From d4bb652762b0dcbdb365340bf8c8607db6db9182 Mon Sep 17 00:00:00 2001
From: Calc1te <calcitevalentin@outlook.com>
Date: Mon, 23 Mar 2026 19:31:36 +0800
Subject: [PATCH 1/8] wip: VT13

---
 src/components/message_types/ReadVT13RC.vue | 113 ++++++++++++++++++++
 src/pages/module_settings.vue               |  31 ++++++
 src/utils/generate-module-def.js            |   4 +
 3 files changed, 148 insertions(+)
 create mode 100644 src/components/message_types/ReadVT13RC.vue

diff --git a/src/components/message_types/ReadVT13RC.vue b/src/components/message_types/ReadVT13RC.vue
new file mode 100644
index 0000000..a8682ec
--- /dev/null
+++ b/src/components/message_types/ReadVT13RC.vue
@@ -0,0 +1,113 @@
+<template>
+    <div>
+        <el-form-item label="Message Type" style="margin: 0">
+            <el-tag>custom_msgs/ReadDT17RC</el-tag>
+        </el-form-item>
+        <el-divider/>
+        <el-form-item class="havetag" label="header" style="margin: 0">
+            <el-tag size="small">std_msgs/Header</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="online" style="margin: 0">
+                <el-tag size="small">uint8</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="right_x" style="margin: 0">
+                <el-tag size="small">unit16</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="right_y" style="margin: 0">
+                <el-tag size="small">uint16</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="left_x" style="margin: 0">
+                <el-tag size="small">uint16</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="left_y" style="margin: 0">
+                <el-tag size="small">uint16</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="mode_switch" style="margin: 0">
+                <el-tag size="small">uint8</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="pause" style="margin: 0">
+                <el-tag size="small">uint8</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="left_btn" style="margin: 0">
+                <el-tag size="small">uint8</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="right_btn" style="margin: 0">
+                <el-tag size="small">uint8</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="dial" style="margin: 0">
+                <el-tag size="small">uint16</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="trigger" style="margin: 0">
+                <el-tag size="small">uint8</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="mouse_x" style="margin: 0">
+                <el-tag size="small">int16</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="mouse_y" style="margin: 0">
+                <el-tag size="small">int16</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="mouse_z" style="margin: 0">
+                <el-tag size="small">int16</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="mouse_left" style="margin: 0">
+                <el-tag size="small">uint8</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="mouse_right" style="margin: 0">
+                <el-tag size="small">uint8</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="mouse_middle" style="margin: 0">
+                <el-tag size="small">uint8</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="mouse_right" style="margin: 0">
+                <el-tag size="small">uint8</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="w" style="margin: 0">
+                <el-tag size="small">uint8</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="s" style="margin: 0">
+                <el-tag size="small">uint8</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="a" style="margin: 0">
+                <el-tag size="small">uint8</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="d" style="margin: 0">
+                <el-tag size="small">uint8</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="shift" style="margin: 0">
+                <el-tag size="small">uint8</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="ctrl" style="margin: 0">
+                <el-tag size="small">uint8</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="q" style="margin: 0">
+                <el-tag size="small">uint8</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="e" style="margin: 0">
+                <el-tag size="small">uint8</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="r" style="margin: 0">
+                <el-tag size="small">uint8</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="f" style="margin: 0">
+                <el-tag size="small">uint8</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="g" style="margin: 0">
+                <el-tag size="small">uint8</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="z" style="margin: 0">
+                <el-tag size="small">uint8</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="x" style="margin: 0">
+                <el-tag size="small">uint8</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="c" style="margin: 0">
+                <el-tag size="small">uint8</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="v" style="margin: 0">
+                <el-tag size="small">uint8</el-tag>
+        </el-form-item>
+        <el-form-item class="havetag" label="b" style="margin: 0">
+                <el-tag size="small">uint8</el-tag>
+        </el-form-item>
+    </div>
+</template>
\ No newline at end of file
diff --git a/src/pages/module_settings.vue b/src/pages/module_settings.vue
index d8d3107..0e142e0 100644
--- a/src/pages/module_settings.vue
+++ b/src/pages/module_settings.vue
@@ -29,6 +29,7 @@
               <div class="text item with_margin_bottom" style="margin: 30px">
                 <el-divider content-position="left">Add Task</el-divider>
                 <el-button @click="props.row.task.push(deepClone(examples.djirc))">DJI RC</el-button>
+                <el-button @click="props.row.task.push(deepClone(examples.djivt13))">DJI VT13</el-button>
                 <el-button @click="props.row.task.push(deepClone(examples.sbus_rc))">SBUS RC</el-button>
                 <el-button @click="props.row.task.push(deepClone(examples.hipnucimu_can))">HIPNUC IMU(CAN)</el-button>
                 <el-button @click="props.row.task.push(deepClone(examples.super_cap))">SUPER CAP(CAN)</el-button>
@@ -703,6 +704,28 @@
                           </el-form>
                         </div>
                       </div>
+                      <!--VT13-->
+                      <div v-else-if="props2.row.type === 14">
+                        <div class="text item" style="margin: 30px">
+                          <el-form label-position="left" label-width="50%" size="small">
+
+                            <el-divider content-position="left">Task Configuration</el-divider>
+                            <connection-lost-action-selector v-model="props2.row.connection_lost_read_action"
+                                                             label="Report"/>
+                            <el-divider content-position="left">ROS2 Configuration</el-divider>
+                            <ros2-topic-name-input
+                                :sub="false"
+                                :pub="true"
+                                :row="props2"
+                                :sn="props.row.sn"
+                                pub-label="DJI VT13"/>
+
+                            <el-divider content-position="left">ROS2 Message Definition - DJI VT13
+                            </el-divider>
+                            <ReadVT13/>
+                          </el-form>
+                        </div>
+                      </div>
                     </template>
                   </el-table-column>
 
