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docs:ManualControlSetpoint uORB topic

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Hamish Willee
2026-02-19 18:00:44 +11:00
parent 53bec94205
commit 2d1a5f1762
1 changed files with 31 additions and 26 deletions
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msg/versioned/ManualControlSetpoint.msg
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@@ -1,20 +1,25 @@
# Manual control setpoint message
#
# This message provides a representation of a manual control input, such as an RC controller or MAVLink controller (Joystick).
# It also defines the manual_control_setpoint topic, which represents the selected input.
# The message includes fields for the roll, pitch, yaw, throttle and flaps, along with auxiliary channels and button states.
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Timestamp of the raw data
bool valid
bool valid # True if the current data is valid.
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
uint8 data_source [@enum SOURCE] # Source of the manual control setpoint
uint8 SOURCE_UNKNOWN = 0 # Unknown source
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
# Any of the channels may not be available and be set to NaN
# to indicate that it does not contain valid data.
@@ -23,23 +28,23 @@ uint8 data_source
# 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
float32 roll # [@range -1,1] [@invalid NaN] move right, positive roll rotation, right side down
float32 pitch # [@range -1,1] [@invalid NaN] move forward, negative pitch rotation, nose down
float32 yaw # [@range -1,1] [@invalid NaN] positive yaw rotation, clockwise when seen top down
float32 throttle # [@range -1,1] [@invalid NaN] move up, positive thrust, -1 is minimum available 0% or -100% +1 is 100% thrust
float32 flaps # position of flaps switch/knob/lever [-1, 1]
float32 flaps # [@range -1, 1] [@invalid NaN] Position of flaps switch/knob/lever
float32 aux1
float32 aux2
float32 aux3
float32 aux4
float32 aux5
float32 aux6
float32 aux1 # [@range -1,1] [@invalid NaN] Auxiliary channel 1
float32 aux2 # [@range -1,1] [@invalid NaN] Auxiliary channel 2
float32 aux3 # [@range -1,1] [@invalid NaN] Auxiliary channel 3
float32 aux4 # [@range -1,1] [@invalid NaN] Auxiliary channel 4
float32 aux5 # [@range -1,1] [@invalid NaN] Auxiliary channel 5
float32 aux6 # [@range -1,1] [@invalid NaN] Auxiliary channel 6
bool sticks_moving
bool sticks_moving # True if any of the values are changing.
uint16 buttons # From uint16 buttons field of Mavlink manual_control message
uint16 buttons # From uint16 buttons field of MAVLink MANUAL_CONTROL message
# TOPICS manual_control_setpoint manual_control_input
# DEPRECATED: float32 x