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58 lines
1.9 KiB
Markdown
58 lines
1.9 KiB
Markdown
# ManualControlSetpoint (UORB message)
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[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/ManualControlSetpoint.msg)
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```c
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uint32 MESSAGE_VERSION = 0
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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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bool valid
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uint8 SOURCE_UNKNOWN = 0
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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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uint8 data_source
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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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# 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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# Positive values are generally used for:
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float32 roll # move right, positive roll rotation, right side down
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float32 pitch # move forward, negative pitch rotation, nose down
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float32 yaw # positive yaw rotation, clockwise when seen top down
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float32 throttle # move up, positive thrust, -1 is minimum available 0% or -100% +1 is 100% thrust
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float32 flaps # position of flaps switch/knob/lever [-1, 1]
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float32 aux1
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float32 aux2
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float32 aux3
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float32 aux4
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float32 aux5
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float32 aux6
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bool sticks_moving
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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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```
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