From 2d1a5f17620381eb5addfc46fa80f027f0b2940f Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Thu, 19 Feb 2026 18:00:44 +1100 Subject: [PATCH] docs:ManualControlSetpoint uORB topic --- msg/versioned/ManualControlSetpoint.msg | 57 ++++++++++++++----------- 1 file changed, 31 insertions(+), 26 deletions(-) diff --git a/msg/versioned/ManualControlSetpoint.msg b/msg/versioned/ManualControlSetpoint.msg index ddf902f00f..d6462f363d 100644 --- a/msg/versioned/ManualControlSetpoint.msg +++ b/msg/versioned/ManualControlSetpoint.msg @@ -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