@@ -778,6 +801,7 @@ import ControlPeriodInput from "@/components/ControlPeriodInput.vue";
 import NumberInput from "@/components/NumberInput.vue";
 import PortSelector from "@/components/PortSelector.vue";
 import ReadDJIRC from "@/components/message_types/ReadDJIRC.vue";
+import ReadVT13 from "@/conponents/message_types/ReadVT13RC.vue"
 import ReadLkMotor from "@/components/message_types/ReadLkMotor.vue";
 import WriteLkMotorOpenloopControl from "@/components/message_types/WriteLkMotorOpenloopControl.vue";
 import WriteLkMotorBroadcastCurrentControl from "@/components/message_types/WriteLkMotorBroadcastCurrentControl.vue";
@@ -833,6 +857,11 @@ export default {
           read_topic: '',
           connection_lost_read_action: 0x01,
         },
+        djivt13: {
+          type: 0x01,
+          read_topic: '',
+          connection_lost_read_action: 0x01,
+        },
         sbus_rc: {
           type: 11,
           read_topic: '',
@@ -1060,6 +1089,8 @@ export default {
           return "DM Motor"
         case 13:
           return "Super Capacitor"
+        case 14:
+          return "DJI VT13"
       }
     },
     removeModule(idx) {
diff --git a/src/utils/generate-module-def.js b/src/utils/generate-module-def.js
index b6aea01..1b691c6 100644
--- a/src/utils/generate-module-def.js
+++ b/src/utils/generate-module-def.js
@@ -283,6 +283,10 @@ export function generateModuleDef(module) {
                 pdowrite_offset += 4
                 break
             }
+            case 14: {
+                // TODO: find out how long this message is
+                // pdoread_offset += 
+            }
         }
     }
 

From e7b9c10aa81e82c29033fe75acc87a1979fe0794 Mon Sep 17 00:00:00 2001
From: Calc1te <calcitevalentin@outlook.com>
Date: Mon, 23 Mar 2026 19:59:20 +0800
Subject: [PATCH 2/8] feat(VT13): align with soem

