mavlink MANUAL_CONTROL review

[dagar]

• Z range (throttle)
  • stick throttle range [-1, 1] -> [0, 1] (multicopter, fixedwing)
  • it seems like handling this firmware side would be cleaner and give us more flexibility between vehicle types
• buttons bitfield
  • currently unused except when emulating RC
  • configurable at the mavlink level or do we add a more generalized mechanism
• COM_RC_IN_MODE
  • 0 RC Transmitter
  • 1 Joystick/No RC Checks
    • simply skips arming/disarming via sticks and a few manual control checks,
  • 2 Virtual RC by Joystick
    • publishes fake raw RC (input_rc) from mavlink MANUAL_CONTROL
    • should be removed given we the existance of RC_CHANNELS_OVERRIDE (https://mavlink.io/en/messages/common.html#RC_CHANNELS_OVERRIDE)

[dagar]

Other ideas

• on a gamepad its easy to unintentionally yaw when pulling the throttle all the way down to land
  • dynamic yaw deadzone?
• mavlink receiver thread special handling if receiving MANUAL_CONTROL?
  • priority boost?
• properly handling the RC <-> Mavlink MANUAL_CONTROL case

[MaEtUgR]

stick throttle range [-1, 1] -> [0, 1] (multicopter, fixedwing)

I'd have all axes in the same range [-1,1]. That would make it much more consistent and avoid unnecessary extra handling. https://github.com/PX4/Firmware/issues/9331

[13022591351]

• Z 范围（油门）

  • 摇杆油门范围 [-1, 1] -> [0, 1] （多旋翼飞行器，固定翼）
  • 处理这个固件方面似乎会更清晰，并且让我们在车型之间有更大的灵活性

• buttons位域

  • 目前不使用，除非模拟 RC
  • 可以在 mavlink 级别配置，还是我们添加一个更通用的机制

• COM_RC_IN_MODE

  • 0 遥控发射器

  • 1 个操纵杆/无 RC 检查

  • 只需跳过通过操纵杆和一些手动控制检查进行布防/撤防即可，

  • 2 通过操纵杆进行虚拟遥控

  • 从 mavlink MANUAL_CONTROL 发布伪造的原始 RC（input_rc）

  • 鉴于 RC_CHANNELS_OVERRIDE 的存在，应该将其删除（https://mavlink.io/en/messages/common.html#RC_CHANNELS_OVERRIDE）

I think MANUAL_CONTROL cannot completely replace the function of RC_CHANNELS_OVERRIDE. I recently wanted to develop a device based on Microhard HP900 to implement TEL RTCM RC_IN through a single UART interface. After checking the Mavlink protocol, I found that RC_CHANNELS_OVERRIDE matches my needs very well. Maybe my project is mainly used in fixed-wing aircraft, and needs signals other than X, Y, Z, and R, such as flap control, landing gear retraction, etc.