diff --git a/src/modules/commander/HealthAndArmingChecks/checks/rcAndDataLinkCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/rcAndDataLinkCheck.cpp index 0a398a2c1f..f59300cd72 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/rcAndDataLinkCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/rcAndDataLinkCheck.cpp @@ -37,7 +37,6 @@ using namespace time_literals; void RcAndDataLinkChecks::checkAndReport(const Context &context, Report &reporter) { - // RC manual_control_setpoint_s manual_control_setpoint; if (!_manual_control_setpoint_sub.copy(&manual_control_setpoint)) { @@ -45,7 +44,7 @@ void RcAndDataLinkChecks::checkAndReport(const Context &context, Report &reporte reporter.failsafeFlags().manual_control_signal_lost = true; } - // Check if RC is valid + // Check if manual control is valid if (!manual_control_setpoint.valid || hrt_elapsed_time(&manual_control_setpoint.timestamp) > _param_com_rc_loss_t.get() * 1_s) { @@ -77,14 +76,14 @@ void RcAndDataLinkChecks::checkAndReport(const Context &context, Report &reporte if (reporter.failsafeFlags().gcs_connection_lost) { - // Prevent arming if we neither have RC nor a GCS connection. TODO: disabled for now due to MAVROS tests + // Prevent arming if we neither have manual control nor a GCS connection. TODO: disabled for now due to MAVROS tests bool gcs_connection_required = _param_nav_dll_act.get() > 0 /*|| (rc_is_optional && reporter.failsafeFlags().manual_control_signal_lost) */; NavModes affected_modes = gcs_connection_required ? NavModes::All : NavModes::None; events::LogLevel log_level = gcs_connection_required ? events::Log::Error : events::Log::Info; /* EVENT * @description - * To arm, at least a data link or manual control (RC) must be present. + * To arm, at least a data link or RC must be present. * * * This check can be configured via NAV_DLL_ACT parameter. diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c index b3ff841a6c..565c6406be 100644 --- a/src/modules/commander/commander_params.c +++ b/src/modules/commander/commander_params.c @@ -190,7 +190,7 @@ PARAM_DEFINE_INT32(COM_HOME_IN_AIR, 0); PARAM_DEFINE_INT32(COM_RC_IN_MODE, 3); /** - * RC input arm/disarm command duration + * Manual control input arm/disarm command duration * * The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second. * @@ -421,9 +421,9 @@ PARAM_DEFINE_INT32(COM_ARM_MAG_ANG, 60); PARAM_DEFINE_INT32(COM_ARM_MAG_STR, 2); /** - * Enable RC stick override of auto and/or offboard modes + * Enable manual control stick override * - * When RC stick override is enabled, moving the RC sticks more than COM_RC_STICK_OV + * When enabled, moving the sticks more than COM_RC_STICK_OV * immediately gives control back to the pilot by switching to Position mode and * if position is unavailable Altitude mode. * Note: Only has an effect on multicopters, and VTOLs in multicopter mode. @@ -437,7 +437,7 @@ PARAM_DEFINE_INT32(COM_ARM_MAG_STR, 2); PARAM_DEFINE_INT32(COM_RC_OVERRIDE, 1); /** - * RC stick override threshold + * Stick override threshold * * If COM_RC_OVERRIDE is enabled and the joystick input is moved more than this threshold * the autopilot the pilot takes over control. @@ -601,11 +601,10 @@ PARAM_DEFINE_INT32(COM_TAKEOFF_ACT, 0); PARAM_DEFINE_INT32(NAV_DLL_ACT, 0); /** - * Set RC loss failsafe mode + * Set manual control loss failsafe mode * - * The RC loss failsafe will only be entered after a timeout, - * set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled - * by setting the COM_RC_IN_MODE param it will not be triggered. + * The manual control loss failsafe will only be entered after a timeout, + * set by COM_RC_LOSS_T in seconds. * * @value 1 Hold mode * @value 2 Return mode @@ -620,7 +619,7 @@ PARAM_DEFINE_INT32(NAV_DLL_ACT, 0); PARAM_DEFINE_INT32(NAV_RCL_ACT, 2); /** - * RC loss exceptions + * Manual control loss exceptions * * Specify modes where manual control loss is ignored and no failsafe is triggered. * External modes requiring stick input will still failsafe. diff --git a/src/modules/commander/failsafe/failsafe.cpp b/src/modules/commander/failsafe/failsafe.cpp index d692745c42..5c3578fb89 100644 --- a/src/modules/commander/failsafe/failsafe.cpp +++ b/src/modules/commander/failsafe/failsafe.cpp @@ -456,7 +456,7 