---
 src/components/message_types/ReadVT13RC.vue | 36 +++++++++------------
 src/utils/generate-module-def.js            |  3 +-
 2 files changed, 16 insertions(+), 23 deletions(-)

diff --git a/src/components/message_types/ReadVT13RC.vue b/src/components/message_types/ReadVT13RC.vue
index a8682ec..d6109a5 100644
--- a/src/components/message_types/ReadVT13RC.vue
+++ b/src/components/message_types/ReadVT13RC.vue
@@ -7,25 +7,22 @@
         <el-form-item class="havetag" label="header" style="margin: 0">
             <el-tag size="small">std_msgs/Header</el-tag>
         </el-form-item>
-        <el-form-item class="havetag" label="online" style="margin: 0">
-                <el-tag size="small">uint8</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="right_x" style="margin: 0">
-                <el-tag size="small">unit16</el-tag>
+        <el-form-item class="havetag" label="right_joystick_x" style="margin: 0">
+                <el-tag size="small">float32</el-tag>
         </el-form-item>
-        <el-form-item class="havetag" label="right_y" style="margin: 0">
-                <el-tag size="small">uint16</el-tag>
+        <el-form-item class="havetag" label="right_joystick_y" style="margin: 0">
+                <el-tag size="small">float32</el-tag>
         </el-form-item>
-        <el-form-item class="havetag" label="left_x" style="margin: 0">
-                <el-tag size="small">uint16</el-tag>
+        <el-form-item class="havetag" label="left_joystick_x" style="margin: 0">
+                <el-tag size="small">float32</el-tag>
         </el-form-item>
-        <el-form-item class="havetag" label="left_y" style="margin: 0">
-                <el-tag size="small">uint16</el-tag>
+        <el-form-item class="havetag" label="left_joystick_y" style="margin: 0">
+                <el-tag size="small">float32</el-tag>
         </el-form-item>
-        <el-form-item class="havetag" label="mode_switch" style="margin: 0">
+        <el-form-item class="havetag" label="gear_switching" style="margin: 0">
                 <el-tag size="small">uint8</el-tag>
         </el-form-item>
-        <el-form-item class="havetag" label="pause" style="margin: 0">
+        <el-form-item class="havetag" label="pause_button" style="margin: 0">
                 <el-tag size="small">uint8</el-tag>
         </el-form-item>
         <el-form-item class="havetag" label="left_btn" style="margin: 0">
@@ -35,19 +32,19 @@
                 <el-tag size="small">uint8</el-tag>
         </el-form-item>
         <el-form-item class="havetag" label="dial" style="margin: 0">
-                <el-tag size="small">uint16</el-tag>
+                <el-tag size="small">float32</el-tag>
         </el-form-item>
         <el-form-item class="havetag" label="trigger" style="margin: 0">
                 <el-tag size="small">uint8</el-tag>
         </el-form-item>
         <el-form-item class="havetag" label="mouse_x" style="margin: 0">
-                <el-tag size="small">int16</el-tag>
+                <el-tag size="small">float32</el-tag>
         </el-form-item>
         <el-form-item class="havetag" label="mouse_y" style="margin: 0">
-                <el-tag size="small">int16</el-tag>
+                <el-tag size="small">float32</el-tag>
         </el-form-item>
-        <el-form-item class="havetag" label="mouse_z" style="margin: 0">
-                <el-tag size="small">int16</el-tag>
+        <el-form-item class="havetag" label="mouse_wheel" style="margin: 0">
+                <el-tag size="small">float32</el-tag>
         </el-form-item>
         <el-form-item class="havetag" label="mouse_left" style="margin: 0">
                 <el-tag size="small">uint8</el-tag>
@@ -58,9 +55,6 @@
         <el-form-item class="havetag" label="mouse_middle" style="margin: 0">
                 <el-tag size="small">uint8</el-tag>
         </el-form-item>
-        <el-form-item class="havetag" label="mouse_right" style="margin: 0">
-                <el-tag size="small">uint8</el-tag>
-        </el-form-item>
         <el-form-item class="havetag" label="w" style="margin: 0">
                 <el-tag size="small">uint8</el-tag>
         </el-form-item>
diff --git a/src/utils/generate-module-def.js b/src/utils/generate-module-def.js
index 1b691c6..f66d94e 100644
--- a/src/utils/generate-module-def.js
+++ b/src/utils/generate-module-def.js
@@ -284,8 +284,7 @@ export function generateModuleDef(module) {
                 break
             }
             case 14: {
-                // TODO: find out how long this message is
-                // pdoread_offset += 
+                pdoread_offset += 21
             }
         }
     }

