From 6691498d4937704b16453eed97a58fd5eb5ebecd Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 3 Feb 2025 08:57:25 +0900 Subject: [PATCH] Dev: mavlink interface RC input fixes --- dev/source/docs/mavlink-rcinput.rst | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/dev/source/docs/mavlink-rcinput.rst b/dev/source/docs/mavlink-rcinput.rst index baa1695029..7bb437bbf5 100644 --- a/dev/source/docs/mavlink-rcinput.rst +++ b/dev/source/docs/mavlink-rcinput.rst @@ -6,7 +6,7 @@ RC Input (aka Pilot Input) Traditionally the pilot's manual input via an RC transmitter is sent to the autopilot via a separate wireless link but it can alternatively be sent via MAVLink. This page describes the messages that can be used and gives advice on some potential issues -For reference here are some user focused RC related wiki pages +For reference here are some user focused RC related wiki pages: - :ref:`Joystick/Gamepad setup ` - :ref:`RC Input Channel Mapping (aka RCMAP) ` @@ -23,9 +23,11 @@ RC_CHANNELS_OVERRIDE The `RC_CHANNELS_OVERRIDE `__ message allows setting the PWM equivalent value for each channel. This is normally a value between 1000 and 2000 but ArduPilot's RC input library uses the RCx_MIN, RCx_MAX and RCx_TRIM parameters to scale the input. Note though that these parameters are normally set by the user during the RC Calibration stage. -If both a regular transmitter (e.g. Futaba, Spektrum, etc) which sends actualy PWM values and a MAVLink enabled RC input system (sending messages via one of the message listed on this page) then care should be taken to ensure the RCx_MIN/MAX ranges are consistent between the two systems -Becareful of inadvertantly changing the flight mode. By default either channel 5 or channel 8 (depending upon the vehicle type) is used to set the flight mode but this can be disabled by setting :ref:`FLTMODE_CH ` or :ref:`MODE_CH ` to 0 +If both a regular transmitter (e.g. Futaba, Spektrum, etc) which sends actualy PWM values and a MAVLink enabled RC input system (sending messages via one of the message listed on this page) then care should be taken to ensure the RCx_MIN/MAX ranges are consistent between the two systems. +If the MAVLink RC input stops, ArduPilot falls back to regular RC input within a few seconds. This timeout is configurable using the :ref:`RC_OVERRIDE_TIME ` parameter. + +Be careful not to change the flight mode inadvertently. By default either channel 5 or channel 8 (depending upon the vehicle type) is used to set the flight mode but this can be disabled by setting :ref:`FLTMODE_CH ` or :ref:`MODE_CH ` to 0 .. raw:: html