From acf5766f9cb569d6638283e43753736419ae6bfa Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Wed, 1 Oct 2025 14:24:45 +0200
Subject: [PATCH] commander_params: rewrite COM_RC_IN_MODE documentation

---
 src/modules/commander/commander_params.c | 43 +++++++++++++-----------
 1 file changed, 24 insertions(+), 19 deletions(-)

diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index ed3a98fe18..2c53e36c66 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -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);