Use backwards compatible manual_control_setpoint instead of manual_control_input

msg/CMakeLists.txt

@@ -103,7 +103,6 @@ set(msg_files
 	logger_status.msg
 	mag_worker_data.msg
 	magnetometer_bias_estimate.msg
-	manual_control_input.msg
 	manual_control_setpoint.msg
 	manual_control_switches.msg
 	mavlink_log.msg

msg/manual_control_input.msg

@@ -1,52 +0,0 @@
-uint64 timestamp                        # time since system start (microseconds)
-
-uint64 timestamp_sample                 # the timestamp of the raw data (microseconds)
-
-uint8 SOURCE_UNKNOWN   = 0
-uint8 SOURCE_RC        = 1		# radio control (input_rc)
-uint8 SOURCE_MAVLINK_0 = 2		# mavlink instance 0
-uint8 SOURCE_MAVLINK_1 = 3		# mavlink instance 1
-uint8 SOURCE_MAVLINK_2 = 4		# mavlink instance 2
-uint8 SOURCE_MAVLINK_3 = 5		# mavlink instance 3
-uint8 SOURCE_MAVLINK_4 = 6		# mavlink instance 4
-uint8 SOURCE_MAVLINK_5 = 7		# mavlink instance 5
-
-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 0..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 > 0.5 means up and any value < 0.5 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
-
-float32 flaps			 # flap position
-
-float32 aux1
-float32 aux2
-float32 aux3
-float32 aux4
-float32 aux5
-float32 aux6
-

msg/manual_control_setpoint.msg

@@ -1,6 +1,56 @@
 uint64 timestamp                        # time since system start (microseconds)
+uint64 timestamp_sample                 # the timestamp of the raw data (microseconds)
 
 bool valid
-px4/manual_control_input chosen_input
 
-bool user_override
+uint8 SOURCE_UNKNOWN   = 0
+uint8 SOURCE_RC        = 1		# radio control (input_rc)
+uint8 SOURCE_MAVLINK_0 = 2		# mavlink instance 0
+uint8 SOURCE_MAVLINK_1 = 3		# mavlink instance 1
+uint8 SOURCE_MAVLINK_2 = 4		# mavlink instance 2
+uint8 SOURCE_MAVLINK_3 = 5		# mavlink instance 3
+uint8 SOURCE_MAVLINK_4 = 6		# mavlink instance 4
+uint8 SOURCE_MAVLINK_5 = 7		# mavlink instance 5
+
+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 0..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 > 0.5 means up and any value < 0.5 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
+
+float32 flaps			 # flap position
+
+float32 aux1
+float32 aux2
+float32 aux3
+float32 aux4
+float32 aux5
+float32 aux6
+
+bool sticks_moving
+
+# TOPICS manual_control_setpoint manual_control_input