Separate RC and manual control terms

Signed-off-by: Silvan Fuhrer <[email protected]>

Author: sfuhrer

src/modules/commander/HealthAndArmingChecks/checks/rcAndDataLinkCheck.cpp

@@ -37,15 +37,14 @@ using namespace time_literals;
 
 void RcAndDataLinkChecks::checkAndReport(const Context &context, Report &reporter)
 {
-	// RC
 	manual_control_setpoint_s manual_control_setpoint;
 
 	if (!_manual_control_setpoint_sub.copy(&manual_control_setpoint)) {
 		manual_control_setpoint = {};
 		reporter.failsafeFlags().manual_control_signal_lost = true;
 	}
 
-	// Check if RC is valid
+	// Check if manual control is valid
 	if (!manual_control_setpoint.valid
 	    || hrt_elapsed_time(&manual_control_setpoint.timestamp) > _param_com_rc_loss_t.get() * 1_s) {
 
@@ -77,14 +76,14 @@ void RcAndDataLinkChecks::checkAndReport(const Context &context, Report &reporte
 
 	if (reporter.failsafeFlags().gcs_connection_lost) {
 
-		// Prevent arming if we neither have RC nor a GCS connection. TODO: disabled for now due to MAVROS tests
+		// Prevent arming if we neither have manual control nor a GCS connection. TODO: disabled for now due to MAVROS tests
 		bool gcs_connection_required =  _param_nav_dll_act.get() > 0
 						/*|| (rc_is_optional && reporter.failsafeFlags().manual_control_signal_lost) */;
 		NavModes affected_modes = gcs_connection_required ? NavModes::All : NavModes::None;
 		events::LogLevel log_level = gcs_connection_required ? events::Log::Error : events::Log::Info;
 		/* EVENT
 		 * @description
-		 * To arm, at least a data link or manual control (RC) must be present.
+		 * To arm, at least a data link or RC must be present.
 		 *
 		 * <profile name="dev">
 		 * This check can be configured via <param>NAV_DLL_ACT</param> parameter.

src/modules/commander/commander_params.c

@@ -190,7 +190,7 @@ PARAM_DEFINE_INT32(COM_HOME_IN_AIR, 0);
 PARAM_DEFINE_INT32(COM_RC_IN_MODE, 3);
 
 /**
- * RC input arm/disarm command duration
+ * Manual control input arm/disarm command duration
  *
  * The default value of 1000 requires the stick to be held in the arm or disarm position for 1 second.
  *
@@ -421,9 +421,9 @@ PARAM_DEFINE_INT32(COM_ARM_MAG_ANG, 60);
 PARAM_DEFINE_INT32(COM_ARM_MAG_STR, 2);
 
 /**
- * Enable RC stick override of auto and/or offboard modes
+ * Enable manual control stick override
  *
- * When RC stick override is enabled, moving the RC sticks more than COM_RC_STICK_OV
+ * When enabled, moving the sticks more than COM_RC_STICK_OV
  * immediately gives control back to the pilot by switching to Position mode and
  * if position is unavailable Altitude mode.
  * Note: Only has an effect on multicopters, and VTOLs in multicopter mode.
@@ -437,7 +437,7 @@ PARAM_DEFINE_INT32(COM_ARM_MAG_STR, 2);
 PARAM_DEFINE_INT32(COM_RC_OVERRIDE, 1);
 
 /**
- * RC stick override threshold
+ * Stick override threshold
  *
  * If COM_RC_OVERRIDE is enabled and the joystick input is moved more than this threshold
  * the autopilot the pilot takes over control.
@@ -601,11 +601,10 @@ PARAM_DEFINE_INT32(COM_TAKEOFF_ACT, 0);
 PARAM_DEFINE_INT32(NAV_DLL_ACT, 0);
 
 /**
- * Set RC loss failsafe mode
+ * Set manual control loss failsafe mode
  *
- * The RC loss failsafe will only be entered after a timeout,
- * set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled
- * by setting the COM_RC_IN_MODE param it will not be triggered.
+ * The manual control loss failsafe will only be entered after a timeout,
+ * set by COM_RC_LOSS_T in seconds.
  *
  * @value 1 Hold mode
  * @value 2 Return mode
@@ -620,7 +619,7 @@ PARAM_DEFINE_INT32(NAV_DLL_ACT, 0);
 PARAM_DEFINE_INT32(NAV_RCL_ACT, 2);
 
