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px4-firmware/msg/ManualControlSetpoint.msg

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[WIP] manual_control selector hacks
2021-04-07 14:51:52 -03:00
uint64 timestamp # time since system start (microseconds)
Use backwards compatible manual_control_setpoint instead of manual_control_input
2021-11-03 07:33:05 -03:00
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
manual_control_setpoint as msg
2014-12-08 06:06:56 -04:00
manual_control: add selector class [WIP] This adds a selector class with unit tests. The idea is to have a valid flag in manual_control_septoint and set that according to the selection and/or timeout of manual_control_inputs.
2021-04-08 11:25:23 -03:00
bool valid
[WIP] manual_control selector hacks
2021-04-07 14:51:52 -03:00
Use backwards compatible manual_control_setpoint instead of manual_control_input
2021-11-03 07:33:05 -03:00
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.
manual_control_setpoint: change stick axes naming In review it was requested to have a different name for manual_control_setpoint.z because of the adjusted range. I started to investigate what naming is most intuitive and found that most people recognize the stick axes as roll, pitch, yaw, throttle. It comes at no surprise because other autopilots and APIs seem to share this convention. While changing the code I realized that even within the code base the axes are usually assigned to a variable with that name or have comments next to the assignment clarifying the axes using these names.
2022-06-27 13:16:05 -03:00
# 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
Use backwards compatible manual_control_setpoint instead of manual_control_input
2021-11-03 07:33:05 -03:00
Rework flaps/spoilers logic - remove deprecated actuator_controls[INDEX_FLAPS/SPOILERS/AIRBRAKES] - use new topic normalized_unsigned_setpoint.msg (with instances flaps_setpoint and spoilers_setpoint) to pass into control allocation - remove flaps/spoiler related fields from attitude_setpoint topic - CA: add possibility to map flaps/spoilers to any control surface - move flaps/spoiler pitch trimming to CA (previously called DTRIM_FLAPS/SPOILER) - move manual flaps/spoiler handling from rate to attitude controller FW Position controller: change how negative switch readings are intepreted for flaps/spoilers (considered negative as 0). VTOL: Rework spoiler publishing in hover - pushlish spoiler_setpoint.msg in the VTOL module if in hover - also set spoilers to land configuration if in Descend mode Allocation: add slew rate limit of 0.5 to flaps/spoilers configuration change Instead of doing the flaps/spoilers slew rate limiting in the FW Position Controller (which then only is applied in Auto flight), do it consistently over all flight modes, so also for manual modes. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-12-20 08:29:34 -04:00
float32 flaps # position of flaps switch/knob/lever [-1, 1]
Use backwards compatible manual_control_setpoint instead of manual_control_input
2021-11-03 07:33:05 -03:00
float32 aux1
float32 aux2
float32 aux3
float32 aux4
float32 aux5
float32 aux6
bool sticks_moving
# TOPICS manual_control_setpoint manual_control_input
manual_control_setpoint: change stick axes naming In review it was requested to have a different name for manual_control_setpoint.z because of the adjusted range. I started to investigate what naming is most intuitive and found that most people recognize the stick axes as roll, pitch, yaw, throttle. It comes at no surprise because other autopilots and APIs seem to share this convention. While changing the code I realized that even within the code base the axes are usually assigned to a variable with that name or have comments next to the assignment clarifying the axes using these names.
2022-06-27 13:16:05 -03:00
# DEPRECATED: float32 x
# DEPRECATED: float32 y
# DEPRECATED: float32 z
# DEPRECATED: float32 r