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ManualControl: add option to prioritize RC or MAVLink but with fallback

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This commit is contained in:
Matthias Grob
2025-07-29 14:22:57 +02:00
parent b876aa5b45
commit a09352c079
4 changed files with 202 additions and 11 deletions
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src/modules/commander/commander_params.c
+4
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@@ -173,6 +173,8 @@ PARAM_DEFINE_INT32(COM_HOME_IN_AIR, 0);
* A value of 2 allows either RC Transmitter or Joystick input. The first valid input is used, will fallback to other sources if the input stream becomes invalid.
* A value of 3 allows either input from RC or joystick. The first available source is selected and used until reboot.
* A value of 4 ignores any stick input.
* A value of 5 allows either RC Transmitter or Joystick input. But RC has priority and whenever avaiable is immedietely used.
* A value of 6 allows either RC Transmitter or Joystick input. But Joystick has priority and whenever avaiable is immedietely used.
*
* @group Commander
* @min 0
@@ -182,6 +184,8 @@ PARAM_DEFINE_INT32(COM_HOME_IN_AIR, 0);
* @value 2 RC and Joystick with fallback
* @value 3 RC or Joystick keep first
* @value 4 Stick input disabled
* @value 5 RC priority, Joystick fallback
* @value 6 Joystick priority, RC fallback
*/
PARAM_DEFINE_INT32(COM_RC_IN_MODE, 3);