Gennaro Guidone b8c5f66af0 feat(manual_control): replace stick override threshold with double-flick gesture (#27041) ...

* feat(manual_control): trigger RC override on stick velocity

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.

* docs(manual_control): update COM_RC_STICK_OV description for velocity-based override

* feat(manual_control): gate RC override with sign-consistency check

* fix(ManualControl): lower threshold and filter constant for RC override, add tests for MovingDiff

* refactor(commander): merge RC override params into COM_RC_OVR_SPEED

Replace the COM_RC_OVERRIDE bitmask + COM_RC_STICK_OV threshold with a
single float COM_RC_OVR_SPEED (stick override velocity, 0 = disabled).
Override now applies uniformly in auto and offboard modes.

- ManualControl: rename param, treat 0 as disabled (FLT_EPSILON guard)
- Commander: drop the per-mode bitmask gate and the RcOverrideBits enum
- param_translation: migrate COM_RC_OVERRIDE on import (enabled -> 1.0,
  disabled -> 0.0) and drop the unit-incompatible COM_RC_STICK_OV value
- docs: collapse the two params into one across the mode pages

* fix(manual_override): Move configuration to manual_control module

with MAN_OVERRIDE_SPD parameter and a negative value disabling the feature. All other logic stays in Commander.

* docs(releases): add release note for RC override rework (MAN_OVERRIDE_SPD)

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Co-authored-by: Matthias Grob <maetugr@gmail.com>

2026-07-01 14:59:52 +02:00

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autogyro/auto-g2

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sub/bluerov

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