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state, vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF && in_forward_flight && !state.mission_finished; - // Manual control (RC) loss + // Manual control (RC or joystick) loss if (!status_flags.manual_control_signal_lost) { // If manual control was lost and arming was allowed, consider it optional until we regain manual control _manual_control_lost_at_arming = false; diff --git a/src/modules/commander/failsafe/failsafe_test.cpp b/src/modules/commander/failsafe/failsafe_test.cpp index d58f75d8e7..18b927409f 100644 --- a/src/modules/commander/failsafe/failsafe_test.cpp +++ b/src/modules/commander/failsafe/failsafe_test.cpp @@ -109,7 +109,7 @@ TEST_F(FailsafeTest, general) ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode); ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::None); - // RC lost -> Hold, then RTL + // manual control lost -> Hold, then RTL time += 10_ms; failsafe_flags.manual_control_signal_lost = true; updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags); @@ -127,14 +127,14 @@ TEST_F(FailsafeTest, general) ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode); ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Descend); - // DL link regained -> RTL (RC still lost) + // DL link regained -> RTL (manual control still lost) time += 10_ms; failsafe_flags.gcs_connection_lost = false; updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags); ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode); ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::RTL); - // RC lost cleared -> keep RTL + // Manual control lost cleared -> keep RTL time += 10_ms; failsafe_flags.manual_control_signal_lost = false; updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags); @@ -425,7 +425,7 @@ TEST_F(FailsafeTest, skip_failsafe) ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode); ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::None); - // RC lost while in RTL -> stay in RTL and only warn + // Manual control lost while in RTL -> stay in RTL and only warn failsafe_flags.manual_control_signal_lost = true; updated_user_intented_mode = failsafe.update(time, state, false, false, failsafe_flags); diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp index 1ae5d733f0..dbbf2533f9 100644 --- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp +++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp @@ -289,7 +289,7 @@ void FlightTaskAuto::_prepareLandSetpoints() _stick_acceleration_xy.getSetpoints(_land_position, _velocity_setpoint, _acceleration_setpoint); } else { - // Make sure we have a valid land position even in the case we loose RC while amending it + // Make sure we have a valid land position even in the case we loose manual control while amending it if (!PX4_ISFINITE(_land_position(0))) { _land_position.xy() = Vector2f(_position); } diff --git a/src/modules/flight_mode_manager/tasks/AutoFollowTarget/FlightTaskAutoFollowTarget.cpp b/src/modules/flight_mode_manager/tasks/AutoFollowTarget/FlightTaskAutoFollowTarget.cpp index 4699f1349f..4fa45463c6 100644 --- a/src/modules/flight_mode_manager/tasks/AutoFollowTarget/FlightTaskAutoFollowTarget.cpp +++ b/src/modules/flight_mode_manager/tasks/AutoFollowTarget/FlightTaskAutoFollowTarget.cpp @@ -144,7 +144,7 @@ void FlightTaskAutoFollowTarget::updateRcAdjustedFollowHeight(const Sticks &stic { // Only apply Follow height adjustment if height setpoint and current height are within time window if (fabsf(_position_setpoint(2) - _position(2)) < FOLLOW_HEIGHT_USER_ADJUST_SPEED * USER_ADJUSTMENT_ERROR_TIME_WINDOW) { - // RC Throttle stick input for changing follow height + // Manual Throttle stick input for changing follow height const float height_change_speed = FOLLOW_HEIGHT_USER_ADJUST_SPEED * sticks.getThrottleZeroCenteredExpo(); const float new_height = _follow_height + height_change_speed * _deltatime; _follow_height = constrain(new_height, MINIMUM_SAFETY_ALTITUDE, FOLLOW_HEIGHT_MAX); @@ -157,7 +157,7 @@ void FlightTaskAutoFollowTarget::updateRcAdjustedFollowDistance(const Sticks &st // Only apply Follow distance adjustment if distance setting and current distance are within time window if (fabsf(drone_to_target_vector.length() - _follow_distance) < FOLLOW_DISTANCE_USER_ADJUST_SPEED * USER_ADJUSTMENT_ERROR_TIME_WINDOW) { - // RC Pitch stick input