add changing control mode of heartbeat through service

2023-05-10 15:31:37 +02:00
parent b1dbd291a8
commit 7ad74287e4
3 changed files with 48 additions and 12 deletions
--- a/src/drone_services/srv/SetVehicleControl.srv
+++ b/src/drone_services/srv/SetVehicleControl.srv
@@ -1,3 +1,11 @@
+# bitmask for control:
+# bit 0: actuator
+# bit 1: body rate
+# bit 2: attitude
+# bit 3: acceleration
+# bit 4: velocity
+# bit 5: position
+
 int32 control # control bitmask
 ---
 int8 status # status of operation