ManualControlSetpoint.md

ManualControlSetpoint (UORB message)

source file

uint32 MESSAGE_VERSION = 0

uint64 timestamp                        # time since system start (microseconds)
uint64 timestamp_sample                 # the timestamp of the raw data (microseconds)

bool valid

uint8 SOURCE_UNKNOWN   = 0
uint8 SOURCE_RC        = 1		# radio control (input_rc)
uint8 SOURCE_MAVLINK_0 = 2		# mavlink instance 0
uint8 SOURCE_MAVLINK_1 = 3		# mavlink instance 1
uint8 SOURCE_MAVLINK_2 = 4		# mavlink instance 2
uint8 SOURCE_MAVLINK_3 = 5		# mavlink instance 3
uint8 SOURCE_MAVLINK_4 = 6		# mavlink instance 4
uint8 SOURCE_MAVLINK_5 = 7		# mavlink instance 5

uint8 data_source

# Any of the channels may not be available and be set to NaN
# to indicate that it does not contain valid data.

# Stick positions [-1,1]
# on a common RC mode 1/2/3/4 remote/joystick the stick deflection: -1 is down/left, 1 is up/right
# 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.
# Positive values are generally used for:
float32 roll     # move right,   positive roll rotation,  right side down
float32 pitch    # move forward, negative pitch rotation, nose down
float32 yaw      #               positive yaw rotation,   clockwise when seen top down
float32 throttle # move up,      positive thrust,         -1 is minimum available 0% or -100% +1 is 100% thrust

float32 flaps			 # position of flaps switch/knob/lever [-1, 1]

float32 aux1
float32 aux2
float32 aux3
float32 aux4
float32 aux5
float32 aux6

bool sticks_moving

uint16 buttons		# From uint16 buttons field of Mavlink manual_control message

# TOPICS manual_control_setpoint manual_control_input
# DEPRECATED: float32 x
# DEPRECATED: float32 y
# DEPRECATED: float32 z
# DEPRECATED: float32 r