 /**
- * RC loss exceptions
+ * Manual control loss exceptions
  *
  * Specify modes where manual control loss is ignored and no failsafe is triggered.
  * External modes requiring stick input will still failsafe.

src/modules/commander/failsafe/failsafe.cpp

@@ -456,7 +456,7 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
 			vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF
 			&& in_forward_flight && !state.mission_finished;
 
-	// Manual control (RC) loss
+	// Manual control (RC or joystick) loss
 	if (!status_flags.manual_control_signal_lost) {
 		// If manual control was lost and arming was allowed, consider it optional until we regain manual control
 		_manual_control_lost_at_arming = false;

src/modules/commander/failsafe/failsafe_test.cpp

@@ -109,7 +109,7 @@ TEST_F(FailsafeTest, general)
 	ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
 	ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::None);
 
-	// RC lost -> Hold, then RTL
+	// manual control lost -> Hold, then RTL
 	time += 10_ms;
 	failsafe_flags.manual_control_signal_lost = true;
 	updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags);
@@ -127,14 +127,14 @@ TEST_F(FailsafeTest, general)
 	ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
 	ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Descend);
 
-	// DL link regained -> RTL (RC still lost)
+	// DL link regained -> RTL (manual control still lost)
 	time += 10_ms;
 	failsafe_flags.gcs_connection_lost = false;
 	updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags);
 	ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
 	ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::RTL);
 
-	// RC lost cleared -> keep RTL
+	// Manual control lost cleared -> keep RTL
 	time += 10_ms;
 	failsafe_flags.manual_control_signal_lost = false;
 	updated_user_intented_mode = failsafe.update(time, state, false, stick_override_request, failsafe_flags);
@@ -425,7 +425,7 @@ TEST_F(FailsafeTest, skip_failsafe)
 	ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
 	ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::None);
 
-	// RC lost while in RTL -> stay in RTL and only warn
+	// Manual control lost while in RTL -> stay in RTL and only warn
 	failsafe_flags.manual_control_signal_lost = true;
 
 	updated_user_intented_mode = failsafe.update(time, state, false, false, failsafe_flags);

src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp

@@ -289,7 +289,7 @@ void FlightTaskAuto::_prepareLandSetpoints()
 		_stick_acceleration_xy.getSetpoints(_land_position, _velocity_setpoint, _acceleration_setpoint);
 
 	} else {
-		// Make sure we have a valid land position even in the case we loose RC while amending it
+		// Make sure we have a valid land position even in the case we loose manual control while amending it
 		if (!PX4_ISFINITE(_land_position(0))) {
 			_land_position.xy() = Vector2f(_position);
 		}

src/modules/flight_mode_manager/tasks/AutoFollowTarget/FlightTaskAutoFollowTarget.cpp