From f1b591c5c9b5e492243fa9b20fb36f8608a44b30 Mon Sep 17 00:00:00 2001
From: Calc1te <calcitevalentin@outlook.com>
Date: Mon, 23 Mar 2026 20:01:28 +0800
Subject: [PATCH 3/8] fix: typo

---
 src/components/message_types/ReadVT13RC.vue | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/components/message_types/ReadVT13RC.vue b/src/components/message_types/ReadVT13RC.vue
index d6109a5..15974e5 100644
--- a/src/components/message_types/ReadVT13RC.vue
+++ b/src/components/message_types/ReadVT13RC.vue
@@ -1,7 +1,7 @@
 <template>
     <div>
         <el-form-item label="Message Type" style="margin: 0">
-            <el-tag>custom_msgs/ReadDT17RC</el-tag>
+            <el-tag>custom_msgs/ReadVT13RC</el-tag>
         </el-form-item>
         <el-divider/>
         <el-form-item class="havetag" label="header" style="margin: 0">

From e710bdbf16a8aba9f86004483d2aea2e6ca8562d Mon Sep 17 00:00:00 2001
From: Calc1te <calcitevalentin@outlook.com>
Date: Mon, 23 Mar 2026 20:05:00 +0800
Subject: [PATCH 4/8] fix: typo

---
 src/pages/module_settings.vue | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/pages/module_settings.vue b/src/pages/module_settings.vue
index 0e142e0..1069b9c 100644
--- a/src/pages/module_settings.vue
+++ b/src/pages/module_settings.vue
@@ -801,7 +801,7 @@ import ControlPeriodInput from "@/components/ControlPeriodInput.vue";
 import NumberInput from "@/components/NumberInput.vue";
 import PortSelector from "@/components/PortSelector.vue";
 import ReadDJIRC from "@/components/message_types/ReadDJIRC.vue";
-import ReadVT13 from "@/conponents/message_types/ReadVT13RC.vue"
+import ReadVT13 from "@/components/message_types/ReadVT13RC.vue"
 import ReadLkMotor from "@/components/message_types/ReadLkMotor.vue";
 import WriteLkMotorOpenloopControl from "@/components/message_types/WriteLkMotorOpenloopControl.vue";
 import WriteLkMotorBroadcastCurrentControl from "@/components/message_types/WriteLkMotorBroadcastCurrentControl.vue";

From fcc93a1ba5b292004ffc42accb98a0cb30940946 Mon Sep 17 00:00:00 2001
From: Calc1te <calcitevalentin@outlook.com>
Date: Mon, 23 Mar 2026 20:08:20 +0800
Subject: [PATCH 5/8] fix: missing component

---
 src/pages/module_settings.vue | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/pages/module_settings.vue b/src/pages/module_settings.vue
index 1069b9c..b9b4759 100644
--- a/src/pages/module_settings.vue
+++ b/src/pages/module_settings.vue
@@ -828,6 +828,7 @@ export default {
     ReadLkMotorMulti,
     ReadLkMotor,
     ReadDJIRC,
+    ReadVT13,
     PortSelector,
     NumberInput,
     CanSelector,

