[message] quadplane and moving wing state message

paparazzi · Sep 28, 2023 · 9bf4c07 · 9bf4c07
1 parent 04658b5
commit 9bf4c07
Showing 1 changed file with 9 additions and 1 deletion.
diff --git a/message_definitions/v1.0/messages.xml b/message_definitions/v1.0/messages.xml
@@ -1711,7 +1711,15 @@
       <field name="delay_ns" type="uint32"/>
     </message>
 
-    <!-- 181 is free -->
+    <message name="ROTATING_WING_STATE" id="181">
+      <field name="current_state" type="uint8" values="QUAD|SKEW|FW_THRUST|FW_IDLE|FW|FREE"/>
+      <field name="desired_state" type="uint8" values="QUAD|SKEW|FW_THRUST|FW_IDLE|FW|FREE"/>
+      <field name="wing_angle_deg"      type="float"/>
+      <field name="wing_angle_deg_sp"   type="float"/>
+      <field name="ADC_position"        type="uint16"/>
+      <field name="pprz_cmd"            type="int32"/>
+    </message>
+
     <!-- 182 is free -->
 
     <message name="DOUBLET" id="183">