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-rw-r--r--src/modules/commander/commander.cpp4
-rw-r--r--src/modules/commander/rc_calibration.cpp6
-rw-r--r--src/modules/fw_att_control/fw_att_control_main.cpp23
-rw-r--r--src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp20
-rw-r--r--src/modules/mavlink/mavlink_messages.cpp8
-rw-r--r--src/modules/mavlink/mavlink_receiver.cpp10
-rw-r--r--src/modules/mc_att_control/mc_att_control_main.cpp8
-rw-r--r--src/modules/mc_pos_control/mc_pos_control_main.cpp8
-rw-r--r--src/modules/sensors/sensors.cpp16
-rw-r--r--src/modules/systemlib/rc_check.c2
-rw-r--r--src/modules/uORB/topics/manual_control_setpoint.h35
11 files changed, 79 insertions, 61 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 22504642f..17d3d3dcd 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1188,7 +1188,7 @@ int commander_thread_main(int argc, char *argv[])
if (status.is_rotary_wing &&
(status.arming_state == ARMING_STATE_ARMED || status.arming_state == ARMING_STATE_ARMED_ERROR) &&
(status.main_state == MAIN_STATE_MANUAL || status.condition_landed) &&
- sp_man.yaw < -STICK_ON_OFF_LIMIT && sp_man.throttle < 0.1f) {
+ sp_man.r < -STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) {
if (stick_off_counter > STICK_ON_OFF_COUNTER_LIMIT) {
/* disarm to STANDBY if ARMED or to STANDBY_ERROR if ARMED_ERROR */
@@ -1206,7 +1206,7 @@ int commander_thread_main(int argc, char *argv[])
/* check if left stick is in lower right position and we're in MANUAL mode -> arm */
if (status.arming_state == ARMING_STATE_STANDBY &&
- sp_man.yaw > STICK_ON_OFF_LIMIT && sp_man.throttle < 0.1f) {
+ sp_man.r > STICK_ON_OFF_LIMIT && sp_man.z < 0.1f) {
if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
if (safety.safety_switch_available && !safety.safety_off && status.hil_state == HIL_STATE_OFF) {
print_reject_arm("NOT ARMING: Press safety switch first.");
diff --git a/src/modules/commander/rc_calibration.cpp b/src/modules/commander/rc_calibration.cpp
index 41f3ca0aa..0776894fb 100644
--- a/src/modules/commander/rc_calibration.cpp
+++ b/src/modules/commander/rc_calibration.cpp
@@ -69,11 +69,11 @@ int do_trim_calibration(int mavlink_fd)
orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp);
/* set parameters */
- float p = sp.roll;
+ float p = sp.y;
param_set(param_find("TRIM_ROLL"), &p);
- p = sp.pitch;
+ p = sp.x;
param_set(param_find("TRIM_PITCH"), &p);
- p = sp.yaw;
+ p = sp.r;
param_set(param_find("TRIM_YAW"), &p);
/* store to permanent storage */
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
index a40c402d6..1c411fa06 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -706,20 +706,21 @@ FixedwingAttitudeControl::task_main()
} else {
/*
* Scale down roll and pitch as the setpoints are radians
- * and a typical remote can only do 45 degrees, the mapping is
- * -1..+1 to -45..+45 degrees or -0.75..+0.75 radians.
+ * and a typical remote can only do around 45 degrees, the mapping is
+ * -1..+1 to -man_roll_max rad..+man_roll_max rad (equivalent for pitch)
*
* With this mapping the stick angle is a 1:1 representation of
- * the commanded attitude. If more than 45 degrees are desired,
- * a scaling parameter can be applied to the remote.
+ * the commanded attitude.
*
* The trim gets subtracted here from the manual setpoint to get
* the intended attitude setpoint. Later, after the rate control step the
* trim is added again to the control signal.
