ManualControlSetpoint (UORB message)

Manual control input.

This message provides a representation of manual control input sources, such as RC controllers and MAVLink controller (Joystick).

It defines the manual_control_input topic to represent each configured input, and the manual_control_setpoint topic to represent the input that is currently in charge of the vehicle (based on parameter COM_RC_IN_MODE). manual_control_setpoint is the topic that is published to the controllers.

The message includes fields for the roll, pitch, yaw, throttle and flaps, along with auxiliary channels and button states.

TOPICS: manual_control_setpoint manual_control_input

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64			time since system start (microseconds)
timestamp_sample	uint64			the timestamp of the raw data (microseconds)
valid	bool
data_source	uint8
source_system_id	uint8			MAVLink system ID of the manual control source (Invalid: 0)
source_component_id	uint8			MAVLink component ID of the manual control source (Invalid: 0)
roll	float32			move right, positive roll rotation, right side down
pitch	float32			move forward, negative pitch rotation, nose down
yaw	float32			positive yaw rotation, clockwise when seen top down
throttle	float32			move up, positive thrust, -1 is minimum available 0% or -100% +1 is 100% thrust
flaps	float32			position of flaps switch/knob/lever [-1, 1]
aux1	float32
aux2	float32
aux3	float32
aux4	float32
aux5	float32
aux6	float32
sticks_moving	bool			manual control override request in an auto or offboard mode, only gets true if feature is enabled
buttons	uint16			From uint16 buttons field of Mavlink manual_control message

Constants

Name	Type	Value	Description
MESSAGE_VERSION	uint32	1
SOURCE_UNKNOWN	uint8	0
SOURCE_RC	uint8	1	radio control (input_rc)
SOURCE_MAVLINK_0	uint8	2	mavlink instance 0
SOURCE_MAVLINK_1	uint8	3	mavlink instance 1
SOURCE_MAVLINK_2	uint8	4	mavlink instance 2
SOURCE_MAVLINK_3	uint8	5	mavlink instance 3
SOURCE_MAVLINK_4	uint8	6	mavlink instance 4
SOURCE_MAVLINK_5	uint8	7	mavlink instance 5

Source Message

Source file (GitHub)

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# Manual control input
#
# This message provides a representation of manual control input sources,
# such as RC controllers and MAVLink controller (Joystick).
#
# It defines the `manual_control_input` topic to represent each configured input,
# and the `manual_control_setpoint` topic to represent the input that is currently
# in charge of the vehicle (based on parameter COM_RC_IN_MODE).
# `manual_control_setpoint` is the topic that is published to the controllers.
#
# The message includes fields for the roll, pitch, yaw, throttle and flaps, along with auxiliary channels and button states.

uint32 MESSAGE_VERSION = 1

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
uint8 source_system_id  # [@invalid 0] MAVLink system ID of the manual control source
uint8 source_component_id # [@invalid 0] MAVLink component ID of the manual control 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 # manual control override request in an auto or offboard mode, only gets true if feature is enabled

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