GCS_MAVLink: extended manual_control features for AC#32020
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AndKe wants to merge 1 commit intoArduPilot:masterfrom
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GCS_MAVLink: extended manual_control features for AC#32020AndKe wants to merge 1 commit intoArduPilot:masterfrom
AndKe wants to merge 1 commit intoArduPilot:masterfrom
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AndKe
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once somebody can review this, I will make changes for the other vehicles too. |
AndKe
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peterbarker
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Feb 5, 2026
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This has not been done with reference to ArduSub's "joystick" library - which should be fixed as part of this.
Buttons should not be mapped onto RC channels - they should be mapped onto auxiliary functions if anything.
Most of these patches are not Copter-specific and should not be in the Copter directory.
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| // Map AUX1-6 onto RC channels 7-12. | ||
| const int16_t aux_values[6] = { packet.aux1, packet.aux2, packet.aux3, packet.aux4, packet.aux5, packet.aux6 }; | ||
| const uint8_t aux_bits[6] = { EXT_AUX1, EXT_AUX2, EXT_AUX3, EXT_AUX4, EXT_AUX5, EXT_AUX6 }; | ||
| for (uint8_t i = 0; i < 6; i++) { | ||
| const int16_t value = (enabled & aux_bits[i]) ? aux_values[i] : INT16_MAX; | ||
| manual_override(rc().channel(6 + i), value, 1000, 2000, tnow); | ||
| } |
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This may break existing mixed-input setups.
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yes, I belive this is not the way to go, a joystick on GCS should emit RC_OVERRICE and/or MANUAL_CONTROL as needed instead. Thank you. |
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The intention is to make ArduPilot accept/use more than the main 4 axis according to the MAVLink common MANUAL_CONTROL packet.
QGC is about to add free axis mapping to joystick, it will then be useful for gimbal/payload control, not only pitch/yaw/roll/thr.
I've also added some buttons.