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# ManualControlSetpoint (UORB message)

**TOPICS:** manual_control_setpoint manual_control_input

## Fields

| Name             | Type      | Unit [Frame] | Range/Enum | Description                                                                     |
| ---------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------------- |
| timestamp        | `uint64`  |              |            | time since system start (microseconds)                                          |
| timestamp_sample | `uint64`  |              |            | the timestamp of the raw data (microseconds)                                    |
| valid            | `bool`    |              |            |
| data_source      | `uint8`   |              |            |
| roll             | `float32` |              |            | move right, positive roll rotation, right side down                             |
| pitch            | `float32` |              |            | move forward, negative pitch rotation, nose down                                |
| yaw              | `float32` |              |            | positive yaw rotation, clockwise when seen top down                             |
| throttle         | `float32` |              |            | move up, positive thrust, -1 is minimum available 0% or -100% +1 is 100% thrust |
| flaps            | `float32` |              |            | position of flaps switch/knob/lever [-1, 1]                                     |
| aux1             | `float32` |              |            |
| aux2             | `float32` |              |            |
| aux3             | `float32` |              |            |
| aux4             | `float32` |              |            |
| aux5             | `float32` |              |            |
| aux6             | `float32` |              |            |
| sticks_moving    | `bool`    |              |            |
| buttons          | `uint16`  |              |            | From uint16 buttons field of Mavlink manual_control message                     |

## Constants

| Name                                            | Type     | Value | Description              |
| ----------------------------------------------- | -------- | ----- | ------------------------ |
| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION   | `uint32` | 0     |
| <a id="#SOURCE_UNKNOWN"></a> SOURCE_UNKNOWN     | `uint8`  | 0     |
| <a id="#SOURCE_RC"></a> SOURCE_RC               | `uint8`  | 1     | radio control (input_rc) |
| <a id="#SOURCE_MAVLINK_0"></a> SOURCE_MAVLINK_0 | `uint8`  | 2     | mavlink instance 0       |
| <a id="#SOURCE_MAVLINK_1"></a> SOURCE_MAVLINK_1 | `uint8`  | 3     | mavlink instance 1       |
| <a id="#SOURCE_MAVLINK_2"></a> SOURCE_MAVLINK_2 | `uint8`  | 4     | mavlink instance 2       |
| <a id="#SOURCE_MAVLINK_3"></a> SOURCE_MAVLINK_3 | `uint8`  | 5     | mavlink instance 3       |
| <a id="#SOURCE_MAVLINK_4"></a> SOURCE_MAVLINK_4 | `uint8`  | 6     | mavlink instance 4       |
| <a id="#SOURCE_MAVLINK_5"></a> SOURCE_MAVLINK_5 | `uint8`  | 7     | mavlink instance 5       |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ManualControlSetpoint.msg)

::: details Click here to see original file

```c
uint32 MESSAGE_VERSION = 0

uint64 timestamp                        # time since system start (microseconds)
uint64 timestamp_sample                 # the timestamp of the raw data (microseconds)

bool valid

uint8 SOURCE_UNKNOWN   = 0
uint8 SOURCE_RC        = 1		# radio control (input_rc)
uint8 SOURCE_MAVLINK_0 = 2		# mavlink instance 0
uint8 SOURCE_MAVLINK_1 = 3		# mavlink instance 1
uint8 SOURCE_MAVLINK_2 = 4		# mavlink instance 2
uint8 SOURCE_MAVLINK_3 = 5		# mavlink instance 3
uint8 SOURCE_MAVLINK_4 = 6		# mavlink instance 4
uint8 SOURCE_MAVLINK_5 = 7		# mavlink instance 5

uint8 data_source

# Any of the channels may not be available and be set to NaN
# to indicate that it does not contain valid data.

# Stick positions [-1,1]
# on a common RC mode 1/2/3/4 remote/joystick the stick deflection: -1 is down/left, 1 is up/right
# Note: QGC sends throttle/z in range [0,1000] - [0,1]. The MAVLink input conversion [0,1] to [-1,1] is at the moment kept backwards compatible.
# Positive values are generally used for:
float32 roll     # move right,   positive roll rotation,  right side down
float32 pitch    # move forward, negative pitch rotation, nose down
float32 yaw      #               positive yaw rotation,   clockwise when seen top down
float32 throttle # move up,      positive thrust,         -1 is minimum available 0% or -100% +1 is 100% thrust

float32 flaps			 # position of flaps switch/knob/lever [-1, 1]

float32 aux1
float32 aux2
float32 aux3
float32 aux4
float32 aux5
float32 aux6

bool sticks_moving

uint16 buttons		# From uint16 buttons field of Mavlink manual_control message

# TOPICS manual_control_setpoint manual_control_input
# DEPRECATED: float32 x
# DEPRECATED: float32 y
# DEPRECATED: float32 z
# DEPRECATED: float32 r
```

:::