*/
- roll_sp = (_manual.roll * _parameters.man_roll_max - _parameters.trim_roll) + _parameters.rollsp_offset_rad;
- pitch_sp = (-_manual.pitch * _parameters.man_pitch_max - _parameters.trim_pitch) + _parameters.pitchsp_offset_rad;
- throttle_sp = _manual.throttle;
+ roll_sp = (_manual.y * _parameters.man_roll_max - _parameters.trim_roll)
+ + _parameters.rollsp_offset_rad;
+ pitch_sp = -(_manual.x * _parameters.man_pitch_max - _parameters.trim_pitch)
+ + _parameters.pitchsp_offset_rad;
+ throttle_sp = _manual.z;
_actuators.control[4] = _manual.flaps;
/*
@@ -825,10 +826,10 @@ FixedwingAttitudeControl::task_main()
} else {
/* manual/direct control */
- _actuators.control[0] = _manual.roll;
- _actuators.control[1] = -_manual.pitch;
- _actuators.control[2] = _manual.yaw;
- _actuators.control[3] = _manual.throttle;
+ _actuators.control[0] = _manual.y;
+ _actuators.control[1] = -_manual.x;
+ _actuators.control[2] = _manual.r;
+ _actuators.control[3] = _manual.z;
_actuators.control[4] = _manual.flaps;
}
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index c62a2d4f3..9cbc26efe 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -1114,7 +1114,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
}
if (0/* posctrl on and manual control yaw non-zero */) {
- _altctrl_hold_heading = _att.yaw + _manual.yaw;
+ _altctrl_hold_heading = _att.yaw + _manual.r;
}
//XXX not used
@@ -1132,12 +1132,12 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
// XXX check if ground speed undershoot should be applied here
float altctrl_airspeed = _parameters.airspeed_min +
(_parameters.airspeed_max - _parameters.airspeed_min) *
- _manual.throttle;
+ _manual.z;
_l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed);
_att_sp.roll_body = _l1_control.nav_roll();
_att_sp.yaw_body = _l1_control.nav_bearing();
- _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f,
+ _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.x * 2.0f,
altctrl_airspeed,
_airspeed.indicated_airspeed_m_s, eas2tas,
false, _parameters.pitch_limit_min,
@@ -1153,7 +1153,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
}
if (0/* altctrl on and manual control yaw non-zero */) {
- _altctrl_hold_heading = _att.yaw + _manual.yaw;
+ _altctrl_hold_heading = _att.yaw + _manual.r;
}
/* if in altctrl mode, set airspeed based on manual control */
@@ -1161,10 +1161,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
// XXX check if ground speed undershoot should be applied here
float altctrl_airspeed = _parameters.airspeed_min +
(_parameters.airspeed_max - _parameters.airspeed_min) *
- _manual.throttle;
+ _manual.z;
/* user switched off throttle */
- if (_manual.throttle < 0.1f) {
+ if (_manual.z < 0.1f) {
throttle_max = 0.0f;
/* switch to pure pitch based altitude control, give up speed */
_tecs.set_speed_weight(0.0f);
@@ -1174,14 +1174,14 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
bool climb_out = false;
/* user wants to climb out */
- if (_manual.pitch > 0.3f && _manual.throttle > 0.8f) {
+ if (_manual.x > 0.3f && _manual.z > 0.8f) {
climb_out = true;
}
_l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed);
- _att_sp.roll_body = _manual.roll;
- _att_sp.yaw_body = _manual.yaw;
- _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f,
+ _att_sp.roll_body = _manual.y;
+ _att_sp.yaw_body = _manual.r;
+ _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.x * 2.0f,
altctrl_airspeed,
_airspeed.indicated_airspeed_m_s, eas2tas,
climb_out, _parameters.pitch_limit_min,
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index b8879157e..79dd88657 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -1138,10 +1138,10 @@ protected:
if (manual_sub->update(t)) {
mavlink_msg_manual_control_send(_channel,
mavlink_system.sysid,
- manual->roll * 1000,
- manual->pitch * 1000,
- manual->yaw * 1000,
- manual->throttle * 1000,
+ manual->x * 1000,
+ manual->y * 1000,
+ manual->z * 1000,
+ manual->r * 1000,
0);
}
}
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 64fc41838..b03a68c07 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -191,7 +191,7 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
}
}
-
+
/* If we've received a valid message, mark the flag indicating so.