From 5da2be9f8cdcc54ad88d50bd859e953df5e6298e Mon Sep 17 00:00:00 2001
From: Calc1te <calcitevalentin@outlook.com>
Date: Mon, 23 Mar 2026 20:12:50 +0800
Subject: [PATCH 6/8] fix(vt13): task mismatch

---
 src/pages/module_settings.vue | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/pages/module_settings.vue b/src/pages/module_settings.vue
index b9b4759..8a9fa8f 100644
--- a/src/pages/module_settings.vue
+++ b/src/pages/module_settings.vue
@@ -859,7 +859,7 @@ export default {
           connection_lost_read_action: 0x01,
         },
         djivt13: {
-          type: 0x01,
+          type: 14,
           read_topic: '',
           connection_lost_read_action: 0x01,
         },

From 37faa28acff89dea05cd735ceb446562e11ba979 Mon Sep 17 00:00:00 2001
From: Calc1te <calcitevalentin@outlook.com>
Date: Wed, 25 Mar 2026 21:56:47 +0800
Subject: [PATCH 7/8] fix(VT): offset_align

---
 src/utils/generate-module-def.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/utils/generate-module-def.js b/src/utils/generate-module-def.js
index f66d94e..f34eb29 100644
--- a/src/utils/generate-module-def.js
+++ b/src/utils/generate-module-def.js
@@ -284,7 +284,7 @@ export function generateModuleDef(module) {
                 break
             }
             case 14: {
-                pdoread_offset += 21
+                pdoread_offset += 17
             }
         }
     }

From c211d9f46b350f37bc7bb037ecdc88c26d816a4b Mon Sep 17 00:00:00 2001
From: Hang <me@hangxu.me>
Date: Tue, 14 Apr 2026 13:00:26 +0800
Subject: [PATCH 8/8] fix: update msg body

---
 src/components/message_types/ReadVT13RC.vue | 217 ++++++++++----------
 src/pages/module_settings.vue               |   3 +
 src/utils/generate-module-def.js            |   2 +-
 3 files changed, 115 insertions(+), 107 deletions(-)

