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https://github.com/PX4/PX4-Autopilot.git
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b8c5f66af0
* 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) --------- Co-authored-by: Matthias Grob <maetugr@gmail.com>
49 lines
1.8 KiB
Plaintext
49 lines
1.8 KiB
Plaintext
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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