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https://github.com/PX4/PX4-Autopilot.git
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104 lines
8.5 KiB
Markdown
104 lines
8.5 KiB
Markdown
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pageClass: is-wide-page
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---
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# ManualControlSetpoint (UORB message)
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**TOPICS:** manual_control_setpoint manual_control_input
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## Fields
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| 参数名 | 类型 | Unit [Frame] | Range/Enum | 描述 |
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| ---------------------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | ------------------------------------------------------------------------------------------------- |
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| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
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| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
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| <a id="fld_valid"></a>valid | `bool` | | | |
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| <a id="fld_data_source"></a>data_source | `uint8` | | | |
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| <a id="fld_roll"></a>roll | `float32` | | | move right, positive roll rotation, right side down |
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| <a id="fld_pitch"></a>pitch | `float32` | | | move forward, negative pitch rotation, nose down |
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| <a id="fld_yaw"></a>yaw | `float32` | | | positive yaw rotation, clockwise when seen top down |
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| <a id="fld_throttle"></a>throttle | `float32` | | | move up, positive thrust, -1 is minimum available 0% or -100% +1 is 100% thrust |
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| <a id="fld_flaps"></a>flaps | `float32` | | | position of flaps switch/knob/lever [-1, 1] |
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| <a id="fld_aux1"></a>aux1 | `float32` | | | |
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| <a id="fld_aux2"></a>aux2 | `float32` | | | |
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| <a id="fld_aux3"></a>aux3 | `float32` | | | |
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| <a id="fld_aux4"></a>aux4 | `float32` | | | |
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| <a id="fld_aux5"></a>aux5 | `float32` | | | |
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| <a id="fld_aux6"></a>aux6 | `float32` | | | |
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| <a id="fld_sticks_moving"></a>sticks_moving | `bool` | | | manual control override request in an auto or offboard mode, only gets true if feature is enabled |
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| <a id="fld_buttons"></a>buttons | `uint16` | | | From uint16 buttons field of Mavlink manual_control message |
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## Constants
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| 参数名 | 类型 | 值 | 描述 |
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| ----------------------------------------------------------------------------------------- | -------- | - | ---------------------------------------------------------------- |
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| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 | |
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| <a id="#SOURCE_UNKNOWN"></a> SOURCE_UNKNOWN | `uint8` | 0 | |
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| <a id="#SOURCE_RC"></a> SOURCE_RC | `uint8` | 1 | radio control (input_rc) |
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| <a id="#SOURCE_MAVLINK_0"></a> SOURCE_MAVLINK_0 | `uint8` | 2 | mavlink instance 0 |
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| <a id="#SOURCE_MAVLINK_1"></a> SOURCE_MAVLINK_1 | `uint8` | 3 | mavlink instance 1 |
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| <a id="#SOURCE_MAVLINK_2"></a> SOURCE_MAVLINK_2 | `uint8` | 4 | mavlink instance 2 |
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| <a id="#SOURCE_MAVLINK_3"></a> SOURCE_MAVLINK_3 | `uint8` | 5 | mavlink instance 3 |
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| <a id="#SOURCE_MAVLINK_4"></a> SOURCE_MAVLINK_4 | `uint8` | 6 | mavlink instance 4 |
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| <a id="#SOURCE_MAVLINK_5"></a> SOURCE_MAVLINK_5 | `uint8` | 7 | mavlink instance 5 |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ManualControlSetpoint.msg)
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:::details
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Click here to see original file
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```c
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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bool valid
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uint8 SOURCE_UNKNOWN = 0
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uint8 SOURCE_RC = 1 # radio control (input_rc)
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uint8 SOURCE_MAVLINK_0 = 2 # mavlink instance 0
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uint8 SOURCE_MAVLINK_1 = 3 # mavlink instance 1
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uint8 SOURCE_MAVLINK_2 = 4 # mavlink instance 2
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uint8 SOURCE_MAVLINK_3 = 5 # mavlink instance 3
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uint8 SOURCE_MAVLINK_4 = 6 # mavlink instance 4
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uint8 SOURCE_MAVLINK_5 = 7 # mavlink instance 5
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uint8 data_source
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# Any of the channels may not be available and be set to NaN
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# to indicate that it does not contain valid data.
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# Stick positions [-1,1]
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# on a common RC mode 1/2/3/4 remote/joystick the stick deflection: -1 is down/left, 1 is up/right
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# 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.
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# Positive values are generally used for:
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float32 roll # move right, positive roll rotation, right side down
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float32 pitch # move forward, negative pitch rotation, nose down
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float32 yaw # positive yaw rotation, clockwise when seen top down
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float32 throttle # move up, positive thrust, -1 is minimum available 0% or -100% +1 is 100% thrust
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float32 flaps # position of flaps switch/knob/lever [-1, 1]
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float32 aux1
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float32 aux2
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float32 aux3
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float32 aux4
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float32 aux5
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float32 aux6
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bool sticks_moving # manual control override request in an auto or offboard mode, only gets true if feature is enabled
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uint16 buttons # From uint16 buttons field of Mavlink manual_control message
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# TOPICS manual_control_setpoint manual_control_input
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# DEPRECATED: float32 x
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# DEPRECATED: float32 y
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# DEPRECATED: float32 z
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# DEPRECATED: float32 r
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```
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:::
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