@@ -144,7 +144,7 @@ void FlightTaskAutoFollowTarget::updateRcAdjustedFollowHeight(const Sticks &stic
 {
 	// Only apply Follow height adjustment if height setpoint and current height are within time window
 	if (fabsf(_position_setpoint(2) - _position(2)) < FOLLOW_HEIGHT_USER_ADJUST_SPEED * USER_ADJUSTMENT_ERROR_TIME_WINDOW) {
-		// RC Throttle stick input for changing follow height
+		// Manual Throttle stick input for changing follow height
 		const float height_change_speed = FOLLOW_HEIGHT_USER_ADJUST_SPEED * sticks.getThrottleZeroCenteredExpo();
 		const float new_height = _follow_height + height_change_speed * _deltatime;
 		_follow_height = constrain(new_height, MINIMUM_SAFETY_ALTITUDE, FOLLOW_HEIGHT_MAX);
@@ -157,7 +157,7 @@ void FlightTaskAutoFollowTarget::updateRcAdjustedFollowDistance(const Sticks &st
 	// Only apply Follow distance adjustment if distance setting and current distance are within time window
 	if (fabsf(drone_to_target_vector.length() - _follow_distance) < FOLLOW_DISTANCE_USER_ADJUST_SPEED *
 	    USER_ADJUSTMENT_ERROR_TIME_WINDOW) {
-		// RC Pitch stick input for changing distance
+		// Manual Pitch stick input for changing distance
 		const float distance_change_speed = FOLLOW_DISTANCE_USER_ADJUST_SPEED * sticks.getPitchExpo();
 		const float new_distance = _follow_distance + distance_change_speed * _deltatime;
 		_follow_distance = constrain(new_distance, MINIMUM_DISTANCE_TO_TARGET_FOR_YAW_CONTROL, FOLLOW_DISTANCE_MAX);
@@ -171,9 +171,9 @@ void FlightTaskAutoFollowTarget::updateRcAdjustedFollowAngle(const Sticks &stick
 	// Wrap orbit angle difference, to get the shortest angle between them
 	if (fabsf(matrix::wrap_pi(measured_orbit_angle - tracked_orbit_angle_setpoint)) < FOLLOW_ANGLE_USER_ADJUST_SPEED *
 	    USER_ADJUSTMENT_ERROR_TIME_WINDOW) {
-		// RC Roll stick input for changing follow angle. When user commands RC stick input: +Roll (right), angle increases (clockwise)
+		// Manual Roll stick input for changing follow angle. When user commands manual stick input: +Roll (right), angle increases (clockwise)
 		// Constrain adjust speed [rad/s] so that drone can actually catch up. Otherwise, the follow angle
-		// command can be too ahead that drone's behavior would be un-responsive to RC stick inputs.
+		// command can be too ahead that drone's behavior would be un-responsive to manual stick inputs.
 		const float angle_adjust_speed_max = min(FOLLOW_ANGLE_USER_ADJUST_SPEED,
 						     _param_flw_tgt_max_vel.get() / _follow_distance);
 		const float angle_change_speed = angle_adjust_speed_max * sticks.getRollExpo();
@@ -319,7 +319,7 @@ bool FlightTaskAutoFollowTarget::update()
 		// Actual orbit angle measured around the target, which is pointing from target to drone, so M_PI_F difference.
 		const float measured_orbit_angle = matrix::wrap_pi(drone_to_target_heading + M_PI_F);
 
-		// Update the sticks object to fetch recent data and update follow distance, angle and height via RC commands
+		// Update the sticks object to fetch recent data and update follow distance, angle and height via manual commands
 		_sticks.checkAndUpdateStickInputs();
 
 		if (_sticks.isAvailable()) {

src/modules/flight_mode_manager/tasks/AutoFollowTarget/FlightTaskAutoFollowTarget.hpp

@@ -101,26 +101,26 @@ static constexpr float ORBIT_TRAJECTORY_MAX_JERK = 4.0;
 // [m/s^2] Maximum acceleration setting for generating the Follow Target Orbit trajectory
 static constexpr float ORBIT_TRAJECTORY_MAX_ACCELERATION = 2.0;
 
-// << RC Adjustment related constants >>
+// << manual Adjustment related constants >>
 
-// [m/s] Speed with which the follow distance will be adjusted by when commanded with deflection via RC command
+// [m/s] Speed with which the follow distance will be adjusted by when commanded with deflection via sticks
 static constexpr float FOLLOW_DISTANCE_USER_ADJUST_SPEED = 2.0;
 
-// [m] Maximum follow distance that can be set by user's RC adjustment
+// [m] Maximum follow distance that can be set by user's manual adjustment
 static constexpr float FOLLOW_DISTANCE_MAX = 100.f;
 
-// [m/s] Speed with which the follow height will be adjusted by when commanded with deflection via RC command
+// [m/s] Speed with which the follow height will be adjusted by when commanded with deflection via sticks
 static constexpr float FOLLOW_HEIGHT_USER_ADJUST_SPEED = 1.5;
 
-// [m] Maximum follow height that can be set by user's RC adjustment
+// [m] Maximum follow height that can be set by user's manual adjustment
 static constexpr float FOLLOW_HEIGHT_MAX = 100.f;
 
-// [rad/s] Angular rate with which the follow distance will be adjusted by when commanded with full deflection via RC command
+// [rad/s] Angular rate with which the follow distance will be adjusted by when commanded with full deflection via sticks
 static constexpr float FOLLOW_ANGLE_USER_ADJUST_SPEED = 1.5;
 
