mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-10-06 09:02:52 +08:00
43a57e75eb
* feat(mavlink): stream manual input status which specifies the active source for manual control setpoint generation on the autopilot --------- Signed-off-by: RomanBapst <bapstroman@gmail.com> Co-authored-by: Hamish Willee <hamishwillee@gmail.com> Co-authored-by: Matthias Grob <maetugr@gmail.com>
63 lines
2.6 KiB
Plaintext
63 lines
2.6 KiB
Plaintext
# Manual control input
|
|
#
|
|
# This message provides a representation of manual control input sources,
|
|
# such as RC controllers and MAVLink controller (Joystick).
|
|
#
|
|
# It defines the `manual_control_input` topic to represent each configured input,
|
|
# and the `manual_control_setpoint` topic to represent the input that is currently
|
|
# in charge of the vehicle (based on parameter COM_RC_IN_MODE).
|
|
# `manual_control_setpoint` is the topic that is published to the controllers.
|
|
#
|
|
# The message includes fields for the roll, pitch, yaw, throttle and flaps, along with auxiliary channels and button states.
|
|
|
|
uint32 MESSAGE_VERSION = 1
|
|
|
|
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
|
|
uint8 source_system_id # [@invalid 0] MAVLink system ID of the manual control source
|
|
uint8 source_component_id # [@invalid 0] MAVLink component ID of the manual control 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 # manual control override request in an auto or offboard mode, only gets true if feature is enabled
|
|
|
|
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
|