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Update Manual Control to support 6dof #2005

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merged 2 commits into from
Oct 23, 2024
+34 −0
Merged

Update Manual Control to support 6dof #2005

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InvincibleRMC Oct 16, 2024
c9427b2
cpplint
InvincibleRMC Oct 20, 2024
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22 changes: 22 additions & 0 deletions mavros/src/plugins/manual_control.cpp
View file
Original file line number Diff line number Diff line change
@@ -72,6 +72,17 @@ class ManualControlPlugin : public plugin::Plugin
manual_control_msg.r = (manual_control.r / 1000.0);
manual_control_msg.buttons = manual_control.buttons;

manual_control_msg.buttons2 = manual_control.buttons2;
manual_control_msg.enabled_extensions = manual_control.enabled_extensions;
manual_control_msg.s = (manual_control.s / 1000.0);
manual_control_msg.t = (manual_control.t / 1000.0);
manual_control_msg.aux1 = (manual_control.aux1 / 1000.0);
manual_control_msg.aux2 = (manual_control.aux2 / 1000.0);
manual_control_msg.aux3 = (manual_control.aux3 / 1000.0);
manual_control_msg.aux4 = (manual_control.aux4 / 1000.0);
manual_control_msg.aux5 = (manual_control.aux5 / 1000.0);
manual_control_msg.aux6 = (manual_control.aux6 / 1000.0);

control_pub->publish(manual_control_msg);
}

@@ -87,6 +98,17 @@ class ManualControlPlugin : public plugin::Plugin
msg.r = req->r;
msg.buttons = req->buttons;

msg.buttons2 = req->buttons2;
msg.enabled_extensions = req->enabled_extensions;
msg.s = req->s;
msg.t = req->t;
msg.aux1 = req->aux1;
msg.aux2 = req->aux2;
msg.aux3 = req->aux3;
msg.aux4 = req->aux4;
msg.aux5 = req->aux5;
msg.aux6 = req->aux6;

uas->send_message(msg);
}
};
12 changes: 12 additions & 0 deletions mavros_msgs/msg/ManualControl.msg
View file
Original file line number Diff line number Diff line change
@@ -5,3 +5,15 @@ float32 y
float32 z
float32 r
uint16 buttons

# -*- only available with MAVLink v2.0 -*-
uint16 buttons2
uint8 enabled_extensions
float32 s
float32 t
float32 aux1
float32 aux2
float32 aux3
float32 aux4
float32 aux5
float32 aux6