MANUAL_CONTROL (69)
| Field Name | Type | Description |
|---|---|---|
| target | uint8_t | The system to be controlled. |
| x | int16_t | 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. |
| y | int16_t | 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. |
| z | int16_t | 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. |
| r | int16_t | 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. |
| buttons | uint16_t | A bitfield corresponding to the joystick buttons' 0-15 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1. |
target设置为1时为偏航角角速度角速率控制
x为roll
y为pitch
z为throttle
r为yawRate
target设置为2时为偏航角角速度角速率控制
x为roll
y为pitch
z为高度的速度模式范围为-5m/s 到 5m/s
r为yawRate
# Import mavutil
import time
from pymavlink import mavutil
master = mavutil.mavlink_connection('udpin:0.0.0.0:14550')
master.wait_heartbeat()
def ready(x,y,z,r):
master.mav.manual_control_send(
1,
x,
y,
z,
r,
0)
x = 0
while x < 1000:
ready(10,10,10,10)
x += 1
time.sleep(0.05)
作者：bai 创建时间：2025-03-06 12:58
最后编辑：bai 更新时间：2025-04-03 11:35
最后编辑：bai 更新时间：2025-04-03 11:35
