feat(manual_control): replace stick override threshold with double-flick gesture#27041
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feat(manual_control): replace stick override threshold with double-flick gesture#27041
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…ick gesture RC override during autonomous missions now requires a deliberate roll double-flick (right→left or left→right) within 0.3s instead of a single instantaneous stick velocity threshold. A static deflection or an accidental single bump can no longer trigger the override. COM_RC_STICK_OV is reused as the deflection threshold for each flick; no new parameters are introduced.
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@MaEtUgR You might wanna take a look. |
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Solved Problem
RC override was too sensitive: a single frame of sufficient stick velocity triggered an immediate mode switch. This caused accidental overrides from brief stick bumps and possibly objects resting on the stick, RC override had been disabled entirely on most vehicles as a result.
Solution
Override now requires a deliberate back-and-forth roll movement within 0.5s. A stick held at any position, bumped accidentally, or weighted down by an object cannot trigger it, only an intentional snap in opposite directions can.
Commander.cpp is unchanged, it still reads sticks_moving from manual_control_setpoint and switches to POSCTL as before.
Changelog Entry
Test coverage