for changing distance + // Manual Pitch stick input for changing distance const float distance_change_speed = FOLLOW_DISTANCE_USER_ADJUST_SPEED * sticks.getPitchExpo(); const float new_distance = _follow_distance + distance_change_speed * _deltatime; _follow_distance = constrain(new_distance, MINIMUM_DISTANCE_TO_TARGET_FOR_YAW_CONTROL, FOLLOW_DISTANCE_MAX); @@ -171,9 +171,9 @@ void FlightTaskAutoFollowTarget::updateRcAdjustedFollowAngle(const Sticks &stick // Wrap orbit angle difference, to get the shortest angle between them if (fabsf(matrix::wrap_pi(measured_orbit_angle - tracked_orbit_angle_setpoint)) < FOLLOW_ANGLE_USER_ADJUST_SPEED * USER_ADJUSTMENT_ERROR_TIME_WINDOW) { - // RC Roll stick input for changing follow angle. When user commands RC stick input: +Roll (right), angle increases (clockwise) + // Manual Roll stick input for changing follow angle. When user commands manual stick input: +Roll (right), angle increases (clockwise) // Constrain adjust speed [rad/s] so that drone can actually catch up. Otherwise, the follow angle - // command can be too ahead that drone's behavior would be un-responsive to RC stick inputs. + // command can be too ahead that drone's behavior would be un-responsive to manual stick inputs. const float angle_adjust_speed_max = min(FOLLOW_ANGLE_USER_ADJUST_SPEED, _param_flw_tgt_max_vel.get() / _follow_distance); const float angle_change_speed = angle_adjust_speed_max * sticks.getRollExpo(); @@ -319,7 +319,7 @@ bool FlightTaskAutoFollowTarget::update() // Actual orbit angle measured around the target, which is pointing from target to drone, so M_PI_F difference. const float measured_orbit_angle = matrix::wrap_pi(drone_to_target_heading + M_PI_F); - // Update the sticks object to fetch recent data and update follow distance, angle and height via RC commands + // Update the sticks object to fetch recent data and update follow distance, angle and height via manual commands _sticks.checkAndUpdateStickInputs(); if (_sticks.isAvailable()) { diff --git a/src/modules/flight_mode_manager/tasks/AutoFollowTarget/FlightTaskAutoFollowTarget.hpp b/src/modules/flight_mode_manager/tasks/AutoFollowTarget/FlightTaskAutoFollowTarget.hpp index 1eb4ba8557..7e7b97b589 100644 --- a/src/modules/flight_mode_manager/tasks/AutoFollowTarget/FlightTaskAutoFollowTarget.hpp +++ b/src/modules/flight_mode_manager/tasks/AutoFollowTarget/FlightTaskAutoFollowTarget.hpp @@ -101,26 +101,26 @@ static constexpr float ORBIT_TRAJECTORY_MAX_JERK = 4.0; // [m/s^2] Maximum acceleration setting for generating the Follow Target Orbit trajectory static constexpr float ORBIT_TRAJECTORY_MAX_ACCELERATION = 2.0; -// << RC Adjustment related constants >> +// << manual Adjustment related constants >> -// [m/s] Speed with which the follow distance will be adjusted by when commanded with deflection via RC command +// [m/s] Speed with which the follow distance will be adjusted by when commanded with deflection via sticks static constexpr float FOLLOW_DISTANCE_USER_ADJUST_SPEED = 2.0; -// [m] Maximum follow distance that can be set by user's RC adjustment +// [m] Maximum follow distance that can be set by user's manual adjustment static constexpr float FOLLOW_DISTANCE_MAX = 100.f; -// [m/s] Speed with which the follow height will be adjusted by when commanded with deflection via RC command +// [m/s] Speed with which the follow height will be adjusted by when commanded with deflection via sticks static constexpr float FOLLOW_HEIGHT_USER_ADJUST_SPEED = 1.5; -// [m] Maximum follow height that can be set by user's RC adjustment +// [m] Maximum follow height that can be set by user's manual adjustment static constexpr float FOLLOW_HEIGHT_MAX = 100.f; -// [rad/s] Angular rate with which the follow distance will be adjusted by when commanded with full deflection via RC command +// [rad/s] Angular rate with which the follow distance will be adjusted by when commanded with full deflection via sticks static constexpr float FOLLOW_ANGLE_USER_ADJUST_SPEED = 1.5; // [s] Time window constant that gets multiplied to user adjustment speed, to calculate the // 'acceptable' error in orbit angle / height / distance. If the difference between the setpoint -// and actual state of the drone is smaller than this error, RC adjustments get applied. +// and actual state of the