX4-specific mode.
      */
     rpc Hold(HoldRequest) returns(HoldResponse) {}
+    /*
+     * Send command to set the value of an actuator.
+     */
+    rpc SetActuator(SetActuatorRequest) returns(SetActuatorResponse) {}
     /*
      * Send command to transition the drone to fixedwing.
      *
@@ -221,6 +225,14 @@ message HoldResponse {
     ActionResult action_result = 1;
 }
 
+message SetActuatorRequest {
+    int32 index = 1; // Index of actuator (starting with 1)
+    float value = 2; // Value to set the actuator to (normalized from [-1..1])
+}
+message SetActuatorResponse {
+    ActionResult action_result = 1;
+}
+
 message TransitionToFixedwingRequest {}
 message TransitionToFixedwingResponse {
     ActionResult action_result = 1;