fbs/control.fbs
Namespace: synapse.topic
Includes: types.fbs
| Kind | Name | Description |
|---|---|---|
enum | ManualControlAxes | Axis-validity bits for ManualControlData.active_axes. |
enum | ManualControlFlags | Switch and validity bits for ManualControlData.flags. |
enum | AttitudeCommandMask | Ignore bits for AttitudeCommandData.type_mask. |
enum | RateCommandMask | Ignore bits for RateCommandData.type_mask. |
enum | LocalPositionCommandMask | Ignore and interpretation bits for LocalPositionCommandData.type_mask. |
struct | RadioControlData | Raw receiver channel sample before pilot-input normalization. This is a raw-layer topic: channel values are the receiver’s native pulse widths. |
struct | ManualControlData | Normalized pilot intent after receiver decoding, mapping, and validity checks. Axis fields use the full range -1000 to 1000. Throttle semantics are fixed by the schema: negative values command reverse thrust or descent; unidirectional vehicles clamp negative throttle to zero. Axis validity is carried only by active_axes; there are no sentinel values. |
struct | AttitudeCommandData | Attitude setpoint with optional angular-rate and thrust feed-forward. |
struct | RateCommandData | Body-rate setpoint with optional thrust feed-forward. |
struct | LocalPositionCommandData | Local-frame position, velocity, acceleration, and yaw setpoint. |
struct | VehicleCommandData | Generic command with seven floating-point arguments. Commands travel as Zenoh queryable requests on the cmd key space; the reply payload is CommandResultData. The transport provides correlation, retry, and timeout. |
struct | GeoCommandData | Geographic command form preserving global-coordinate precision. Also used as the mission-item payload for mission transfer. |
struct | CommandResultData | Result, progress, and routing information for command execution. Sent as the queryable reply for command requests; InProgress replies may stream until a terminal result is reached. |
struct | ActuatorCommandData | Normalized actuator command for up to sixteen logical actuator controls. |
struct | ActuatorFeedbackData | Normalized actuator feedback for up to thirty-two physical outputs. The command message carries sixteen logical controls while feedback covers thirty-two physical outputs after mixing and allocation. |
struct | PwmSignalOutputsData | Raw PWM pulse-width outputs for servo and ESC drivers. |
struct | ControlLoopMetricsData | Runtime metrics for a control loop or scheduler slice. |
table | RadioControl -> RadioControlData | FlatBuffers root wrapper for RadioControlData. |
table | ManualControlCommand -> ManualControlData | FlatBuffers root wrapper for ManualControlData. |
table | AttitudeCommand -> AttitudeCommandData | FlatBuffers root wrapper for AttitudeCommandData. |
table | RateCommand -> RateCommandData | FlatBuffers root wrapper for RateCommandData. |
table | LocalPositionCommand -> LocalPositionCommandData | FlatBuffers root wrapper for LocalPositionCommandData. |
table | VehicleCommand -> VehicleCommandData | FlatBuffers root wrapper for VehicleCommandData. |
table | GeoCommand -> GeoCommandData | FlatBuffers root wrapper for GeoCommandData. |
table | CommandResult -> CommandResultData | FlatBuffers root wrapper for CommandResultData. |
table | ActuatorCommand -> ActuatorCommandData | FlatBuffers root wrapper for ActuatorCommandData. |
table | ActuatorFeedback -> ActuatorFeedbackData | FlatBuffers root wrapper for ActuatorFeedbackData. |
table | PwmSignalOutputs -> PwmSignalOutputsData | FlatBuffers root wrapper for PwmSignalOutputsData. |
table | ControlLoopMetrics -> ControlLoopMetricsData | FlatBuffers root wrapper for ControlLoopMetricsData. |