drone is smaller than this error, manual adjustments get applied. // Prevents setpoints diverging from the vehicle's actual position too much static constexpr float USER_ADJUSTMENT_ERROR_TIME_WINDOW = 0.5f; @@ -146,33 +146,33 @@ protected: }; /** - * Update the Follow height based on RC commands + * Update the Follow height based on stick inputs * * If the drone's height error to the setpoint is within the an user adjustment error time window - * follow_height will be adjusted with a speed proportional to user RC command + * follow_height will be adjusted with a speed proportional to user stick inputs * - * @param sticks Sticks object to get RC commanded values for adjustments + * @param sticks Sticks object to get manually values for adjustments */ void updateRcAdjustedFollowHeight(const Sticks &sticks); /** - * Update the Follow distance based on RC commands + * Update the Follow distance based on stick inputs * * If the drone's distance error to the setpoint is within the an user adjustment error time window - * follow_distance will be adjusted with a speed proportional to user RC command + * follow_distance will be adjusted with a speed proportional to user stick inputs * - * @param sticks Sticks object to get RC commanded values for adjustments + * @param sticks Sticks object to get manually values for adjustments * @param drone_to_target_vector [m] Tracked follow distance variable reference which will be updated to the new value */ void updateRcAdjustedFollowDistance(const Sticks &sticks, const Vector2f &drone_to_target_vector); /** - * Update the Follow angle based on RC commands + * Update the Follow angle based on stick inputs * * If the drone's orbit angle in relation to target is within the an user adjustment error time window - * away from the orbit angle setpoint, follow_angle will be adjusted with a speed proportional to user RC command + * away from the orbit angle setpoint, follow_angle will be adjusted with a speed proportional to user stick inputs * - * @param sticks Sticks object to get RC commanded values for adjustments + * @param sticks Sticks object to get manually values for adjustments * @param measured_angle [rad] Measured current drone's orbit angle around the target (depends on tracked target orientation for reference) * @param tracked_orbit_angle_setpoint [rad] Rate constrained orbit angle setpoint value from last command */ @@ -275,7 +275,7 @@ protected: // Second Order Filter to calculate kinematically feasible target position SecondOrderReferenceModel _target_position_velocity_filter; - // Internally tracked Follow Target characteristics, to allow RC control input adjustments + // Internally tracked Follow Target characteristics, to allow manual control input adjustments float _follow_distance{8.0f}; // [m] float _follow_height{10.0f}; // [m] float _follow_angle_rad{0.0f}; // [rad] diff --git a/src/modules/flight_mode_manager/tasks/Orbit/flight_task_orbit_params.c b/src/modules/flight_mode_manager/tasks/Orbit/flight_task_orbit_params.c index c8f66eb9f1..3134431975 100644 --- a/src/modules/flight_mode_manager/tasks/Orbit/flight_task_orbit_params.c +++ b/src/modules/flight_mode_manager/tasks/Orbit/flight_task_orbit_params.c @@ -50,7 +50,7 @@ PARAM_DEFINE_FLOAT(MC_ORBIT_RAD_MAX, 1000.0f); * @value 1 Hold Initial Heading * @value 2 Uncontrolled * @value 3 Hold Front Tangent to Circle - * @value 4 RC Controlled + * @value 4 Manually (yaw stick) Controlled * @group Flight Task Orbit */ PARAM_DEFINE_INT32(MC_ORBIT_YAW_MOD, 0); diff --git a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control_params.c b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control_params.c index eb10036631..53c85457dd 100644 --- a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control_params.c +++ b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control_params.c @@ -105,9 +105,9 @@ PARAM_DEFINE_INT32(FW_AT_APPLY, 2); PARAM_DEFINE_INT32(FW_AT_AXES, 3); /** - * Enable/disable auto tuning using an RC AUX input + * Enable/disable auto tuning using a manual control AUX input * - * Defines which RC_MAP_AUXn parameter maps the RC channel used to enable/disable auto tuning. + * Defines which RC_MAP_AUXn parameter maps the manual control channel used to enable/disable auto tuning. * * @value 0 Disable * @value 1 Aux1