diff --git a/src/components/message_types/ReadVT13RC.vue b/src/components/message_types/ReadVT13RC.vue
index 15974e5..e7e137b 100644
--- a/src/components/message_types/ReadVT13RC.vue
+++ b/src/components/message_types/ReadVT13RC.vue
@@ -1,107 +1,112 @@
+<script>
+</script>
 <template>
-    <div>
-        <el-form-item label="Message Type" style="margin: 0">
-            <el-tag>custom_msgs/ReadVT13RC</el-tag>
-        </el-form-item>
-        <el-divider/>
-        <el-form-item class="havetag" label="header" style="margin: 0">
-            <el-tag size="small">std_msgs/Header</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="right_joystick_x" style="margin: 0">
-                <el-tag size="small">float32</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="right_joystick_y" style="margin: 0">
-                <el-tag size="small">float32</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="left_joystick_x" style="margin: 0">
-                <el-tag size="small">float32</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="left_joystick_y" style="margin: 0">
-                <el-tag size="small">float32</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="gear_switching" style="margin: 0">
-                <el-tag size="small">uint8</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="pause_button" style="margin: 0">
-                <el-tag size="small">uint8</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="left_btn" style="margin: 0">
-                <el-tag size="small">uint8</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="right_btn" style="margin: 0">
-                <el-tag size="small">uint8</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="dial" style="margin: 0">
-                <el-tag size="small">float32</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="trigger" style="margin: 0">
-                <el-tag size="small">uint8</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="mouse_x" style="margin: 0">
-                <el-tag size="small">float32</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="mouse_y" style="margin: 0">
-                <el-tag size="small">float32</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="mouse_wheel" style="margin: 0">
-                <el-tag size="small">float32</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="mouse_left" style="margin: 0">
-                <el-tag size="small">uint8</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="mouse_right" style="margin: 0">
-                <el-tag size="small">uint8</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="mouse_middle" style="margin: 0">
-                <el-tag size="small">uint8</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="w" style="margin: 0">
-                <el-tag size="small">uint8</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="s" style="margin: 0">
-                <el-tag size="small">uint8</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="a" style="margin: 0">
-                <el-tag size="small">uint8</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="d" style="margin: 0">
-                <el-tag size="small">uint8</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="shift" style="margin: 0">
-                <el-tag size="small">uint8</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="ctrl" style="margin: 0">
-                <el-tag size="small">uint8</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="q" style="margin: 0">
-                <el-tag size="small">uint8</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="e" style="margin: 0">
-                <el-tag size="small">uint8</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="r" style="margin: 0">
-                <el-tag size="small">uint8</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="f" style="margin: 0">
-                <el-tag size="small">uint8</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="g" style="margin: 0">
-                <el-tag size="small">uint8</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="z" style="margin: 0">
-                <el-tag size="small">uint8</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="x" style="margin: 0">
-                <el-tag size="small">uint8</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="c" style="margin: 0">
-                <el-tag size="small">uint8</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="v" style="margin: 0">
-                <el-tag size="small">uint8</el-tag>
-        </el-form-item>
-        <el-form-item class="havetag" label="b" style="margin: 0">
-                <el-tag size="small">uint8</el-tag>
-        </el-form-item>
-    </div>
-</template>
\ No newline at end of file
+  <div>
+    <el-form-item label="Message Type" style="margin: 0">
+      <el-tag>custom_msgs/ReadVT13RC</el-tag>
+    </el-form-item>
+    <el-divider/>
+    <el-form-item class="havetag" label="header" style="margin: 0">
+      <el-tag size="small">std_msgs/Header</el-tag>
+    </el-form-item>
+    <el-form-item class="havetag" label="left_x" style="margin: 0">
+      <el-tag size="small">float32</el-tag>
+    </el-form-item>
+    <el-form-item class="havetag" label="left_y" style="margin: 0">
+      <el-tag size="small">float32</el-tag>
+    </el-form-item>
