Add support for generic payloads

[vivian-zhou-skydio]

• Add MAV_CMD_GENERIC_PAYLOAD_FUNCTIONS_CONTROL, GENERIC_PAYLOAD_STATUS,GENERIC_PAYLOAD_FUNCTION_STATUS, and GENERIC_PAYLOAD_ERROR_FLAGS to development.xml

GENERIC_PAYLOAD_STATUS is the status for the generic payload, and GENERIC_PAYLOAD_FUNCTION_STATUS is the status for individual function(s) of the generic payload that can be controlled via MAV_CMD_GENERIC_PAYLOAD_FUNCTIONS_CONTROL.
MAV_CMD_GENERIC_PAYLOAD_FUNCTIONS_CONTROL is used to control payload functions. It can be used for simple control such as ON/OFF of a flashlight. It can also be used to control multiple functions of a component such as arm/disarm and deployment of a parachute.

Topic: generic_payload

[vivian-zhou-skydio]

Reviews in this chain:
└#3 Add support for generic payloads

[vivian-zhou-skydio]

#	head	base	diff	date	summary
0	112e1ab4	01e0cc2f	diff	Nov 15 17:32 PM	1 file changed, 10 insertions(+)
1	91451e44	01e0cc2f	diff	Nov 19 13:53 PM	1 file changed, 20 insertions(+), 2 deletions(-)
2	c5f7ed27	01e0cc2f	diff	Dec 18 14:22 PM	1 file changed, 10 insertions(+), 9 deletions(-)
3	7b83b105	01e0cc2f	diff	Dec 19 14:15 PM	1 file changed, 10 insertions(+), 2 deletions(-)

[thomas-watters-skydio]

Suggested change

	<entry value="404" name="MAV_CMD_GENERIC_PAYLOAD_ON_OFF" hasLocation="false" isDestination="false">
	<description>Allows for ON and OFF control for a generic payload.</description>
	<param index="1" label="Enable" minValue="0" maxValue="1" increment="1">0: Generic payload OFF, 1: Generic payload ON</param>
	</entry>
	<entry value="404" name="MAV_CMD_GENERIC_PAYLOAD_DIGITAL_INPUT" hasLocation="false" isDestination="false">
	<param index="1" label="Index/Pin" minValue="0" maxValue="1" increment="1">Index of Pin/Sub-Component</param>
	<param index="2" label="Set Point" minValue="0" maxValue="1" increment="1">0: LOW/OFF 1: HI/ON</param>
	</entry>

Is there a world where we would like a component to be able to advertise multiple binary switches. this could be for like say Arming a parachute and then Deploying a parachute. We could achieve this with indexing the Input/Outputs

GENERIC_PAYLOAD_STATUS could have overall payload status, and then we'd have another message say GENERIC_PAYLOAD_DIGITAL_STATUS which carries the set point of the index/pin

[thomas-watters-skydio]

UI for primary/secondary/tertiary switches could be discovered based on GENERIC_PAYLOAD_DIGITAL_STATUS

[vivian-zhou-skydio]

Hi, this is a great idea. I just changed the naming slightly since I wasn't sure if DIGITAL_INPUT would get the idea across. Reviewed the rest with @amy-chen-skydio. Happy to get your input!

[thomas-watters-skydio]

we either need this message to have an index field to correspon to the FUNCTIONS_CONTROL message, or if this is communicating the payload power on/off then we need to have another separate message to publish the status of the FUNCTIONS_CONTROL state

[vivian-zhou-skydio]

@thomas-watters-skydio Uploaded changes to include a new function status message. Let me know what you think! :)

[amy-chen-skydio]

lgtm!