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msg/versioned/ManualControlSetpoint.msg

@@ -1,45 +1,47 @@
+# Manual control setpoint message
+#
+# This message provides a representation of a manual control input, such as an RC controller or MAVLink controller (Joystick).
+# It defines the manual_control_input topic to represent configured inputs, and the manual_control_setpoint topic ot represent the selected input.
+# The message includes fields for the roll, pitch, yaw, throttle and flaps, along with auxiliary channels and button states.
+#
+# Note: On a common RC mode 1/2/3/4 remote/joystick the stick deflection: -1 is down/left, 1 is up/right.
+# Note: QGC sends throttle/z in range [0,1000] - [0,1]. The MAVLink input conversion [0,1] to [-1,1] is at the moment kept backwards compatible.
+
 uint32 MESSAGE_VERSION = 0
 
-uint64 timestamp                        # time since system start (microseconds)
-uint64 timestamp_sample                 # the timestamp of the raw data (microseconds)
+uint64 timestamp # [us] Time since system start
+uint64 timestamp_sample # [us] Timestamp of the raw data
 
-bool valid
+bool valid # True if the current data is valid.
 
-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 # [@enum SOURCE] Source of the manual control setpoint
+uint8 SOURCE_UNKNOWN = 0 # Unknown source
+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.
+float32 roll # [@range -1,1] [@invalid NaN] Positive values are generally used for: move right, positive roll rotation, right side down
+float32 pitch # [@range -1,1] [@invalid NaN] Positive values are generally used for: move forward, negative pitch rotation, nose down
+float32 yaw # [@range -1,1] [@invalid NaN] Positive values are generally used for: positive yaw rotation, clockwise when seen top down
+float32 throttle # [@range -1,1] [@invalid NaN] Positive values are generally used for: move up, positive thrust, -1 is minimum available 0% or -100% +1 is 100% thrust
 
-# Stick positions [-1,1]
-# on a common RC mode 1/2/3/4 remote/joystick the stick deflection: -1 is down/left, 1 is up/right
-# Note: QGC sends throttle/z in range [0,1000] - [0,1]. The MAVLink input conversion [0,1] to [-1,1] is at the moment kept backwards compatible.
-# Positive values are generally used for:
-float32 roll     # move right,   positive roll rotation,  right side down
-float32 pitch    # move forward, negative pitch rotation, nose down
-float32 yaw      #               positive yaw rotation,   clockwise when seen top down
-float32 throttle # move up,      positive thrust,         -1 is minimum available 0% or -100% +1 is 100% thrust
+float32 flaps # [@range -1, 1] [@invalid NaN] Position of flaps switch/knob/lever
 
-float32 flaps			 # position of flaps switch/knob/lever [-1, 1]
+float32 aux1 # [@range -1,1] [@invalid NaN] Auxiliary channel 1
+float32 aux2 # [@range -1,1] [@invalid NaN] Auxiliary channel 2
+float32 aux3 # [@range -1,1] [@invalid NaN] Auxiliary channel 3
+float32 aux4 # [@range -1,1] [@invalid NaN] Auxiliary channel 4
+float32 aux5 # [@range -1,1] [@invalid NaN] Auxiliary channel 5
+float32 aux6 # [@range -1,1] [@invalid NaN] Auxiliary channel 6
 
-float32 aux1
-float32 aux2
-float32 aux3
-float32 aux4
-float32 aux5
-float32 aux6
+bool sticks_moving # True if any of the values are changing.
 
-bool sticks_moving
-
-uint16 buttons		# From uint16 buttons field of Mavlink manual_control message
+uint16 buttons # From uint16 buttons field of MAVLink MANUAL_CONTROL message
 
 # TOPICS manual_control_setpoint manual_control_input
 # DEPRECATED: float32 x