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docs(frames_sub): update BlueROV2 docs and align UUV surge/heave stick mapping (#26822)

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* Swap joystick surge/heave mapping in manual, stabilized and acro modes to make it similar to position modes

* docs: update UUV/BlueROV2 modes and joystick mapping

* Document basic control axes and joystick mapping

Added basic control axes and stick mapping for BlueROV2.

* Fixed formatting issue

* Enhance clarity of control axes and stick mapping

Clarified descriptions of motion axes and joystick controls for BlueROV2.
This commit is contained in:
Victor Nan Fernandez-Ayala
2026-03-31 14:42:52 -07:00
committed by GitHub
parent 1e769a76d6
commit 62b94fa73e
3 changed files with 68 additions and 15 deletions
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src/modules/uuv_att_control/uuv_att_control.cpp
+6 -6
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@@ -270,9 +270,9 @@ void UUVAttitudeControl::generate_attitude_setpoint(float dt)
if (js_heave_sway_mode) {
// XYZ thrust
_attitude_setpoint.thrust_body[0] = _manual_control_setpoint.throttle * throttle_manual_attitude_gain; // surge +x
_attitude_setpoint.thrust_body[0] = _manual_control_setpoint.pitch * throttle_manual_attitude_gain; // heave +z down
_attitude_setpoint.thrust_body[1] = _manual_control_setpoint.roll * throttle_manual_attitude_gain; // sway +y
_attitude_setpoint.thrust_body[2] = -_manual_control_setpoint.pitch * throttle_manual_attitude_gain; // heave +z down
_attitude_setpoint.thrust_body[2] = -_manual_control_setpoint.throttle * throttle_manual_attitude_gain; // surge +x
} else {
// Throttle only on +x (surge)
@@ -295,9 +295,9 @@ void UUVAttitudeControl::generate_rates_setpoint(float dt)
_rates_setpoint.pitch = 0.0f;
_rates_setpoint.yaw = _manual_control_setpoint.yaw * dt * _param_rgm_yaw.get();
_rates_setpoint.thrust_body[0] = _manual_control_setpoint.throttle * throttle_manual_rate_gain; // surge +x
_rates_setpoint.thrust_body[0] = _manual_control_setpoint.pitch * throttle_manual_rate_gain; // heave +z down
_rates_setpoint.thrust_body[1] = _manual_control_setpoint.roll * throttle_manual_rate_gain; // sway +y
_rates_setpoint.thrust_body[2] = -_manual_control_setpoint.pitch * throttle_manual_rate_gain; // heave +z down
_rates_setpoint.thrust_body[2] = -_manual_control_setpoint.throttle * throttle_manual_rate_gain; // surge +x
} else {
// Roll/pitch/yaw are rate commands; thrust only surge
@@ -404,9 +404,9 @@ void UUVAttitudeControl::Run()
const float pitch_u = 0.0f;
const float yaw_u = _manual_control_setpoint.yaw * _param_mgm_yaw.get();
const float thrust_x = _manual_control_setpoint.throttle * throttle_manual_gain; // surge
const float thrust_x = _manual_control_setpoint.pitch * throttle_manual_gain; // heave
const float thrust_y = _manual_control_setpoint.roll * throttle_manual_gain; // sway
const float thrust_z = -_manual_control_setpoint.pitch * throttle_manual_gain; // heave
const float thrust_z = -_manual_control_setpoint.throttle * throttle_manual_gain; // surge
constrain_actuator_commands(roll_u, pitch_u, yaw_u, thrust_x, thrust_y, thrust_z);