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51 lines
2.6 KiB
Plaintext
51 lines
2.6 KiB
Plaintext
# Manual control setpoint message
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#
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# This message provides a representation of a manual control input, such as an RC controller or MAVLink controller (Joystick).
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# It also defines the manual_control_setpoint topic, which represents the selected input.
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# The message includes fields for the roll, pitch, yaw, throttle and flaps, along with auxiliary channels and button states.
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uint32 MESSAGE_VERSION = 0
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uint64 timestamp # [us] Time since system start
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uint64 timestamp_sample # [us] Timestamp of the raw data
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bool valid # True if the current data is valid.
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uint8 data_source [@enum SOURCE] # Source of the manual control setpoint
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uint8 SOURCE_UNKNOWN = 0 # Unknown source
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uint8 SOURCE_RC = 1 # Radio control (input_rc)
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uint8 SOURCE_MAVLINK_0 = 2 # MAVLink instance 0
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uint8 SOURCE_MAVLINK_1 = 3 # MAVLink instance 1
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uint8 SOURCE_MAVLINK_2 = 4 # MAVLink instance 2
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uint8 SOURCE_MAVLINK_3 = 5 # MAVLink instance 3
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uint8 SOURCE_MAVLINK_4 = 6 # MAVLink instance 4
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uint8 SOURCE_MAVLINK_5 = 7 # MAVLink instance 5
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# Stick positions [-1,1]
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# on a common RC mode 1/2/3/4 remote/joystick the stick deflection: -1 is down/left, 1 is up/right
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# 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.
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float32 roll # [@range -1,1] [@invalid NaN] Positive values are generally used for: move right, positive roll rotation, right side down
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float32 pitch # [@range -1,1] [@invalid NaN] Positive values are generally used for: move forward, negative pitch rotation, nose down
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float32 yaw # [@range -1,1] [@invalid NaN] Positive values are generally used for: positive yaw rotation, clockwise when seen top down
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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
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float32 flaps # [@range -1, 1] [@invalid NaN] Position of flaps switch/knob/lever
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float32 aux1 # [@range -1,1] [@invalid NaN] Auxiliary channel 1
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float32 aux2 # [@range -1,1] [@invalid NaN] Auxiliary channel 2
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float32 aux3 # [@range -1,1] [@invalid NaN] Auxiliary channel 3
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float32 aux4 # [@range -1,1] [@invalid NaN] Auxiliary channel 4
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float32 aux5 # [@range -1,1] [@invalid NaN] Auxiliary channel 5
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float32 aux6 # [@range -1,1] [@invalid NaN] Auxiliary channel 6
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bool sticks_moving # True if any of the values are changing.
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uint16 buttons # From uint16 buttons field of MAVLink MANUAL_CONTROL message
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# TOPICS manual_control_setpoint manual_control_input
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# DEPRECATED: float32 x
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# DEPRECATED: float32 y
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# DEPRECATED: float32 z
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# DEPRECATED: float32 r
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