Separate RC and manual control terms

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

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.
 		 *
 		 * <profile name="dev">
 		 * This check can be configured via <param>NAV_DLL_ACT</param> parameter.

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.

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;

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);