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feat(manual_control): trigger RC override on stick velocity

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COM_RC_STICK_OV is now a velocity threshold (1/s) instead of a deflection percentage.
Default 3.0, range [1.0, 10.0]. A stick held statically cannot trigger override.
This commit is contained in:
gguidone
2026-04-27 17:06:41 +02:00
parent 3965d84e64
commit 1619133fef
2 changed files with 17 additions and 15 deletions
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src/modules/commander/commander_params.yaml
+10 -9
View File
@@ -308,17 +308,18 @@ parameters:
max: 3
COM_RC_STICK_OV:
description:
short: Stick override threshold
short: Stick override velocity threshold
long: |-
If COM_RC_OVERRIDE is enabled and the joystick input is moved more than this threshold
the pilot takes over control.
If COM_RC_OVERRIDE is enabled, the pilot takes over control when any stick velocity
exceeds this threshold. Unit is normalized stick travel per second: at the default
3.0, a half-stick movement in ~170 ms triggers override. Lower = more sensitive.
type: float
default: 30.0
unit: '%'
min: 5
max: 80
decimal: 0
increment: 0.05
default: 3.0
unit: '1/s'
min: 1.0
max: 10.0
decimal: 1
increment: 0.5
COM_ARM_MIS_REQ:
description:
short: Require valid mission to arm
src/modules/manual_control/ManualControl.cpp
+7 -6
View File
@@ -123,14 +123,15 @@ void ManualControl::processInput(hrt_abstime now)
processStickArming(_selector.setpoint());
// User override by stick
// User override by stick: any axis velocity exceeds COM_RC_STICK_OV
const float dt_s = (now - _timestamp_last_loop) / 1e6f;
const float minimum_stick_change = 0.01f * _param_com_rc_stick_ov.get();
const float velocity_threshold = _param_com_rc_stick_ov.get();
_selector.setpoint().sticks_moving = (fabsf(_roll_diff.update(_selector.setpoint().roll, dt_s)) > minimum_stick_change)
|| (fabsf(_pitch_diff.update(_selector.setpoint().pitch, dt_s)) > minimum_stick_change)
|| (fabsf(_yaw_diff.update(_selector.setpoint().yaw, dt_s)) > minimum_stick_change)
|| (fabsf(_throttle_diff.update(_selector.setpoint().throttle, dt_s)) > minimum_stick_change);
_selector.setpoint().sticks_moving =
(fabsf(_roll_diff.update(_selector.setpoint().roll, dt_s)) > velocity_threshold)
|| (fabsf(_pitch_diff.update(_selector.setpoint().pitch, dt_s)) > velocity_threshold)
|| (fabsf(_yaw_diff.update(_selector.setpoint().yaw, dt_s)) > velocity_threshold)
|| (fabsf(_throttle_diff.update(_selector.setpoint().throttle, dt_s)) > velocity_threshold);
_selector.setpoint().timestamp = now;
_manual_control_setpoint_pub.publish(_selector.setpoint());