Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We鈥檒l occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

MANUAL_CONTROL: Redefine the use of z (throttle) to be independent to vehicle's thrust direction #1922

Open
wants to merge 1 commit into
base: master
Choose a base branch
from
Open

MANUAL_CONTROL: Redefine the use of z (throttle) to be independent to vehicle's thrust direction #1922

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion message_definitions/v1.0/common.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5448,7 +5448,7 @@
<field type="uint8_t" name="target">The system to be controlled.</field>
<field type="int16_t" name="x" invalid="INT16_MAX">X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.</field>
<field type="int16_t" name="y" invalid="INT16_MAX">Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.</field>
<field type="int16_t" name="z" invalid="INT16_MAX">Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust.</field>
<field type="int16_t" name="z" invalid="INT16_MAX">Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to throttle high (1000) - throttle low (-1000) on a joystick. Centered throttle should result in value of 0 (center).</field>
Copy link
Contributor

@MaEtUgR MaEtUgR Nov 21, 2022 •
edited
Loading

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Suggested change
<field type="int16_t" name="z" invalid="INT16_MAX">Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to throttle high (1000) - throttle low (-1000) on a joystick. Centered throttle should result in value of 0 (center).</field>
<field type="int16_t" name="z" invalid="INT16_MAX">Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Joystick or slider fully down corresponds to -1000, fully up to 1000, the center position to 0.</field>

Copy link
Collaborator

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Not sure about this. Before we were saying its another slider, now we're enforcing that the alignment of that slider is "up/down". I think the desired change is just to remove the emphasis on the positive/negative thrust. Something like.

Suggested change
<field type="int16_t" name="z" invalid="INT16_MAX">Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to throttle high (1000) - throttle low (-1000) on a joystick. Centered throttle should result in value of 0 (center).</field>
<field type="int16_t" name="z" invalid="INT16_MAX">Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally the axis is mapped to vehicle thrust. Vehicles that support only positive thrust map the range from maximum thrust (1000) to mininimum (-1000). Vehicles that support negative thrusts map the range from maximum positive thrust (1000) to maximum negative thrust (-1000), with 0 (centred) implying no thrust).</field>

Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Before we were saying its another slider

Conceptually it should represent an analog input axis be it slider, stick axis or whatever else someone would like to map. In most cases, it will be a stick axis which might be worth mentioning but certainly not enforcing.

now we're enforcing that the alignment of that slider is "up/down"

My wording is not general enough. I do not want to enforce that. The axis just needs to have a minimum and maximum if that's up, down, sideways or diagonal is up to the user. Again in most cases, I'm pretty sure it's up and down.

Generally the axis is mapped to vehicle thrust.

That is exactly the part that is in my eyes only half the story. Manual up, forward, gas is the first thing that comes to mind but often it's mapped to steer vertical or even horizontal speed. I'd try to avoid mentioning an exact use because even though it's true in certain scenarios it can be very confusing in others.

Vehicles that support only positive thrust map the range from maximum thrust (1000) to mininimum (-1000). Vehicles that support negative thrusts map the range from maximum positive thrust (1000) to maximum negative thrust (-1000), with 0 (centred) implying no thrust).

Very good wording. Whatever the thrust, speed or other desired quantity range is, should be mapped to the full available input range -1000 to 1000.

Copy link
Collaborator

@hamishwillee hamishwillee Dec 7, 2022 •
edited
Loading

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Whatever the thrust, speed or other desired quantity range is, should be mapped to the full available input range -1000 to 1000.

@MaEtUgR No, that's good wording ^^^ :-)

Perhaps we should make it that simple?

Suggested change
<field type="int16_t" name="z" invalid="INT16_MAX">Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to throttle high (1000) - throttle low (-1000) on a joystick. Centered throttle should result in value of 0 (center).</field>
<field type="int16_t" name="z" invalid="INT16_MAX">Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. The value may be mapped to thrust, speed, throttle, or any other property. The range of possible property values should be mapped across the full movement range of the axis.</field>

Similar changes could be made to the other axes

<field type="int16_t" name="r" invalid="INT16_MAX">R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.</field>
<field type="uint16_t" name="buttons">A bitfield corresponding to the joystick buttons' 0-15 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.</field>
<extensions/>
Expand Down