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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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ef6209ba03
- split out switches from manual_control_setpoint into new message manual_control_switches
- manual_control_switches published at minimal rate (~ 1 Hz) or immediately on change
- simple switch debounce in rc_update (2 consecutive identical decodes required)
- manual_control_switches logged at full rate rather than sampled at (5-10% of messages logged)
- manual_control_setpoint publish at minimal rate unless changing
- commander handle landing gear switch for manual modes
- processing of mode_slot and mode_switch is now split so we only do one or the other (not both)
- a future step will be to finally drop mode_switch and accompanying switches entirely
Co-authored-by: Matthias Grob <maetugr@gmail.com>
50 lines
2.1 KiB
Plaintext
50 lines
2.1 KiB
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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uint8 SOURCE_RC = 1 # radio control
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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 4
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uint8 data_source # where this input is coming from
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# Any of the channels may not be available and be set to NaN
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# to indicate that it does not contain valid data.
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# The variable names follow the definition of the
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# MANUAL_CONTROL mavlink message.
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# The default range is from -1 to 1 (mavlink message -1000 to 1000)
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# The range for the z variable is defined from 0 to 1. (The z field of
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# the MANUAL_CONTROL mavlink message is defined from -1000 to 1000)
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float32 x # stick position in x direction -1..1
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# in general corresponds to forward/back motion or pitch of vehicle,
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# in general a positive value means forward or negative pitch and
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# a negative value means backward or positive pitch
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float32 y # stick position in y direction -1..1
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# in general corresponds to right/left motion or roll of vehicle,
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# in general a positive value means right or positive roll and
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# a negative value means left or negative roll
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float32 z # throttle stick position 0..1
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# in general corresponds to up/down motion or thrust of vehicle,
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# in general the value corresponds to the demanded throttle by the user,
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# if the input is used for setting the setpoint of a vertical position
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# controller any value > 0.5 means up and any value < 0.5 means down
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float32 r # yaw stick/twist position, -1..1
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# in general corresponds to the righthand rotation around the vertical
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# (downwards) axis of the vehicle
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float32 flaps # flap position
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float32 aux1 # default function: camera yaw / azimuth
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float32 aux2 # default function: camera pitch / tilt
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float32 aux3 # default function: camera trigger
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float32 aux4 # default function: camera roll
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float32 aux5 # default function: payload drop
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float32 aux6
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