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fix: change MANUAL_CONTROL throttle range from [-1000, 1000] to [0, 1000] #24576

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Merged
merged 2 commits into from
Mar 21, 2025
Merged

fix: change MANUAL_CONTROL throttle range from [-1000, 1000] to [0, 1000] #24576

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2ea382c
fix: change MANUAL_CONTROL MAVLink message output throttle field rang…
breuerpeter Mar 20, 2025
ba22d09
mavlink_receiver: refactor manual_control.throttle extraction to exac…
MaEtUgR Mar 21, 2025
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6 changes: 4 additions & 2 deletions src/modules/mavlink/mavlink_receiver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2093,8 +2093,10 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)

if (math::isInRange((int)mavlink_manual_control.y, -1000, 1000)) { manual_control_setpoint.roll = mavlink_manual_control.y / 1000.f; }

// For backwards compatibility at the moment interpret throttle in range [0,1000]
if (math::isInRange((int)mavlink_manual_control.z, 0, 1000)) { manual_control_setpoint.throttle = ((mavlink_manual_control.z / 1000.f) * 2.f) - 1.f; }
// For backwards compatibility we need to interpret throttle in range [0,1000]
// Convert from [0, 1000] to internal range [-1, 1]
// (([0, 1000] / 1000 * 2) - 1 = [-1, 1]
if (math::isInRange((int)mavlink_manual_control.z, 0, 1000)) { manual_control_setpoint.throttle = (mavlink_manual_control.z / 500.f) - 1.f; }

if (math::isInRange((int)mavlink_manual_control.r, -1000, 1000)) { manual_control_setpoint.yaw = mavlink_manual_control.r / 1000.f; }

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4 changes: 3 additions & 1 deletion src/modules/mavlink/streams/MANUAL_CONTROL.hpp
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Expand Up @@ -70,7 +70,9 @@ class MavlinkStreamManualControl : public MavlinkStream
msg.target = mavlink_system.sysid;
msg.x = manual_control_setpoint.pitch * 1000.f;
msg.y = manual_control_setpoint.roll * 1000.f;
msg.z = manual_control_setpoint.throttle * 1000.f;
// Convert from internal range [-1, 1] to [0, 1000]
// ([-1, 1] + 1) / 2 * 1000 = [0, 1000]
msg.z = (manual_control_setpoint.throttle + 1.0f) * 500.0f;
msg.r = manual_control_setpoint.yaw * 1000.f;

manual_control_switches_s manual_control_switches{};
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