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commander_params: rewrite COM_RC_IN_MODE documentation

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This commit is contained in:
Matthias Grob
2025-10-01 18:31:12 +02:00
committed by Tobias Büchli
parent 2c062a45ba
commit acf5766f9c
1 changed files with 24 additions and 19 deletions
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src/modules/commander/commander_params.c
+24 -19
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@@ -166,30 +166,35 @@ PARAM_DEFINE_INT32(COM_HOME_EN, 1);
PARAM_DEFINE_INT32(COM_HOME_IN_AIR, 0);
/**
* RC control input mode
* Manual control input source configuration
*
* A value of 0 enables RC transmitter control (only). A valid RC transmitter calibration is required.
* A value of 1 allows joystick control only. RC input handling and the associated checks are disabled.
* 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, giving an RC transmitter priority over MAVLink joysticks, and lower MAVLink instance numbers priority over higher ones.
* A value of 6 allows either RC Transmitter or Joystick input, giving MAVLink joysticks priority over an RC transmitter, and lower MAVLink instance numbers priority over higher ones.
* A value of 7 allows either RC Transmitter or Joystick input, giving an RC transmitter priority over MAVLink joysticks, and higher MAVLink instance numbers priority over lower ones.
* A value of 8 allows either RC Transmitter or Joystick input, giving MAVLink joysticks priority over an RC transmitter, and higher MAVLink instance numbers priority over lower ones.
* Selects stick input selection behavior:
* either a traditional remote control receiver (RC) or a MAVLink joystick (MANUAL_CONTROL message)
*
* Priority sources are immediately switched to whenever they get valid.
*
* 0 RC only. Requires valid RC calibration.
* 1 MAVLink only. RC and related checks are disabled.
* 2 Switches only if current source becomes invalid.
* 3 Locks to the first valid source until reboot.
* 4 Ignores all sources.
* 5 RC priority, then MAVLink (lower instance before higher)
* 6 MAVLink priority (lower instance before higher), then RC
* 7 RC priority, then MAVLink (higher instance before lower)
* 8 MAVLink priority (higher instance before lower), then RC
*
* @group Commander
* @min 0
* @max 8
* @value 0 RC Transmitter only
* @value 1 Joystick only
* @value 2 RC and Joystick with fallback
* @value 3 RC or Joystick keep first
* @value 4 Stick input disabled
* @value 5 RC, then Joystick ascending prio
* @value 6 Joystick ascending prio, then RC
* @value 7 RC, then Joystick descending prio
* @value 8 Joystick descending prio, then RC
* @value 0 RC only
* @value 1 MAVLink only
* @value 2 RC or MAVLink with fallback
* @value 3 RC or MAVLink keep first
* @value 4 Disable manual control
* @value 5 Prio: RC > MAVL 1 > MAVL 2
* @value 6 Prio: MAVL 1 > MAVL 2 > RC
* @value 7 Prio: RC > MAVL 2 > MAVL 1
* @value 8 Prio: MAVL 2 > MAVL 1 > RC
*/
PARAM_DEFINE_INT32(COM_RC_IN_MODE, 3);