From 7fb8a7338a021e7298915c3b7e9c0139d5646c9c Mon Sep 17 00:00:00 2001 From: Juan Pablo Pino Bravo Date: Fri, 7 Nov 2025 16:13:46 +0100 Subject: [PATCH 1/3] Add set point feedback to the servo messages --- protobuf_definitions/message_formats.proto | 2 ++ 1 file changed, 2 insertions(+) diff --git a/protobuf_definitions/message_formats.proto b/protobuf_definitions/message_formats.proto index f7cb70e8..3ca6a4e1 100644 --- a/protobuf_definitions/message_formats.proto +++ b/protobuf_definitions/message_formats.proto @@ -1108,11 +1108,13 @@ message CpProbe { message GenericServo { float value = 1; // Servo value (0..1). GuestPortNumber guest_port_number = 2; // Guest port the servo is on. + float set_point = 3; // Servo set point (0..1). } // Servo message used to represent the angle of the servo. message MultibeamServo { float angle = 1; // Servo degrees (-30..30). + float set_point = 2; // Servo set point (-30..30). } // GuestPort current readings. From 2716831e877d153e872fdf3ca268f58a221b68bf Mon Sep 17 00:00:00 2001 From: Juan Pablo Pino Bravo Date: Fri, 7 Nov 2025 16:16:11 +0100 Subject: [PATCH 2/3] Only show set point on pub --- protobuf_definitions/message_formats.proto | 2 -- protobuf_definitions/telemetry.proto | 2 ++ 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/protobuf_definitions/message_formats.proto b/protobuf_definitions/message_formats.proto index 3ca6a4e1..f7cb70e8 100644 --- a/protobuf_definitions/message_formats.proto +++ b/protobuf_definitions/message_formats.proto @@ -1108,13 +1108,11 @@ message CpProbe { message GenericServo { float value = 1; // Servo value (0..1). GuestPortNumber guest_port_number = 2; // Guest port the servo is on. - float set_point = 3; // Servo set point (0..1). } // Servo message used to represent the angle of the servo. message MultibeamServo { float angle = 1; // Servo degrees (-30..30). - float set_point = 2; // Servo set point (-30..30). } // GuestPort current readings. diff --git a/protobuf_definitions/telemetry.proto b/protobuf_definitions/telemetry.proto index 05183dc1..ae94e396 100644 --- a/protobuf_definitions/telemetry.proto +++ b/protobuf_definitions/telemetry.proto @@ -236,11 +236,13 @@ message ConnectedClientsTel { // State of a generic servo. message GenericServoTel { GenericServo servo = 1; // Servo state. + float set_point = 2; // Servo set point (0..1). } // State of the servo installed in the multibeam. message MultibeamServoTel { MultibeamServo servo = 1; // Multibeam servo state. + MultibeamServo set_point = 1; // Multibeam servo state. } // GuestPort current readings. From b126352af9f2b8ba991fab14ac11ee4c7dcd02ab Mon Sep 17 00:00:00 2001 From: Juan Pablo Pino Bravo Date: Fri, 7 Nov 2025 16:19:42 +0100 Subject: [PATCH 3/3] Set both set points to float --- protobuf_definitions/telemetry.proto | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/protobuf_definitions/telemetry.proto b/protobuf_definitions/telemetry.proto index ae94e396..724784a4 100644 --- a/protobuf_definitions/telemetry.proto +++ b/protobuf_definitions/telemetry.proto @@ -242,7 +242,7 @@ message GenericServoTel { // State of the servo installed in the multibeam. message MultibeamServoTel { MultibeamServo servo = 1; // Multibeam servo state. - MultibeamServo set_point = 1; // Multibeam servo state. + float set_point = 2; // Servo set point (-30..30). } // GuestPort current readings.