This is used in the '-w' command-line flag. */
_mavlink->set_has_received_messages(true);
@@ -438,10 +438,10 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
memset(&manual, 0, sizeof(manual));
manual.timestamp = hrt_absolute_time();
- manual.pitch = man.x / 1000.0f;
- manual.roll = man.y / 1000.0f;
- manual.yaw = man.r / 1000.0f;
- manual.throttle = man.z / 1000.0f;
+ manual.x = man.x / 1000.0f;
+ manual.y = man.y / 1000.0f;
+ manual.r = man.r / 1000.0f;
+ manual.z = man.z / 1000.0f;
if (_manual_pub < 0) {
_manual_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual);
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index 57450cf39..a69153bf0 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -486,7 +486,7 @@ MulticopterAttitudeControl::control_attitude(float dt)
if (!_v_control_mode.flag_control_climb_rate_enabled) {
/* pass throttle directly if not in altitude stabilized mode */
- _v_att_sp.thrust = _manual_control_sp.throttle;
+ _v_att_sp.thrust = _manual_control_sp.z;
publish_att_sp = true;
}
@@ -504,7 +504,7 @@ MulticopterAttitudeControl::control_attitude(float dt)
//}
} else {
/* move yaw setpoint */
- yaw_sp_move_rate = _manual_control_sp.yaw * _params.man_yaw_max;
+ yaw_sp_move_rate = _manual_control_sp.r * _params.man_yaw_max;
_v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + yaw_sp_move_rate * dt);
_v_att_sp.R_valid = false;
publish_att_sp = true;
@@ -520,8 +520,8 @@ MulticopterAttitudeControl::control_attitude(float dt)
if (!_v_control_mode.flag_control_velocity_enabled) {
/* update attitude setpoint if not in position control mode */
- _v_att_sp.roll_body = _manual_control_sp.roll * _params.man_roll_max;
- _v_att_sp.pitch_body = -_manual_control_sp.pitch * _params.man_pitch_max;
+ _v_att_sp.roll_body = _manual_control_sp.y * _params.man_roll_max;
+ _v_att_sp.pitch_body = -_manual_control_sp.x * _params.man_pitch_max;
_v_att_sp.R_valid = false;
publish_att_sp = true;
}
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 45ff8c3c0..6e611d4ab 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -617,7 +617,7 @@ MulticopterPositionControl::task_main()
reset_alt_sp();
/* move altitude setpoint with throttle stick */
- sp_move_rate(2) = -scale_control(_manual.throttle - 0.5f, 0.5f, alt_ctl_dz);
+ sp_move_rate(2) = -scale_control(_manual.z - 0.5f, 0.5f, alt_ctl_dz);
}
if (_control_mode.flag_control_position_enabled) {
@@ -625,8 +625,8 @@ MulticopterPositionControl::task_main()
reset_pos_sp();
/* move position setpoint with roll/pitch stick */
- sp_move_rate(0) = _manual.pitch;
- sp_move_rate(1) = _manual.roll;
+ sp_move_rate(0) = _manual.x;
+ sp_move_rate(1) = _manual.y;
}
/* limit setpoint move rate */
@@ -782,7 +782,7 @@ MulticopterPositionControl::task_main()
float i = _params.thr_min;
if (reset_int_z_manual) {
- i = _manual.throttle;
+ i = _manual.z;
if (i < _params.thr_min) {
i = _params.thr_min;
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 65165bbb2..18bf97f8d 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -1486,10 +1486,10 @@ Sensors::rc_poll()
manual.timestamp = rc_input.timestamp_last_signal;
/* limit controls */
- manual.roll = get_rc_value(ROLL, -1.0, 1.0);
- manual.pitch = get_rc_value(PITCH, -1.0, 1.0);
- manual.yaw = get_rc_value(YAW, -1.0, 1.0);
- manual.throttle = get_rc_value(THROTTLE, 0.0, 1.0);
+ manual.y = get_rc_value(ROLL, -1.0, 1.0);
+ manual.x = get_rc_value(PITCH, -1.0, 1.0);
+ manual.r = get_rc_value(YAW, -1.0, 1.0);
+ manual.z = get_rc_value(THROTTLE, 0.0, 1.0);
manual.flaps = get_rc_value(FLAPS, -1.0, 1.0);
manual.aux1 = get_rc_value(AUX_1, -1.0, 1.0);
manual.aux2 = get_rc_value(AUX_2, -1.0, 1.0);
@@ -1517,10 +1517,10 @@ Sensors::rc_poll()
actuator_group_3.timestamp = rc_input.timestamp_last_signal;
- actuator_group_3.control[0] = manual.roll;
- actuator_group_3.control[1] = manual.pitch;
- actuator_group_3.control[2] = manual.yaw;
- actuator_group_3.control[3] = manual.throttle;
+ actuator_group_3.control[0] = manual.y;
+ actuator_group_3.control[1] = manual.x;
+ actuator_group_3.control[2] = manual.r;
+ actuator_group_3.control[3] = manual.z;
actuator_group_3.control[4] = manual.flaps;
actuator_group_3.control[5] = manual.aux1;
actuator_group_3.control[6] = manual.aux2;
diff --git a/src/modules/systemlib/rc_check.c b/src/modules/systemlib/rc_check.c
index 21e15ec56..c0c1a5cb4 100644
--- a/src/modules/systemlib/rc_check.c
+++ b/src/modules/systemlib/rc_check.c
@@ -140,7 +140,7 @@ int rc_calibration_check(int mavlink_fd) {
/* sanity checks pass, enable channel */
if (count) {
mavlink_log_critical(mavlink_fd, "ERROR: %d config error(s) for RC channel %d.", count, (i + 1));
- warnx(mavlink_fd, "ERROR: %d config error(s) for RC channel %d.", count, (i + 1));
+ warnx("ERROR: %d config error(s) for RC channel %d.", count, (i + 1));
usleep(100000);
}
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 */
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-07 09:26:11 +0000