 // [s] Time window constant that gets multiplied to user adjustment speed, to calculate the
 // 'acceptable' error in orbit angle / height / distance. If the difference between the setpoint
-// and actual state of the drone is smaller than this error, RC adjustments get applied.
+// and actual state of the drone is smaller than this error, manual adjustments get applied.
 // Prevents setpoints diverging from the vehicle's actual position too much
 static constexpr float USER_ADJUSTMENT_ERROR_TIME_WINDOW = 0.5f;
 
@@ -146,33 +146,33 @@ class FlightTaskAutoFollowTarget : public FlightTask
 	};
 
 	/**
-	 * Update the Follow height based on RC commands
+	 * Update the Follow height based on stick inputs
 	 *
 	 * If the drone's height error to the setpoint is within the an user adjustment error time window
-	 * follow_height will be adjusted with a speed proportional to user RC command
+	 * follow_height will be adjusted with a speed proportional to user stick inputs
 	 *
-	 * @param sticks Sticks object to get RC commanded values for adjustments
+	 * @param sticks Sticks object to get manually values for adjustments
 	 */
 	void updateRcAdjustedFollowHeight(const Sticks &sticks);
 
 	/**
-	 * Update the Follow distance based on RC commands
+	 * Update the Follow distance based on stick inputs
 	 *
 	 * If the drone's distance error to the setpoint is within the an user adjustment error time window
-	 * follow_distance will be adjusted with a speed proportional to user RC command
+	 * follow_distance will be adjusted with a speed proportional to user stick inputs
 	 *
-	 * @param sticks Sticks object to get RC commanded values for adjustments
+	 * @param sticks Sticks object to get manually values for adjustments
 	 * @param drone_to_target_vector [m] Tracked follow distance variable reference which will be updated to the new value
 	 */
 	void updateRcAdjustedFollowDistance(const Sticks &sticks, const Vector2f &drone_to_target_vector);
 
 	/**
-	 * Update the Follow angle based on RC commands
+	 * Update the Follow angle based on stick inputs
 	 *
 	 * If the drone's orbit angle in relation to target is within the an user adjustment error time window
-	 * away from the orbit angle setpoint, follow_angle will be adjusted with a speed proportional to user RC command
+	 * away from the orbit angle setpoint, follow_angle will be adjusted with a speed proportional to user stick inputs
 	 *
-	 * @param sticks Sticks object to get RC commanded values for adjustments
+	 * @param sticks Sticks object to get manually values for adjustments
 	 * @param measured_angle [rad] Measured current drone's orbit angle around the target (depends on tracked target orientation for reference)
 	 * @param tracked_orbit_angle_setpoint [rad] Rate constrained orbit angle setpoint value from last command
 	 */
@@ -275,7 +275,7 @@ class FlightTaskAutoFollowTarget : public FlightTask
 	// Second Order Filter to calculate kinematically feasible target position
 	SecondOrderReferenceModel<matrix::Vector3f> _target_position_velocity_filter;
 
-	// Internally tracked Follow Target characteristics, to allow RC control input adjustments
+	// Internally tracked Follow Target characteristics, to allow manual control input adjustments
 	float _follow_distance{8.0f}; // [m]
 	float _follow_height{10.0f}; // [m]
 	float _follow_angle_rad{0.0f}; // [rad]

src/modules/flight_mode_manager/tasks/Orbit/flight_task_orbit_params.c

@@ -50,7 +50,7 @@ PARAM_DEFINE_FLOAT(MC_ORBIT_RAD_MAX, 1000.0f);
  * @value 1 Hold Initial Heading
  * @value 2 Uncontrolled
  * @value 3 Hold Front Tangent to Circle
- * @value 4 RC Controlled
+ * @value 4 Manually (yaw stick) Controlled
  * @group Flight Task Orbit
  */
 PARAM_DEFINE_INT32(MC_ORBIT_YAW_MOD, 0);

src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control_params.c

@@ -105,9 +105,9 @@ PARAM_DEFINE_INT32(FW_AT_APPLY, 2);
 PARAM_DEFINE_INT32(FW_AT_AXES, 3);
 
 /**
- * Enable/disable auto tuning using an RC AUX input
+ * Enable/disable auto tuning using a manual control AUX input
  *
- * Defines which RC_MAP_AUXn parameter maps the RC channel used to enable/disable auto tuning.
+ * Defines which RC_MAP_AUXn parameter maps the manual control channel used to enable/disable auto tuning.
  *
  * @value 0 Disable
  * @value 1 Aux1