diff options
Diffstat (limited to 'src/modules/uORB/topics/manual_control_setpoint.h')
| -rw-r--r-- | src/modules/uORB/topics/manual_control_setpoint.h | 35 |
1 files changed, 26 insertions, 9 deletions
diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h index ee159b998..19a29635b 100644 --- a/src/modules/uORB/topics/manual_control_setpoint.h +++ b/src/modules/uORB/topics/manual_control_setpoint.h @@ -64,17 +64,34 @@ struct manual_control_setpoint_s { /** * 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) */ - float roll; /**< ailerons roll / roll rate input, -1..1 */ - float pitch; /**< elevator / pitch / pitch rate, -1..1 */ - float yaw; /**< rudder / yaw rate / yaw, -1..1 */ - float throttle; /**< throttle / collective thrust / altitude, 0..1 */ + float 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 */ + float 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 */ + float 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 */ + float r; /**< yaw stick/twist positon, -1..1 + in general corresponds to the righthand rotation around the vertical + (downwards) axis of the vehicle */ float flaps; /**< flap position */ - float aux1; /**< default function: camera yaw / azimuth */ - float aux2; /**< default function: camera pitch / tilt */ - float aux3; /**< default function: camera trigger */ - float aux4; /**< default function: camera roll */ - float aux5; /**< default function: payload drop */ + float aux1; /**< default function: camera yaw / azimuth */ + float aux2; /**< default function: camera pitch / tilt */ + float aux3; /**< default function: camera trigger */ + float aux4; /**< default function: camera roll */ + float aux5; /**< default function: payload drop */ switch_pos_t mode_switch; /**< main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO */ switch_pos_t return_switch; /**< return to launch 2 position switch (mandatory): _NORMAL_, RTL */ |