fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-13 18:37:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

manual_control_setpoint: change stick axes naming

Browse Source 
In review it was requested to have a different name for
manual_control_setpoint.z because of the adjusted range.

I started to investigate what naming is most intuitive and found
that most people recognize the stick axes as roll, pitch, yaw, throttle.
It comes at no surprise because other autopilots
and APIs seem to share this convention.

While changing the code I realized that even within the code base
the axes are usually assigned to a variable with that name or
have comments next to the assignment clarifying the axes
using these names.
This commit is contained in:
Matthias Grob
2022-06-27 18:16:05 +02:00
parent 83246c84cf
commit 331cb21dee
20 changed files with 118 additions and 133 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/ManualControlSetpoint.msg
+12 -24
View File
@@ -16,31 +16,15 @@ 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 -1..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 means up and any value < 0 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
# Stick positions [-1,1]
# 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 flaps # flap position
@@ -54,3 +38,7 @@ float32 aux6
bool sticks_moving
# TOPICS manual_control_setpoint manual_control_input
# DEPRECATED: float32 x
# DEPRECATED: float32 y
# DEPRECATED: float32 z
# DEPRECATED: float32 r