+    <el-form-item class="havetag" label="right_x" style="margin: 0">
+      <el-tag size="small">float32</el-tag>
+    </el-form-item>
+    <el-form-item class="havetag" label="right_y" style="margin: 0">
+      <el-tag size="small">float32</el-tag>
+    </el-form-item>
+    <el-form-item class="havetag" label="dial" style="margin: 0">
+      <el-tag size="small">float32</el-tag>
+    </el-form-item>
+
+    <el-form-item class="havetag" label="gear_switching" style="margin: 0">
+      <el-tag size="small">uint8</el-tag>
+    </el-form-item>
+    <el-form-item class="havetag" label="pause_button" style="margin: 0">
+      <el-tag size="small">uint8</el-tag>
+    </el-form-item>
+    <el-form-item class="havetag" label="left_custom_button" style="margin: 0">
+      <el-tag size="small">uint8</el-tag>
+    </el-form-item>
+    <el-form-item class="havetag" label="right_custom_button" style="margin: 0">
+      <el-tag size="small">uint8</el-tag>
+    </el-form-item>
+    <el-form-item class="havetag" label="trigger_button" style="margin: 0">
+      <el-tag size="small">uint8</el-tag>
+    </el-form-item>
+    <el-form-item class="havetag" label="w" style="margin: 0">
+      <el-tag size="small">uint8</el-tag>
+    </el-form-item>
+    <el-form-item class="havetag" label="s" style="margin: 0">
+      <el-tag size="small">uint8</el-tag>
+    </el-form-item>
+    <el-form-item class="havetag" label="a" style="margin: 0">
+      <el-tag size="small">uint8</el-tag>
+    </el-form-item>
+    <el-form-item class="havetag" label="d" style="margin: 0">
+      <el-tag size="small">uint8</el-tag>
+    </el-form-item>
+    <el-form-item class="havetag" label="q" style="margin: 0">
+      <el-tag size="small">uint8</el-tag>
+    </el-form-item>
+    <el-form-item class="havetag" label="e" style="margin: 0">
+      <el-tag size="small">uint8</el-tag>
+    </el-form-item>
+    <el-form-item class="havetag" label="r" style="margin: 0">
+      <el-tag size="small">uint8</el-tag>
+    </el-form-item>
+    <el-form-item class="havetag" label="f" style="margin: 0">
+      <el-tag size="small">uint8</el-tag>
+    </el-form-item>
+    <el-form-item class="havetag" label="g" style="margin: 0">
+      <el-tag size="small">uint8</el-tag>
+    </el-form-item>
+    <el-form-item class="havetag" label="z" style="margin: 0">
+      <el-tag size="small">uint8</el-tag>
+    </el-form-item>
+    <el-form-item class="havetag" label="x" style="margin: 0">
+      <el-tag size="small">uint8</el-tag>
+    </el-form-item>
+    <el-form-item class="havetag" label="c" style="margin: 0">
+      <el-tag size="small">uint8</el-tag>
+    </el-form-item>
+    <el-form-item class="havetag" label="v" style="margin: 0">
+      <el-tag size="small">uint8</el-tag>
+    </el-form-item>
+    <el-form-item class="havetag" label="b" style="margin: 0">
+      <el-tag size="small">uint8</el-tag>
+    </el-form-item>
+    <el-form-item class="havetag" label="shift" style="margin: 0">
+      <el-tag size="small">uint8</el-tag>
+    </el-form-item>
+    <el-form-item class="havetag" label="ctrl" style="margin: 0">
+      <el-tag size="small">uint8</el-tag>
+    </el-form-item>
+
+    <el-form-item class="havetag" label="mouse_x" style="margin: 0">
+      <el-tag size="small">int16</el-tag>
+    </el-form-item>
+    <el-form-item class="havetag" label="mouse_y" style="margin: 0">
+      <el-tag size="small">int16</el-tag>
+    </el-form-item>
+    <el-form-item class="havetag" label="mouse_y" style="margin: 0">
+      <el-tag size="small">int16</el-tag>
+    </el-form-item>
+
+    <el-form-item class="havetag" label="mouse_left_clicked" style="margin: 0">
+      <el-tag size="small">uint8</el-tag>
+    </el-form-item>
+    <el-form-item class="havetag" label="mouse_mid_clicked" style="margin: 0">
+      <el-tag size="small">uint8</el-tag>
+    </el-form-item>
+    <el-form-item class="havetag" label="mouse_right_clicked" style="margin: 0">
+      <el-tag size="small">uint8</el-tag>
+    </el-form-item>
+  </div>
+</template>
diff --git a/src/pages/module_settings.vue b/src/pages/module_settings.vue
index 8a9fa8f..34e8ef0 100644
--- a/src/pages/module_settings.vue
+++ b/src/pages/module_settings.vue
@@ -31,6 +31,9 @@
                 <el-button @click="props.row.task.push(deepClone(examples.djirc))">DJI RC</el-button>
                 <el-button @click="props.row.task.push(deepClone(examples.djivt13))">DJI VT13</el-button>
                 <el-button @click="props.row.task.push(deepClone(examples.sbus_rc))">SBUS RC</el-button>
+                <el-divider direction="vertical"/>
+
+
                 <el-button @click="props.row.task.push(deepClone(examples.hipnucimu_can))">HIPNUC IMU(CAN)</el-button>
                 <el-button @click="props.row.task.push(deepClone(examples.super_cap))">SUPER CAP(CAN)</el-button>
                 <!--                <el-button @click="props.row.task.push(deepClone(examples.ms5837_30ba))">MS5837(30BA) *UNTESTED-->
diff --git a/src/utils/generate-module-def.js b/src/utils/generate-module-def.js
index f34eb29..efe8ec6 100644
--- a/src/utils/generate-module-def.js
+++ b/src/utils/generate-module-def.js
@@ -284,7 +284,7 @@ export function generateModuleDef(module) {
                 break
             }
             case 14: {
-                pdoread_offset += 17
+                pdoread_offset += 18
             }
         }
     }