[WIP] manual_control selector hacks

msg/CMakeLists.txt

@@ -102,6 +102,7 @@ set(msg_files
 	logger_status.msg
 	mag_worker_data.msg
 	magnetometer_bias_estimate.msg
+	manual_control_input.msg
 	manual_control_setpoint.msg
 	manual_control_switches.msg
 	mavlink_log.msg

msg/manual_control_input.msg

@@ -0,0 +1,52 @@
+uint64 timestamp			# time since system start (microseconds)
+
+uint64 timestamp_sample                # the timestamp of the raw data (microseconds)
+
+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.
+# The variable names follow the definition of the
+# MANUAL_CONTROL mavlink message.
+# The default range is from -1 to 1 (mavlink message -1000 to 1000)
+# The range for the z variable is defined from 0 to 1. (The z field of
+# the MANUAL_CONTROL mavlink message is defined from -1000 to 1000)
+
+float32 x			 # stick position in x direction -1..1
+				 # in general corresponds to forward/back motion or pitch of vehicle,
+				 # in general a positive value means forward or negative pitch and
+				 # a negative value means backward or positive pitch
+
+float32 y			 # stick position in y direction -1..1
+				 # in general corresponds to right/left motion or roll of vehicle,
+				 # in general a positive value means right or positive roll and
+				 # a negative value means left or negative roll
+
+float32 z			 # throttle stick position 0..1
+				 # in general corresponds to up/down motion or thrust of vehicle,
+				 # in general the value corresponds to the demanded throttle by the user,
+				 # if the input is used for setting the setpoint of a vertical position
+				 # controller any value > 0.5 means up and any value < 0.5 means down
+
+float32 r			 # yaw stick/twist position, -1..1
+				 # in general corresponds to the righthand rotation around the vertical
+				 # (downwards) axis of the vehicle
+
+float32 flaps			 # flap position
+
+float32 aux1			 # default function: camera yaw / azimuth
+float32 aux2			 # default function: camera pitch / tilt
+float32 aux3			 # default function: camera trigger
+float32 aux4			 # default function: camera roll
+float32 aux5			 # default function: payload drop
+float32 aux6
+

msg/manual_control_setpoint.msg

@@ -1,14 +1,17 @@
-uint64 timestamp			# time since system start (microseconds)
+uint64 timestamp                        # time since system start (microseconds)
 
-uint64 timestamp_sample                # the timestamp of the raw data (microseconds)
+uint64 timestamp_sample                 # the timestamp of the raw data (microseconds)
 
-uint8 SOURCE_RC = 1			# radio control
+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 4
+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		 # where this input is coming from
+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.
@@ -38,6 +41,12 @@ float32 r			 # yaw stick/twist position, -1..1
 				 # in general corresponds to the righthand rotation around the vertical
 				 # (downwards) axis of the vehicle
 
+# stick velocity
+float32 vx
+float32 vy
+float32 vz
+float32 vr
+
 float32 flaps			 # flap position
 
 float32 aux1
@@ -47,3 +56,7 @@ float32 aux4
 float32 aux5
 float32 aux6
 
+bool arm_gesture
+bool disarm_gesture
+
+bool user_override